version: 66.10
glider: 169
mission: 5
dive: 229
start: 12 23 111 8 1 28
data:
$ID,169
$MISSION,5
$DIVE,229
$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,-11009.836
$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
$GPS1,231211,075325,2326.801,12336.686,38,1.1,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.5
$GPS2,231211,080108,2326.695,12336.658,12,1.3,12,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2333.636,12345.683
$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,3780
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-82.90,0.000,2,0.000,0.000,117,2687,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.61,-194.6,3.4,-7.3,15,129,6.90,0.00,-13.32,0.000,6,0.231,0.000,1802,2687,3776,0,0,0,0,0,0,25.20,28.83,26.45
$GC,433,-0.46,-194.6,148.7,-36.9,79,441,0.17,2.25,0.00,0.000,4,0.189,0.028,1862,1181,3776,0,0,0,0,0,0,25.75,26.16,28.83
$GC,596,-0.49,-194.6,177.3,-9.1,110,603,0.00,2.25,0.00,0.000,6,0.000,0.040,1852,2658,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,911,-0.43,-194.6,238.2,-19.1,154,920,0.00,2.17,0.00,0.000,4,0.000,0.028,1852,1167,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,956,-0.41,-194.6,245.0,-17.0,158,963,0.12,2.25,0.00,0.000,6,0.131,0.039,1881,2657,3776,0,0,0,0,0,0,26.07,26.22,28.83
$GC,1262,-0.41,-194.6,285.0,-12.2,189,1271,0.00,2.17,0.00,0.000,4,0.000,0.028,1881,1178,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1294,-0.42,-194.6,288.4,-10.8,192,1303,0.00,2.20,0.00,0.000,6,0.000,0.040,1874,2645,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1605,-0.42,-194.6,320.3,-9.9,223,1608,0.00,1.83,0.00,0.000,4,0.000,0.047,1865,3821,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1656,-0.46,-194.6,324.8,-8.2,228,1659,0.00,1.83,0.00,0.000,6,0.000,0.024,1865,2560,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1967,-0.46,-194.6,355.4,-10.0,259,1975,0.00,2.00,0.00,0.000,4,0.000,0.028,1864,1171,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2001,-0.48,-194.6,358.3,-9.7,262,2007,0.00,2.25,0.00,0.000,6,0.000,0.039,1861,2658,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2308,-0.48,-194.6,387.6,-10.0,293,2311,0.00,1.77,0.00,0.000,4,0.000,0.046,1852,3822,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2339,-0.49,-194.6,390.6,-10.1,296,2342,0.00,1.80,0.00,0.000,6,0.000,0.024,1852,2570,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2650,-0.49,-194.6,422.6,-9.9,327,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2561,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2952,-0.50,-194.6,449.1,-9.0,357,2960,0.00,1.98,0.00,0.000,4,0.000,0.047,1843,3815,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2997,-0.52,-194.6,452.7,-8.5,361,3003,0.00,1.80,0.00,0.000,6,0.000,0.024,1843,2558,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3303,-0.52,-194.6,480.0,-10.1,392,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2557,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-0.53,-194.6,512.1,-10.9,422,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2557,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3916,-0.54,-194.6,543.7,-10.1,453,3925,0.00,1.95,0.00,0.000,4,0.000,0.044,1835,3814,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3948,-0.56,-194.6,547.0,-9.8,456,3958,0.00,1.77,0.00,0.000,6,0.000,0.026,1835,2561,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4258,-0.57,-194.6,577.5,-9.3,487,4266,0.00,2.03,0.