version: 66.10
glider: 169
mission: 5
dive: 498
start: 2 14 112 19 25 3
data:
$ID,169
$MISSION,5
$DIVE,498
$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,380
$T_MISSION,420
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-12539.862
$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
$GPS1,140212,191737,2141.000,12401.464,34,0.9,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.7
$GPS2,140212,192438,2140.974,12401.375,14,1.2,14,-2.9
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,144.6,20461,-16.1,-8.684
$D_GRID,5486
$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,17,-0.58,-146.0,0.0,0.0,0,100,0.00,0.00,-80.12,0.000,2,0.000,0.000,131,2655,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-146.0,4.1,-9.8,14,123,6.85,0.00,-6.65,0.000,6,0.219,0.000,1811,2655,3577,0,0,0,0,0,0,24.75,28.83,26.52
$GC,428,-0.47,-146.0,116.9,-30.4,77,435,0.12,2.28,0.00,0.000,4,0.184,0.024,1859,1174,3577,0,0,0,0,0,0,25.98,26.10,28.83
$GC,560,-0.50,-146.0,140.4,-12.3,102,567,0.00,2.33,0.00,0.000,6,0.000,0.034,1848,2646,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,873,-0.45,-146.0,200.4,-18.5,163,882,0.00,2.28,0.00,0.000,4,0.000,0.026,1848,1166,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,918,-0.43,-146.0,207.2,-16.2,167,925,0.12,2.35,0.00,0.000,6,0.138,0.037,1875,2647,3577,0,0,0,0,0,0,25.84,26.03,28.83
$GC,1225,-0.42,-146.0,248.1,-13.2,198,1234,0.00,2.28,0.00,0.000,4,0.000,0.027,1874,1171,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1288,-0.46,-146.0,255.3,-10.5,204,1298,0.00,2.35,0.00,0.000,6,0.000,0.036,1865,2651,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1598,-0.45,-146.0,291.9,-10.6,235,1606,0.00,2.28,0.00,0.000,4,0.000,0.027,1866,1171,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1652,-0.47,-146.0,296.6,-9.2,240,1660,0.00,2.35,0.00,0.000,6,0.000,0.037,1862,2647,3577,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1959,-0.46,-146.0,325.6,-11.0,271,1968,0.00,2.28,0.00,0.000,4,0.000,0.026,1862,1166,3577,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2001,-0.48,-146.0,329.7,-9.9,275,2010,0.00,2.33,0.00,0.000,6,0.000,0.037,1861,2644,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2311,-0.48,-146.0,370.1,-15.7,306,2315,0.00,2.25,0.00,0.000,4,0.000,0.027,1861,1185,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2352,-0.50,-146.0,376.2,-14.9,310,2361,0.00,2.30,0.00,0.000,6,0.000,0.037,1862,2645,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2663,-0.51,-146.0,415.7,-10.1,341,2667,0.00,2.25,0.00,0.000,4,0.000,0.026,1861,1175,3576,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2725,-0.56,-146.0,420.4,-6.9,347,2734,0.00,2.28,0.00,0.000,6,0.000,0.037,1857,2641,3576,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3035,-0.57,-146.0,438.7,-6.0,378,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2641,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3337,-0.58,-146.0,464.8,-10.2,408,3350,0.10,2.22,0.00,0.000,4,0.090,0.025,1776,1181,3574,0,0,0,0,0,0,26.53,26.15,28.83
$GC,3433,-0.56,-146.0,479.9,-16.1,417,3442,0.17,2.30,0.00,0.000,6,0.113,0.038,1825,2640,3574,0,0,0,0,0,0,25.64,26.02,28.83
