version: 66.10
glider: 169
mission: 5
dive: 540
start: 2 23 112 22 43 41
data:
$ID,169
$MISSION,5
$DIVE,540
$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,-8
$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,-13589.595
$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
$GPS1,230212,223536,2244.569,12209.542,43,1.2,43,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.9
$GPS2,230212,224316,2244.734,12209.356,11,3.6,30,-3.0
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,253.2,81972,-16.1,-8.684
$D_GRID,4717
$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,-146.0,0.0,0.0,0,90,0.00,0.00,-70.68,0.000,2,0.000,0.000,114,2658,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-146.0,3.4,-6.8,12,121,7.25,1.77,-12.00,0.000,4,0.233,0.055,1803,3821,3576,0,0,0,0,0,0,24.71,25.86,26.54
$GC,301,-0.52,-146.0,60.9,-21.4,51,307,0.00,1.77,0.00,0.000,6,0.000,0.021,1812,2591,3576,0,0,0,0,0,0,28.83,26.17,28.83
$GC,614,-0.40,-146.0,156.9,-31.1,112,622,0.20,1.92,0.00,0.000,4,0.170,0.036,1862,3822,3576,0,0,0,0,0,0,25.66,25.91,28.83
$GC,749,-0.42,-146.0,177.2,-10.8,137,756,0.00,1.77,0.00,0.000,6,0.000,0.021,1862,2587,3576,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1061,-0.40,-146.0,219.3,-13.0,184,1069,0.00,2.15,0.00,0.000,4,0.000,0.025,1862,1170,3576,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1155,-0.44,-146.0,230.1,-9.5,193,1162,0.00,2.40,0.00,0.000,6,0.000,0.036,1852,2649,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1462,-0.41,-146.0,276.1,-14.4,224,1471,0.00,2.35,0.00,0.000,4,0.000,0.029,1852,1170,3576,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1527,-0.43,-146.0,283.4,-10.5,230,1535,0.00,2.40,0.00,0.000,6,0.000,0.038,1844,2645,3576,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1834,-0.41,-146.0,322.7,-12.4,261,1844,0.12,2.30,0.00,0.000,4,0.153,0.024,1886,1163,3576,0,0,0,0,0,0,26.14,26.08,28.83
$GC,1870,-0.42,-146.0,325.8,-9.9,264,1877,0.00,2.40,0.00,0.000,6,0.000,0.035,1881,2646,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2178,-0.45,-146.0,349.4,-8.8,295,2187,0.00,2.25,0.00,0.000,4,0.000,0.026,1881,1183,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2241,-0.51,-146.0,354.8,-8.1,301,2249,0.00,2.33,0.00,0.000,6,0.000,0.034,1878,2639,3576,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2550,-0.54,-146.0,380.8,-8.0,332,2552,0.12,0.00,0.00,0.000,6,0.076,0.000,1789,2638,3575,0,0,0,0,0,0,26.49,28.83,28.83
$GC,2852,-0.48,-146.0,430.9,-17.6,362,2862,0.20,2.30,0.00,0.000,4,0.137,0.025,1864,1182,3574,0,0,0,0,0,0,25.91,26.03,28.83
$GC,2907,-0.51,-146.0,436.9,-9.5,367,2916,0.00,2.40,0.00,0.000,6,0.000,0.037,1862,2658,3573,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3215,-0.53,-146.0,458.0,-6.4,398,3224,0.00,2.30,0.00,0.000,4,0.000,0.027,1862,1181,3572,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3249,-0.57,-146.0,459.9,-6.1,401,3260,0.08,2.35,0.00,0.000,6,0.047,0.037,1774,2639,3572,0,0,0,0,0,0,25.86,25.91,28.83
$GC,3558,-0.52,-146.0,509.0,-16.3,432,3568,0.20,2.28,0.00,0.000,4,0.136,0.024,1850,1182,3571,0,0,0,0,0,0,25.91,26.03,28.83
