version: 66.10
glider: 169
mission: 5
dive: 44
start: 11 17 111 12 12 10
data:
$ID,169
$MISSION,5
$DIVE,44
$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,-9
$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,-10323.486
$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,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
$GPS1,171111,120437,2342.418,12331.260,26,1.8,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.1
$GPS2,171111,121144,2342.425,12331.396,16,1.9,16,-3.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.258,-0.025
$KALMAN_X,8470427.0,0.0,0.0,5263641.5,124633.0
$KALMAN_Y,1619345.1,0.0,0.0,1016604.0,21163.9
$MHEAD_RNG_PITCHd_Wd,74.0,42375,-13.2,-8.250
$D_GRID,4045
$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,-0.54,-170.3,0.0,0.0,0,103,0.00,0.00,-84.12,0.000,2,0.000,0.000,117,2681,3082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.54,-170.3,4.1,-7.2,11,132,6.80,1.73,-10.43,0.000,4,0.238,0.056,1812,3824,3675,0,0,0,0,0,0,25.87,26.17,26.46
$GC,158,-0.31,-170.3,33.7,-58.4,18,167,0.22,1.85,0.00,0.000,6,0.164,0.033,1890,2600,3675,0,0,0,0,0,0,26.01,26.20,28.83
$GC,516,-0.23,-170.3,137.0,-20.9,79,525,0.12,2.10,0.00,0.000,4,0.163,0.032,1936,1183,3675,0,0,0,0,0,0,26.27,26.38,28.83
$GC,627,-0.28,-170.3,147.8,-5.2,97,636,0.00,2.22,0.00,0.000,6,0.000,0.044,1926,2651,3675,0,0,0,0,0,0,28.83,26.40,28.83
$GC,985,-0.39,-170.3,177.2,-10.5,158,994,0.12,2.17,0.00,0.000,4,0.119,0.034,1884,1183,3675,0,0,0,0,0,0,26.47,26.51,28.83
$GC,1032,-0.51,-170.3,181.9,-9.4,165,1041,0.10,2.22,0.00,0.000,6,0.044,0.043,1787,2655,3675,0,0,0,0,0,0,26.52,26.50,28.83
$GC,1382,-0.39,-170.3,279.1,-28.7,218,1393,0.25,1.73,0.00,0.000,4,0.158,0.047,1857,3815,3675,0,0,0,0,0,0,26.39,26.53,28.83
$GC,1470,-0.38,-170.3,294.6,-12.9,226,1474,0.00,1.77,0.00,0.000,6,0.000,0.028,1856,2573,3675,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1783,-0.34,-170.3,337.9,-13.3,257,1792,0.10,1.88,0.00,0.000,4,0.162,0.048,1876,3815,3675,0,0,0,0,0,0,26.53,26.55,28.83
$GC,1808,-0.32,-170.3,340.8,-13.3,259,1815,0.00,1.77,0.00,0.000,6,0.000,0.029,1876,2570,3674,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2115,-0.32,-170.3,370.1,-9.5,290,2119,0.00,2.00,0.00,0.000,4,0.000,0.034,1876,1185,3673,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2152,-0.33,-170.3,373.4,-9.1,293,2160,0.00,2.20,0.00,0.000,6,0.000,0.044,1867,2653,3673,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2461,-0.33,-170.3,401.6,-9.1,324,2470,0.00,2.15,0.00,0.000,4,0.000,0.036,1866,1185,3670,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2484,-0.33,-170.3,403.5,-9.3,326,2492,0.08,2.22,0.00,0.000,6,0.107,0.045,1893,2653,3670,0,0,0,0,0,0,26.55,26.61,28.83
$GC,2793,-0.36,-170.3,422.8,-6.2,357,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,2653,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3096,-0.39,-170.3,440.3,-5.9,387,3104,0.00,2.15,0.00,0.000,4,0.000,0.036,1893,1182,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3122,-0.43,-170.3,441.9,-5.9,389,3129,0.00,2.20,0.00,0.000,6,0.000,0.044,1893,2654,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3427,-0.54,-170.3,467.3,-9.7,420,3429,0.20,0.00,0.00,0.000,6,0.089,0.000,1816,2654,3664,0,0,0,0,0,0,26.62,28.83,28.83