$GC,3743,-0.55,-146.0,525.7,-14.8,448,3752,0.00,2.20,0.00,0.000,4,0.000,0.026,1826,1176,3573,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3798,-0.57,-146.0,532.8,-13.0,453,3804,0.00,2.33,0.00,0.000,6,0.000,0.039,1821,2645,3572,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4105,-0.56,-146.0,572.8,-11.8,484,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2644,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-0.55,-146.0,606.9,-11.0,512,4422,0.00,2.25,0.00,0.000,4,0.000,0.027,1821,1171,3569,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4485,-0.56,-146.0,612.8,-10.2,515,4494,0.00,2.35,0.00,0.000,6,0.000,0.037,1813,2646,3569,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4797,-0.55,-146.0,646.6,-10.2,531,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2645,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5095,-0.54,-146.0,674.0,-9.3,546,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2645,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-0.53,-146.0,704.4,-11.0,561,5402,0.00,2.28,0.00,0.000,4,0.000,0.028,1813,1184,3562,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5476,-0.55,-146.0,712.6,-10.2,565,5481,0.00,2.33,0.00,0.000,6,0.000,0.040,1812,2641,3562,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5797,-0.55,-146.0,747.1,-10.9,581,5802,0.00,2.28,0.00,0.000,4,0.000,0.028,1812,1175,3560,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5823,-0.55,-146.0,749.2,-10.9,582,5827,0.00,2.38,0.00,0.000,6,0.000,0.039,1812,2644,3559,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6130,-0.55,-146.0,779.5,-9.5,597,6136,0.00,2.25,0.00,0.000,4,0.000,0.028,1812,1181,3558,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6180,-0.55,-146.0,783.1,-9.4,599,6189,0.00,2.35,0.00,0.000,6,0.000,0.040,1813,2648,3557,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6491,-0.55,-146.0,815.5,-10.6,615,6495,0.00,1.77,0.00,0.000,4,0.000,0.046,1804,3812,3555,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6533,-0.55,-146.0,819.9,-10.6,617,6536,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2581,3554,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6856,-0.55,-146.0,858.9,-12.1,633,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2577,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,-0.55,-146.0,892.4,-10.5,648,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2577,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7454,-0.55,-146.0,919.8,-8.1,663,7460,0.00,2.15,0.00,0.000,4,0.000,0.030,1804,1174,3549,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7497,-0.56,-146.0,922.8,-7.7,665,7502,0.00,2.38,0.00,0.000,6,0.000,0.040,1799,2641,3549,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7815,-0.56,-146.0,947.5,-7.6,681,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2640,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8116,-0.56,-146.0,971.1,-7.9,696,8122,0.00,2.28,0.00,0.000,4,0.000,0.030,1799,1182,3545,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8163,-0.56,-146.0,974.0,-7.7,698,8167,0.00,2.35,0.00,0.000,6,0.000,0.041,1799,2643,3545,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,8369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8369,begin apogee
$GC,8374,-0.20,0.0,991.5,-8.5,708,8513,0.40,0.15,129.50,1.185,6,0.106,0.075,1937,2533,2973,0,0,0,0,0,0,25.58,24.85,23.24
$STATE,8514,end apogee,CONTROL_FINISHED_OK
$STATE,8514,begin climb
$GC,8516,0.58,146.0,995.8,0.0,715,8673,0.70,2.42,141.70,1.187,4,0.052,0.034,2219,1061,2371,0,0,0,0,0,0,25.25,25.04,23.29
$GC,8684,0.48,146.0,989.6,8.8,723,8689,0.20,2.38,0.00,0.000,6,0.163,0.039,2167,2527,2365,0,0,0,0,0,0,25.01,25.36,28.83
$GC,8991,0.43,146.0,949.2,11.9,738,8997,0.00,2.05,0.00,0.000,4,0.000,0.044,2167,3812,2358,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9054,0.36,146.0,940.8,13.4,741,9059,0.17,2.08,0.00,0.000,6,0.174,0.027,2132,2457,2355,0,0,0,0,0,0,25.51,26.05,28.83
