version: 66.10
glider: 169
mission: 5
dive: 240
start: 12 25 111 11 22 19
data:
$ID,169
$MISSION,5
$DIVE,240
$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,320
$T_MISSION,360
$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,225
$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,-11023.782
$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
$GPS1,251211,111400,2319.381,12355.930,38,1.4,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.6
$GPS2,251211,112158,2319.307,12355.880,11,4.3,30,-3.3
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,HEADING
$TGT_LATLONG,2326.249,12404.896
$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,-15.1,-10.312
$D_GRID,4099
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.65,-219.0,0.0,0.0,0,117,0.00,0.00,-96.28,0.000,2,0.000,0.000,117,2684,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.65,-219.0,3.8,-8.3,17,151,6.72,2.28,-14.82,0.000,4,0.226,0.041,1798,1177,3874,0,0,0,0,0,0,25.19,26.10,26.50
$GC,203,-0.58,-219.0,37.1,-27.1,32,211,0.12,2.28,0.00,0.000,6,0.159,0.046,1821,2650,3874,0,0,0,0,0,0,25.81,26.01,28.83
$GC,516,-0.43,-219.0,155.8,-47.6,93,523,0.15,1.80,0.00,0.000,4,0.187,0.047,1855,3813,3874,0,0,0,0,0,0,25.91,26.12,28.83
$GC,566,-0.32,-219.0,174.4,-32.1,102,573,0.15,1.80,0.00,0.000,6,0.158,0.023,1904,2554,3874,0,0,0,0,0,0,25.93,26.35,28.83
$GC,882,-0.33,-219.0,216.1,-10.4,148,886,0.00,2.00,0.00,0.000,4,0.000,0.047,1895,3816,3874,0,0,0,0,0,0,28.83,26.19,28.83
$GC,914,-0.36,-219.0,219.7,-10.9,151,918,0.00,1.83,0.00,0.000,6,0.000,0.024,1895,2557,3874,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1226,-0.39,-219.0,249.5,-8.2,182,1235,0.00,1.95,0.00,0.000,4,0.000,0.043,1887,3818,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1259,-0.43,-219.0,252.1,-8.2,185,1267,0.00,1.80,0.00,0.000,6,0.000,0.024,1886,2554,3874,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1569,-0.45,-219.0,279.7,-8.3,216,1578,0.00,1.95,0.00,0.000,4,0.000,0.027,1886,1176,3874,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1592,-0.47,-219.0,281.7,-8.5,218,1601,0.00,2.22,0.00,0.000,6,0.000,0.037,1879,2660,3874,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1901,-0.50,-219.0,308.6,-8.5,249,1905,0.00,1.77,0.00,0.000,4,0.000,0.047,1870,3819,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1944,-0.54,-219.0,311.7,-7.6,253,1953,0.00,1.80,0.00,0.000,6,0.000,0.025,1870,2557,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2253,-0.56,-219.0,338.9,-8.5,284,2262,0.12,2.00,0.00,0.000,4,0.074,0.024,1775,1169,3873,0,0,0,0,0,0,26.60,26.39,28.83
$GC,2299,-0.55,-219.0,344.7,-13.6,288,2306,0.22,2.22,0.00,0.000,6,0.121,0.038,1836,2656,3873,0,0,0,0,0,0,26.03,26.31,28.83
$GC,2605,-0.53,-219.0,384.9,-11.8,319,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2656,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,-0.52,-219.0,423.3,-13.0,349,2911,0.00,1.77,0.00,0.000,4,0.000,0.046,1827,3825,3871,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2968,-0.54,-219.0,430.8,-11.0,355,2978,0.00,1.80,0.00,0.000,6,0.000,0.024,1827,2559,3870,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3280,-0.54,-219.0,471.3,-13.3,386,3288,0.00,1.98,0.00,0.000,4,0.000,0.045,1818,3824,3868,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3351,-0.56,-219.0,480.9,-12.2,393,3359,0.00,1.80,0.00,0.000,6,0.000,0.024,1818,2557,3868,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3661,-0.56,-219.0,526.5,-14.1,424,3664,0.00,1.98,0.00,0.000,4,0.000