version: 66.10
glider: 169
mission: 5
dive: 220
start: 12 21 111 11 1 16
data:
$ID,169
$MISSION,5
$DIVE,220
$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,-9
$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,-1
$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,-10998.512
$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
$GPS1,211211,105337,2330.208,12308.961,36,1.9,36,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.3
$GPS2,211211,110057,2330.209,12308.977,12,2.1,31,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,68.1,86152,-14.9,-9.429
$D_GRID,3806
$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,17,-0.61,-194.6,0.0,0.0,0,97,0.00,0.00,-77.90,0.000,2,0.000,0.000,102,2683,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.61,-194.6,4.2,-11.0,14,126,6.75,2.25,-10.18,0.000,4,0.222,0.037,1814,1162,3775,0,0,0,0,0,0,25.29,26.10,26.49
$GC,199,-0.54,-194.6,46.8,-27.0,32,207,0.10,2.30,0.00,0.000,6,0.169,0.044,1828,2657,3775,0,0,0,0,0,0,25.82,26.01,28.83
$GC,512,-0.42,-194.6,152.6,-33.0,93,519,0.12,2.17,0.00,0.000,4,0.184,0.026,1876,1165,3776,0,0,0,0,0,0,26.01,26.22,28.83
$GC,558,-0.38,-194.6,165.1,-20.9,101,565,0.00,2.25,0.00,0.000,6,0.000,0.042,1866,2656,3776,0,0,0,0,0,0,28.83,26.13,28.83
$GC,868,-0.33,-194.6,221.1,-19.5,151,870,0.12,0.00,0.00,0.000,6,0.158,0.000,1900,2656,3776,0,0,0,0,0,0,26.24,28.83,28.83
$GC,1171,-0.36,-194.6,252.1,-7.7,181,1174,0.00,1.75,0.00,0.000,4,0.000,0.047,1892,3817,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1195,-0.39,-194.6,254.0,-7.6,183,1202,0.00,1.80,0.00,0.000,6,0.000,0.024,1892,2548,3775,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1502,-0.41,-194.6,279.7,-8.3,214,1506,0.00,1.98,0.00,0.000,4,0.000,0.044,1883,3817,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1544,-0.46,-194.6,282.8,-7.5,218,1548,0.00,1.80,0.00,0.000,6,0.000,0.024,1883,2562,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1856,-0.48,-194.6,308.1,-7.6,249,1859,0.00,1.95,0.00,0.000,4,0.000,0.044,1874,3814,3775,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1878,-0.51,-194.6,309.9,-7.5,251,1886,0.00,1.80,0.00,0.000,6,0.000,0.024,1874,2552,3775,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2189,-0.52,-194.6,336.5,-9.7,282,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2551,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-0.54,-194.6,367.0,-9.5,313,2501,0.12,0.00,0.00,0.000,6,0.076,0.000,1789,2551,3774,0,0,0,0,0,0,26.61,28.83,28.83
$GC,2798,-0.47,-194.6,430.7,-22.8,343,2800,0.22,0.00,0.00,0.000,6,0.135,0.000,1856,2551,3774,0,0,0,0,0,0,26.08,28.83,28.83
$GC,3099,-0.48,-194.6,462.2,-9.3,373,3102,0.00,2.00,0.00,0.000,4,0.000,0.045,1847,3819,3772,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3173,-0.53,-194.6,468.7,-8.4,380,3180,0.00,1.80,0.00,0.000,6,0.000,0.026,1846,2559,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3480,-0.54,-194.6,499.6,-9.8,411,3489,0.00,2.03,0.00,0.000,4,0.000,0.030,1847,1167,3770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3522,-0.57,-194.6,503.5,-9.6,415,3531,0.00,2.25,0.00,0.000,6,0.000,0.038,1839,2657,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3833,-0.58,-194.6,533.5,-9.3,446,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2657,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.59,-194.6,559.1,-8.3,476,4142,0.00,2.15,0.00,0.000,4,0.000,0.029,1839,1184,3767,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4169,-0.61,-194