version: 66.10
glider: 169
mission: 5
dive: 37
start: 11 15 111 20 47 32
data:
$ID,169
$MISSION,5
$DIVE,37
$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,400
$T_MISSION,430
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,9
$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,-10314.675
$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,2000
$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,8
$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
$GPS1,151111,203754,2336.386,12254.344,39,1.9,39,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-64.1
$GPS2,151111,204706,2336.549,12254.344,12,1.4,28,-3.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,79.7,105732,-13.2,-8.250
$D_GRID,2437
$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,-0.54,-170.3,0.0,0.0,0,119,0.00,0.00,-98.80,0.000,2,0.000,0.000,118,2679,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.54,-170.3,3.6,-6.3,13,147,6.72,0.00,-12.30,0.000,6,0.234,0.000,1820,2679,3676,0,0,0,0,0,0,25.87,28.83,26.43
$GC,495,-0.40,-170.3,150.9,-33.7,76,504,0.15,2.25,0.00,0.000,4,0.186,0.038,1873,1202,3675,0,0,0,0,0,0,26.18,26.33,28.83
$GC,653,-0.39,-170.3,180.9,-13.6,102,661,0.00,2.22,0.00,0.000,6,0.000,0.048,1863,2649,3675,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1010,-0.35,-170.3,243.4,-15.6,163,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2649,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,-0.31,-170.3,288.6,-13.1,197,1337,0.12,2.15,0.00,0.000,4,0.152,0.036,1909,1184,3675,0,0,0,0,0,0,26.44,26.52,28.83
$GC,1363,-0.31,-170.3,292.4,-10.6,200,1372,0.00,2.25,0.00,0.000,6,0.000,0.047,1908,2653,3675,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1672,-0.35,-170.3,308.2,-4.6,231,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2653,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.38,-170.3,322.7,-4.8,261,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2653,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-0.42,-170.3,339.2,-5.8,292,2294,0.12,2.12,0.00,0.000,4,0.078,0.035,1800,1182,3669,0,0,0,0,0,0,26.68,26.60,28.83
$GC,2319,-0.42,-170.3,342.8,-9.1,295,2327,0.22,2.20,0.00,0.000,6,0.132,0.047,1859,2652,3669,0,0,0,0,0,0,26.49,26.59,28.83
$GC,2627,-0.41,-170.3,378.0,-11.1,326,2635,0.00,2.15,0.00,0.000,4,0.000,0.036,1859,1178,3666,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2680,-0.41,-170.3,383.4,-10.5,331,2687,0.00,2.25,0.00,0.000,6,0.000,0.047,1850,2654,3666,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2990,-0.39,-170.3,418.7,-11.0,362,2998,0.00,2.12,0.00,0.000,4,0.000,0.036,1850,1201,3664,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3021,-0.38,-170.3,422.1,-10.5,365,3031,0.12,2.17,0.00,0.000,6,0.132,0.048,1879,2655,3664,0,0,0,0,0,0,26.55,26.61,28.83
$GC,3331,-0.39,-170.3,444.0,-6.7,396,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2655,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.41,-170.3,466.4,-7.5,426,3643,0.00,2.12,0.00,0.000,4,0.000,0.037,1879,1202,3659,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3669,-0.44,-170.3,469.2,-7.8,429,3676,0.00,2.20,0.00,0.000,6,0.000,0.047,1872,2657,3659,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3977,-0.46,-170.3,493.4,-7.8,460,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2657,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4279,-0.48,-170.3,515.0,-6.7,490,4288,0.00,2.15,0.00,0.000,4,0.000,0.037,1872,1182,3655,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4321,-0.51,-170.3,517.8,-6.5,494,4330,0.00,2.22,0.00,0.000,6,0.000,0.048,1865,2657,3654,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4633,-0.52,-170.3,538.6,-7.0,525,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2657,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-0.53,-170.3,562.7,-8.4,556,4952,0.10,2.12,0.00,0.000,4,0.093,0.036,1793,1182,3649,0,0,0,0,0,0,26.73,26.65,28.83