00,0.000,4,0.000,0.030,1835,1174,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4294,-0.59,-194.6,580.4,-9.4,490,4301,0.00,2.25,0.00,0.000,6,0.000,0.040,1826,2660,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4600,-0.59,-194.6,611.1,-10.2,516,4603,0.00,1.77,0.00,0.000,4,0.000,0.046,1818,3819,3762,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4634,-0.59,-194.6,613.5,-10.5,517,4641,0.00,1.80,0.00,0.000,6,0.000,0.024,1817,2564,3761,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4943,-0.59,-194.6,647.7,-10.5,533,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2564,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5241,-0.59,-194.6,679.5,-10.4,548,5246,0.00,1.98,0.00,0.000,4,0.000,0.048,1808,3818,3758,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5294,-0.59,-194.6,683.9,-10.6,550,5301,0.00,1.80,0.00,0.000,6,0.000,0.026,1809,2567,3757,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5602,-0.58,-194.6,719.4,-11.1,566,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2566,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.58,-194.6,753.3,-11.1,581,5907,0.00,1.95,0.00,0.000,4,0.000,0.047,1799,3811,3754,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5930,-0.58,-194.6,755.5,-11.2,582,5933,0.00,1.80,0.00,0.000,6,0.000,0.027,1799,2577,3753,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6241,-0.57,-194.6,792.4,-11.3,598,6247,0.00,2.03,0.00,0.000,4,0.000,0.030,1799,1172,3751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6264,-0.56,-194.6,794.8,-11.4,599,6268,0.12,2.25,0.00,0.000,6,0.132,0.041,1826,2653,3750,0,0,0,0,0,0,25.99,26.15,28.83
$GC,6584,-0.58,-194.6,822.2,-9.0,615,6587,0.00,1.77,0.00,0.000,4,0.000,0.050,1818,3812,3749,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6613,-0.60,-194.6,824.3,-9.0,616,6617,0.00,1.80,0.00,0.000,6,0.000,0.027,1818,2573,3748,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6928,-0.61,-194.6,853.7,-9.3,632,6933,0.00,2.00,0.00,0.000,4,0.000,0.031,1818,1187,3746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6968,-0.62,-194.6,857.4,-9.0,634,6973,0.00,2.22,0.00,0.000,6,0.000,0.042,1809,2659,3746,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7288,-0.62,-194.6,889.1,-10.0,650,7294,0.00,2.17,0.00,0.000,4,0.000,0.030,1809,1184,3743,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7322,-0.62,-194.6,891.1,-10.0,651,7329,0.00,2.25,0.00,0.000,6,0.000,0.042,1800,2657,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7627,-0.62,-194.6,923.3,-9.3,667,7631,0.00,1.77,0.00,0.000,4,0.000,0.049,1791,3819,3742,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7656,-0.62,-194.6,925.2,-9.2,668,7660,0.00,1.80,0.00,0.000,6,0.000,0.027,1791,2568,3742,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7965,-0.61,-194.6,953.3,-8.9,683,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2567,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8265,-0.60,-194.6,981.1,-9.4,698,8271,0.00,2.03,0.00,0.000,4,0.000,0.032,1791,1187,3738,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8306,-0.60,-194.6,984.9,-9.4,700,8311,0.12,2.25,0.00,0.000,6,0.132,0.041,1819,2656,3738,0,0,0,0,0,0,25.90,26.06,28.83
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8377,begin apogee
$GC,8383,-0.20,0.0,990.6,-7.5,704,8561,0.35,0.10,167.68,1.179,6,0.096,0.058,1945,2534,2969,0,0,0,0,0,0,25.94,24.73,23.75
$STATE,8562,end apogee,CONTROL_FINISHED_OK
$STATE,8562,begin climb