.6,561.8,-8.3,479,4176,0.00,2.22,0.00,0.000,6,0.000,0.040,1831,2658,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4478,-0.61,-194.6,589.1,-9.0,510,4481,0.00,1.77,0.00,0.000,4,0.000,0.047,1821,3823,3764,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4499,-0.61,-194.6,591.4,-9.1,512,4502,0.00,1.83,0.00,0.000,6,0.000,0.025,1822,2563,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4811,-0.61,-194.6,622.3,-9.9,532,4816,0.00,2.03,0.00,0.000,4,0.000,0.031,1822,1180,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4873,-0.62,-194.6,627.8,-9.3,535,4877,0.00,2.22,0.00,0.000,6,0.000,0.041,1813,2653,3761,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5186,-0.62,-194.6,662.3,-11.6,551,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2653,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5485,-0.62,-194.6,698.0,-12.0,566,5491,0.00,2.17,0.00,0.000,4,0.000,0.030,1813,1181,3757,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5518,-0.62,-194.6,700.2,-11.8,567,5525,0.00,2.25,0.00,0.000,6,0.000,0.042,1804,2657,3757,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5828,-0.61,-194.6,738.1,-11.8,583,5833,0.00,2.15,0.00,0.000,4,0.000,0.031,1804,1176,3754,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5859,-0.60,-194.6,740.6,-11.8,584,5866,0.00,2.25,0.00,0.000,6,0.000,0.042,1795,2657,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6166,-0.59,-194.6,779.3,-11.8,600,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2657,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.57,-194.6,812.4,-10.7,615,6471,0.00,2.17,0.00,0.000,4,0.000,0.031,1795,1179,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6516,-0.57,-194.6,816.8,-10.6,617,6521,0.12,2.25,0.00,0.000,6,0.129,0.043,1824,2653,3749,0,0,0,0,0,0,26.00,26.14,28.83
$GC,6826,-0.58,-194.6,842.1,-7.7,632,6831,0.00,2.15,0.00,0.000,4,0.000,0.031,1824,1190,3747,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6865,-0.61,-194.6,845.2,-7.7,634,6870,0.00,2.25,0.00,0.000,6,0.000,0.043,1815,2655,3747,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7185,-0.61,-194.6,871.8,-8.6,650,7188,0.00,1.77,0.00,0.000,4,0.000,0.050,1807,3817,3745,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7215,-0.62,-194.6,873.7,-8.7,651,7219,0.00,1.83,0.00,0.000,6,0.000,0.028,1806,2563,3744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7520,-0.62,-194.6,903.7,-9.7,666,7526,0.00,2.03,0.00,0.000,4,0.000,0.033,1806,1189,3743,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7543,-0.62,-194.6,905.7,-9.6,667,7547,0.00,2.25,0.00,0.000,6,0.000,0.044,1797,2655,3742,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7857,-0.62,-194.6,938.1,-10.5,683,7862,0.00,2.15,0.00,0.000,4,0.000,0.032,1797,1188,3741,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7895,-0.62,-194.6,942.2,-10.4,685,7901,0.00,2.22,0.00,0.000,6,0.000,0.044,1787,2652,3741,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8218,-0.60,-194.6,979.0,-11.8,701,8221,0.00,1.80,0.00,0.000,4,0.000,0.052,1778,3820,3739,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8242,-0.59,-194.6,981.7,-11.7,702,8246,0.10,1.85,0.00,0.000,6,0.098,0.028,1818,2571,3739,0,0,0,0,0,0,26.03,26.33,28.83
$STATE,8337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8337,begin apogee
$GC,8342,-0.20,0.0,990.7,-8.3,707,8516,0.35,0.15,166.02,1.188,6,0.093,0.078,1944,2542,2978,0,0,0,0,0,0,25.96,24.76,23.78
