version: 66.10
glider: 169
mission: 5
dive: 228
start: 12 23 111 2 53 56
data:
$ID,169
$MISSION,5
$DIVE,228
$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,50
$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,-11008.576
$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
$GPS1,231211,024307,2327.783,12333.575,40,1.8,40,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.2
$GPS2,231211,025334,2327.649,12333.579,16,2.5,35,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2334.591,12342.605
$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,53.3,20000,-14.9,-9.429
$D_GRID,3414
$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,15,begin dive
$GC,17,-0.61,-194.6,0.0,0.0,0,104,0.00,0.00,-84.47,0.000,2,0.000,0.000,116,2687,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.61,-194.6,3.3,-6.3,15,138,7.00,2.28,-13.57,0.000,4,0.236,0.041,1811,1187,3776,0,0,0,0,0,0,25.26,26.08,26.49
$GC,212,-0.52,-194.6,48.4,-35.9,34,220,0.15,2.25,0.00,0.000,6,0.173,0.043,1838,2657,3776,0,0,0,0,0,0,25.70,26.03,28.83
$GC,525,-0.41,-194.6,158.6,-32.0,95,532,0.12,2.15,0.00,0.000,4,0.194,0.024,1885,1178,3776,0,0,0,0,0,0,26.00,26.25,28.83
$GC,580,-0.41,-194.6,170.9,-15.3,105,586,0.00,2.25,0.00,0.000,6,0.000,0.040,1874,2661,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,892,-0.38,-194.6,227.7,-16.4,151,900,0.00,2.15,0.00,0.000,4,0.000,0.029,1874,1176,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,916,-0.35,-194.6,231.8,-16.3,153,924,0.12,2.22,0.00,0.000,6,0.139,0.040,1900,2655,3776,0,0,0,0,0,0,26.06,26.23,28.83
$GC,1224,-0.37,-194.6,259.5,-8.1,184,1233,0.00,2.15,0.00,0.000,4,0.000,0.029,1900,1181,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1256,-0.41,-194.6,262.1,-8.1,187,1265,0.00,2.22,0.00,0.000,6,0.000,0.039,1895,2658,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1568,-0.45,-194.6,287.7,-8.3,218,1572,0.00,1.75,0.00,0.000,4,0.000,0.045,1886,3824,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1600,-0.49,-194.6,290.4,-8.0,221,1609,0.10,1.80,0.00,0.000,6,0.098,0.024,1828,2556,3776,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1910,-0.44,-194.6,345.4,-20.0,252,1919,0.12,2.03,0.00,0.000,4,0.147,0.028,1869,1171,3776,0,0,0,0,0,0,26.28,26.34,28.83
$GC,1945,-0.41,-194.6,351.0,-18.5,255,1952,0.00,2.22,0.00,0.000,6,0.000,0.039,1859,2656,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2251,-0.41,-194.6,384.7,-10.4,286,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2655,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2554,-0.42,-194.6,411.2,-8.5,316,2558,0.00,2.17,0.00,0.000,4,0.000,0.029,1859,1180,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2586,-0.45,-194.6,414.2,-8.7,319,2595,0.00,2.22,0.00,0.000,6,0.000,0.040,1851,2659,3773,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2896,-0.45,-194.6,445.9,-9.6,350,2904,0.00,2.17,0.00,0.000,4,0.000,0.029,1851,1175,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2928,-0.46,-194.6,448.6,-8.5,353,2937,0.00,2.22,0.00,0.000,6,0.000,0.040,1842,2655,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3239,-0.46,-194.6,478.1,-9.9,384,3247,0.00,2.12,0.00,0.000,4,0.000,0.029,1842,1184,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3260,-0.46,-194.6,480.2,-9.7,386,3269,0.00,2.22,0.00,0.000,6,0.000,0.041,1834,2658,3769,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3570,-0.45,-194.6,512.6,-10.8,417,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2659,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3871,-0.45,-194.6,544.1,-9.4,447,3880,0.00,2.12,0.00,0.000,4,0.000,0.028,1833,1183,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3914,-0.47,-194.6,547.5,-7.9,451,3924,0.12,2.22,0.00,0.000,6,0.125,0.040,1866,2658,3765,0,0,0,0,0,0,26.13,26.26,28.83
$GC,4223,-0.51,-194.6,561.3,-4.8,482,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2658,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.55,-194.6,577.6,-5.6,512,4532,0.10,0.00,0.00,0.000,6,0.090,0.000,1782,2658,3760,0,0,0,0,0,0,26.61,28.83,28.83
$GC,4846,-0.51,-194.6,625.7,-15.7,536,4848,0.20,0.00,0.00,0.000,6,0.133,0.000,1842,2659,3758,0,0,0,0,0,0,26.13,28.83,28.83
$GC,5144,-0.53,-194.6,650.9,-7.9,551,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2658,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5443,-0.55,-194.6,676.9,-8.3,566,5449,0.00,2.15,0.00,0.000,4,0.000,0.029,1842,1184,3754,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5477,-0.57,-194.6,678.6,-8.3,567,5484,0.00,2.25,0.00,0.000,6,0.000,0.041,1834,2659,3754,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5785,-0.59,-194.6,704.5,-8.1,583,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2660,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6083,-0.61,-194.6,725.0,-6.4,598,6089,0.00,2.20,0.00,0.000,4,0.000,0.030,1834,1164,3749,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6112,-0.63,-194.6,726.4,-6.6,599,6116,0.00,2.28,0.00,0.000,6,0.000,0.042,1825,2653,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6418,-0.64,-194.6,751.5,-8.8,614,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2653,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6721,-0.65,-194.6,776.2,-7.8,629