,0.044,1809,3819,3867,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3722,-0.57,-219.0,534.9,-13.1,430,3731,0.00,1.80,0.00,0.000,6,0.000,0.026,1809,2561,3866,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4032,-0.57,-219.0,575.2,-12.0,461,4040,0.00,1.98,0.00,0.000,4,0.000,0.046,1800,3814,3864,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4063,-0.57,-219.0,578.6,-11.5,464,4066,0.00,1.80,0.00,0.000,6,0.000,0.024,1799,2558,3864,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4381,-0.55,-219.0,612.8,-10.1,489,4385,0.10,1.98,0.00,0.000,4,0.148,0.044,1820,3813,3862,0,0,0,0,0,0,26.45,26.21,28.83
$GC,4416,-0.55,-219.0,615.0,-9.7,490,4423,0.00,1.80,0.00,0.000,6,0.000,0.024,1820,2556,3861,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4724,-0.56,-219.0,637.8,-7.9,506,4729,0.00,1.98,0.00,0.000,4,0.000,0.045,1812,3817,3859,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4747,-0.57,-219.0,639.5,-7.9,507,4750,0.00,1.80,0.00,0.000,6,0.000,0.024,1812,2558,3859,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5058,-0.58,-219.0,669.8,-10.7,523,5064,0.00,1.98,0.00,0.000,4,0.000,0.045,1803,3821,3857,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5102,-0.59,-219.0,673.9,-10.6,525,5106,0.00,1.83,0.00,0.000,6,0.000,0.025,1803,2557,3856,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5413,-0.59,-219.0,711.3,-12.1,541,5418,0.00,1.98,0.00,0.000,4,0.000,0.046,1794,3821,3853,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5467,-0.59,-219.0,716.1,-12.2,543,5474,0.00,1.80,0.00,0.000,6,0.000,0.026,1794,2562,3853,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5774,-0.59,-219.0,755.8,-12.2,559,5780,0.00,1.95,0.00,0.000,4,0.000,0.048,1785,3817,3851,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5821,-0.59,-219.0,760.8,-12.4,561,5825,0.12,1.83,0.00,0.000,6,0.117,0.026,1825,2557,3850,0,0,0,0,0,0,26.19,26.42,28.83
$GC,6135,-0.62,-219.0,788.3,-8.2,577,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2557,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6435,-0.64,-219.0,811.9,-7.5,592,6441,0.00,1.98,0.00,0.000,4,0.000,0.047,1816,3817,3846,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6488,-0.68,-219.0,814.9,-7.4,594,6494,0.00,1.83,0.00,0.000,6,0.000,0.026,1816,2554,3846,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6796,-0.70,-219.0,841.5,-8.7,610,6802,0.00,2.00,0.00,0.000,4,0.000,0.030,1816,1175,3843,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6828,-0.72,-219.0,843.1,-8.6,611,6836,0.12,2.25,0.00,0.000,6,0.079,0.040,1731,2657,3843,0,0,0,0,0,0,26.19,26.17,28.83
$GC,7135,-0.67,-219.0,897.7,-17.9,627,7141,0.17,1.75,0.00,0.000,4,0.149,0.046,1780,3811,3841,0,0,0,0,0,0,26.04,26.10,28.83
$GC,7157,-0.61,-219.0,901.0,-17.6,628,7161,0.00,1.80,0.00,0.000,6,0.000,0.025,1783,2555,3841,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7476,-0.61,-219.0,935.4,-10.6,644,7481,0.00,1.95,0.00,0.000,4,0.000,0.047,1774,3812,3839,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7537,-0.61,-219.0,941.4,-10.3,647,7542,0.12,1.77,0.00,0.000,6,0.122,0.025,1813,2559,3838,0,0,0,0,0,0,26.13,26.39,28.83
$GC,7851,-0.63,-219.0,964.4,-7.4,663,7857,0.00,1.98,0.00,0.000,4,0.000,0.048,1804,3822,3837,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7878,-0.66,-219.0,965.9,-7.4,664,7882,0.00,1.83,0.00,0.000,6,0.000,0.027,1803,2560,3837,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,8182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8182,begin apogee
