version: 66.10
glider: 169
mission: 5
dive: 195
start: 12 16 111 9 27 52
data:
$ID,169
$MISSION,5
$DIVE,195
$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,115
$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,-10967.055
$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
$GPS1,161211,091924,2332.927,12204.412,67,1.9,67,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-60.2
$GPS2,161211,092732,2333.118,12204.447,17,1.4,17,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2328.554,12215.117
$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,118.2,20000,-14.9,-9.429
$D_GRID,3805
$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,-194.6,0.0,0.0,0,91,0.00,0.00,-72.28,0.000,2,0.000,0.000,116,2664,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-194.6,3.1,-4.9,13,125,6.90,2.22,-16.12,0.000,4,0.233,0.042,1812,1187,3773,0,0,0,0,0,0,25.32,26.00,26.44
$GC,162,-0.51,-194.6,30.0,-30.5,25,169,0.15,2.28,0.00,0.000,6,0.162,0.041,1840,2658,3774,0,0,0,0,0,0,25.70,25.98,28.83
$GC,474,-0.40,-194.6,125.4,-28.7,86,481,0.12,2.20,0.00,0.000,4,0.185,0.027,1888,1168,3774,0,0,0,0,0,0,25.98,26.19,28.83
$GC,525,-0.38,-194.6,136.6,-16.1,95,532,0.00,2.28,0.00,0.000,6,0.000,0.041,1877,2657,3774,0,0,0,0,0,0,28.83,26.14,28.83
$GC,835,-0.34,-194.6,187.6,-17.5,156,842,0.00,2.15,0.00,0.000,4,0.000,0.028,1877,1178,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,865,-0.32,-194.6,192.0,-14.4,161,872,0.12,2.22,0.00,0.000,6,0.135,0.041,1904,2654,3774,0,0,0,0,0,0,26.06,26.21,28.83
$GC,1176,-0.36,-194.6,215.4,-6.9,201,1179,0.00,1.77,0.00,0.000,4,0.000,0.048,1896,3813,3774,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1210,-0.40,-194.6,217.3,-6.4,204,1217,0.00,1.83,0.00,0.000,6,0.000,0.025,1895,2557,3774,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1518,-0.52,-194.6,242.2,-8.3,235,1527,0.12,2.00,0.00,0.000,4,0.126,0.028,1856,1169,3774,0,0,0,0,0,0,26.36,26.36,28.83
$GC,1553,-0.63,-194.6,245.2,-8.8,238,1560,0.15,2.22,0.00,0.000,6,0.082,0.040,1796,2657,3774,0,0,0,0,0,0,26.25,26.29,28.83
$GC,1861,-0.54,-194.6,300.6,-24.3,269,1865,0.15,1.75,0.00,0.000,4,0.150,0.042,1833,3820,3773,0,0,0,0,0,0,26.19,26.27,28.83
$GC,1943,-0.53,-194.6,315.0,-13.5,277,1947,0.00,1.80,0.00,0.000,6,0.000,0.024,1834,2569,3773,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2254,-0.51,-194.6,359.9,-13.0,308,2258,0.00,1.95,0.00,0.000,4,0.000,0.047,1824,3817,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2296,-0.48,-194.6,365.8,-14.1,312,2299,0.00,1.80,0.00,0.000,6,0.000,0.024,1824,2570,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2607,-0.45,-194.6,410.0,-12.8,343,2611,0.12,1.95,0.00,0.000,4,0.138,0.046,1858,3814,3770,0,0,0,0,0,0,26.33,26.23,28.83
$GC,2639,-0.45,-194.6,413.4,-11.4,346,2642,0.00,1.83,0.00,0.000,6,0.000,0.025,1858,2562,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2951,-0.48,-194.6,435.4,-7.0,377,2960,0.00,1.95,0.00,0.000,4,0.000,0.047,1850,3818,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2976,-0.50,-194.6,436.9,-6.8,379,2983,0.00,1.80,0.00,0.000,6,0.000,0.025,1849,2560,3768,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3284,-0.52,-194.6,460.2,-7.9,410,3288,0.00,1.98,0.00,0.000,4,0.000,0.047,1841,3822,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3316,-0.54,-194.6,462.7,-7.6,413,3320,0.00,1.83,0.00,0.000,6,0.000,0.026,1841,2566,3765,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3629,-0.55,-194.6,488.8,-8.1,444,3637,0.00,2.00,0.00,0.000,4