version: 66.10
glider: 169
mission: 5
dive: 135
start: 12 5 111 13 27 46
data:
$ID,169
$MISSION,5
$DIVE,135
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,185
$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,-10449.789
$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
$GPS1,051211,132007,2303.046,12212.073,45,1.3,45,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.3
$GPS2,051211,132720,2303.165,12212.092,15,1.8,15,-3.1
$SPEED_LIMITS,0.159,0.276
$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,228.7,78818,-14.3,-9.167
$D_GRID,4990
$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,-180.0,0.0,0.0,0,92,0.00,0.00,-72.72,0.000,2,0.000,0.000,116,2666,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.58,-180.0,3.5,-5.6,11,123,6.62,1.80,-13.60,0.000,4,0.223,0.052,1804,3828,3713,0,0,0,0,0,0,25.58,26.07,26.44
$GC,245,-0.47,-180.0,60.6,-33.2,38,252,0.15,1.83,0.00,0.000,6,0.161,0.026,1852,2578,3713,0,0,0,0,0,0,25.86,26.20,28.83
$GC,562,-0.39,-180.0,154.9,-24.9,99,569,0.12,2.05,0.00,0.000,4,0.185,0.028,1899,1170,3713,0,0,0,0,0,0,26.06,26.29,28.83
$GC,635,-0.44,-180.0,164.6,-7.3,112,642,0.00,2.25,0.00,0.000,6,0.000,0.042,1889,2657,3713,0,0,0,0,0,0,28.83,26.26,28.83
$GC,954,-0.43,-180.0,196.7,-10.7,173,960,0.00,1.80,0.00,0.000,4,0.000,0.047,1880,3821,3713,0,0,0,0,0,0,28.83,26.30,28.83
$GC,983,-0.43,-180.0,200.0,-11.0,178,990,0.00,1.80,0.00,0.000,6,0.000,0.025,1880,2555,3713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1289,-0.42,-180.0,234.6,-11.6,209,1298,0.00,1.98,0.00,0.000,4,0.000,0.046,1870,3816,3713,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1322,-0.41,-180.0,238.5,-12.2,212,1325,0.00,1.80,0.00,0.000,6,0.000,0.024,1870,2558,3713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1635,-0.39,-180.0,277.5,-12.7,243,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2553,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.39,-180.0,313.2,-10.6,274,1953,0.00,1.95,0.00,0.000,4,0.000,0.047,1860,3819,3712,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1999,-0.39,-180.0,318.7,-10.3,279,2008,0.00,1.83,0.00,0.000,6,0.000,0.025,1861,2558,3712,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2306,-0.39,-180.0,352.8,-11.3,310,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2557,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2611,-0.39,-180.0,383.7,-10.3,340,2619,0.00,2.00,0.00,0.000,4,0.000,0.030,1861,1172,3709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2637,-0.40,-180.0,386.2,-10.3,342,2644,0.10,2.22,0.00,0.000,6,0.139,0.041,1883,2655,3709,0,0,0,0,0,0,26.30,26.41,28.83
$GC,2942,-0.43,-180.0,412.0,-8.3,373,2946,0.00,1.77,0.00,0.000,4,0.000,0.047,1875,3813,3707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2978,-0.46,-180.0,414.5,-8.2,376,2985,0.00,1.80,0.00,0.000,6,0.000,0.027,1875,2565,3706,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3286,-0.49,-180.0,437.2,-6.5,407,3297,0.00,1.95,0.00,0.000,4,0.000,0.047,1866,3821,3705,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3313,-0.52,-180.0,438.7,-6.3,409,3320,0.00,1.80,0.00,0.000,6,0.000,0.027,1866,2554,3704,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3620,-0.55,-180.0,460.3,-7.2,440,3631,0.00,1.98,0.00,0.000,4,0.000,0.030,1866,1174,3702,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3655,-0.58,-180.0,462.6,-7.1,443,3664,0.12,2.22,0.00,0.000,6,0.080,0.041,1783,2657,3702,0,0,0,0,0,0,26.42,26.41,28.83
