version: 66.10
glider: 169
mission: 5
dive: 120
start: 12 2 111 7 44 2
data:
$ID,169
$MISSION,5
$DIVE,120
$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,-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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,-10430.532
$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
$GPS1,021211,073630,2228.326,12255.539,58,0.9,58,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.5
$GPS2,021211,074336,2228.380,12255.467,15,1.6,31,-3.0
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,322.5,166072,-14.8,-9.167
$D_GRID,3047
$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,-170.3,0.0,0.0,0,107,0.00,0.00,-87.85,0.000,2,0.000,0.000,118,2672,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.58,-170.3,3.7,-8.1,15,139,6.60,1.80,-13.18,0.000,4,0.224,0.062,1802,3815,3676,0,0,0,0,0,0,25.61,26.08,26.46
$GC,162,-0.37,-170.3,27.7,-48.3,23,170,0.28,1.83,0.00,0.000,6,0.176,0.026,1884,2577,3676,0,0,0,0,0,0,25.76,26.16,28.83
$GC,480,-0.30,-170.3,121.3,-25.2,84,486,0.00,2.03,0.00,0.000,4,0.000,0.029,1894,1182,3676,0,0,0,0,0,0,28.83,26.30,28.83
$GC,558,-0.32,-170.3,133.2,-11.0,98,564,0.00,2.22,0.00,0.000,6,0.000,0.041,1883,2658,3676,0,0,0,0,0,0,28.83,26.29,28.83
$GC,873,-0.27,-170.3,185.7,-15.6,159,879,0.12,0.00,0.00,0.000,6,0.156,0.000,1924,2657,3676,0,0,0,0,0,0,26.27,28.83,28.83
$GC,1188,-0.30,-170.3,212.0,-7.9,204,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2657,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1500,-0.33,-170.3,233.8,-6.9,235,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2657,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1809,-0.37,-170.3,260.0,-6.8,266,1821,0.10,2.15,0.00,0.000,4,0.091,0.028,1830,1182,3676,0,0,0,0,0,0,26.64,26.51,28.83
$GC,1857,-0.37,-170.3,264.7,-10.5,270,1867,0.22,2.20,0.00,0.000,6,0.126,0.042,1889,2655,3676,0,0,0,0,0,0,26.27,26.47,28.83
$GC,2164,-0.37,-170.3,296.1,-11.2,301,2168,0.00,2.15,0.00,0.000,4,0.000,0.030,1889,1181,3676,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2189,-0.37,-170.3,298.6,-11.8,303,2196,0.00,2.22,0.00,0.000,6,0.000,0.042,1880,2658,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2498,-0.37,-170.3,327.9,-7.6,334,2501,0.00,1.77,0.00,0.000,4,0.000,0.047,1871,3822,3675,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2521,-0.37,-170.3,329.6,-7.8,336,2528,0.00,1.83,0.00,0.000,6,0.000,0.026,1871,2565,3674,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2830,-0.37,-170.3,369.8,-13.9,367,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2565,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.37,-170.3,393.6,-8.0,397,3140,0.00,1.92,0.00,0.000,4,0.000,0.047,1862,3812,3671,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3196,-0.40,-170.3,399.7,-9.5,403,3203,0.00,1.83,0.00,0.000,6,0.000,0.028,1862,2562,3671,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3503,-0.40,-170.3,434.3,-9.8,434,3512,0.00,2.00,0.00,0.000,4,0.000,0.034,1862,1184,3670,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3546,-0.42,-170.3,437.9,-8.6,438,3555,0.00,2.20,0.00,0.000,6,0.000,0.041,1853,2656,3670,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3859,-0.42,-170.3,467.3,-10.9,469,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2656,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-0.42,-170.3,505.9,-12.5,500,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2656,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-0.42,-170.3,538.0,-8.7,530,4471,0.00,2.15,0.00,0.000,4,0.000,0.032,1852,1185,3663,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4510,-0.44,-170.3,541.4,-7.8,534,4519,0.00,2.20,0.00,0.000,6,0.000,0.042,1843,2655,3663,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4821,-0.44,-170.3,565.1,-7.6,565,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2655,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5122,-0.44,-170.3,592.8,-9.9,595,5131,0.00,2.12,0.00,0.000,4,0.000,0.033,1843,1185,3659,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5188,-0.46,-170.3,599.0,-9.2,601,5196,0.00,2.17,0.00,0.000,6,0.000,0.042,1834,2658,3659,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5497,-0.45,-170.3,634.3,-11.7,617,5501,0.00,2.15,0.00,0.000,4,0.000,0.031,1834,1181,3657,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5531,-0.45,-170.3,636.9,-11.5,618,5539,0.12,2.22,0.00,0.000,6,0.137,0.043,1863,2657,3657,0,0,0,0,0,0,26.32,26.46,28.83
$GC,5840,-0.48,-170.3,659.7,-4.8,634,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2657,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,-0.50,-170.3,670.4,-3.8,649,6146,0.00,2.15,0.00,0.000,4,0.000,0.033,1863,1187,3652,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6169,-0.53,-170.3,671.3,-4.2,650,6178,0.00,2.22,0.00,0.000,6,0.000,0.044,1854,2656,3652,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6481,-0.55,-170.3,694.0,-8.6,666,6485,0.00,1.80,0.00,0.000,4,0.000,0.051,1845,3816,3649,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6505,-0.57,-170.3,696.1,-8.6,667,6508,0.00,1.80,0.00,0.000,6,0.000,0.028,1846,2567,3649,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6823,-0.59,-170.3,731.1,-11.3,683,6829,0.00,2.00,0.00,0.000,4,0.000,0.034,1846,1184,3647,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6865,-0.61,