,0.000,0.032,1841,1186,3763,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3653,-0.57,-194.6,490.6,-8.1,446,3660,0.00,2.22,0.00,0.000,6,0.000,0.041,1832,2659,3763,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3960,-0.57,-194.6,517.2,-9.1,477,3963,0.00,1.80,0.00,0.000,4,0.000,0.048,1824,3823,3760,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3995,-0.57,-194.6,519.8,-8.4,480,4002,0.00,1.83,0.00,0.000,6,0.000,0.024,1824,2567,3760,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4301,-0.57,-194.6,548.6,-9.9,511,4304,0.00,1.95,0.00,0.000,4,0.000,0.047,1814,3813,3758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4320,-0.57,-194.6,549.9,-9.5,512,4327,0.00,1.80,0.00,0.000,6,0.000,0.026,1815,2561,3757,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4627,-0.56,-194.6,583.3,-10.7,543,4636,0.00,1.95,0.00,0.000,4,0.000,0.047,1805,3817,3755,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4679,-0.56,-194.6,588.8,-10.7,548,4682,0.00,1.80,0.00,0.000,6,0.000,0.025,1805,2568,3755,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5001,-0.54,-194.6,625.8,-11.5,569,5006,0.12,1.92,0.00,0.000,4,0.141,0.047,1839,3810,3753,0,0,0,0,0,0,26.32,26.17,28.83
$GC,5028,-0.52,-194.6,628.1,-11.5,570,5031,0.00,1.80,0.00,0.000,6,0.000,0.028,1839,2570,3753,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5342,-0.55,-194.6,650.8,-7.0,586,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2562,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5640,-0.57,-194.6,672.0,-7.3,601,5645,0.00,1.95,0.00,0.000,4,0.000,0.048,1831,3813,3749,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5674,-0.60,-194.6,673.4,-7.4,602,5680,0.00,1.80,0.00,0.000,6,0.000,0.027,1831,2561,3749,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5982,-0.61,-194.6,700.3,-8.6,618,5988,0.00,2.00,0.00,0.000,4,0.000,0.031,1831,1189,3746,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6009,-0.63,-194.6,702.0,-8.5,619,6013,0.00,2.22,0.00,0.000,6,0.000,0.041,1822,2656,3746,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6322,-0.63,-194.6,732.2,-9.5,635,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2656,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,-0.63,-194.6,759.4,-9.0,650,6627,0.00,2.17,0.00,0.000,4,0.000,0.031,1822,1185,3743,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6650,-0.64,-194.6,761.2,-9.0,651,6654,0.00,2.25,0.00,0.000,6,0.000,0.042,1813,2659,3743,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6957,-0.64,-194.6,792.8,-10.4,666,6962,0.00,2.17,0.00,0.000,4,0.000,0.030,1813,1178,3740,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7009,-0.64,-194.6,796.8,-10.3,668,7016,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2652,3740,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7319,-0.64,-194.6,827.5,-9.4,684,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2651,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7616,-0.64,-194.6,853.4,-8.3,699,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2651,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7916,-0.64,-194.6,879.2,-8.4,714,7922,0.00,2.17,0.00,0.000,4,0.000,0.032,1813,1187,3736,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7945,-0.64,-194.6,881.0,-8.5,715,7949,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2650,3736,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8253,-0.64,-194.6,906.8,-8.1,730,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2650,