$GC,5005,-0.50,-170.3,570.4,-13.3,562,5015,0.17,2.20,0.00,0.000,6,0.132,0.049,1836,2653,3649,0,0,0,0,0,0,26.55,26.63,28.83
$GC,5325,-0.49,-170.3,604.5,-10.3,592,5331,0.00,2.17,0.00,0.000,4,0.000,0.037,1837,1181,3647,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5353,-0.47,-170.3,606.6,-10.4,593,5357,0.00,2.20,0.00,0.000,6,0.000,0.050,1827,2650,3646,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5661,-0.45,-170.3,640.7,-11.1,608,5665,0.00,1.77,0.00,0.000,4,0.000,0.057,1818,3821,3644,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5703,-0.43,-170.3,645.7,-11.2,610,5709,0.15,1.80,0.00,0.000,6,0.123,0.035,1865,2576,3644,0,0,0,0,0,0,26.56,26.67,28.83
$GC,6026,-0.45,-170.3,669.4,-7.0,626,6031,0.00,2.00,0.00,0.000,4,0.000,0.038,1865,1201,3642,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6065,-0.48,-170.3,672.1,-6.8,628,6070,0.00,2.17,0.00,0.000,6,0.000,0.050,1859,2647,3642,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6386,-0.49,-170.3,693.5,-6.9,644,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2647,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,-0.51,-170.3,712.8,-5.9,659,6691,0.00,2.12,0.00,0.000,4,0.000,0.040,1859,1204,3637,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6717,-0.52,-170.3,714.0,-5.8,660,6724,0.00,2.20,0.00,0.000,6,0.000,0.051,1851,2653,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7026,-0.53,-170.3,734.0,-6.7,676,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2654,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,-0.54,-170.3,755.6,-7.2,691,7330,0.00,2.12,0.00,0.000,4,0.000,0.039,1851,1196,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7347,-0.55,-170.3,757.0,-7.2,692,7351,0.00,2.22,0.00,0.000,6,0.000,0.051,1842,2654,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7661,-0.55,-170.3,779.8,-6.8,708,7667,0.00,2.15,0.00,0.000,4,0.000,0.040,1842,1194,3632,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7694,-0.55,-170.3,781.0,-6.5,709,7701,0.00,2.22,0.00,0.000,6,0.000,0.052,1836,2652,3632,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8000,-0.55,-170.3,803.1,-7.4,725,8006,0.00,2.15,0.00,0.000,4,0.000,0.040,1835,1188,3630,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8043,-0.55,-170.3,806.3,-7.7,727,8047,0.00,2.25,0.00,0.000,6,0.000,0.052,1826,2657,3630,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8355,-0.54,-170.3,834.9,-9.2,743,8359,0.00,1.75,0.00,0.000,4,0.000,0.059,1818,3808,3628,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8404,-0.53,-170.3,838.8,-9.2,745,8408,0.00,1.77,0.00,0.000,6,0.000,0.037,1817,2584,3628,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8712,-0.51,-170.3,868.2,-9.1,760,8716,0.00,2.08,0.00,0.000,4,0.000,0.044,1818,1182,3628,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8767,-0.50,-170.3,872.3,-9.4,762,8774,0.00,2.25,0.00,0.000,6,0.000,0.053,1812,2654,3627,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9076,-0.48,-170.3,903.9,-10.4,778,9082,0.10,2.12,0.00,0.000,4,0.168,0.040,1841,1204,3626,0,0,0,0,0,0,26.57,26.63,28.83