,6726,0.00,2.17,0.00,0.000,4,0.000,0.030,1825,1186,3746,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6749,-0.66,-194.6,777.8,-7.7,630,6758,0.00,2.25,0.00,0.000,6,0.000,0.042,1817,2654,3745,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7059,-0.66,-194.6,804.5,-8.8,646,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2655,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,-0.67,-194.6,832.7,-9.8,661,7366,0.00,2.17,0.00,0.000,4,0.000,0.031,1817,1190,3741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7382,-0.68,-194.6,834.6,-9.8,662,7386,0.00,2.22,0.00,0.000,6,0.000,0.044,1809,2651,3741,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7699,-0.68,-194.6,865.6,-9.3,678,7705,0.00,2.17,0.00,0.000,4,0.000,0.031,1809,1180,3739,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7755,-0.69,-194.6,869.1,-9.1,680,7762,0.00,2.25,0.00,0.000,6,0.000,0.043,1800,2651,3739,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8059,-0.69,-194.6,901.5,-10.1,696,8064,0.00,2.20,0.00,0.000,4,0.000,0.031,1800,1178,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8092,-0.69,-194.6,903.4,-10.0,697,8099,0.00,2.25,0.00,0.000,6,0.000,0.043,1791,2652,3737,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8399,-0.67,-194.6,937.2,-11.0,713,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2652,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8699,-0.66,-194.6,971.5,-11.6,728,8705,0.00,2.17,0.00,0.000,4,0.000,0.031,1791,1185,3735,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8742,-0.66,-194.6,976.0,-11.4,730,8746,0.00,2.28,0.00,0.000,6,0.000,0.044,1781,2657,3734,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,8872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8872,begin apogee
$GC,8877,-0.20,0.0,991.0,-11.3,737,9057,0.47,0.10,168.15,1.174,6,0.109,0.057,1942,2529,2969,0,0,0,0,0,0,25.67,24.74,23.77
$STATE,9058,end apogee,CONTROL_FINISHED_OK
$STATE,9058,begin climb
$GC,9060,0.61,194.6,998.4,0.0,746,9256,0.70,2.45,184.38,1.180,4,0.046,0.040,2224,1057,2171,0,0,0,0,0,0,24.99,24.26,23.23
$GC,9280,0.52,194.6,978.0,17.9,757,9286,0.12,2.38,0.00,0.000,6,0.151,0.042,2185,2518,2158,0,0,0,0,0,0,24.49,24.70,28.83
$GC,9599,0.46,194.6,922.1,16.8,773,9605,0.00,2.03,0.00,0.000,4,0.000,0.048,2184,3816,2151,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9687,0.38,194.6,907.4,18.4,777,9692,0.22,2.08,0.00,0.000,6,0.171,0.030,2136,2453,2150,0,0,0,0,0,0,25.52,25.97,28.83
$GC,9997,0.35,194.6,871.2,10.5,792,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2452,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10294,0.33,194.6,837.7,11.5,807,10300,0.00,2.15,0.00,0.000,4,0.000,0.049,2135,3815,2147,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10335,0.31,194.6,832.3,12.5,809,10341,0.10,2.03,0.00,0.000,6,0.145,0.031,2113,2462,2147,0,0,0,0,0,0,25.80,26.15,28.83
$GC,10654,0.31,194.6,799.2,10.2,825,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2460,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10954,0.31,194.6,769.8,9.6,840,10959,0.00,2.12,0.00,0.000,4,0.000,0.047,2113,3817,2146,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10997,0.31,194.6,765.6,10.0,842,11001,0.00,2.05,0.00,0.000,6,0.000,0.029,2123,2450,2145,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11309,0.31,194.6,734.5,9.5,858,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2448,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11610,0.33,213.3,707.0,8.8,873,11632,0.00,2.22,16.62,0.900,4,0.000,0.050,2122,3810,2104,0,0,0,0,0,0,28.83,26.06,24.94
$GC,11693,0.33,216.8,699.4,9.3,877,11697,0.00,2.05,0.00,0.000,6,0.000,0.031,2133,2464,2092,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12007,0.33,216.8,670.9,9.5,893,12012,0.00,2.10,0.00,0.000,4,0.000,0.036,2144,1055,2089,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12027,0.33,216.8,669.1,9.5,894,12031,0.00,2.25,0.00,0.000,6,0.000,0.041,2144,2525,2089,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12345,0.31,216.8,631.7,11.7,910,12351,0.12,2.00,0.00,0.000,4,0.155,0.044,2104,3822,2089,0,0,0,0,0,0,26.08,26.03,28.83
$GC,12413,0.31,216.8,625.2,11.0,913,12417,0.00,2.05,0.00,0.000,6,0.000,0.029,2114,2458,2088,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12720,0.33,216.8,595.7,9.5,930,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2455,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13022,0.37,240.2,568.2,8.7,960,13064,0.00,2.17,31.35,0.812,4,0.000,0.045,2115,3820,1994,0,0,0,0,1,0,28.83,25.89,24.25
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$STATE,17816,end climb,SURFACE_DEPTH_REACHED
$STATE,17816,begin surface coast
$FINISH,0.2,1.023243
$STATE,17827,end surface coast,CONTROL_FINISHED_OK
$STATE,17828,begin surface
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$HUMID,41.77
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$XPDR_PINGS,0
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$10V_AH,10.2,31.449
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330480
$DATA_FILE_SIZE,103683,1570
$CAP_FILE_SIZE,190247,0
$CFSIZE,260165632,201900032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231211,075325,2326.801,12336.686,38,1.1,38,-3.3