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8551,-0.64,-194.6,929.2,-7.2,745,8557,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1187,3733,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8585,-0.64,-194.6,930.8,-7.4,746,8592,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2652,3733,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8891,-0.64,-194.6,954.6,-7.4,762,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2652,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,-0.65,-194.6,978.4,-8.1,777,9198,0.00,2.15,0.00,0.000,4,0.000,0.032,1813,1180,3731,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9234,-0.66,-194.6,981.8,-8.3,779,9238,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2657,3731,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,9344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9344,begin apogee
$GC,9349,-0.20,0.0,990.7,-7.9,785,9522,0.38,0.12,165.62,1.187,6,0.098,0.086,1946,2534,2977,0,0,0,0,0,0,25.89,24.71,23.79
$STATE,9523,end apogee,CONTROL_FINISHED_OK
$STATE,9524,begin climb
$GC,9526,0.61,194.6,998.0,0.0,793,9724,0.70,2.47,184.12,1.182,4,0.047,0.042,2225,1075,2169,0,0,0,0,0,0,24.89,24.14,23.20
$GC,9788,0.53,194.6,972.4,17.5,806,9794,0.12,2.30,0.00,0.000,6,0.156,0.041,2187,2519,2156,0,0,0,0,0,0,24.68,24.92,28.83
$GC,10107,0.46,194.6,917.9,16.5,822,10112,0.00,2.05,0.00,0.000,4,0.000,0.047,2187,3817,2152,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10191,0.38,194.6,903.9,17.7,826,10195,0.22,2.08,0.00,0.000,6,0.177,0.031,2138,2461,2151,0,0,0,0,0,0,25.43,25.91,28.83
$GC,10506,0.35,194.6,865.3,12.0,842,10511,0.00,2.10,0.00,0.000,4,0.000,0.047,2138,3804,2148,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10535,0.31,194.6,862.6,12.2,843,10544,0.12,2.03,0.00,0.000,6,0.172,0.030,2117,2463,2148,0,0,0,0,0,0,25.72,26.06,28.83
$GC,10844,0.30,194.6,825.9,11.7,859,10848,0.00,2.12,0.00,0.000,4,0.000,0.048,2117,3813,2148,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10895,0.29,194.6,820.4,12.4,861,10899,0.00,2.05,0.00,0.000,6,0.000,0.031,2127,2462,2147,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11201,0.27,194.6,782.0,11.7,876,11207,0.00,2.12,0.00,0.000,4,0.000,0.038,2137,1052,2147,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11221,0.26,194.6,779.6,11.7,877,11227,0.15,2.28,0.00,0.000,6,0.139,0.041,2095,2528,2146,0,0,0,0,0,0,25.80,26.05,28.83
$GC,11545,0.32,234.2,752.2,8.1,893,11588,0.00,2.08,37.70,0.974,4,0.000,0.054,2095,3810,2017,0,0,0,0,0,0,28.83,25.63,24.70
$GC,11614,0.37,267.3,747.1,8.4,896,11653,0.00,2.08,33.80,0.965,6,0.000,0.034,2105,2466,1888,0,0,0,0,0,0,28.83,25.71,24.41
$GC,11963,0.44,301.7,716.9,8.3,914,12002,0.15,2.25,32.85,0.985,4,0.066,0.040,2201,1061,1740,0,0,0,0,0,0,26.07,25.46,24.55
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$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17625,begin surface coast
$FINISH,0.6,1.023103
$STATE,17662,end surface coast,CONTROL_FINISHED_OK
$STATE,17662,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,23.2,42.515
$10V_AH,10.2,27.720
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.375,166.175,716.725,0.000,0.000,30.737,58.820,257.226,0.500,0.000,18.744,3710.740,10192.792,766.818,3160.515,364.156,0.000,2300.903,0.000,2647.099,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,103484,1573
$CAP_FILE_SIZE,196695,0
$CFSIZE,260165632,205053952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161211,142436,2333.337,12207.750,39,1.3,39,-3.2