version: 66.10
glider: 169
mission: 5
dive: 392
start: 1 23 112 5 7 11
data:
$ID,169
$MISSION,5
$DIVE,392
$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,360
$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,180
$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,90
$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,-11372.342
$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
$GPS1,230112,045830,2318.731,12205.818,65,1.4,65,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.9
$GPS2,230112,050649,2318.858,12205.761,10,1.4,15,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2318.858,12217.521
$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,93.1,20000,-15.4,-9.167
$D_GRID,4678
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.60,-175.2,0.0,0.0,0,88,0.00,0.00,-67.80,0.000,2,0.000,0.000,117,2682,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-175.2,3.5,-6.9,12,122,7.25,2.33,-14.57,0.000,4,0.237,0.041,1817,1164,3696,0,0,0,0,0,0,24.76,26.04,26.54
$GC,196,-0.54,-175.2,40.5,-25.6,31,202,0.00,2.35,0.00,0.000,6,0.000,0.044,1806,2652,3696,0,0,0,0,0,0,28.83,25.95,28.83
$GC,507,-0.44,-175.2,144.7,-27.7,92,515,0.17,2.22,0.00,0.000,4,0.168,0.024,1870,1161,3696,0,0,0,0,0,0,25.90,26.22,28.83
$GC,544,-0.42,-175.2,152.2,-17.0,98,552,0.00,2.30,0.00,0.000,6,0.000,0.040,1859,2650,3696,0,0,0,0,0,0,28.83,26.10,28.83
$GC,857,-0.39,-175.2,199.2,-15.2,159,864,0.00,2.20,0.00,0.000,4,0.000,0.027,1860,1175,3696,0,0,0,0,0,0,28.83,26.26,28.83
$GC,914,-0.41,-175.2,206.4,-11.7,165,921,0.00,2.28,0.00,0.000,6,0.000,0.039,1850,2653,3696,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1223,-0.39,-175.2,251.7,-15.9,196,1232,0.12,1.77,0.00,0.000,4,0.154,0.043,1884,3816,3696,0,0,0,0,0,0,26.24,26.13,28.83
$GC,1275,-0.43,-175.2,257.3,-9.2,201,1284,0.00,1.80,0.00,0.000,6,0.000,0.023,1884,2560,3696,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1587,-0.54,-175.2,282.4,-9.1,232,1596,0.12,2.03,0.00,0.000,4,0.121,0.027,1843,1166,3696,0,0,0,0,0,0,26.36,26.28,28.83
$GC,1663,-0.65,-175.2,288.8,-8.3,239,1670,0.12,2.28,0.00,0.000,6,0.088,0.035,1790,2660,3696,0,0,0,0,0,0,26.17,26.22,28.83
$GC,1969,-0.59,-175.2,342.2,-19.9,270,1972,0.00,1.75,0.00,0.000,4,0.000,0.042,1781,3820,3695,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1983,-0.53,-175.2,344.1,-19.2,271,1990,0.20,1.80,0.00,0.000,6,0.134,0.021,1840,2546,3695,0,0,0,0,0,0,25.93,26.44,28.83
$GC,2291,-0.53,-175.2,381.5,-10.6,302,2299,0.00,2.00,0.00,0.000,4,0.000,0.043,1830,3813,3694,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2326,-0.53,-175.2,384.8,-10.3,305,2332,0.00,1.80,0.00,0.000,6,0.000,0.023,1830,2564,3693,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2632,-0.53,-175.2,416.7,-9.9,336,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2564,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-0.53,-175.2,447.0,-10.0,366,2943,0.00,2.03,0.00,0.000,4,0.000,0.028,1831,1181,3690,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2988,-0.56,-175.2,451.7,-8.7,371,2995,0.00,2.28,0.00,0.000,6,0.000,0.039,1824,2654,3690,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3295,-0.56,-175.2,483.0,-10.2,402,3298,0.00,1.80,0.00,0.000,4,0.000,0.045,1815,3819,3688,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3338,-0.57,-175.2,487.2,-10.4,406,3341,0.00,1.80,0.00,0.000,6,0.000,0.024,1816