version: 66.10
glider: 169
mission: 5
dive: 196
start: 12 16 111 14 32 34
data:
$ID,169
$MISSION,5
$DIVE,196
$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,-10968.311
$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
$GPS1,161211,142436,2333.337,12207.750,39,1.3,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-58.5
$GPS2,161211,143214,2333.443,12207.751,14,1.5,14,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2328.879,12218.422
$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,3930
$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,-194.6,0.0,0.0,0,108,0.00,0.00,-88.75,0.000,2,0.000,0.000,116,2686,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.61,-194.6,3.5,-6.7,16,142,6.62,2.33,-17.35,0.000,4,0.220,0.046,1813,1188,3776,0,0,0,0,0,0,25.29,26.00,26.43
$GC,285,-0.53,-194.6,64.8,-32.1,49,293,0.12,2.25,0.00,0.000,6,0.161,0.041,1835,2654,3777,0,0,0,0,0,0,25.82,26.04,28.83
$GC,598,-0.42,-194.6,165.9,-30.9,110,605,0.12,2.17,0.00,0.000,4,0.187,0.028,1882,1182,3776,0,0,0,0,0,0,26.00,26.22,28.83
$GC,663,-0.44,-194.6,178.9,-11.2,122,670,0.00,2.25,0.00,0.000,6,0.000,0.044,1881,2656,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,975,-0.42,-194.6,220.9,-14.1,169,983,0.00,2.15,0.00,0.000,4,0.000,0.030,1881,1184,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1006,-0.42,-194.6,224.9,-12.9,172,1015,0.00,2.22,0.00,0.000,6,0.000,0.042,1875,2658,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1316,-0.42,-194.6,266.0,-12.3,203,1319,0.00,1.77,0.00,0.000,4,0.000,0.047,1865,3814,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1381,-0.46,-194.6,272.2,-9.4,209,1387,0.00,1.80,0.00,0.000,6,0.000,0.025,1865,2556,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1686,-0.46,-194.6,309.5,-11.6,240,1695,0.00,2.00,0.00,0.000,4,0.000,0.028,1865,1177,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1711,-0.46,-194.6,311.8,-11.3,242,1718,0.00,2.22,0.00,0.000,6,0.000,0.041,1856,2654,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2019,-0.46,-194.6,347.5,-10.9,273,2023,0.00,1.77,0.00,0.000,4,0.000,0.048,1847,3813,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2093,-0.48,-194.6,356.0,-10.6,280,2100,0.00,1.80,0.00,0.000,6,0.000,0.025,1847,2557,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2400,-0.47,-194.6,394.0,-12.5,311,2409,0.00,1.98,0.00,0.000,4,0.000,0.045,1837,3820,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2426,-0.46,-194.6,396.5,-12.5,313,2432,0.00,1.80,0.00,0.000,6,0.000,0.024,1837,2558,3773,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2733,-0.45,-194.6,438.5,-12.4,344,2742,0.00,1.95,0.00,0.000,4,0.000,0.046,1828,3817,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2785,-0.45,-194.6,444.9,-11.9,349,2794,0.12,1.80,0.00,0.000,6,0.124,0.024,1867,2555,3770,0,0,0,0,0,0,26.22,26.48,28.83
$GC,3096,-0.48,-194.6,468.7,-6.9,380,3104,0.00,2.00,0.00,0.000,4,0.000,0.028,1867,1179,3769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3121,-0.52,-194.6,470.1,-6.9,382,3127,0.00,2.22,0.00,0.000,6,0.000,0.041,1864,2656,3768,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3427,-0.55,-194.6,491.5,-6.6,413,3431,0.00,1.80,0.00,0.000,4,0.000,0.048,1856,3813,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3459,-0.59,-194.6,493.6,-6.6,416,3469,0.12,1.80,0.00,0.000,6,0.083,0.026,1780,2557,3766,0,0,0,0,0,0,26.36,26.47,28.83
$GC,3769,-0.54,-194.6,545.0,-16.6,447,3771,0.17,0.00,0.00,0.000,6,0.132,0.000,1833,2557,3764,0,0,0,0,0,0,26.20,28.83,28.83
