version: 66.10
glider: 169
mission: 5
dive: 206
start: 12 18 111 14 56 4
data:
$ID,169
$MISSION,5
$DIVE,206
$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,-10980.893
$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
$GPS1,181211,144836,2338.784,12232.646,32,1.2,32,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.2
$GPS2,181211,145544,2338.889,12232.607,16,1.2,16,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2329.537,12238.495
$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,3092
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-83.93,0.000,2,0.000,0.000,117,2682,3035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.61,-194.6,3.6,-9.7,15,136,7.05,2.28,-14.23,0.000,4,0.240,0.041,1814,1170,3775,0,0,0,0,0,0,25.30,26.06,26.45
$GC,294,-0.54,-194.6,62.3,-25.5,51,302,0.12,2.28,0.00,0.000,6,0.168,0.044,1834,2652,3776,0,0,0,0,0,0,25.79,26.04,28.83
$GC,607,-0.42,-194.6,164.5,-31.8,112,614,0.12,2.17,0.00,0.000,4,0.187,0.027,1881,1174,3776,0,0,0,0,0,0,26.01,26.23,28.83
$GC,656,-0.42,-194.6,175.6,-13.7,121,663,0.00,2.25,0.00,0.000,6,0.000,0.042,1871,2653,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,967,-0.38,-194.6,230.6,-17.6,167,970,0.00,1.77,0.00,0.000,4,0.000,0.047,1862,3822,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,998,-0.35,-194.6,235.5,-15.4,170,1008,0.12,1.80,0.00,0.000,6,0.129,0.024,1901,2560,3776,0,0,0,0,0,0,26.14,26.40,28.83
$GC,1309,-0.39,-194.6,262.0,-7.4,201,1318,0.00,2.00,0.00,0.000,4,0.000,0.030,1901,1179,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1331,-0.43,-194.6,263.7,-7.4,203,1340,0.00,2.20,0.00,0.000,6,0.000,0.040,1894,2655,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1642,-0.46,-194.6,286.1,-6.7,234,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2655,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1944,-0.50,-194.6,305.0,-5.9,264,1951,0.12,0.00,0.00,0.000,6,0.076,0.000,1787,2656,3776,0,0,0,0,0,0,26.58,28.83,28.83
$GC,2251,-0.40,-194.6,376.1,-24.5,295,2253,0.30,0.00,0.00,0.000,6,0.144,0.000,1876,2656,3775,0,0,0,0,0,0,25.88,28.83,28.83
$GC,2551,-0.44,-194.6,404.8,-7.5,325,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2656,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,-0.47,-194.6,427.1,-7.3,355,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2656,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.51,-194.6,446.7,-5.4,386,3172,0.00,2.15,0.00,0.000,4,0.000,0.030,1876,1182,3770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3208,-0.56,-194.6,449.0,-5.0,390,3215,0.12,2.22,0.00,0.000,6,0.080,0.040,1793,2657,3770,0,0,0,0,0,0,26.29,26.28,28.83
$GC,3516,-0.51,-194.6,497.9,-16.2,421,3525,0.15,1.75,0.00,0.000,4,0.145,0.044,1834,3817,3768,0,0,0,0,0,0,26.22,26.24,28.83
$GC,3561,-0.49,-194.6,503.8,-13.8,425,3567,0.00,1.80,0.00,0.000,6,0.000,0.024,1834,2561,3768,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3867,-0.49,-194.6,534.7,-10.3,456,3876,0.00,1.98,0.00,0.000,4,0.000,0.047,1825,3817,3766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3908,-0.49,-194.6,539.0,-10.6,460,3912,0.00,1.83,0.00,0.000,6,0.000,0.025,1825,2561,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4219,-0.48,-194.6,573.2,-10.7,491,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2557,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4531,-0.48,-194.6,604.8,-10.0,520,4536,0.00,2.00,0.00,0.000,4,0.000,0.029,1825,1179,3762,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4557,-0.48,-194.6,606.8,-10.0,521,4562,0.12,2.22,0.00,0.000,6,0.124,0.041,1855,2658,3762,0,0,0,0,0,0,26.11,26.24,28.83