$GC,9371,0.35,153.8,913.0,8.4,757,9376,0.00,2.15,0.00,0.000,4,0.000,0.044,2132,3809,2353,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9413,0.32,153.8,908.9,9.1,759,9417,0.00,2.05,0.00,0.000,6,0.000,0.028,2142,2456,2353,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9730,0.29,154.7,880.3,8.7,775,9736,0.12,2.10,0.00,0.000,4,0.177,0.031,2116,1059,2352,0,0,0,0,0,0,25.96,26.00,28.83
$GC,9758,0.27,154.7,878.5,8.7,776,9762,0.00,2.30,0.00,0.000,6,0.000,0.038,2116,2527,2351,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10067,0.29,172.9,854.2,8.0,791,10097,0.00,2.08,25.05,1.075,4,0.000,0.044,2116,3824,2267,0,0,0,0,0,0,28.83,25.70,23.89
$GC,10108,0.31,187.3,852.6,8.1,792,10128,0.00,2.10,15.15,1.043,6,0.000,0.027,2126,2460,2214,0,0,0,0,0,0,28.83,25.86,23.80
$GC,10439,0.32,195.2,822.3,8.4,809,10447,0.00,2.22,1.77,0.192,4,0.000,0.047,2126,3813,2180,0,0,0,0,0,0,28.83,25.79,25.05
$GC,10496,0.31,195.2,816.9,8.7,812,10502,0.00,2.08,0.00,0.000,6,0.000,0.028,2137,2460,2186,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10818,0.36,242.2,793.7,6.8,828,10879,0.00,2.35,54.03,1.044,4,0.000,0.045,2137,3813,1981,0,0,0,0,0,0,28.83,25.38,23.72
$GC,10918,0.39,264.7,785.8,7.8,833,10948,0.00,2.10,23.08,1.017,6,0.000,0.028,2148,2464,1892,0,0,0,0,0,0,28.83,25.70,23.75
$GC,11259,0.39,266.8,758.0,8.6,850,11265,0.00,2.15,0.00,0.000,4,0.000,0.037,2158,1058,1874,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11291,0.40,266.8,756.2,8.7,851,11297,0.00,2.33,0.00,0.000,6,0.000,0.040,2158,2531,1873,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11597,0.40,266.8,722.0,11.6,867,11603,0.00,2.05,0.00,0.000,4,0.000,0.047,2158,3811,1873,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11641,0.40,266.8,716.7,12.6,869,11645,0.00,2.05,0.00,0.000,6,0.000,0.028,2168,2460,1872,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11953,0.39,266.8,674.8,14.2,885,11959,0.12,2.12,0.00,0.000,4,0.165,0.033,2141,1057,1871,0,0,0,0,0,0,25.99,25.94,28.83
$GC,11977,0.39,266.8,672.0,14.2,886,11981,0.00,2.30,0.00,0.000,6,0.000,0.037,2141,2523,1870,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12290,0.41,266.8,634.6,12.2,902,12294,0.00,2.05,0.00,0.000,4,0.000,0.045,2141,3815,1869,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12315,0.43,266.8,631.6,12.4,903,12319,0.00,2.08,0.00,0.000,6,0.000,0.027,2152,2460,1869,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12629,0.45,266.8,593.2,11.8,921,12637,0.00,2.17,0.00,0.000,4,0.000,0.044,2152,3805,1870,0,0,0,0,0,0,28.83,25.81,28.83
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$STATE,17576,end climb,SURFACE_DEPTH_REACHED
$STATE,17576,begin surface coast
$FINISH,0.2,1.010654
$STATE,17607,end surface coast,CONTROL_FINISHED_OK
$STATE,17607,begin surface
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$IRIDIUM_FIX,2136.49,12403.28,140212,141407
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,9.9,61.617
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.375,167.925,549.300,0.000,0.000,29.485,24.681,216.235,0.000,0.000,15.755,3936.906,9911.426,683.968,3123.079,418.113,0.000,2212.490,0.000,2680.548,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,103829,1581
$CAP_FILE_SIZE,191064,0
$CFSIZE,260165632,175730688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.216,249.1,1
$GPS,150212,002054,2138.539,12401.194,41,0.9,41,-2.9