version: 66.10
glider: 169
mission: 5
dive: 214
start: 12 20 111 5 44 33
data:
$ID,169
$MISSION,5
$DIVE,214
$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,-10990.958
$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
$GPS1,201211,053631,2334.210,12251.220,44,1.6,44,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.5
$GPS2,201211,054413,2334.327,12251.232,14,1.2,31,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2324.975,12257.116
$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,153.3,20000,-14.9,-9.429
$D_GRID,2644
$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,-194.6,0.0,0.0,0,92,0.00,0.00,-73.15,0.000,2,0.000,0.000,117,2688,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.61,-194.6,3.0,-5.6,13,125,6.93,2.30,-14.70,0.000,4,0.236,0.042,1812,1176,3775,0,0,0,0,0,0,25.33,26.08,26.48
$GC,194,-0.54,-194.6,41.4,-28.3,31,201,0.12,2.28,0.00,0.000,6,0.161,0.044,1834,2651,3775,0,0,0,0,0,0,25.79,26.01,28.83
$GC,506,-0.43,-194.6,152.6,-29.0,92,513,0.12,2.17,0.00,0.000,4,0.183,0.027,1881,1183,3775,0,0,0,0,0,0,26.03,26.22,28.83
$GC,557,-0.44,-194.6,162.5,-12.5,101,564,0.00,2.22,0.00,0.000,6,0.000,0.042,1870,2657,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,868,-0.40,-194.6,213.1,-15.9,154,872,0.00,1.75,0.00,0.000,4,0.000,0.045,1861,3818,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,919,-0.38,-194.6,221.0,-15.4,159,923,0.00,1.80,0.00,0.000,6,0.000,0.023,1861,2566,3775,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1230,-0.35,-194.6,268.9,-16.7,190,1240,0.12,1.98,0.00,0.000,4,0.147,0.045,1894,3822,3775,0,0,0,0,0,0,26.27,26.21,28.83
$GC,1276,-0.36,-194.6,273.8,-11.6,194,1283,0.00,1.80,0.00,0.000,6,0.000,0.024,1894,2558,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1584,-0.40,-194.6,296.2,-7.0,225,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2558,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,-0.45,-194.6,313.8,-5.1,255,1896,0.00,1.95,0.00,0.000,4,0.000,0.044,1888,3818,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1919,-0.51,-194.6,315.6,-4.8,258,1928,0.12,1.80,0.00,0.000,6,0.086,0.024,1822,2556,3775,0,0,0,0,0,0,26.37,26.49,28.83
$GC,2228,-0.46,-194.6,362.8,-17.5,289,2238,0.12,2.00,0.00,0.000,4,0.140,0.026,1868,1175,3774,0,0,0,0,0,0,26.34,26.37,28.83
$GC,2295,-0.50,-194.6,370.0,-9.0,295,2302,0.00,2.22,0.00,0.000,6,0.000,0.041,1862,2656,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2601,-0.51,-194.6,398.9,-8.9,326,2604,0.00,1.77,0.00,0.000,4,0.000,0.046,1853,3818,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2636,-0.53,-194.6,401.5,-8.4,329,2642,0.00,1.80,0.00,0.000,6,0.000,0.024,1853,2558,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2943,-0.54,-194.6,426.4,-8.5,360,2952,0.00,2.00,0.00,0.000,4,0.000,0.028,1853,1167,3771,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2969,-0.55,-194.6,428.5,-8.9,362,2975,0.00,2.25,0.00,0.000,6,0.000,0.038,1844,2663,3771,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3274,-0.55,-194.6,461.3,-11.1,393,3277,0.00,1.75,0.00,0.000,4,0.000,0.046,1835,3822,3769,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3325,-0.56,-194.6,466.6,-10.4,398,3329,0.00,1.83,0.00,0.000,6,0.000,0.024,1835,2564,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3636,-0.56,-194.6,497.1,-9.0,429,3640,0.00,1.98,0.00,0.000,4,0.000,0.044,1825,3820,3767,