$GC,8565,0.61,194.6,998.6,0.0,713,8761,0.73,2.47,183.23,1.183,4,0.047,0.040,2227,1068,2170,0,0,0,0,0,0,24.98,24.25,23.21
$GC,8797,0.51,194.6,980.0,17.0,724,8804,0.20,2.35,0.00,0.000,6,0.164,0.041,2176,2521,2160,0,0,0,0,0,0,24.58,24.82,28.83
$GC,9106,0.45,194.6,930.7,15.4,740,9112,0.00,2.03,0.00,0.000,4,0.000,0.047,2176,3816,2153,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9157,0.38,194.6,924.1,15.7,742,9165,0.20,2.08,0.00,0.000,6,0.173,0.030,2134,2458,2152,0,0,0,0,0,0,25.52,25.94,28.83
$GC,9467,0.36,194.6,887.3,10.8,758,9472,0.00,2.12,0.00,0.000,4,0.000,0.047,2134,3803,2150,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9518,0.32,194.6,882.2,11.7,760,9525,0.00,2.03,0.00,0.000,6,0.000,0.030,2144,2464,2150,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9827,0.29,194.6,843.5,12.1,776,9833,0.12,2.08,0.00,0.000,4,0.175,0.034,2117,1061,2149,0,0,0,0,0,0,25.94,26.11,28.83
$GC,9867,0.28,194.6,839.5,11.2,778,9872,0.00,2.22,0.00,0.000,6,0.000,0.041,2117,2518,2148,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10187,0.29,202.9,810.4,9.2,794,10192,0.00,1.98,0.00,0.000,4,0.000,0.047,2117,3810,2148,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10261,0.28,202.9,803.9,10.6,797,10268,0.00,2.05,0.00,0.000,6,0.000,0.032,2127,2456,2147,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10566,0.27,202.9,770.8,10.4,813,10572,0.00,2.08,0.00,0.000,4,0.000,0.037,2138,1057,2147,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10589,0.26,202.9,768.7,10.4,814,10594,0.15,2.25,0.00,0.000,6,0.135,0.041,2095,2526,2146,0,0,0,0,0,0,25.86,26.09,28.83
$GC,10904,0.35,265.8,744.2,7.4,830,10969,0.00,2.05,54.70,1.176,4,0.000,0.046,2095,3813,1897,0,0,0,0,1,0,28.83,25.35,24.13
$GC,11014,0.45,324.4,736.9,7.5,835,11089,0.15,2.08,67.38,0.990,6,0.066,0.029,2185,2464,1649,0,0,0,0,0,0,25.61,25.60,24.08
$GC,11397,0.41,324.4,671.8,16.5,855,11403,0.12,2.12,0.00,0.000,4,0.174,0.045,2148,3814,1629,0,0,0,0,0,0,25.71,25.83,28.83
$GC,11431,0.38,324.4,668.6,16.5,856,11438,0.00,2.05,0.00,0.000,6,0.000,0.028,2158,2466,1628,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11738,0.38,324.4,630.8,12.1,872,11743,0.00,2.10,0.00,0.000,4,0.000,0.046,2158,3815,1626,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11776,0.38,324.4,625.4,12.8,874,11783,0.12,2.05,0.00,0.000,6,0.158,0.029,2135,2465,1626,0,0,0,0,0,0,25.80,26.08,28.83
$GC,12089,0.41,324.4,596.3,9.4,891,12097,0.00,2.08,0.00,0.000,4,0.000,0.037,2145,1060,1624,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12130,0.45,324.4,592.3,9.5,895,12140,0.00,2.25,0.00,0.000,6,0.000,0.040,2145,2524,1623,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,17021,end climb,SURFACE_DEPTH_REACHED
$STATE,17021,begin surface coast
$FINISH,0.2,1.023268
$STATE,17026,end surface coast,CONTROL_FINISHED_OK
$STATE,17026,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.10
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$10V_AH,10.1,31.562
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.850,161.750,611.400,0.000,0.000,28.876,46.674,253.816,0.000,0.000,13.035,3624.166,9736.969,731.542,3076.041,365.618,0.000,2224.971,0.000,2594.957,0.000,0.542,0.000
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$MEM,330404
$DATA_FILE_SIZE,100477,1536
$CAP_FILE_SIZE,187674,0
$CFSIZE,260165632,201814016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231211,124806,2325.639,12338.919,69,1.0,69,-3.3