$GC,9118,-0.48,-170.3,907.9,-10.3,780,9122,0.00,2.22,0.00,0.000,6,0.000,0.051,1832,2655,3626,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9432,-0.48,-170.3,932.6,-7.4,796,9437,0.00,2.15,0.00,0.000,4,0.000,0.040,1832,1198,3625,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9474,-0.49,-170.3,935.6,-7.5,798,9478,0.00,2.22,0.00,0.000,6,0.000,0.054,1823,2650,3625,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9787,-0.48,-170.3,960.5,-7.9,814,9792,0.00,2.15,0.00,0.000,4,0.000,0.041,1824,1193,3624,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9815,-0.48,-170.3,962.2,-8.1,815,9825,0.10,2.22,0.00,0.000,6,0.142,0.054,1844,2648,3624,0,0,0,0,0,0,26.53,26.60,28.83
$GC,10128,-0.49,-170.3,983.1,-6.3,831,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2648,3622,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10244,begin apogee
$GC,10249,-0.20,0.0,990.0,-5.8,837,10400,0.25,0.10,142.50,1.154,6,0.102,0.107,1937,2523,2973,0,0,0,0,0,0,26.55,24.77,24.08
$STATE,10401,end apogee,CONTROL_FINISHED_OK
$STATE,10401,begin climb
$GC,10403,0.54,170.3,994.0,0.0,844,10569,0.65,0.00,161.90,1.142,6,0.050,0.000,2184,2523,2282,0,0,0,0,0,0,24.99,28.83,23.89
$GC,10866,0.45,170.3,929.2,18.2,868,10872,0.12,2.05,0.00,0.000,4,0.192,0.054,2150,3808,2251,0,0,0,0,0,0,25.65,25.76,28.83
$GC,10976,0.37,170.3,912.3,16.6,873,10986,0.12,2.08,0.00,0.000,6,0.193,0.039,2125,2463,2249,0,0,0,0,0,0,25.75,25.91,28.83
$GC,11286,0.33,170.3,874.3,10.9,889,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2462,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11587,0.28,170.3,843.2,10.0,904,11593,0.12,2.10,0.00,0.000,4,0.183,0.056,2088,3805,2247,0,0,0,0,0,0,26.10,26.20,28.83
$GC,11655,0.25,170.3,837.5,9.6,907,11658,0.00,2.03,0.00,0.000,6,0.000,0.037,2098,2465,2247,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11966,0.24,178.8,811.6,8.0,923,11972,0.00,2.12,0.00,0.000,4,0.000,0.057,2098,3818,2245,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11989,0.22,181.3,809.8,8.2,924,11993,0.12,2.03,0.00,0.000,6,0.170,0.037,2076,2467,2245,0,0,0,0,0,0,26.18,26.33,28.83
$GC,12303,0.25,205.8,787.2,7.4,940,12342,0.00,2.25,26.88,0.957,4,0.000,0.060,2076,3816,2138,0,0,0,0,1,0,28.83,25.84,24.98
$GC,12377,0.26,208.4,781.9,8.2,943,12385,0.00,2.08,2.58,0.475,6,0.000,0.037,2086,2463,2127,0,0,0,0,0,0,28.83,25.94,24.89
$GC,12686,0.26,208.4,752.9,9.0,959,12693,0.00,2.15,1.65,0.200,4,0.000,0.045,2097,1065,2127,0,0,0,0,0,0,28.83,26.13,25.97
$GC,12722,0.26,208.4,749.7,8.9,961,12727,0.00,2.30,0.00,0.000,6,0.000,0.050,2097,2537,2135,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13041,0.26,208.4,721.3,8.4,977,13047,0.00,2.05,1.50,0.205,4,0.000,0.058,2097,3809,2127,0,0,0,0,0,0,28.83,26.23,26.09
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$STATE,19491,end climb,SURFACE_DEPTH_REACHED
$STATE,19491,begin surface coast
$FINISH,0.3,1.021808
$STATE,19528,end surface coast,CONTROL_FINISHED_OK
$STATE,19528,begin surface
$SM_CCo,19603,0.00,0.000,0,0,705,557.57
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$TT8_MAMPS,0.026215,0.026215
$HUMID,38.34
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.9,9.675
$10V_AH,10.3,8.639
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.350,170.350,667.125,0.000,0.000,55.141,68.088,219.827,0.000,0.000,29.266,3971.202,10600.117,780.799,4378.633,400.371,0.000,2447.953,0.000,3910.443,0.000,0.544,0.000
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$SENSOR_SECS,1144.353,2730.492,1740.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324592
$DATA_FILE_SIZE,110370,1681
$CAP_FILE_SIZE,206268,0
$CFSIZE,260165632,219451392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,161111,021524,2338.477,12259.209,24,1.0,41,-3.3