$GC,4867,-0.51,-194.6,626.8,-6.1,536,4872,0.00,2.17,0.00,0.000,4,0.000,0.029,1855,1176,3759,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4893,-0.54,-194.6,628.0,-6.1,537,4897,0.00,2.22,0.00,0.000,6,0.000,0.041,1848,2656,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5201,-0.57,-194.6,648.5,-6.7,552,5205,0.00,1.80,0.00,0.000,4,0.000,0.048,1840,3811,3756,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5252,-0.60,-194.6,651.5,-6.8,554,5255,0.00,1.80,0.00,0.000,6,0.000,0.027,1839,2568,3756,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5564,-0.62,-194.6,676.0,-7.6,570,5570,0.00,2.03,0.00,0.000,4,0.000,0.031,1840,1186,3754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5598,-0.65,-194.6,677.5,-7.5,571,5604,0.00,2.22,0.00,0.000,6,0.000,0.042,1832,2653,3754,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5906,-0.66,-194.6,703.4,-8.1,587,5911,0.10,1.77,0.00,0.000,4,0.092,0.047,1757,3812,3751,0,0,0,0,0,0,26.60,26.13,28.83
$GC,5953,-0.65,-194.6,708.1,-9.6,589,5958,0.12,1.80,0.00,0.000,6,0.141,0.024,1799,2564,3750,0,0,0,0,0,0,26.09,26.41,28.83
$GC,6260,-0.63,-194.6,744.1,-10.9,604,6264,0.00,2.00,0.00,0.000,4,0.000,0.031,1799,1184,3749,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6304,-0.62,-194.6,748.7,-10.8,606,6308,0.00,2.25,0.00,0.000,6,0.000,0.043,1791,2655,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6617,-0.59,-194.6,787.7,-12.1,622,6623,0.00,2.17,0.00,0.000,4,0.000,0.031,1791,1179,3746,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6659,-0.58,-194.6,792.4,-11.9,624,6664,0.15,2.25,0.00,0.000,6,0.124,0.043,1828,2656,3746,0,0,0,0,0,0,25.97,26.15,28.83
$GC,6974,-0.59,-194.6,817.4,-7.8,640,6979,0.00,2.17,0.00,0.000,4,0.000,0.031,1828,1187,3743,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6996,-0.61,-194.6,819.2,-7.8,641,7000,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2653,3744,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7309,-0.63,-194.6,845.6,-8.3,657,7312,0.00,1.77,0.00,0.000,4,0.000,0.050,1817,3817,3742,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7334,-0.64,-194.6,847.5,-8.3,658,7338,0.00,1.83,0.00,0.000,6,0.000,0.026,1817,2562,3742,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7647,-0.64,-194.6,875.8,-9.1,674,7652,0.00,2.03,0.00,0.000,4,0.000,0.032,1817,1183,3741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7689,-0.65,-194.6,879.3,-8.9,676,7693,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2657,3740,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8002,-0.65,-194.6,908.6,-9.7,692,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2657,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8301,-0.65,-194.6,938.3,-10.1,707,8306,0.00,2.20,0.00,0.000,4,0.000,0.031,1813,1178,3737,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8342,-0.67,-194.6,942.2,-10.1,709,8347,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2648,3737,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8661,-0.67,-194.6,972.5,-9.1,725,8667,0.00,2.17,0.00,0.000,4,0.000,0.031,1813,1187,3736,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8684,-0.67,-194.6,974.4,-9.1,726,8688,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2653,3736,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,8855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8855,begin apogee