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3718,-0.59,-194.6,503.9,-7.6,437,3727,0.00,1.83,0.00,0.000,6,0.000,0.026,1826,2558,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4030,-0.58,-194.6,536.0,-11.1,468,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2558,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.57,-194.6,572.4,-11.5,499,4349,0.00,1.98,0.00,0.000,4,0.000,0.045,1817,3829,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4383,-0.57,-194.6,577.4,-11.6,503,4391,0.00,1.85,0.00,0.000,6,0.000,0.024,1817,2561,3762,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4693,-0.56,-194.6,612.0,-10.9,529,4698,0.00,1.98,0.00,0.000,4,0.000,0.047,1807,3827,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4725,-0.55,-194.6,614.1,-10.9,530,4732,0.00,1.83,0.00,0.000,6,0.000,0.025,1808,2557,3760,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5033,-0.54,-194.6,652.0,-12.0,546,5038,0.00,2.00,0.00,0.000,4,0.000,0.028,1808,1176,3758,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5071,-0.54,-194.6,656.5,-11.8,548,5077,0.12,2.22,0.00,0.000,6,0.130,0.040,1838,2658,3758,0,0,0,0,0,0,26.08,26.23,28.83
$GC,5394,-0.55,-194.6,684.3,-8.6,564,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2658,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5692,-0.57,-194.6,709.9,-8.3,579,5697,0.00,2.17,0.00,0.000,4,0.000,0.028,1839,1172,3754,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5735,-0.61,-194.6,713.0,-8.1,581,5739,0.00,2.22,0.00,0.000,6,0.000,0.041,1829,2654,3753,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6047,-0.62,-194.6,738.4,-7.9,597,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2654,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6348,-0.63,-194.6,763.2,-8.3,612,6353,0.00,2.17,0.00,0.000,4,0.000,0.029,1830,1177,3748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6387,-0.66,-194.6,766.5,-8.3,614,6393,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2658,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6708,-0.67,-194.6,794.9,-8.9,630,6712,0.00,1.77,0.00,0.000,4,0.000,0.048,1813,3813,3746,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6764,-0.68,-194.6,798.7,-9.0,632,6770,0.00,1.80,0.00,0.000,6,0.000,0.027,1812,2562,3746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7070,-0.68,-194.6,828.2,-9.4,648,7076,0.00,2.03,0.00,0.000,4,0.000,0.031,1812,1186,3743,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7114,-0.69,-194.6,831.8,-9.3,650,7118,0.00,2.22,0.00,0.000,6,0.000,0.044,1805,2653,3743,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7426,-0.69,-194.6,861.9,-9.2,666,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2653,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7726,-0.69,-194.6,887.6,-8.0,681,7731,0.00,2.20,0.00,0.000,4,0.000,0.031,1805,1174,3740,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7760,-0.69,-194.6,889.3,-8.1,682,7766,0.00,2.28,0.00,0.000,6,0.000,0.044,1797,2659,3740,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8067,-0.69,-194.6,918.8,-9.8,698,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2659,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,-0.69,-194.6,947.7,-9.5,713,8372,0.00,2.17,0.00,0.000,4,0.000,0.031,1797,1190,3736,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8419,-0.69,-194.6,951.4,-9.3,715,8425,0.00,2.25,0.00,0.000,6,0.000,0.044,1787,2656,3736,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8727,-0.68,-194.6,983.2,-10.2,731,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2656,3734,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8804,begin apogee
