version: 66.10
glider: 169
mission: 5
dive: 202
start: 12 17 111 19 30 34
data:
$ID,169
$MISSION,5
$DIVE,202
$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,150
$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,-10975.862
$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
$GPS1,171211,192254,2337.734,12223.503,40,1.3,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.5
$GPS2,171211,193014,2337.876,12223.523,12,1.8,12,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2328.524,12229.410
$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,153.2,20000,-14.9,-9.429
$D_GRID,3169
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-94.32,0.000,2,0.000,0.000,119,2683,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.61,-194.6,3.1,-5.7,17,147,6.80,2.25,-16.25,0.000,4,0.230,0.041,1813,1181,3774,0,0,0,0,0,0,25.32,26.04,26.46
$GC,265,-0.53,-194.6,55.1,-26.6,45,272,0.12,2.28,0.00,0.000,6,0.164,0.046,1834,2653,3774,0,0,0,0,0,0,25.80,26.03,28.83
$GC,577,-0.42,-194.6,154.7,-30.4,106,584,0.12,0.00,0.00,0.000,6,0.181,0.000,1870,2653,3774,0,0,0,0,0,0,26.03,28.83,28.83
$GC,893,-0.38,-194.6,214.9,-16.6,159,902,0.00,2.17,0.00,0.000,4,0.000,0.030,1870,1184,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,959,-0.40,-194.6,222.4,-10.1,165,965,0.00,2.22,0.00,0.000,6,0.000,0.042,1862,2655,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1265,-0.36,-194.6,267.9,-17.6,196,1274,0.12,1.77,0.00,0.000,4,0.157,0.045,1895,3818,3774,0,0,0,0,0,0,26.22,26.22,28.83
$GC,1311,-0.37,-194.6,273.2,-12.8,200,1317,0.00,1.80,0.00,0.000,6,0.000,0.024,1895,2556,3774,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1618,-0.41,-194.6,294.4,-6.6,231,1626,0.00,2.00,0.00,0.000,4,0.000,0.029,1896,1179,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1640,-0.46,-194.6,295.8,-6.2,233,1649,0.00,2.20,0.00,0.000,6,0.000,0.041,1892,2650,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1951,-0.58,-194.6,322.0,-9.7,264,1958,0.20,0.00,0.00,0.000,6,0.086,0.000,1811,2650,3772,0,0,0,0,0,0,26.39,28.83,28.83
$GC,2260,-0.61,-194.6,347.7,-7.8,295,2268,0.00,2.15,0.00,0.000,4,0.000,0.031,1810,1172,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2363,-0.61,-194.6,357.0,-9.7,305,2370,0.00,2.28,0.00,0.000,6,0.000,0.042,1800,2655,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2673,-0.55,-194.6,409.5,-16.4,336,2682,0.10,1.75,0.00,0.000,4,0.171,0.044,1817,3822,3769,0,0,0,0,0,0,26.39,26.26,28.83
$GC,2725,-0.52,-194.6,417.7,-14.5,341,2728,0.00,1.80,0.00,0.000,6,0.000,0.024,1818,2568,3769,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3036,-0.49,-194.6,462.1,-16.0,372,3045,0.12,2.03,0.00,0.000,4,0.143,0.029,1860,1179,3767,0,0,0,0,0,0,26.32,26.34,28.83
$GC,3078,-0.51,-194.6,466.9,-11.7,376,3087,0.00,2.25,0.00,0.000,6,0.000,0.044,1852,2657,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3390,-0.53,-194.6,495.1,-9.3,407,3394,0.00,1.77,0.00,0.000,4,0.000,0.048,1843,3813,3764,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3442,-0.57,-194.6,500.1,-9.0,412,3445,0.00,1.80,0.00,0.000,6,0.000,0.025,1843,2561,3764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3753,-0.58,-194.6,528.9,-8.6,443,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2556,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-0.59,-194.6,553.8,-8.4,473,4064,0.00,1.98,0.00,0.000,4,0.000,0.048,1835,3827,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4090,-0.61,-194.6,556.7,-8.6,476,4097,0.00,1.83,0.00,0.000,6,0.000,0.024