version: 66.10
glider: 169
mission: 5
dive: 395
start: 1 23 112 20 45 47
data:
$ID,169
$MISSION,5
$DIVE,395
$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,-11376.116
$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
$GPS1,230112,203731,2320.459,12213.776,39,1.1,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.3
$GPS2,230112,204525,2320.638,12213.834,13,1.4,13,-3.1
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2320.638,12225.596
$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,4226
$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,-175.2,0.0,0.0,0,97,0.00,0.00,-77.07,0.000,2,0.000,0.000,116,2675,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.9,-9.3,14,125,7.03,2.38,-11.98,0.000,4,0.228,0.041,1815,1168,3696,0,0,0,0,0,0,24.84,26.03,26.53
$GC,188,-0.53,-175.2,40.8,-26.0,30,195,0.12,2.33,0.00,0.000,6,0.168,0.041,1835,2653,3697,0,0,0,0,0,0,25.69,25.96,28.83
$GC,500,-0.46,-175.2,126.3,-20.8,91,506,0.00,1.77,0.00,0.000,4,0.000,0.042,1826,3820,3698,0,0,0,0,0,0,28.83,26.08,28.83
$GC,530,-0.39,-175.2,132.4,-20.6,96,539,0.17,1.80,0.00,0.000,6,0.142,0.021,1886,2560,3697,0,0,0,0,0,0,25.87,26.35,28.83
$GC,843,-0.39,-175.2,170.0,-10.6,157,849,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2559,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1153,-0.41,-175.2,200.2,-8.6,218,1162,0.00,2.00,0.00,0.000,4,0.000,0.043,1877,3817,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1208,-0.44,-175.2,204.4,-8.0,223,1215,0.00,1.80,0.00,0.000,6,0.000,0.021,1877,2555,3697,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1516,-0.46,-175.2,232.6,-9.2,254,1525,0.00,2.00,0.00,0.000,4,0.000,0.026,1877,1176,3697,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1551,-0.48,-175.2,235.4,-8.9,257,1558,0.00,2.28,0.00,0.000,6,0.000,0.037,1869,2656,3697,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1859,-0.49,-175.2,264.0,-9.2,288,1863,0.00,1.77,0.00,0.000,4,0.000,0.045,1860,3816,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1884,-0.51,-175.2,266.0,-9.2,290,1890,0.00,1.80,0.00,0.000,6,0.000,0.021,1860,2563,3697,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2190,-0.52,-175.2,295.0,-9.6,321,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2563,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-0.53,-175.2,323.1,-8.8,351,2502,0.00,1.98,0.00,0.000,4,0.000,0.044,1851,3813,3694,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2556,-0.57,-175.2,327.9,-6.8,357,2559,0.00,1.77,0.00,0.000,6,0.000,0.021,1850,2572,3694,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2867,-0.58,-175.2,356.5,-9.7,388,2871,0.00,2.03,0.00,0.000,4,0.000,0.027,1850,1174,3693,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2892,-0.59,-175.2,358.5,-9.2,390,2898,0.00,2.28,0.00,0.000,6,0.000,0.037,1841,2658,3692,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3199,-0.59,-175.2,390.4,-9.9,421,3207,0.00,2.20,0.00,0.000,4,0.000,0.028,1841,1171,3691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3263,-0.63,-175.2,395.8,-8.1,427,3270,0.00,2.28,0.00,0.000,6,0.000,0.037,1836,2654,3691,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3570,-0.63,-175.2,423.7,-9.4,458,3573,0.00,1.77,0.00,0.000,4,0.000,0.044,1827,3818,3689,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3621,-0.65,-175.2,428.1,-9.0,463,3625,0.00,1.77,0.00,0.000,6,0.000,0.021,1826,2576,3688,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3932,-0.65,-175.2,458.1,-10.1,494,3936,0.00,2.05,0.00,0.000,4,0.000,0.028,1827,1166,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3968,-0.66,-175.2,461.0,-9.8,497,3975,0.00,2.28,0.00,0.000,6,0.000,0.037,1819,2651,3686,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4273,-0.66,-175.2,492.6,-10.3,528,4277,0.00,1.80,0.00,0.000,4,0.000,0.047,1811,3813,3684,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4316,-0.66,-175.2,496.9,-10.5,532,4324,0.00,1.77,0.00,0.000,6,0.000,0.024,1811,2572,3684,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4625,-0.66,-175.2,530.7,-11.4,563,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2572,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,-0.65,-175.2,563.0,-10.5,593,4931,0.00,2.08,0.00,0.000,4,0.000,0.031,1811,1175,3680,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4982,-0.67,-175.2,568.3,-9.7,598,4988,0.00,2.28,0.00,0.000,6,0.000,0.040,1802,2650,3680,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5301,-0.66,-175.2,605.4,-11.9,628,5305,0.00,1.83,0.00,0.000,4,0.000,0.046,1793,3810,3677,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5356,-0.65,-175.2,610.6,-11.8,630,5362,0.00,1.80,0.00,0.000,6,0.000,0.023,1793,2567,3677,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5664,-0.63,-175.2,649.3,-12.4,646,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2566,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5963,-0.61,-175.2,686.3,-12.1,661,5969,0.00,2.03,0.00,0.000,4,0.000,0.028,1793,1178,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5992,-0.60,-175.2,688.8,-12.0,662,6002,0.12,2.28,0.00,0.000,6,0.132,0.040,1821,2649,3672,0,0,0,0,0,0,25.91,26.08,28.83