$GC,3727,-0.57,-170.3,490.2,-6.6,450,3731,0.00,1.80,0.00,0.000,4,0.000,0.052,1810,3818,3661,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3749,-0.59,-170.3,491.8,-7.0,452,3758,0.00,1.80,0.00,0.000,6,0.000,0.030,1810,2562,3661,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4060,-0.54,-170.3,528.9,-13.0,483,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2561,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.50,-170.3,569.6,-13.2,514,4379,0.00,2.00,0.00,0.000,4,0.000,0.038,1810,1183,3657,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4444,-0.48,-170.3,578.1,-10.8,521,4452,0.15,2.22,0.00,0.000,6,0.135,0.047,1845,2657,3656,0,0,0,0,0,0,26.54,26.64,28.83
$GC,4762,-0.48,-170.3,605.6,-8.6,550,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2657,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-0.48,-170.3,632.8,-9.2,565,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2657,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5363,-0.48,-170.3,658.4,-8.2,580,5368,0.00,2.15,0.00,0.000,4,0.000,0.037,1845,1184,3649,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5389,-0.48,-170.3,659.9,-8.0,581,5393,0.00,2.22,0.00,0.000,6,0.000,0.047,1836,2657,3649,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5697,-0.47,-170.3,684.8,-8.0,596,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2657,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-0.47,-170.3,708.7,-7.4,611,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2657,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,-0.47,-170.3,729.2,-6.9,626,6303,0.00,2.12,0.00,0.000,4,0.000,0.038,1836,1190,3642,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6345,-0.47,-170.3,731.8,-6.8,628,6349,0.00,2.22,0.00,0.000,6,0.000,0.050,1827,2654,3642,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6651,-0.46,-170.3,757.3,-8.4,643,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2654,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6952,-0.45,-170.3,781.9,-8.1,658,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2654,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7252,-0.44,-170.3,805.6,-7.9,673,7257,0.00,2.17,0.00,0.000,4,0.000,0.039,1828,1174,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7304,-0.44,-170.3,808.6,-7.7,675,7312,0.12,2.25,0.00,0.000,6,0.133,0.050,1860,2654,3636,0,0,0,0,0,0,26.55,26.62,28.83
$GC,7612,-0.47,-170.3,824.7,-4.6,691,7616,0.00,1.75,0.00,0.000,4,0.000,0.057,1853,3811,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7642,-0.50,-170.3,825.7,-4.5,692,7645,0.00,1.80,0.00,0.000,6,0.000,0.034,1853,2574,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7955,-0.62,-170.3,844.6,-7.2,708,7961,0.12,2.00,0.00,0.000,4,0.116,0.035,1809,1197,3632,0,0,0,0,0,0,26.62,26.64,28.83
$GC,7997,-0.71,-170.3,847.4,-7.1,710,8002,0.12,2.17,0.00,0.000,6,0.091,0.046,1761,2656,3632,0,0,0,0,0,0,26.60,26.63,28.83
$GC,8312,-0.65,-170.3,886.8,-13.6,726,8314,0.10,0.00,0.00,0.000,6,0.168,0.000,1787,2657,3630,0,0,0,0,0,0,26.56,28.83,28.83
$GC,8610,-0.61,-170.3,922.4,-12.3,741,8615,0.00,2.17,0.00,0.000,4,0.000,0.037,1787,1184,3629,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8697,-0.58,-170.3,931.5,-11.3,745,8702,0.12,2.22,0.00,0.000,6,0.144,0.050,1813,2657,3629,0,0,0,0,0,0,26.51,26.60,28.83
$GC,9005,-0.57,-170.3,961.0,-9.0,760,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2657,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9305,-0.55,-170.3,987.7,-8.8,775,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2657,3627,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9342,begin apogee
$GC,9348,-0.20,0.0,991.2,-8.7,777,9497,0.32,0.10,141.27,1.170,6,0.108,0.104,1930,2525,2972,0,0,0,0,0,0,26.51,24.80,24.10
