version: 66.10
glider: 169
mission: 5
dive: 190
start: 12 15 111 8 37 17
data:
$ID,169
$MISSION,5
$DIVE,190
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10960.766
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,151211,082930,2325.805,12148.104,48,1.6,48,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.5
$GPS2,151211,083656,2325.961,12148.014,14,1.9,14,-3.1
$SPEED_LIMITS,0.163,0.319
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,81.4,219682,-13.1,-9.429
$D_GRID,3694
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.63,-243.3,0.0,0.0,0,109,0.00,0.00,-88.97,0.000,2,0.000,0.000,119,2681,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.63,-243.3,3.0,-5.4,16,153,6.90,2.30,-25.55,0.000,4,0.236,0.045,1808,1178,3962,0,0,0,0,0,0,25.30,26.03,26.44
$GC,241,-0.55,-243.3,39.1,-23.5,40,249,0.12,2.28,0.00,0.000,6,0.155,0.044,1830,2656,3962,0,0,0,0,0,0,25.82,26.02,28.83
$GC,553,-0.47,-243.3,120.1,-25.1,101,560,0.00,2.17,0.00,0.000,4,0.000,0.028,1840,1179,3962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,598,-0.44,-243.3,129.9,-18.5,109,606,0.12,2.25,0.00,0.000,6,0.133,0.041,1866,2656,3962,0,0,0,0,0,0,26.03,26.16,28.83
$GC,910,-0.41,-243.3,180.1,-15.3,170,916,0.00,1.77,0.00,0.000,4,0.000,0.048,1858,3813,3962,0,0,0,0,0,0,28.83,26.20,28.83
$GC,949,-0.40,-243.3,185.8,-13.0,177,956,0.00,1.80,0.00,0.000,6,0.000,0.025,1858,2556,3962,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1263,-0.38,-243.3,232.9,-13.2,218,1272,0.00,1.95,0.00,0.000,4,0.000,0.045,1848,3813,3962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1350,-0.40,-243.3,241.1,-8.8,226,1357,0.10,1.80,0.00,0.000,6,0.120,0.025,1882,2554,3962,0,0,0,0,0,0,26.27,26.46,28.83
$GC,1655,-0.43,-243.3,258.5,-5.5,257,1664,0.00,1.98,0.00,0.000,4,0.000,0.046,1873,3813,3961,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1690,-0.47,-243.3,260.3,-5.6,260,1697,0.00,1.80,0.00,0.000,6,0.000,0.026,1872,2555,3960,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1997,-0.58,-243.3,288.2,-9.5,291,2006,0.12,2.00,0.00,0.000,4,0.113,0.028,1826,1165,3959,0,0,0,0,0,0,26.44,26.36,28.83
$GC,2019,-0.69,-243.3,290.2,-9.5,293,2029,0.12,2.22,0.00,0.000,6,0.125,0.037,1788,2656,3959,0,0,0,0,0,0,26.17,26.32,28.83
$GC,2330,-0.73,-243.3,315.7,-7.9,324,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2656,3957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-0.77,-243.3,340.1,-7.8,354,2636,0.00,1.77,0.00,0.000,4,0.000,0.047,1781,3818,3955,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2756,-0.73,-243.3,354.1,-13.5,366,2764,0.00,1.80,0.00,0.000,6,0.000,0.024,1781,2562,3954,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3064,-0.66,-243.3,413.7,-20.3,397,3073,0.00,1.98,0.00,0.000,4,0.000,0.047,1771,3832,3952,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3107,-0.58,-243.3,422.9,-21.9,401,3111,0.10,1.85,0.00,0.000,6,0.096,0.025,1825,2562,3951,0,0,0,0,0,0,26.10,26.48,28.83
$GC,3419,-0.57,-243.3,461.1,-11.4,432,3428,0.00,1.95,0.00,0.000,4,0.000,0.047,1816,3813,3949,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3443,-0.56,-243.3,463.5,-11.1,434,3450,0.00,1.80,0.00,0.000,6,0.000,0.025,1816,2557,3949,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3750,-0.54,-243.3,497.8,-11.4,465,3759,0.00,1.98,0.00,0.000,4,0.000,0.046,1807,3822,3947,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3776,-0.52,-243.3,500.2,-11.7,467,3783,0.12,1.80,0.00,0.000,6,0.118,0.024,1848,2557,3947,0,0,0,0,0,0,26.25,26.48,28.83