,1835,2555,3760,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4399,-0.62,-194.6,586.2,-9.9,507,4407,0.00,1.98,0.00,0.000,4,0.000,0.030,1835,1188,3757,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4421,-0.63,-194.6,588.3,-9.6,509,4425,0.00,2.22,0.00,0.000,6,0.000,0.041,1825,2658,3757,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4742,-0.63,-194.6,620.8,-9.7,531,4745,0.00,1.80,0.00,0.000,4,0.000,0.048,1817,3820,3755,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4798,-0.63,-194.6,624.5,-9.5,533,4805,0.00,1.80,0.00,0.000,6,0.000,0.025,1817,2562,3754,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5103,-0.63,-194.6,654.1,-9.7,549,5108,0.00,2.05,0.00,0.000,4,0.000,0.034,1817,1176,3752,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5157,-0.63,-194.6,657.8,-9.6,551,5163,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2652,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5465,-0.62,-194.6,690.2,-10.7,567,5470,0.00,2.15,0.00,0.000,4,0.000,0.031,1813,1188,3749,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5506,-0.62,-194.6,694.2,-10.5,569,5510,0.00,2.22,0.00,0.000,6,0.000,0.044,1813,2651,3748,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5818,-0.62,-194.6,726.8,-10.3,585,5824,0.00,2.17,0.00,0.000,4,0.000,0.031,1813,1186,3747,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5839,-0.62,-194.6,729.0,-10.6,586,5845,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2657,3747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6158,-0.62,-194.6,762.6,-10.8,602,6164,0.00,2.20,0.00,0.000,4,0.000,0.031,1813,1175,3744,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6198,-0.62,-194.6,767.0,-10.8,604,6204,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2657,3744,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6519,-0.62,-194.6,801.5,-10.4,620,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2656,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,-0.62,-194.6,832.2,-9.7,635,6824,0.00,2.20,0.00,0.000,4,0.000,0.032,1812,1187,3740,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6846,-0.62,-194.6,834.1,-9.7,636,6850,0.00,2.22,0.00,0.000,6,0.000,0.045,1812,2650,3739,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7154,-0.62,-194.6,863.1,-9.4,651,7158,0.00,2.17,0.00,0.000,4,0.000,0.032,1812,1187,3737,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7175,-0.62,-194.6,865.2,-9.4,652,7181,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2653,3737,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7496,-0.62,-194.6,894.7,-9.5,668,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2654,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7795,-0.62,-194.6,924.8,-9.9,683,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2653,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8096,-0.62,-194.6,953.4,-9.2,698,8102,0.00,2.20,0.00,0.000,4,0.000,0.034,1812,1188,3733,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8129,-0.62,-194.6,955.3,-9.2,699,8136,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2651,3733,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8436,-0.62,-194.6,983.8,-8.9,715,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2651,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8513,begin apogee
$GC,8519,-0.20,0.0,990.9,-8.8,719,8698,0.38,0.10,168.52,1.165,6,0.099,0.058,1945,2528,2969,0,0,0,0,0,0,25.91,24.72,23.83
$STATE,8699,end apogee,CONTROL_FINISHED_OK
$STATE,8699,begin climb