$GC,8810,-0.20,0.0,991.4,-10.3,735,8987,0.45,0.12,165.40,1.185,6,0.103,0.085,1942,2537,2968,0,0,0,0,0,0,25.77,24.75,23.80
$STATE,8988,end apogee,CONTROL_FINISHED_OK
$STATE,8988,begin climb
$GC,8990,0.61,194.6,999.5,0.0,744,9188,0.70,2.47,183.90,1.186,4,0.041,0.038,2232,1075,2170,0,0,0,0,0,0,25.01,24.23,23.25
$GC,9231,0.52,194.6,975.1,19.3,756,9238,0.20,2.33,0.00,0.000,6,0.163,0.040,2181,2521,2159,0,0,0,0,0,0,24.62,24.87,28.83
$GC,9552,0.47,194.6,922.2,16.4,772,9556,0.00,2.03,0.00,0.000,4,0.000,0.047,2181,3815,2154,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9638,0.39,194.6,907.2,18.3,776,9645,0.20,2.05,0.00,0.000,6,0.165,0.030,2137,2457,2152,0,0,0,0,0,0,25.54,25.96,28.83
$GC,9955,0.37,194.6,865.3,12.7,792,9959,0.00,2.12,0.00,0.000,4,0.000,0.046,2137,3813,2150,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9989,0.35,194.6,862.1,13.0,793,9996,0.00,2.03,0.00,0.000,6,0.000,0.030,2148,2464,2150,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10296,0.31,194.6,818.5,13.1,809,10303,0.12,2.12,0.00,0.000,4,0.172,0.044,2110,3821,2150,0,0,0,0,0,0,25.95,26.01,28.83
$GC,10350,0.29,194.6,813.6,12.7,811,10357,0.00,2.05,0.00,0.000,6,0.000,0.030,2120,2464,2149,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10657,0.29,201.2,782.3,9.2,827,10662,0.00,2.10,0.00,0.000,4,0.000,0.037,2131,1053,2149,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10676,0.30,212.1,780.5,9.1,828,10697,0.00,2.25,14.43,1.003,6,0.000,0.041,2131,2523,2111,0,0,0,0,0,0,28.83,26.07,24.90
$GC,11000,0.30,212.1,749.5,10.0,844,11005,0.00,2.00,0.00,0.000,4,0.000,0.047,2131,3812,2093,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11058,0.28,212.1,742.4,11.1,847,11065,0.15,2.03,0.00,0.000,6,0.154,0.031,2101,2466,2093,0,0,0,0,0,0,25.77,26.13,28.83
$GC,11381,0.39,286.5,717.7,7.0,863,11461,0.10,2.22,74.53,0.972,4,0.093,0.047,2162,3816,1804,0,0,0,0,0,0,26.39,25.27,24.37
$GC,11484,0.36,286.5,706.3,12.1,868,11490,0.17,2.10,0.00,0.000,6,0.139,0.029,2124,2456,1790,0,0,0,0,0,0,25.27,25.46,28.83
$GC,11801,0.40,299.7,677.0,9.0,884,11820,0.00,2.12,11.77,0.917,4,0.000,0.036,2135,1054,1748,0,0,0,0,0,0,28.83,25.82,24.77
$GC,11843,0.44,317.1,673.3,8.9,886,11866,0.00,2.30,17.90,0.926,6,0.000,0.041,2135,2528,1685,0,0,0,0,0,0,28.83,25.80,24.59
$GC,12181,0.47,317.1,641.1,9.8,903,12186,0.00,2.03,0.00,0.000,4,0.000,0.050,2135,3812,1663,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12212,0.49,317.1,638.8,10.1,904,12219,0.00,2.05,0.00,0.000,6,0.000,0.031,2145,2466,1663,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,17531,end climb,SURFACE_DEPTH_REACHED
$STATE,17531,begin surface coast
$FINISH,0.2,1.015760
$STATE,17548,end surface coast,CONTROL_FINISHED_OK
$STATE,17548,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.37
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$10V_AH,10.1,29.863
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$FG_AHR_10Vo,0.000
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$MEM,324560
$DATA_FILE_SIZE,103706,1566
$CAP_FILE_SIZE,194441,0
$CFSIZE,260165632,203231232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201211,103924,2332.621,12253.581,40,1.4,40,-3.2