$GC,8862,-0.20,0.0,990.1,-9.0,735,9038,0.38,0.12,167.98,1.171,6,0.097,0.085,1946,2533,2972,0,0,0,0,0,0,25.90,24.73,23.82
$STATE,9039,end apogee,CONTROL_FINISHED_OK
$STATE,9039,begin climb
$GC,9042,0.61,194.6,998.5,0.0,744,9238,0.70,2.17,184.82,1.170,4,0.044,0.047,2216,3815,2173,0,0,0,0,0,0,24.94,24.17,23.24
$GC,9364,0.51,194.6,952.8,23.1,760,9370,0.20,2.12,0.00,0.000,6,0.187,0.032,2178,2461,2155,0,0,0,0,0,0,24.96,25.34,28.83
$GC,9683,0.45,194.6,898.3,16.4,776,9688,0.00,2.15,0.00,0.000,4,0.000,0.047,2177,3816,2151,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9717,0.38,194.6,894.9,16.4,777,9724,0.20,2.05,0.00,0.000,6,0.165,0.030,2135,2464,2150,0,0,0,0,0,0,25.53,25.95,28.83
$GC,10024,0.36,194.6,855.8,11.2,793,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2463,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10323,0.33,194.6,821.9,11.5,808,10328,0.00,2.15,0.00,0.000,4,0.000,0.047,2134,3821,2148,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10378,0.30,194.6,816.5,12.5,810,10386,0.12,2.05,0.00,0.000,6,0.166,0.030,2113,2462,2147,0,0,0,0,0,0,25.81,26.13,28.83
$GC,10683,0.31,200.2,785.2,9.2,826,10688,0.00,2.12,0.00,0.000,4,0.000,0.047,2113,3812,2146,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10703,0.31,200.3,783.2,9.4,827,10708,0.00,2.05,0.00,0.000,6,0.000,0.029,2123,2450,2146,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11025,0.31,209.2,752.2,9.1,843,11043,0.00,2.17,10.90,0.944,4,0.000,0.047,2123,3822,2118,0,0,0,0,0,0,28.83,26.08,25.01
$GC,11074,0.30,209.2,747.9,9.6,845,11078,0.00,2.05,0.00,0.000,6,0.000,0.029,2133,2454,2109,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11382,0.28,209.2,716.0,10.3,860,11388,0.12,2.12,0.00,0.000,4,0.166,0.044,2095,3816,2106,0,0,0,0,0,0,25.98,26.02,28.83
$GC,11414,0.27,209.2,713.9,10.4,861,11421,0.00,2.05,0.00,0.000,6,0.000,0.029,2105,2456,2106,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11722,0.35,263.1,688.1,7.7,877,11781,0.00,2.25,43.75,1.081,4,0.000,0.047,2105,3812,1908,0,0,0,0,1,0,28.83,25.51,24.38
$GC,11792,0.44,320.4,683.6,7.6,880,11858,0.10,2.08,55.00,1.160,6,0.089,0.028,2175,2452,1672,0,0,0,0,1,0,25.58,25.61,23.97
$GC,12159,0.41,320.4,630.8,14.5,898,12166,0.12,2.20,1.38,0.185,4,0.164,0.046,2137,3811,1668,0,0,0,0,0,0,25.70,25.79,25.33
$GC,12212,0.40,320.4,624.8,15.2,900,12220,0.00,2.05,0.00,0.000,6,0.000,0.029,2147,2465,1676,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12520,0.40,320.4,585.8,12.4,921,12528,0.00,2.12,0.00,0.000,4,0.000,0.037,2157,1060,1676,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,16989,end climb,SURFACE_DEPTH_REACHED
$STATE,16989,begin surface coast
$FINISH,0.7,1.023155
$STATE,17016,end surface coast,CONTROL_FINISHED_OK
$STATE,17016,begin surface
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$IRIDIUM_FIX,2330.93,12232.24,181211,090924
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.1,28.954
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.900,168.250,639.725,0.000,0.000,31.867,17.028,239.287,0.000,0.000,17.027,3604.438,9731.535,742.404,3037.614,372.059,0.000,2244.152,0.000,2593.599,0.000,0.544,0.000
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$MEM,324560
$DATA_FILE_SIZE,100406,1515
$CAP_FILE_SIZE,194462,0
$CFSIZE,260165632,204017664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,181211,194201,2338.511,12234.331,38,1.6,38,-3.2