$GC,3963,-0.52,-180.0,516.9,-17.7,474,3973,0.15,1.77,0.00,0.000,4,0.145,0.044,1825,3822,3700,0,0,0,0,0,0,26.29,26.38,28.83
$GC,3989,-0.47,-180.0,520.5,-16.9,476,3999,0.12,1.80,0.00,0.000,6,0.120,0.026,1865,2558,3700,0,0,0,0,0,0,26.33,26.54,28.83
$GC,4297,-0.50,-180.0,545.8,-7.4,507,4301,0.00,2.00,0.00,0.000,4,0.000,0.032,1865,1184,3697,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4330,-0.53,-180.0,548.2,-7.4,510,4334,0.00,2.20,0.00,0.000,6,0.000,0.041,1858,2654,3697,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4642,-0.55,-180.0,569.4,-6.7,541,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2655,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4944,-0.57,-180.0,588.8,-6.9,571,4953,0.00,2.15,0.00,0.000,4,0.000,0.030,1858,1184,3693,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4969,-0.59,-180.0,590.7,-7.0,573,4976,0.00,2.22,0.00,0.000,6,0.000,0.041,1851,2660,3693,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5278,-0.60,-180.0,614.6,-8.2,595,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2660,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5576,-0.62,-180.0,637.9,-7.7,610,5583,0.12,2.15,0.00,0.000,4,0.077,0.030,1763,1182,3688,0,0,0,0,0,0,26.64,26.41,28.83
$GC,5617,-0.62,-180.0,643.0,-10.0,612,5623,0.20,2.22,0.00,0.000,6,0.138,0.042,1811,2656,3687,0,0,0,0,0,0,26.08,26.37,28.83
$GC,5938,-0.59,-180.0,683.1,-12.1,628,5942,0.00,2.17,0.00,0.000,4,0.000,0.031,1812,1176,3686,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5993,-0.58,-180.0,688.1,-12.1,630,6000,0.00,2.25,0.00,0.000,6,0.000,0.044,1801,2657,3686,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6301,-0.55,-180.0,728.0,-12.3,646,6303,0.10,0.00,0.00,0.000,6,0.163,0.000,1829,2657,3684,0,0,0,0,0,0,26.45,28.83,28.83
$GC,6601,-0.55,-180.0,756.4,-9.1,661,6607,0.00,2.15,0.00,0.000,4,0.000,0.031,1830,1192,3681,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6633,-0.55,-180.0,758.2,-9.0,662,6640,0.00,2.22,0.00,0.000,6,0.000,0.044,1821,2656,3681,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6941,-0.55,-180.0,788.7,-9.7,678,6944,0.00,1.77,0.00,0.000,4,0.000,0.050,1813,3813,3680,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7003,-0.55,-180.0,794.7,-9.7,681,7007,0.00,1.83,0.00,0.000,6,0.000,0.028,1812,2574,3679,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7327,-0.54,-180.0,826.7,-9.8,697,7331,0.00,2.03,0.00,0.000,4,0.000,0.032,1813,1184,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7370,-0.54,-180.0,830.8,-9.5,699,7375,0.00,2.22,0.00,0.000,6,0.000,0.043,1804,2652,3678,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7689,-0.52,-180.0,863.3,-10.2,715,7691,0.12,0.00,0.00,0.000,6,0.144,0.000,1842,2652,3676,0,0,0,0,0,0,26.39,28.83,28.83
$GC,7990,-0.54,-180.0,884.9,-7.4,730,7995,0.00,2.12,0.00,0.000,4,0.000,0.031,1842,1185,3675,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8031,-0.57,-180.0,887.7,-7.4,732,8035,0.00,2.22,0.00,0.000,6,0.000,0.043,1833,2654,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8345,-0.58,-180.0,912.9,-8.2,748,8348,0.00,1.80,0.00,0.000,4,0.000,0.050,1825,3823,3673,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8374,-0.60,-180.0,914.8,-8.3,749,8378,0.00,1.83,0.00,0.000,6,0.000,0.029,1824,2558,3673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8681,-0.60,-180.0,943.4,-9.0,764,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2558,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8982,-0.60,-180.0,969.6,-8.6,779,8987,0.00,1.95,0.00,0.000,4,0.000,0.050,1815,3823,3671,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9014,-0.60,-180.0,971.4,-8.6,780,9020,0.00,1.83,0.00,0.000,6,0.000,0.029,1815,2561,3670,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,9200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9200,begin apogee