$GC,4082,-0.55,-243.3,522.0,-6.9,498,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2556,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4386,-0.58,-243.3,541.8,-6.6,528,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2556,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4695,-0.61,-243.3,561.0,-5.9,559,4704,0.12,1.92,0.00,0.000,4,0.076,0.044,1742,3806,3940,0,0,0,0,0,0,26.60,26.23,28.83
$GC,4730,-0.61,-243.3,564.6,-9.1,562,4737,0.17,1.80,0.00,0.000,6,0.107,0.025,1816,2561,3940,0,0,0,0,0,0,26.01,26.46,28.83
$GC,5038,-0.61,-243.3,596.0,-9.1,593,5042,0.00,1.98,0.00,0.000,4,0.000,0.048,1807,3819,3938,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5073,-0.61,-243.3,599.4,-10.5,596,5079,0.00,1.80,0.00,0.000,6,0.000,0.026,1807,2561,3937,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5380,-0.60,-243.3,632.2,-10.4,612,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2561,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.59,-243.3,664.6,-10.9,627,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2562,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.57,-243.3,696.7,-10.5,642,5987,0.00,1.95,0.00,0.000,4,0.000,0.050,1799,3814,3931,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6008,-0.56,-243.3,698.7,-10.4,643,6011,0.00,1.83,0.00,0.000,6,0.000,0.025,1798,2567,3930,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6321,-0.54,-243.3,735.8,-11.7,659,6322,0.12,0.00,0.00,0.000,6,0.136,0.000,1837,2564,3929,0,0,0,0,0,0,26.36,28.83,28.83
$GC,6620,-0.57,-243.3,756.8,-6.6,674,6626,0.00,1.98,0.00,0.000,4,0.000,0.050,1828,3819,3927,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6648,-0.59,-243.3,758.0,-6.6,675,6652,0.00,1.83,0.00,0.000,6,0.000,0.028,1828,2558,3927,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6957,-0.71,-243.3,785.6,-10.1,690,6959,0.15,0.00,0.00,0.000,6,0.098,0.000,1770,2558,3925,0,0,0,0,0,0,26.43,28.83,28.83
$GC,7255,-0.77,-243.3,812.6,-8.8,705,7261,0.00,2.00,0.00,0.000,4,0.000,0.050,1770,3820,3923,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7299,-0.82,-243.3,815.9,-8.8,707,7302,0.00,1.83,0.00,0.000,6,0.000,0.026,1770,2560,3923,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7610,-0.78,-243.3,860.2,-14.3,723,7616,0.00,2.03,0.00,0.000,4,0.000,0.031,1770,1177,3921,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7653,-0.75,-243.3,865.3,-13.6,725,7657,0.00,2.25,0.00,0.000,6,0.000,0.043,1759,2657,3921,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7968,-0.70,-243.3,911.8,-14.5,741,7973,0.00,2.15,0.00,0.000,4,0.000,0.030,1758,1188,3920,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8009,-0.66,-243.3,917.4,-14.0,743,8014,0.17,2.25,0.00,0.000,6,0.125,0.043,1803,2657,3919,0,0,0,0,0,0,25.91,26.14,28.83
$GC,8324,-0.66,-243.3,944.5,-8.6,759,8329,0.00,2.15,0.00,0.000,4,0.000,0.030,1802,1189,3918,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8355,-0.66,-243.3,946.3,-8.6,760,8362,0.00,2.25,0.00,0.000,6,0.000,0.043,1799,2658,3918,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8662,-0.66,-243.3,973.0,-8.3,776,8665,0.00,1.77,0.00,0.000,4,0.000,0.050,1792,3816,3917,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8697,-0.66,-243.3,974.9,-8.5,777,8703,0.00,1.83,0.00,0.000,6,0.000,0.027,1791,2557,3916,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,8861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8861,begin apogee
