version: 66.10
glider: 169
mission: 5
dive: 192
start: 12 15 111 18 10 28
data:
$ID,169
$MISSION,5
$DIVE,192
$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,200
$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,100
$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,-10963.281
$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
$GPS1,151211,180307,2329.488,12153.947,42,1.0,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-54.3
$GPS2,151211,181008,2329.679,12153.885,12,1.4,12,-3.1
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2327.803,12205.479
$TGT_RADIUS,1852.000
$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,103.1,20000,-14.9,-9.429
$D_GRID,4608
$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,16,-0.61,-194.6,0.0,0.0,0,119,0.00,0.00,-99.68,0.000,2,0.000,0.000,117,2703,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.61,-194.6,3.4,-7.9,18,152,6.93,2.30,-15.18,0.000,4,0.236,0.045,1813,1169,3776,0,0,0,0,0,0,25.39,26.08,26.46
$GC,277,-0.55,-194.6,50.3,-21.9,47,284,0.10,2.28,0.00,0.000,6,0.173,0.041,1827,2656,3775,0,0,0,0,0,0,25.87,26.07,28.83
$GC,588,-0.44,-194.6,141.2,-29.4,108,595,0.12,1.80,0.00,0.000,4,0.177,0.043,1855,3823,3775,0,0,0,0,0,0,26.05,26.17,28.83
$GC,609,-0.35,-194.6,146.6,-28.2,111,616,0.12,1.83,0.00,0.000,6,0.152,0.024,1898,2556,3776,0,0,0,0,0,0,26.02,26.34,28.83
$GC,920,-0.36,-194.6,182.4,-10.2,172,927,0.00,2.00,0.00,0.000,4,0.000,0.047,1889,3807,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,984,-0.42,-194.6,188.0,-6.9,184,991,0.00,1.77,0.00,0.000,6,0.000,0.024,1889,2556,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1294,-0.43,-194.6,215.3,-8.5,228,1303,0.00,2.00,0.00,0.000,4,0.000,0.028,1889,1175,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1317,-0.46,-194.6,217.2,-8.6,230,1326,0.00,2.20,0.00,0.000,6,0.000,0.040,1881,2653,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1626,-0.47,-194.6,247.8,-9.2,261,1629,0.00,1.77,0.00,0.000,4,0.000,0.047,1871,3818,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1680,-0.51,-194.6,252.0,-7.8,266,1687,0.00,1.80,0.00,0.000,6,0.000,0.024,1872,2549,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1987,-0.52,-194.6,280.3,-9.6,297,1991,0.00,1.98,0.00,0.000,4,0.000,0.046,1862,3821,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2021,-0.54,-194.6,283.2,-9.5,300,2028,0.00,1.80,0.00,0.000,6,0.000,0.024,1862,2556,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2328,-0.55,-194.6,315.9,-10.5,331,2337,0.00,1.95,0.00,0.000,4,0.000,0.045,1853,3823,3773,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2370,-0.57,-194.6,320.2,-10.3,335,2378,0.00,1.80,0.00,0.000,6,0.000,0.024,1853,2557,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2679,-0.57,-194.6,353.9,-10.5,366,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2557,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,-0.57,-194.6,385.5,-9.9,396,2989,0.00,1.98,0.00,0.000,4,0.000,0.045,1844,3820,3769,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3036,-0.59,-194.6,390.5,-9.4,401,3042,0.00,1.80,0.00,0.000,6,0.000,0.025,1844,2560,3768,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3342,-0.59,-194.6,421.7,-10.3,432,3350,0.00,1.95,0.00,0.000,4,0.000,0.049,1836,3812,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3375,-0.59,-194.6,424.7,-9.9,435,3382,0.00,1.83,0.00,0.000,6,0.000,0.025,1836,2560,3766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3684,-0.59,-194.6,458.5,-10.4,466,3693,0.00,1.98,0.00,0.000,4,0.000,0.048,1826,3815,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3736,-0.60,-194.6,463.8,-10.3,471,3739,0.00,1.80,0.00,0.000,6,0.000,0.024,1826,2567,3764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4047,-0.59,-194.6,498.8,-10.1,502,4055,0.00,2.00,0.00,0.000,4,0.000,0.030,1826,1170,3761,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4078,-0.59,-194.6,501.8,-10.0,505,4088,0.00,2.25,0.00,0.000,6,0.000,0.041,1816,2656,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4388,-0.57,-194.6,536.1,-11.3,536,4392,0.00,1.80,0.00,0.000,4,0.000,0.048,1808,3810,3761,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4440,-0.56,-194.6,541.8,-11.0,541,4443,0.00,1.80,0.00,0.000,6,0.000,0.026,1808,2565,3759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4753,-0.54,-194.6,580.7,-13.2,572,4761,0.00,2.00,0.00,0.000,4,0.000,0.031,1807,1182,3757,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4774,-0.51,-194.6,583.7,-13.1,574,4784,0.15,2.25,0.00,0.000,6,0.129,0.043,1843,2658,3756,0,0,0,0,0,0,26.08,26.26,28.83