$GC,9206,-0.20,0.0,990.1,-9.3,790,9364,0.35,0.12,151.55,1.177,6,0.101,0.085,1940,2530,2977,0,0,0,0,0,0,26.08,24.79,24.01
$STATE,9365,end apogee,CONTROL_FINISHED_OK
$STATE,9365,begin climb
$GC,9367,0.58,180.0,998.3,0.0,798,9546,0.70,2.20,168.35,1.177,4,0.047,0.050,2207,3803,2236,0,0,0,0,0,0,24.97,24.48,23.68
$GC,9695,0.47,180.0,957.8,21.8,814,9700,0.22,2.10,0.00,0.000,6,0.187,0.032,2161,2460,2215,0,0,0,0,0,0,25.13,25.46,28.83
$GC,10002,0.40,180.0,910.7,14.1,829,10007,0.00,2.12,0.00,0.000,4,0.000,0.047,2161,3815,2211,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10054,0.33,180.0,903.6,15.8,831,10062,0.20,2.05,0.00,0.000,6,0.169,0.031,2119,2463,2210,0,0,0,0,0,0,25.59,25.96,28.83
$GC,10362,0.31,180.0,864.6,11.8,847,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2462,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10663,0.29,180.0,828.8,11.5,862,10667,0.00,2.12,0.00,0.000,4,0.000,0.047,2118,3812,2208,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10712,0.26,180.0,823.3,12.1,864,10717,0.12,2.05,0.00,0.000,6,0.168,0.032,2097,2456,2207,0,0,0,0,0,0,25.89,26.17,28.83
$GC,11020,0.26,180.0,792.5,9.2,879,11024,0.00,2.08,0.00,0.000,4,0.000,0.037,2107,1058,2207,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11041,0.27,182.7,790.5,9.1,880,11047,0.00,2.25,0.00,0.000,6,0.000,0.042,2107,2521,2205,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11362,0.25,182.7,760.2,9.4,896,11368,0.00,1.98,0.00,0.000,4,0.000,0.048,2107,3809,2205,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11450,0.23,182.7,751.2,11.0,900,11455,0.12,2.03,0.00,0.000,6,0.161,0.031,2084,2462,2205,0,0,0,0,0,0,25.98,26.26,28.83
$GC,11760,0.30,233.9,725.8,7.4,915,11809,0.00,2.20,38.72,1.056,4,0.000,0.047,2084,3809,2028,0,0,0,0,1,0,28.83,25.62,24.68
$GC,11879,0.34,250.3,716.2,8.6,921,11911,0.00,2.05,27.52,0.946,6,0.000,0.031,2095,2462,1957,0,0,0,0,0,0,28.83,25.78,24.65
$GC,12215,0.43,303.2,691.1,7.3,937,12273,0.12,2.20,50.28,0.973,4,0.076,0.036,2189,1059,1730,0,0,0,0,0,0,26.05,25.23,24.50
$GC,12300,0.41,303.2,679.9,13.7,941,12305,0.17,2.33,0.00,0.000,6,0.132,0.041,2139,2523,1721,0,0,0,0,0,0,25.31,25.42,28.83
$GC,12613,0.41,303.2,643.2,11.4,957,12618,0.00,2.22,0.00,0.000,4,0.000,0.037,2150,1065,1716,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,17984,end climb,SURFACE_DEPTH_REACHED
$STATE,17984,begin surface coast
$FINISH,0.1,1.022734
$STATE,18000,end surface coast,CONTROL_FINISHED_OK
$STATE,18000,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.35
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,10.2,21.494
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.250,160.925,691.400,0.000,0.000,27.260,41.058,228.229,0.000,0.000,17.187,4269.216,9842.062,819.986,3184.693,368.638,0.000,2368.264,0.000,2720.395,0.000,0.543,0.000
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$MEM,324572
$DATA_FILE_SIZE,107196,1611
$CAP_FILE_SIZE,196240,0
$CFSIZE,260165632,210325504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.611, 32.6,1
$GPS,051211,183007,2304.567,12211.431,36,1.1,36,-3.1