$GC,4069,-0.54,-194.6,573.8,-9.2,477,4077,0.00,2.00,0.00,0.000,4,0.000,0.047,1823,3822,3761,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4102,-0.54,-194.6,576.9,-9.8,480,4109,0.00,1.85,0.00,0.000,6,0.000,0.024,1823,2557,3761,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4422,-0.54,-194.6,611.7,-11.5,507,4427,0.00,2.00,0.00,0.000,4,0.000,0.047,1814,3825,3759,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4448,-0.54,-194.6,614.1,-11.6,508,4451,0.00,1.83,0.00,0.000,6,0.000,0.024,1814,2570,3758,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4760,-0.53,-194.6,651.2,-11.9,524,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2567,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.53,-194.6,684.5,-10.8,539,5064,0.00,1.98,0.00,0.000,4,0.000,0.048,1805,3817,3753,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5095,-0.53,-194.6,687.0,-10.9,540,5102,0.08,1.83,0.00,0.000,6,0.099,0.025,1837,2563,3753,0,0,0,0,0,0,26.20,26.44,28.83
$GC,5403,-0.55,-194.6,712.7,-7.4,556,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2563,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5703,-0.57,-194.6,735.2,-7.3,571,5707,0.00,1.98,0.00,0.000,4,0.000,0.050,1827,3821,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5733,-0.60,-194.6,737.0,-7.4,572,5737,0.00,1.83,0.00,0.000,6,0.000,0.028,1827,2566,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6043,-0.61,-194.6,761.3,-7.7,587,6048,0.00,2.00,0.00,0.000,4,0.000,0.033,1827,1187,3747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6071,-0.62,-194.6,762.9,-7.9,588,6080,0.00,2.22,0.00,0.000,6,0.000,0.042,1824,2653,3747,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6382,-0.63,-194.6,790.7,-8.8,604,6385,0.00,1.83,0.00,0.000,4,0.000,0.050,1815,3813,3745,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6417,-0.64,-194.6,792.7,-8.8,605,6424,0.00,1.80,0.00,0.000,6,0.000,0.026,1815,2562,3745,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6723,-0.64,-194.6,823.2,-9.4,621,6729,0.00,2.03,0.00,0.000,4,0.000,0.032,1815,1186,3744,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6745,-0.64,-194.6,825.0,-9.4,622,6750,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2656,3743,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7059,-0.64,-194.6,855.7,-9.8,638,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2656,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,-0.64,-194.6,883.9,-9.4,653,7365,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1185,3740,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7391,-0.64,-194.6,885.8,-9.3,654,7399,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2653,3740,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7699,-0.64,-194.6,914.0,-8.7,670,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2653,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,-0.64,-194.6,940.9,-9.2,685,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2653,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8301,-0.64,-194.6,966.7,-8.3,700,8306,0.00,2.15,0.00,0.000,4,0.000,0.031,1813,1188,3735,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8347,-0.65,-194.6,969.7,-7.8,702,8351,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2650,3735,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8611,begin apogee
$GC,8618,-0.20,0.0,990.4,-7.9,715,8789,0.38,0.12,164.95,1.186,6,0.099,0.086,1946,2531,2977,0,0,0,0,0,0,25.92,24.72,23.80