$GC,5094,-0.53,-194.6,609.7,-7.5,600,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2658,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.56,-194.6,631.9,-7.7,615,5398,0.00,2.17,0.00,0.000,4,0.000,0.030,1843,1180,3752,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5419,-0.58,-194.6,633.6,-7.8,616,5423,0.00,2.25,0.00,0.000,6,0.000,0.042,1837,2658,3752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5732,-0.60,-194.6,661.2,-9.0,632,5736,0.00,1.80,0.00,0.000,4,0.000,0.050,1828,3822,3749,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5767,-0.62,-194.6,663.3,-8.9,633,5774,0.00,1.83,0.00,0.000,6,0.000,0.027,1828,2557,3749,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6075,-0.63,-194.6,691.5,-8.6,649,6080,0.00,1.98,0.00,0.000,4,0.000,0.030,1827,1176,3747,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6114,-0.64,-194.6,694.8,-8.4,651,6120,0.00,2.25,0.00,0.000,6,0.000,0.042,1819,2654,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6435,-0.64,-194.6,724.7,-9.3,667,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2654,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6733,-0.64,-194.6,752.9,-9.5,682,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2654,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,-0.64,-194.6,781.8,-9.9,697,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2654,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7335,-0.64,-194.6,810.7,-9.4,712,7340,0.00,2.15,0.00,0.000,4,0.000,0.032,1819,1187,3740,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7377,-0.65,-194.6,814.4,-9.4,714,7381,0.00,2.22,0.00,0.000,6,0.000,0.044,1811,2653,3739,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7688,-0.65,-194.6,846.9,-10.4,730,7694,0.00,2.20,0.00,0.000,4,0.000,0.031,1811,1173,3738,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7718,-0.65,-194.6,848.9,-10.5,731,7722,0.00,2.28,0.00,0.000,6,0.000,0.043,1802,2657,3738,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8024,-0.64,-194.6,880.9,-9.5,746,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2657,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,-0.63,-194.6,910.8,-10.2,761,8328,0.00,2.17,0.00,0.000,4,0.000,0.032,1802,1186,3735,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8374,-0.63,-194.6,915.0,-10.2,763,8378,0.00,2.25,0.00,0.000,6,0.000,0.044,1800,2652,3735,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8681,-0.62,-194.6,946.9,-10.4,778,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2652,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,-0.61,-194.6,978.7,-10.4,793,8985,0.00,2.17,0.00,0.000,4,0.000,0.031,1799,1184,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9011,-0.60,-194.6,980.9,-10.3,794,9015,0.00,2.28,0.00,0.000,6,0.000,0.045,1799,2657,3732,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,9096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9096,begin apogee
$GC,9101,-0.20,0.0,990.2,-9.8,798,9281,0.40,0.10,167.85,1.170,6,0.102,0.059,1940,2535,2967,0,0,0,0,0,0,25.90,24.72,23.84
$STATE,9282,end apogee,CONTROL_FINISHED_OK
$STATE,9282,begin climb
$GC,9284,0.61,194.6,998.0,0.0,807,9481,0.73,2.20,183.57,1.174,4,0.050,0.050,2216,3803,2171,0,0,0,0,0,0,24.96,24.18,23.28
$GC,9557,0.50,194.6,965.5,22.9,820,9564,0.20,2.12,0.00,0.000,6,0.190,0.032,2178,2461,2155,0,0,0,0,0,0,24.72,25.06,28.83
$GC,9865,0.44,194.6,906.8,17.9,836,9871,0.00,2.10,0.00,0.000,4,0.000,0.047,2178,3807,2150,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9892,0.37,194.6,903.0,18.0,837,9897,0.20,2.03,0.00,0.000,6,0.168,0.031,2135,2465,2149,0,0,0,0,0,0,25.49,25.89,28.83
$GC,10199,0.35,194.6,857.7,13.9,852,10204,0.00,2.15,0.00,0.000,4,0.000,0.047,2135,3820,2148,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10252,0.31,194.6,851.8,14.1,854,10260,0.12,2.05,0.00,0.000,6,0.171,0.030,2113,2464,2147,0,0,0,0,0,0,25.75,26.06,28.83
$GC,10559,0.31,194.6,818.6,9.4,870,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2463,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10859,0.32,213.7,792.4,8.8,885,10881,0.00,2.17,16.45,0.969,4,0.000,0.048,2114,3808,2100,0,0,0,0,0,0,28.83,25.95,24.99
$GC,10908,0.32,222.0,788.5,9.2,887,10919,0.00,2.05,3.25,0.640,6,0.000,0.031,2124,2461,2072,0,0,0,0,0,0,28.83,25.97,24.54
$GC,11222,0.32,224.4,758.8,9.3,903,11231,0.00,2.12,2.15,0.300,4,0.000,0.045,2124,3817,2063,0,0,0,0,0,0,28.83,26.04,24.45
$GC,11288,0.30,224.4,752.0,10.8,906,11292,0.00,2.05,0.00,0.000,6,0.000,0.030,2134,2463,2072,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11594,0.28,224.4,716.4,11.6,921,11602,0.12,2.17,1.52,0.180,4,0.174,0.047,2097,3813,2061,0,0,0,0,0,0,25.96,26.06,25.58
$GC,11618,0.27,224.4,714.1,11.5,922,11622,0.00,2.03,0.00,0.000,6,0.000,0.029,2106,2450,2066,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11935,0.32,252.6,686.0,8.5,938,11987,0.00,2.17,44.85,0.875,4,0.000,0.041,2117,1069,1942,0,0,0,0,0,0,28.83,25.63,24.77
$GC,12016,0.38,291.3,679.5,8.2,942,12062,0.00,2.25,40.20,0.932,6,0.000,0.039,2117,2519,1789,0,0,0,0,0,0,28.83,25.67,24.43
$GC,12375,0.48,346.2,650.6,7.6,960,12435,0.12,2.12,50.55,0.947,4,0.077,0.048,2196,3807,1553,0,0,0,0,0,0,26.07,25.27,24.44
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$STATE,17865,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,107146,1641
$CAP_FILE_SIZE,201124,0
$CFSIZE,260165632,205340672
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