,2576,3688,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3649,-0.57,-175.2,520.0,-10.3,437,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2567,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3950,-0.57,-175.2,551.1,-10.6,467,3959,0.00,2.00,0.00,0.000,4,0.000,0.047,1807,3813,3683,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3992,-0.58,-175.2,555.6,-10.8,471,3996,0.00,1.80,0.00,0.000,6,0.000,0.025,1807,2580,3683,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4304,-0.57,-175.2,591.1,-11.2,502,4307,0.00,2.05,0.00,0.000,4,0.000,0.029,1807,1179,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4359,-0.59,-175.2,596.7,-10.9,507,4365,0.00,2.28,0.00,0.000,6,0.000,0.039,1798,2652,3680,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4675,-0.57,-175.2,636.6,-12.5,525,4679,0.00,1.80,0.00,0.000,4,0.000,0.047,1789,3815,3676,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4725,-0.56,-175.2,641.7,-12.4,527,4729,0.12,1.80,0.00,0.000,6,0.124,0.025,1827,2568,3676,0,0,0,0,0,0,26.08,26.34,28.83
$GC,5036,-0.57,-175.2,670.3,-8.8,542,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2567,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5332,-0.59,-175.2,695.8,-8.5,557,5338,0.00,2.00,0.00,0.000,4,0.000,0.048,1818,3816,3672,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5393,-0.62,-175.2,700.9,-8.5,560,5398,0.00,1.83,0.00,0.000,6,0.000,0.025,1818,2570,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5714,-0.62,-175.2,729.3,-8.8,576,5719,0.00,2.05,0.00,0.000,4,0.000,0.032,1818,1186,3669,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5761,-0.64,-175.2,732.8,-8.9,578,5770,0.00,2.28,0.00,0.000,6,0.000,0.040,1810,2652,3668,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6073,-0.64,-175.2,762.4,-9.2,594,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2652,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,-0.64,-175.2,787.9,-8.2,609,6378,0.00,2.25,0.00,0.000,4,0.000,0.031,1810,1177,3664,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6416,-0.65,-175.2,790.9,-7.8,611,6422,0.00,2.30,0.00,0.000,6,0.000,0.041,1801,2650,3664,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6732,-0.65,-175.2,818.4,-9.1,627,6737,0.00,2.20,0.00,0.000,4,0.000,0.029,1801,1182,3662,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6756,-0.65,-175.2,820.1,-9.1,628,6762,0.00,2.30,0.00,0.000,6,0.000,0.041,1792,2651,3662,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7073,-0.64,-175.2,850.0,-9.3,644,7077,0.00,1.83,0.00,0.000,4,0.000,0.047,1783,3807,3661,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7103,-0.64,-175.2,852.3,-9.3,645,7106,0.00,1.80,0.00,0.000,6,0.000,0.024,1783,2569,3660,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7411,-0.62,-175.2,884.3,-10.1,660,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2567,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7710,-0.61,-175.2,915.3,-10.5,675,7715,0.00,2.05,0.00,0.000,4,0.000,0.031,1783,1184,3658,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7743,-0.60,-175.2,917.4,-10.6,676,7750,0.15,2.30,0.00,0.000,6,0.120,0.041,1820,2653,3657,0,0,0,0,0,0,25.79,25.97,28.83