$STATE,8517,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8519,0.61,194.6,998.7,0.0,715,8717,0.70,2.20,183.65,1.185,4,0.042,0.047,2220,3809,2171,0,0,0,0,0,0,24.95,24.20,23.22
$GC,8853,0.50,194.6,955.9,22.8,731,8861,0.22,2.10,0.00,0.000,6,0.187,0.033,2174,2466,2157,0,0,0,0,0,0,25.06,25.45,28.83
$GC,9161,0.45,194.6,906.7,14.1,747,9166,0.00,2.12,0.00,0.000,4,0.000,0.048,2173,3808,2153,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9220,0.39,194.6,897.1,15.7,750,9226,0.17,2.05,0.00,0.000,6,0.168,0.030,2138,2466,2152,0,0,0,0,0,0,25.60,26.00,28.83
$GC,9542,0.36,194.6,860.6,11.3,766,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2464,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9841,0.34,194.6,826.5,11.2,781,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2464,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10140,0.31,194.6,793.0,11.0,796,10146,0.00,2.15,0.00,0.000,4,0.000,0.047,2137,3811,2150,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10184,0.29,194.6,788.1,11.4,798,10188,0.15,2.05,0.00,0.000,6,0.161,0.031,2108,2456,2149,0,0,0,0,0,0,25.79,26.17,28.83
$GC,10496,0.34,238.9,761.9,8.0,814,10545,0.00,2.20,43.47,0.975,4,0.000,0.047,2108,3814,1997,0,0,0,0,0,0,28.83,25.60,24.59
$GC,10603,0.38,262.6,753.5,8.7,819,10633,0.00,2.08,23.88,0.978,6,0.000,0.030,2118,2464,1903,0,0,0,0,0,0,28.83,25.75,24.46
$GC,10936,0.41,269.6,722.5,9.2,836,10941,0.00,2.10,0.00,0.000,4,0.000,0.037,2128,1059,1883,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10978,0.44,272.9,718.7,9.3,838,10986,0.00,2.25,2.55,0.456,6,0.000,0.041,2128,2523,1864,0,0,0,0,0,0,28.83,25.92,24.25
$GC,11294,0.45,272.9,686.2,10.0,854,11299,0.00,2.03,0.00,0.000,4,0.000,0.048,2128,3812,1872,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11334,0.45,272.9,681.8,10.6,856,11339,0.00,2.03,0.00,0.000,6,0.000,0.030,2138,2464,1872,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11654,0.45,272.9,647.9,10.4,872,11660,0.00,2.12,0.00,0.000,4,0.000,0.047,2138,3819,1872,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11682,0.45,272.9,645.7,10.5,873,11686,0.00,2.03,0.00,0.000,6,0.000,0.029,2149,2461,1872,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11989,0.45,272.9,608.3,11.6,888,11995,0.00,2.08,0.00,0.000,4,0.000,0.037,2159,1061,1872,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12036,0.45,272.9,604.1,11.2,890,12041,0.00,2.25,0.00,0.000,6,0.000,0.041,2160,2525,1872,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12344,0.45,272.9,571.0,9.7,918,12353,0.00,1.98,0.00,0.000,4,0.000,0.047,2159,3812,1872,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12379,0.44,272.9,567.5,10.7,921,12385,0.00,2.03,0.00,0.000,6,0.000,0.029,2170,2463,1872,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,17196,end climb,SURFACE_DEPTH_REACHED
$STATE,17196,begin surface coast
$FINISH,0.3,1.023208
$STATE,17219,end surface coast,CONTROL_FINISHED_OK
$STATE,17219,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,10.1,30.533
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.275,162.275,530.550,15.100,0.000,31.419,24.779,232.628,0.000,0.000,32.858,3648.641,9907.518,655.375,3084.219,367.500,0.000,2148.575,0.000,2625.192,0.000,0.543,0.000
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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,330360
$DATA_FILE_SIZE,100472,1533
$CAP_FILE_SIZE,190242,0
$CFSIZE,260165632,202670080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211211,154954,2330.066,12312.880,38,1.0,38,-3.3