$GC,3626,-0.57,-146.0,515.3,-7.5,438,3634,0.00,2.38,0.00,0.000,6,0.000,0.036,1840,2647,3570,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3933,-0.58,-146.0,541.9,-8.8,469,3936,0.00,1.75,0.00,0.000,4,0.000,0.044,1831,3821,3568,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3964,-0.60,-146.0,544.8,-8.7,472,3968,0.00,1.77,0.00,0.000,6,0.000,0.021,1831,2581,3568,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4277,-0.61,-146.0,574.4,-9.3,503,4285,0.00,2.10,0.00,0.000,4,0.000,0.028,1831,1184,3566,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4342,-0.64,-146.0,579.9,-8.3,509,4349,0.00,2.38,0.00,0.000,6,0.000,0.037,1825,2645,3566,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4650,-0.64,-146.0,609.9,-9.4,535,4656,0.00,2.33,0.00,0.000,4,0.000,0.027,1825,1166,3563,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4698,-0.66,-146.0,613.4,-9.2,537,4707,0.00,2.42,0.00,0.000,6,0.000,0.037,1825,2647,3562,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5011,-0.66,-146.0,641.1,-8.7,553,5016,0.00,2.30,0.00,0.000,4,0.000,0.028,1825,1183,3560,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5042,-0.67,-146.0,642.8,-8.7,554,5050,0.00,2.40,0.00,0.000,6,0.000,0.038,1825,2646,3560,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5351,-0.68,-146.0,669.0,-8.2,570,5353,0.10,0.00,0.00,0.000,6,0.093,0.000,1753,2646,3558,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5649,-0.63,-146.0,712.7,-15.0,585,5655,0.15,2.30,0.00,0.000,4,0.148,0.026,1808,1182,3555,0,0,0,0,0,0,25.97,25.93,28.83
$GC,5715,-0.62,-146.0,718.9,-11.6,588,5720,0.00,2.38,0.00,0.000,6,0.000,0.039,1799,2638,3555,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6029,-0.61,-146.0,751.5,-10.4,604,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2637,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6331,-0.60,-146.0,783.1,-10.6,619,6336,0.00,2.28,0.00,0.000,4,0.000,0.028,1799,1184,3551,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6392,-0.60,-146.0,789.1,-10.0,622,6396,0.00,2.42,0.00,0.000,6,0.000,0.040,1799,2645,3550,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6706,-0.60,-146.0,820.8,-10.1,638,6711,0.00,2.33,0.00,0.000,4,0.000,0.029,1799,1188,3549,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6765,-0.60,-146.0,826.5,-9.7,641,6771,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2639,3548,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7085,-0.60,-146.0,858.6,-10.0,657,7091,0.00,2.33,0.00,0.000,4,0.000,0.028,1799,1181,3547,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7125,-0.60,-146.0,862.6,-9.7,659,7131,0.00,2.42,0.00,0.000,6,0.000,0.041,1799,2648,3547,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7447,-0.60,-146.0,895.4,-10.5,675,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2647,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7745,-0.60,-146.0,927.5,-10.5,690,7750,0.00,2.35,0.00,0.000,4,0.000,0.030,1799,1182,3542,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7769,-0.60,-146.0,929.7,-10.6,691,7773,0.00,2.42,0.00,0.000,6,0.000,0.041,1799,2643,3542,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8081,-0.60,-146.0,961.3,-9.7,707,8087,0.00,2.35,0.00,0.000,4,0.000,0.031,1799,1176,3541,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8113,-0.60,-146.0,963.3,-9.8,708,8121,0.00,2.42,0.00,0.000,6,0.000,0.041,1799,2643,3541,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,8399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8399,begin apogee
$GC,8406,-0.20,0.0,990.7,-9.5,723,8543,0.40,0.15,129.18,1.190,6,0.102,0.076,1938,2531,2973,0,0,0,0,0,0,25.50,24.75,23.33
$STATE,8544,end apogee,CONTROL_FINISHED_OK