$GC,8053,-0.62,-175.2,942.9,-8.0,692,8056,0.00,1.85,0.00,0.000,4,0.000,0.050,1812,3818,3656,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8077,-0.64,-175.2,944.8,-7.9,693,8081,0.00,1.85,0.00,0.000,6,0.000,0.026,1812,2581,3656,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8396,-0.65,-175.2,971.3,-8.3,709,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2579,3655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8632,begin apogee
$GC,8637,-0.20,0.0,991.0,-8.3,721,8800,0.38,0.12,155.38,1.186,6,0.096,0.086,1945,2535,2977,0,0,0,0,0,0,25.84,24.77,23.25
$STATE,8801,end apogee,CONTROL_FINISHED_OK
$STATE,8801,begin climb
$GC,8803,0.60,175.2,998.2,0.0,729,8983,0.68,2.45,169.40,1.185,4,0.043,0.038,2225,1069,2254,0,0,0,0,0,0,25.10,24.70,23.17
$GC,9034,0.52,175.2,980.7,15.5,741,9039,0.17,2.33,0.00,0.000,6,0.164,0.039,2180,2530,2239,0,0,0,0,0,0,25.09,25.41,28.83
$GC,9347,0.46,175.2,932.8,15.1,757,9351,0.00,2.03,0.00,0.000,4,0.000,0.046,2179,3816,2235,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9453,0.39,175.2,915.3,17.5,762,9458,0.20,2.08,0.00,0.000,6,0.168,0.029,2137,2458,2232,0,0,0,0,0,0,25.56,26.07,28.83
$GC,9767,0.37,175.2,877.9,11.1,778,9772,0.00,2.17,0.00,0.000,4,0.000,0.047,2136,3816,2231,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9795,0.35,175.2,875.5,11.3,779,9804,0.00,2.08,0.00,0.000,6,0.000,0.029,2147,2456,2231,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10107,0.32,175.2,835.8,12.5,795,10113,0.12,2.17,0.00,0.000,4,0.171,0.044,2109,3814,2230,0,0,0,0,0,0,26.00,25.98,28.83
$GC,10179,0.30,175.2,828.5,12.2,798,10186,0.00,2.05,0.00,0.000,6,0.000,0.029,2120,2465,2229,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10486,0.30,175.2,795.1,10.1,814,10492,0.00,2.08,0.00,0.000,4,0.000,0.035,2130,1069,2229,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10528,0.30,175.2,791.2,9.9,816,10532,0.00,2.22,0.00,0.000,6,0.000,0.039,2130,2523,2228,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10841,0.29,175.2,759.9,9.7,832,10846,0.00,2.05,0.00,0.000,4,0.000,0.047,2131,3820,2227,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10885,0.28,175.2,755.5,10.1,834,10890,0.15,2.08,0.00,0.000,6,0.158,0.029,2102,2452,2227,0,0,0,0,0,0,25.75,26.17,28.83
$GC,11201,0.39,260.3,734.3,6.2,850,11282,0.10,2.17,70.07,1.216,4,0.095,0.034,2177,1062,1921,0,0,0,0,1,0,26.47,25.18,23.39
$GC,11298,0.36,260.3,724.0,11.4,855,11307,0.17,2.35,1.60,0.196,6,0.132,0.040,2127,2531,1916,0,0,0,0,0,0,25.16,25.37,24.95
$GC,11616,0.37,260.3,694.6,9.3,871,11621,0.00,2.22,0.00,0.000,4,0.000,0.035,2139,1070,1924,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11640,0.39,260.3,692.7,9.4,872,11646,0.00,2.22,0.00,0.000,6,0.000,0.038,2138,2529,1922,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11954,0.39,260.3,661.3,9.9,888,11960,0.00,2.03,0.00,0.000,4,0.000,0.046,2139,3812,1923,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12007,0.39,260.3,656.8,10.7,890,12014,0.00,2.05,0.00,0.000,6,0.000,0.028,2149,2464,1922,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12315,0.39,260.3,623.7,10.1,906,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2462,1921,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17704,end climb,SURFACE_DEPTH_REACHED
$STATE,17704,begin surface coast
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$STATE,17716,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,195304,0
$CFSIZE,260165632,187154432
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$GPS,230112,100501,2319.200,12208.401,49,1.1,49,-3.1