$GC,8701,0.61,194.6,999.0,0.0,728,8898,0.70,2.20,185.35,1.178,4,0.047,0.047,2214,3817,2172,0,0,0,0,0,0,24.96,24.18,23.25
$GC,8909,0.51,194.6,983.4,16.2,738,8914,0.20,2.17,0.00,0.000,6,0.186,0.031,2177,2471,2162,0,0,0,0,0,0,24.28,24.51,28.83
$GC,9216,0.45,194.6,931.0,15.6,753,9222,0.00,2.15,0.00,0.000,4,0.000,0.048,2176,3811,2151,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9265,0.38,194.6,924.0,16.3,755,9270,0.20,2.05,0.00,0.000,6,0.165,0.033,2134,2464,2150,0,0,0,0,0,0,25.48,25.86,28.83
$GC,9571,0.36,194.6,886.4,11.7,770,9577,0.00,2.15,0.00,0.000,4,0.000,0.047,2133,3819,2148,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9651,0.32,194.6,876.1,12.9,774,9657,0.00,2.05,0.00,0.000,6,0.000,0.029,2144,2459,2148,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9972,0.29,194.6,837.6,12.1,790,9978,0.12,2.10,0.00,0.000,4,0.172,0.044,2106,3809,2147,0,0,0,0,0,0,25.94,26.01,28.83
$GC,9994,0.26,194.6,835.1,12.1,791,9997,0.00,2.00,0.00,0.000,6,0.000,0.029,2116,2463,2147,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10312,0.25,194.6,802.7,10.4,807,10318,0.00,2.10,0.00,0.000,4,0.000,0.047,2116,3807,2146,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10354,0.24,194.6,797.9,11.1,809,10358,0.15,2.03,0.00,0.000,6,0.154,0.030,2086,2452,2146,0,0,0,0,0,0,25.82,26.17,28.83
$GC,10670,0.31,236.6,771.6,8.1,825,10710,0.00,2.20,29.75,1.003,4,0.000,0.048,2086,3819,2016,0,0,0,0,1,0,28.83,25.76,24.62
$GC,10737,0.36,268.4,766.7,8.4,828,10786,0.00,2.08,42.90,0.965,6,0.000,0.030,2096,2460,1879,0,0,0,0,0,0,28.83,25.82,24.39
$GC,11104,0.46,316.4,735.3,7.9,847,11156,0.15,2.22,44.97,0.993,4,0.067,0.039,2199,1071,1678,0,0,0,0,0,0,26.08,25.34,24.42
$GC,11178,0.45,316.4,726.4,13.2,850,11185,0.15,2.30,0.00,0.000,6,0.133,0.043,2157,2526,1667,0,0,0,0,0,0,25.33,25.46,28.83
$GC,11486,0.44,316.4,681.8,13.2,866,11491,0.00,1.98,0.00,0.000,4,0.000,0.050,2157,3805,1662,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11532,0.43,316.4,676.4,13.1,868,11536,0.00,2.03,0.00,0.000,6,0.000,0.031,2167,2460,1661,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11839,0.41,316.4,634.4,13.4,883,11845,0.00,2.12,0.00,0.000,4,0.000,0.039,2178,1055,1659,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11888,0.40,316.4,629.4,13.0,885,11898,0.12,2.28,0.00,0.000,6,0.135,0.043,2143,2528,1657,0,0,0,0,0,0,25.86,26.01,28.83
$GC,12201,0.41,316.4,594.8,11.4,903,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2530,1657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12502,0.42,316.4,560.5,10.7,933,12510,0.00,2.03,0.00,0.000,4,0.000,0.050,2143,3815,1657,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,17035,end climb,SURFACE_DEPTH_REACHED
$STATE,17035,begin surface coast
$FINISH,0.2,1.023133
$STATE,17059,end surface coast,CONTROL_FINISHED_OK
$STATE,17059,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.59
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$TCM_TEMP,24.40
$XPDR_PINGS,1
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$10V_AH,10.2,28.506
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.525,163.950,541.875,11.900,0.000,23.010,49.816,238.512,0.250,0.000,12.932,3665.289,9674.399,718.481,3076.178,366.897,0.000,2206.255,0.000,2617.681,0.000,0.542,0.000
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$MEM,324560
$DATA_FILE_SIZE,103644,1548
$CAP_FILE_SIZE,188645,0
$CFSIZE,260165632,204402688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181211,001631,2338.264,12225.865,41,1.0,41,-3.2