$STATE,9498,end apogee,CONTROL_FINISHED_OK
$STATE,9498,begin climb
$GC,9500,0.54,170.3,996.4,0.0,784,9670,0.65,2.42,158.48,1.166,4,0.050,0.043,2190,1065,2274,0,0,0,0,0,0,25.01,24.68,23.94
$GC,9690,0.44,170.3,983.5,14.3,794,9695,0.17,2.38,0.00,0.000,6,0.167,0.047,2146,2522,2261,0,0,0,0,0,0,24.91,25.02,28.83
$GC,10004,0.37,170.3,939.7,13.6,810,10009,0.00,2.03,0.00,0.000,4,0.000,0.053,2146,3809,2254,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10071,0.29,170.3,930.5,14.9,813,10076,0.22,2.05,0.00,0.000,6,0.177,0.035,2097,2459,2253,0,0,0,0,0,0,25.77,25.96,28.83
$GC,10378,0.27,170.3,899.7,9.4,828,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2458,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10678,0.25,170.3,870.1,9.8,843,10684,0.00,2.10,0.00,0.000,4,0.000,0.054,2097,3809,2249,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10766,0.21,170.3,860.6,11.9,847,10770,0.15,2.00,0.00,0.000,6,0.161,0.036,2066,2467,2249,0,0,0,0,0,0,26.13,26.29,28.83
$GC,11075,0.26,201.4,835.6,7.2,862,11113,0.00,2.20,23.88,0.973,4,0.000,0.045,2077,1068,2155,0,0,0,0,1,0,28.83,25.91,25.00
$GC,11136,0.31,233.5,831.1,7.2,865,11176,0.00,2.28,29.80,1.063,6,0.000,0.045,2077,2522,2027,0,0,0,0,1,0,28.83,25.93,24.47
$GC,11479,0.36,263.7,806.0,7.3,882,11524,0.12,2.08,38.75,1.021,4,0.076,0.054,2157,3806,1894,0,0,0,0,0,0,26.07,25.29,24.59
$GC,11595,0.31,263.7,789.7,16.0,888,11599,0.25,2.08,0.00,0.000,6,0.155,0.036,2099,2462,1882,0,0,0,0,0,0,25.50,25.63,28.83
$GC,11909,0.32,263.7,760.0,8.8,904,11915,0.00,2.10,0.00,0.000,4,0.000,0.043,2109,1069,1877,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11948,0.33,263.7,756.7,8.6,906,11953,0.00,2.25,0.00,0.000,6,0.000,0.046,2108,2519,1876,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12268,0.33,263.7,729.0,8.4,922,12273,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1065,1875,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12292,0.33,263.7,727.3,8.3,923,12296,0.00,2.25,0.00,0.000,6,0.000,0.047,2119,2520,1874,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12603,0.32,263.7,697.9,9.7,939,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2520,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12903,0.32,263.7,669.3,9.8,954,12907,0.00,2.00,0.00,0.000,4,0.000,0.055,2120,3809,1874,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12948,0.31,263.7,664.8,10.2,956,12952,0.00,2.03,0.00,0.000,6,0.000,0.035,2130,2463,1873,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13261,0.29,263.7,629.3,11.3,972,13267,0.12,2.08,0.00,0.000,4,0.165,0.052,2090,3803,1873,0,0,0,0,0,0,26.29,26.38,28.83
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$STATE,19705,end climb,SURFACE_DEPTH_REACHED
$STATE,19706,begin surface coast
$FINISH,0.7,1.021967
$STATE,19736,end surface coast,CONTROL_FINISHED_OK
$STATE,19736,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,36.88
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,26.80
$XPDR_PINGS,0
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$10V_AH,10.3,10.135
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.400,159.450,663.675,0.000,0.000,31.807,17.814,234.925,0.000,0.000,17.152,4116.425,10408.230,695.215,4585.645,403.707,0.377,2427.162,0.000,4198.469,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,117116,1751
$CAP_FILE_SIZE,208389,0
$CFSIZE,260165632,218681344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,171111,174325,2342.164,12337.395,37,1.6,37,-3.4