$STATE,8790,end apogee,CONTROL_FINISHED_OK
$STATE,8790,begin climb
$GC,8792,0.61,194.6,996.4,0.0,723,8985,0.70,2.28,182.85,1.184,4,0.050,0.050,2211,3811,2176,0,0,0,0,0,0,24.89,24.13,23.22
$GC,9112,0.51,194.6,951.9,23.4,738,9117,0.17,2.12,0.00,0.000,6,0.191,0.034,2180,2468,2156,0,0,0,0,0,0,24.94,25.29,28.83
$GC,9425,0.45,194.6,899.4,15.3,754,9431,0.00,2.12,0.00,0.000,4,0.000,0.048,2179,3804,2151,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9465,0.38,194.6,892.8,15.8,756,9471,0.20,2.05,0.00,0.000,6,0.168,0.030,2137,2464,2151,0,0,0,0,0,0,25.51,25.94,28.83
$GC,9785,0.35,194.6,857.2,10.6,772,9791,0.00,2.12,0.00,0.000,4,0.000,0.048,2137,3808,2149,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9817,0.32,194.6,854.7,11.1,773,9825,0.12,2.03,0.00,0.000,6,0.173,0.029,2116,2462,2149,0,0,0,0,0,0,25.74,26.07,28.83
$GC,10125,0.31,194.6,823.7,9.9,789,10131,0.00,2.15,0.00,0.000,4,0.000,0.047,2116,3821,2148,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10185,0.30,194.6,817.0,10.7,792,10191,0.00,2.05,0.00,0.000,6,0.000,0.030,2126,2464,2147,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10506,0.28,194.6,783.9,10.2,808,10511,0.00,2.10,0.00,0.000,4,0.000,0.037,2136,1065,2146,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10538,0.27,194.6,781.9,10.2,809,10546,0.15,2.25,0.00,0.000,6,0.139,0.042,2094,2532,2146,0,0,0,0,0,0,25.82,26.06,28.83
$GC,10845,0.36,259.2,757.2,7.3,825,10905,0.00,2.12,48.38,1.148,4,0.000,0.050,2094,3811,1930,0,0,0,0,1,0,28.83,25.39,24.29
$GC,10943,0.45,321.5,750.9,7.4,829,11020,0.15,2.08,70.75,0.991,6,0.067,0.031,2186,2464,1666,0,0,0,0,0,0,25.59,25.58,24.14
$GC,11328,0.42,321.5,686.3,17.3,849,11330,0.15,0.00,0.00,0.000,6,0.168,0.000,2147,2464,1638,0,0,0,0,0,0,25.65,28.83,28.83
$GC,11628,0.42,321.5,648.8,12.0,864,11634,0.00,2.12,0.00,0.000,4,0.000,0.048,2147,3810,1637,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11661,0.42,321.5,646.4,11.8,865,11667,0.00,2.05,0.00,0.000,6,0.000,0.030,2156,2464,1636,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11970,0.41,321.5,605.7,12.7,881,11975,0.00,2.08,0.00,0.000,4,0.000,0.037,2167,1060,1635,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11996,0.41,321.5,603.4,12.5,882,12001,0.00,2.22,0.00,0.000,6,0.000,0.041,2167,2522,1634,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12305,0.39,321.5,555.9,15.6,911,12313,0.00,1.98,0.00,0.000,4,0.000,0.049,2167,3812,1634,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12367,0.38,321.5,545.7,15.9,917,12376,0.12,2.03,0.00,0.000,6,0.128,0.030,2135,2463,1633,0,0,0,0,0,0,25.81,26.16,28.83
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$STATE,16686,end climb,SURFACE_DEPTH_REACHED
$STATE,16686,begin surface coast
$FINISH,0.2,1.023085
$STATE,16697,end surface coast,CONTROL_FINISHED_OK
$STATE,16697,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.25
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,10.2,27.831
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.975,157.225,639.000,0.000,0.000,24.209,18.120,276.990,0.000,0.000,15.301,3505.097,9581.842,755.884,3002.754,355.207,0.000,2227.015,0.000,2531.293,0.000,0.542,0.000
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$MEM,324560
$DATA_FILE_SIZE,100160,1495
$CAP_FILE_SIZE,185209,0
$CFSIZE,260165632,204980224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161211,191306,2334.594,12210.769,32,1.4,32,-3.2