$GC,8866,-0.20,0.0,991.2,-9.5,786,9076,0.43,0.10,203.57,1.190,6,0.095,0.060,1942,2531,2975,0,0,0,0,0,0,25.90,24.56,23.69
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.63,243.3,1001.3,0.0,796,9310,0.73,2.47,222.88,1.183,4,0.047,0.041,2229,1061,1978,0,0,0,0,0,0,24.73,24.03,23.14
$GC,9366,0.54,243.3,965.1,21.3,811,9371,0.17,2.38,0.00,0.000,6,0.159,0.044,2185,2525,1958,0,0,0,0,0,0,24.56,24.76,28.83
$GC,9681,0.46,243.3,904.4,19.1,827,9686,0.00,2.00,0.00,0.000,4,0.000,0.047,2184,3808,1954,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9787,0.38,243.3,884.4,19.9,832,9792,0.22,2.05,0.00,0.000,6,0.164,0.031,2134,2466,1952,0,0,0,0,0,0,25.52,25.92,28.83
$GC,10096,0.35,243.3,843.5,12.3,847,10101,0.00,2.10,0.00,0.000,4,0.000,0.037,2144,1063,1950,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10115,0.32,243.3,841.1,12.1,848,10121,0.08,2.20,0.00,0.000,6,0.118,0.041,2117,2519,1950,0,0,0,0,0,0,25.82,26.01,28.83
$GC,10435,0.30,243.3,808.5,10.4,864,10441,0.00,1.98,0.00,0.000,4,0.000,0.049,2117,3810,1950,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10497,0.29,243.3,801.4,11.6,867,10501,0.00,2.05,0.00,0.000,6,0.000,0.031,2127,2455,1949,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10809,0.27,243.3,766.6,10.6,883,10815,0.00,2.15,0.00,0.000,4,0.000,0.049,2126,3810,1949,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10849,0.25,243.3,761.9,11.3,885,10855,0.17,2.05,0.00,0.000,6,0.151,0.032,2089,2454,1949,0,0,0,0,0,0,25.79,26.17,28.83
$GC,11171,0.43,377.1,740.5,5.9,901,11292,0.17,2.33,109.03,1.265,4,0.061,0.050,2190,3808,1446,0,0,0,0,1,0,26.39,24.82,23.82
$GC,11339,0.37,377.1,713.9,18.8,909,11351,0.25,2.10,1.67,0.187,6,0.144,0.031,2130,2464,1442,0,0,0,0,0,0,25.07,25.29,25.01
$GC,11653,0.39,378.2,679.7,9.4,925,11661,0.00,2.15,1.65,0.197,4,0.000,0.038,2141,1054,1436,0,0,0,0,0,0,28.83,25.84,25.40
$GC,11679,0.41,381.7,677.9,9.3,926,11690,0.00,2.28,3.47,0.751,6,0.000,0.041,2141,2525,1423,0,0,0,0,0,0,28.83,25.86,24.41
$GC,11991,0.41,381.7,644.0,11.3,942,11998,0.00,2.00,2.22,0.340,4,0.000,0.047,2141,3811,1423,0,0,0,0,0,0,28.83,25.99,24.40
$GC,12014,0.41,381.7,642.1,11.6,943,12017,0.00,2.05,0.00,0.000,6,0.000,0.031,2151,2464,1430,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12322,0.40,381.7,599.0,14.0,958,12330,0.00,0.00,1.80,0.195,6,0.000,0.000,2151,2462,1424,0,0,0,0,0,0,28.83,28.83,25.48
$GC,12631,0.40,381.7,558.4,12.4,989,12641,0.00,2.17,1.70,0.197,4,0.000,0.049,2151,3810,1425,0,0,0,0,0,0,28.83,26.03,25.47
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$STATE,16998,end climb,SURFACE_DEPTH_REACHED
$STATE,16998,begin surface coast
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$STATE,17015,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.20
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$XPDR_PINGS,0
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$10V_AH,10.2,27.134
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$FG_AHR_10Vo,0.000
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$MEM,324448
$DATA_FILE_SIZE,103703,1589
$CAP_FILE_SIZE,193202,0
$CFSIZE,260165632,205549568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151211,132306,2327.347,12151.108,32,1.1,32,-3.1