$STATE,8544,begin climb
$GC,8546,0.58,146.0,996.5,0.0,730,8703,0.70,2.50,141.32,1.193,4,0.052,0.034,2215,1052,2370,0,0,0,0,0,0,25.12,24.92,23.28
$GC,8734,0.49,146.0,988.2,10.9,739,8739,0.17,2.40,0.00,0.000,6,0.163,0.041,2170,2521,2364,0,0,0,0,0,0,25.08,25.44,28.83
$GC,9043,0.44,146.0,949.2,12.4,754,9048,0.00,2.03,0.00,0.000,4,0.000,0.043,2170,3818,2357,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9145,0.36,146.0,934.7,14.8,759,9149,0.20,2.08,0.00,0.000,6,0.176,0.027,2129,2460,2355,0,0,0,0,0,0,25.33,25.99,28.83
$GC,9464,0.34,146.0,902.3,10.2,775,9467,0.00,2.20,0.00,0.000,4,0.000,0.046,2129,3818,2353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9566,0.30,146.0,890.1,12.3,780,9572,0.08,2.08,0.00,0.000,6,0.158,0.028,2115,2460,2352,0,0,0,0,0,0,25.63,26.01,28.83
$GC,9887,0.30,152.7,862.3,8.4,796,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2458,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10186,0.34,186.7,838.9,7.3,811,10232,0.00,2.33,39.05,1.075,4,0.000,0.038,2125,1047,2207,0,0,0,0,0,0,28.83,25.47,23.86
$GC,10247,0.37,210.5,834.3,7.7,814,10277,0.00,2.38,24.38,1.055,6,0.000,0.039,2125,2521,2119,0,0,0,0,0,0,28.83,25.60,23.65
$GC,10583,0.37,210.5,805.3,9.0,830,10588,0.00,2.05,0.00,0.000,4,0.000,0.045,2125,3811,2097,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10621,0.37,210.5,801.0,9.9,832,10627,0.00,2.08,0.00,0.000,6,0.000,0.027,2136,2465,2095,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10942,0.37,210.5,768.3,10.0,848,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2463,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11241,0.37,210.5,739.2,9.2,863,11246,0.00,2.25,0.00,0.000,4,0.000,0.045,2136,3817,2093,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11301,0.36,210.5,732.8,10.4,866,11307,0.00,2.10,0.00,0.000,6,0.000,0.028,2146,2458,2092,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11622,0.35,210.5,699.3,10.6,882,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2457,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11921,0.34,210.5,667.2,10.8,897,11925,0.00,2.22,0.00,0.000,4,0.000,0.047,2146,3817,2092,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11997,0.32,210.5,659.0,12.7,900,12004,0.15,2.08,0.00,0.000,6,0.153,0.027,2117,2461,2091,0,0,0,0,0,0,25.51,25.96,28.83
$GC,12304,0.35,216.2,629.4,8.5,916,12309,0.00,2.17,0.00,0.000,4,0.000,0.036,2126,1062,2091,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12326,0.38,226.1,627.9,8.3,917,12345,0.00,2.33,13.30,0.934,6,0.000,0.037,2127,2522,2054,0,0,0,0,0,0,28.83,25.72,24.22
$GC,12666,0.42,244.8,599.9,7.9,934,12693,0.00,2.08,19.17,0.928,4,0.000,0.044,2127,3812,1971,0,0,0,0,0,0,28.83,25.72,24.08
$GC,12719,0.44,246.3,595.5,8.6,939,12727,0.00,2.08,0.00,0.000,6,0.000,0.025,2138,2460,1965,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,18422,end climb,SURFACE_DEPTH_REACHED
$STATE,18423,begin surface coast
$FINISH,0.4,1.022904
$STATE,18454,end surface coast,CONTROL_FINISHED_OK
$STATE,18454,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.30
$XPDR_PINGS,1
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$10V_AH,9.8,66.786
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324668
$DATA_FILE_SIZE,113629,1701
$CAP_FILE_SIZE,206758,0
$CFSIZE,260165632,171495424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308, 21.4,1
$GPS,240212,035336,2246.524,12208.338,40,1.2,51,-3.0