$GC,6304,-0.61,-175.2,718.8,-9.2,678,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2649,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,-0.62,-175.2,746.2,-8.9,693,6610,0.00,2.20,0.00,0.000,4,0.000,0.029,1822,1182,3667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6647,-0.64,-175.2,749.6,-8.8,695,6653,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2655,3668,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6963,-0.65,-175.2,779.9,-9.4,711,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7264,-0.66,-175.2,807.6,-8.9,726,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,-0.67,-175.2,833.8,-8.7,741,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,-0.68,-175.2,859.6,-8.4,756,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2654,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8165,-0.69,-175.2,884.1,-8.1,771,8170,0.00,2.17,0.00,0.000,4,0.000,0.028,1813,1185,3659,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8216,-0.71,-175.2,887.2,-8.0,773,8223,0.00,2.28,0.00,0.000,6,0.000,0.041,1805,2649,3659,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8524,-0.71,-175.2,913.5,-8.1,789,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2649,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8823,-0.71,-175.2,939.1,-8.6,804,8829,0.00,2.20,0.00,0.000,4,0.000,0.029,1805,1177,3656,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8846,-0.72,-175.2,940.9,-8.5,805,8850,0.00,2.30,0.00,0.000,6,0.000,0.041,1797,2648,3657,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9159,-0.72,-175.2,970.3,-9.5,821,9162,0.00,1.80,0.00,0.000,4,0.000,0.049,1788,3816,3655,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9179,-0.72,-175.2,972.6,-9.6,822,9183,0.00,1.85,0.00,0.000,6,0.000,0.025,1788,2580,3654,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,9358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9359,begin apogee
$GC,9364,-0.20,0.0,990.7,-10.1,831,9526,0.45,0.15,154.43,1.187,6,0.102,0.073,1944,2542,2977,0,0,0,0,0,0,25.68,24.84,23.27
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9529,0.60,175.2,998.2,0.0,839,9710,0.70,2.22,168.65,1.186,4,0.047,0.046,2213,3814,2252,0,0,0,0,0,0,25.10,24.70,23.19
$GC,9823,0.50,175.2,966.8,19.7,854,9830,0.20,2.10,0.00,0.000,6,0.181,0.029,2172,2465,2237,0,0,0,0,0,0,25.30,25.75,28.83
$GC,10144,0.45,175.2,923.8,13.1,870,10150,0.00,2.12,0.00,0.000,4,0.000,0.045,2172,3812,2232,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10176,0.39,175.2,921.2,13.2,871,10184,0.17,2.08,0.00,0.000,6,0.161,0.029,2136,2452,2232,0,0,0,0,0,0,25.64,26.07,28.83
$GC,10485,0.38,175.2,887.5,9.6,887,10490,0.00,2.17,0.00,0.000,4,0.000,0.045,2135,3814,2230,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10518,0.35,175.2,885.5,9.8,888,10524,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2463,2229,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10823,0.33,175.2,851.8,10.5,904,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2461,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11125,0.30,175.2,819.8,10.7,919,11131,0.12,2.15,0.00,0.000,4,0.171,0.044,2109,3812,2228,0,0,0,0,0,0,26.03,25.98,28.83
$GC,11178,0.28,175.2,815.4,10.7,921,11185,0.00,2.05,0.00,0.000,6,0.000,0.028,2119,2458,2227,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11485,0.28,175.2,785.0,9.7,937,11490,0.00,2.12,0.00,0.000,4,0.000,0.046,2119,3809,2227,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11518,0.28,175.2,783.0,9.8,938,11524,0.00,2.05,0.00,0.000,6,0.000,0.028,2129,2457,2227,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11823,0.28,175.2,749.9,10.0,954,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2455,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12125,0.28,175.2,720.4,9.7,969,12130,0.00,2.15,0.00,0.000,4,0.000,0.046,2130,3808,2226,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12165,0.27,175.2,716.0,10.2,971,12171,0.12,2.03,0.00,0.000,6,0.137,0.028,2099,2470,2226,0,0,0,0,0,0,25.72,26.18,28.83
$GC,12487,0.35,223.1,691.0,7.5,987,12535,0.00,2.25,35.62,1.037,4,0.000,0.035,2109,1052,2069,0,0,0,0,1,0,28.83,25.67,23.64
$GC,12579,0.44,271.0,685.0,7.5,991,12638,0.12,2.30,47.42,1.139,6,0.077,0.038,2189,2530,1873,0,0,0,0,1,0,25.77,25.75,23.44
$GC,12939,0.40,271.0,630.9,15.0,1009,12946,0.15,2.10,1.35,0.184,4,0.151,0.047,2142,3815,1872,0,0,0,0,0,0,25.75,25.80,25.13
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$STATE,17901,end climb,SURFACE_DEPTH_REACHED
$STATE,17901,begin surface coast
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$STATE,17908,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,49.337
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$FG_AHR_10Vo,0.000
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$MEM,324692
$DATA_FILE_SIZE,106964,1613
$CAP_FILE_SIZE,192980,0
$CFSIZE,260165632,186847232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
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