-170.3,735.5,-11.1,685,6869,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2658,3647,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7178,-0.62,-170.3,764.4,-7.6,701,7181,0.00,1.77,0.00,0.000,4,0.000,0.051,1828,3815,3644,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7204,-0.63,-170.3,766.1,-7.5,702,7207,0.00,1.80,0.00,0.000,6,0.000,0.027,1828,2568,3644,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7522,-0.63,-170.3,790.1,-8.0,718,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2559,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,-0.63,-170.3,816.0,-8.9,733,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2559,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,-0.63,-170.3,844.6,-9.7,748,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2559,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8421,-0.63,-170.3,871.8,-8.7,763,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2559,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8723,-0.63,-170.3,896.9,-8.2,778,8728,0.00,2.00,0.00,0.000,4,0.000,0.035,1828,1187,3637,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8749,-0.63,-170.3,898.5,-8.1,779,8753,0.00,2.22,0.00,0.000,6,0.000,0.044,1819,2652,3637,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9057,-0.63,-170.3,921.6,-6.7,794,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2652,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.63,-170.3,942.1,-7.4,809,9362,0.00,2.15,0.00,0.000,4,0.000,0.034,1819,1186,3633,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9396,-0.63,-170.3,945.3,-7.7,811,9402,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2653,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9717,-0.62,-170.3,977.2,-10.6,827,9723,0.00,2.15,0.00,0.000,4,0.000,0.034,1813,1194,3632,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9739,-0.62,-170.3,979.3,-10.6,828,9743,0.00,2.25,0.00,0.000,6,0.000,0.047,1812,2656,3632,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,9851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9851,begin apogee
$GC,9856,-0.20,0.0,991.4,-10.7,834,10007,0.38,0.12,144.30,1.177,6,0.103,0.087,1946,2532,2977,0,0,0,0,0,0,26.15,24.84,24.08
$STATE,10008,end apogee,CONTROL_FINISHED_OK
$STATE,10008,begin climb
$GC,10010,0.58,170.3,998.6,0.0,841,10180,0.70,2.20,159.20,1.181,4,0.042,0.050,2213,3808,2273,0,0,0,0,0,0,25.03,24.58,23.82
$GC,10249,0.46,170.3,974.2,21.1,853,10255,0.20,2.10,0.00,0.000,6,0.181,0.036,2166,2484,2258,0,0,0,0,0,0,25.01,25.25,28.83
$GC,10570,0.39,170.3,926.6,13.8,869,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2482,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10870,0.33,170.3,888.3,12.9,884,10876,0.15,2.08,0.00,0.000,4,0.180,0.047,2122,3804,2250,0,0,0,0,0,0,25.82,26.03,28.83
$GC,10932,0.27,170.3,880.8,12.7,887,10937,0.08,2.05,0.00,0.000,6,0.152,0.031,2107,2469,2249,0,0,0,0,0,0,25.87,26.13,28.83
$GC,11253,0.27,180.2,852.0,8.8,903,11257,0.00,2.10,0.00,0.000,4,0.000,0.052,2106,3812,2248,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11328,0.25,180.2,845.5,9.8,906,11337,0.00,2.03,0.00,0.000,6,0.000,0.033,2117,2463,2248,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11635,0.23,180.2,813.7,10.1,922,11637,0.12,0.00,0.00,0.000,6,0.173,0.000,2085,2462,2247,0,0,0,0,0,0,26.09,28.83,28.83
$GC,11936,0.28,216.2,789.7,7.9,937,11982,0.00,0.00,43.95,1.005,6,0.000,0.000,2085,2462,2096,0,0,0,0,0,0,28.83,28.83,24.82
$GC,12276,0.38,279.1,764.7,6.9,954,12340,0.12,0.00,60.38,1.008,6,0.081,0.000,2163,2462,1840,0,0,0,0,0,0,26.09,28.83,24.44
$GC,12635,0.35,279.1,713.8,16.0,972,12641,0.12,2.17,0.00,0.000,4,0.160,0.047,2126,3818,1812,0,0,0,0,0,0,25.75,25.86,28.83
$GC,12689,0.33,279.1,707.8,15.7,974,12698,0.00,2.05,0.00,0.000,6,0.000,0.031,2136,2463,1810,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12995,0.33,279.1,667.9,11.6,990,12999,0.00,2.12,0.00,0.000,4,0.000,0.039,2146,1051,1809,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13030,0.33,279.1,665.7,11.1,991,13037,0.00,2.25,0.00,0.000,6,0.000,0.044,2146,2523,1807,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13340,0.31,279.1,634.4,10.3,1007,13346,0.12,2.00,0.00,0.000,4,0.155,0.047,2107,3816,1806,0,0,0,0,0,0,26.08,26.15,28.83
$GC,13406,0.33,279.1,627.9,10.6,1010,13410,0.00,2.03,0.00,0.000,6,0.000,0.031,2118,2464,1806,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18401,end climb,SURFACE_DEPTH_REACHED
$STATE,18401,begin surface coast
$FINISH,0.8,1.022691
$STATE,18418,end surface coast,CONTROL_FINISHED_OK
$STATE,18418,begin surface
$SM_CCo,18493,0.00,0.000,0,0,796,535.49
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$TT8_MAMPS,0.026964,0.026964
$HUMID,40.11
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.8,26.693
$10V_AH,10.2,19.699
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.825,143.225,618.850,0.000,0.000,30.457,16.156,227.010,0.000,0.000,32.750,4283.968,10350.430,782.332,3121.607,357.993,0.000,2275.470,0.000,2660.647,0.000,0.542,0.000
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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,330360
$DATA_FILE_SIZE,107026,1611
$CAP_FILE_SIZE,190472,0
$CFSIZE,260165632,211808256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,161.8,1
$GPS,021211,125306,2231.427,12251.899,24,1.3,24,-3.0