$GC,8189,-0.20,0.0,991.2,-7.9,679,8388,0.38,0.12,190.10,1.161,6,0.093,0.084,1940,2536,2975,0,0,0,0,0,0,25.96,24.70,23.69
$STATE,8389,end apogee,CONTROL_FINISHED_OK
$STATE,8389,begin climb
$GC,8391,0.65,219.0,1000.2,0.0,689,8606,0.75,2.50,206.18,1.177,4,0.049,0.038,2237,1070,2077,0,0,0,0,0,0,24.90,24.19,23.14
$GC,8663,0.57,219.0,970.7,20.7,702,8670,0.15,2.33,0.00,0.000,6,0.164,0.040,2199,2523,2056,0,0,0,0,0,0,24.73,24.96,28.83
$GC,8969,0.51,219.0,909.7,18.5,718,8975,0.00,2.03,0.00,0.000,4,0.000,0.046,2199,3813,2050,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9058,0.44,219.0,892.7,21.3,722,9063,0.20,2.05,0.00,0.000,6,0.177,0.031,2156,2467,2048,0,0,0,0,0,0,25.57,25.99,28.83
$GC,9364,0.41,219.0,844.4,14.6,737,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2464,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9665,0.38,219.0,801.4,14.0,752,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2465,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9964,0.36,219.0,757.7,14.8,767,9969,0.00,2.10,0.00,0.000,4,0.000,0.045,2156,3813,2045,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10037,0.32,219.0,747.8,16.1,770,10044,0.17,2.03,0.00,0.000,6,0.157,0.029,2119,2466,2044,0,0,0,0,0,0,25.78,26.20,28.83
$GC,10345,0.33,219.0,709.8,11.4,786,10350,0.00,2.08,0.00,0.000,4,0.000,0.035,2129,1067,2044,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10377,0.34,219.0,707.5,11.5,787,10383,0.00,2.22,0.00,0.000,6,0.000,0.039,2129,2528,2043,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10685,0.34,219.0,670.9,11.2,803,10690,0.00,2.00,0.00,0.000,4,0.000,0.048,2129,3811,2043,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10727,0.34,219.0,666.0,11.8,805,10731,0.00,2.03,0.00,0.000,6,0.000,0.030,2139,2465,2043,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11040,0.34,219.0,629.1,11.2,821,11045,0.00,2.08,0.00,0.000,4,0.000,0.046,2140,3812,2043,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11080,0.33,219.0,624.2,11.5,823,11086,0.08,2.03,0.00,0.000,6,0.152,0.029,2124,2462,2043,0,0,0,0,0,0,25.90,26.24,28.83
$GC,11390,0.39,256.3,593.8,9.1,841,11428,0.00,0.00,27.67,0.877,6,0.000,0.000,2125,2461,1931,0,0,0,0,1,0,28.83,28.83,24.63
$GC,11729,0.50,336.5,566.2,7.8,875,11849,0.12,0.00,114.30,0.786,6,0.078,0.000,2200,2461,1602,0,0,0,0,0,0,26.28,28.83,24.35
$GC,12150,0.48,336.5,500.8,16.5,917,12159,0.12,2.15,0.00,0.000,4,0.162,0.043,2161,3812,1583,0,0,0,0,0,0,25.76,25.84,28.83
$GC,12184,0.47,336.5,495.7,15.9,920,12192,0.00,2.05,0.00,0.000,6,0.000,0.029,2171,2464,1582,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12492,0.47,336.5,456.8,12.3,951,12502,0.00,2.12,0.00,0.000,4,0.000,0.037,2182,1055,1580,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,16107,end climb,SURFACE_DEPTH_REACHED
$STATE,16107,begin surface coast
$FINISH,0.5,1.023290
$STATE,16128,end surface coast,CONTROL_FINISHED_OK
$STATE,16128,begin surface
$SM_CCo,16202,0.00,0.000,0,0,845,523.72
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,10.1,32.747
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.950,141.450,728.625,0.000,0.000,29.079,19.668,283.979,0.000,0.000,32.518,3381.258,9143.533,808.726,2951.609,371.336,0.000,2258.382,0.000,2477.309,0.000,0.542,0.000
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$MEM,330452
$DATA_FILE_SIZE,97108,1453
$CAP_FILE_SIZE,178316,0
$CFSIZE,260165632,200843264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251211,155330,2318.151,12357.371,37,0.9,42,-3.3