version: 66.10
glider: 169
mission: 5
dive: 203
start: 12 18 111 0 26 6
data:
$ID,169
$MISSION,5
$DIVE,203
$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,350
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,-10977.118
$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
$GPS1,181211,001631,2338.264,12225.865,41,1.0,41,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.1
$GPS2,181211,002544,2338.457,12225.962,15,1.0,15,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2329.105,12231.850
$TGT_RADIUS,1852.000
$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,153.2,20000,-14.9,-9.429
$D_GRID,3169
$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,-0.61,-194.6,0.0,0.0,0,93,0.00,0.00,-73.97,0.000,2,0.000,0.000,108,2684,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.61,-194.6,3.6,-7.3,13,122,6.82,2.33,-12.68,0.000,4,0.228,0.044,1816,1174,3776,0,0,0,0,0,0,25.32,26.04,26.45
$GC,235,-0.55,-194.6,55.5,-25.3,39,241,0.00,2.25,0.00,0.000,6,0.000,0.045,1805,2651,3776,0,0,0,0,0,0,28.83,26.01,28.83
$GC,548,-0.42,-194.6,166.8,-34.8,100,556,0.20,2.20,0.00,0.000,4,0.171,0.029,1874,1170,3776,0,0,0,0,0,0,25.79,26.20,28.83
$GC,583,-0.35,-194.6,177.3,-25.2,106,591,0.12,2.28,0.00,0.000,6,0.151,0.044,1899,2658,3776,0,0,0,0,0,0,25.94,26.14,28.83
$GC,894,-0.36,-194.6,213.7,-10.4,155,898,0.00,1.80,0.00,0.000,4,0.000,0.047,1891,3822,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,938,-0.39,-194.6,217.8,-9.7,159,945,0.00,1.83,0.00,0.000,6,0.000,0.024,1891,2559,3776,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1246,-0.42,-194.6,247.3,-8.7,190,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2559,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1547,-0.45,-194.6,270.7,-7.2,220,1556,0.00,2.00,0.00,0.000,4,0.000,0.049,1883,3819,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1600,-0.50,-194.6,273.9,-5.5,225,1609,0.10,1.80,0.00,0.000,6,0.093,0.025,1801,2556,3776,0,0,0,0,0,0,26.36,26.47,28.83
$GC,1909,-0.42,-194.6,338.2,-20.6,256,1918,0.20,2.03,0.00,0.000,4,0.142,0.028,1876,1168,3776,0,0,0,0,0,0,26.08,26.34,28.83
$GC,1952,-0.40,-194.6,343.8,-13.3,260,1960,0.00,2.20,0.00,0.000,6,0.000,0.042,1866,2650,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2261,-0.42,-194.6,369.5,-9.5,291,2270,0.00,2.17,0.00,0.000,4,0.000,0.031,1866,1177,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2283,-0.44,-194.6,371.6,-9.8,293,2292,0.00,2.22,0.00,0.000,6,0.000,0.043,1860,2656,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2594,-0.46,-194.6,405.7,-10.9,324,2598,0.00,1.77,0.00,0.000,4,0.000,0.047,1852,3814,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2659,-0.49,-194.6,411.6,-8.9,330,2666,0.00,1.80,0.00,0.000,6,0.000,0.024,1852,2554,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2965,-0.50,-194.6,444.8,-10.7,361,2974,0.00,2.00,0.00,0.000,4,0.000,0.029,1852,1181,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2988,-0.52,-194.6,447.1,-10.4,363,2996,0.00,2.20,0.00,0.000,6,0.000,0.041,1844,2656,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3297,-0.52,-194.6,479.2,-9.4,394,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2656,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.52,-194.6,506.6,-9.3,424,3610,0.00,2.15,0.00,0.000,4,0.000,0.031,1844,1189,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3653,-0.56,-194.6,511.4,-8.7,429,3662,0.00,2.20,0.00,0.000,6,0.000,0.042,1838,2655,3767,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3962,-0.56,-194.6,539.7,-9.2,460,3966,0.00,1.77,0.00,0.000,4,0.000,0.049,1829,3812,3764,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4034,-0.58,-194.6,545.9,-8.1,467,4037,0.00,1.80,0.00,0.000,6,0.000,0.026,1829,2564,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4346,-0.58,-194.6,575.4,-10.0,498,4355,0.00,1.98,0.00,0.000,4,0.000,0.031,1829,1180,3762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4398,-0.60,-194.6,580.4,-9.5,503,4407,0.00,2.22,0.00,0.000,6,0.000,0.042,1823,2652,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4720,-0.59,-194.6,617.8,-12.1,528,4723,0.00,1.80,0.00,0.000,4,0.000,0.050,1814,3821,3759,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4785,-0.59,-194.6,625.5,-12.4,531,4788,0.00,1.83,0.00,0.000,6,0.000,0.026,1814,2562,3759,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5096,-0.58,-194.6,663.9,-11.6,547,5102,0.00,2.03,0.00,0.000,4,0.000,0.032,1814,1183,3756,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5137,-0.58,-194.6,668.2,-11.3,549,5143,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2652,3756,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5456,-0.57,-194.6,703.9,-11.5,565,5462,0.00,2.17,0.00,0.000,4,0.000,0.031,1812,1183,3754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5478,-0.57,-194.6,706.2,-11.7,566,5482,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2651,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5797,-0.57,-194.6,743.9,-11.9,582,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2651,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,-0.57,-194.6,778.8,-11.4,597,6101,0.00,2.20,0.00,0.000,4,0.000,0.033,1812,1175,3749,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6124,-0.57,-194.6,781.0,-11.1,598,6128,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2650,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6432,-0.57,-194.6,813.4,-10.0,613,6435,0.00,2.17,0.00,0.000,4,0.000,0.032,1812,1184,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6481,-0.58,-194.6,817.4,-9.8,615,6485,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2658,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6789,-0.58,-194.6,846.8,-8.9,630,6793,0.00,1.77,0.00,0.000,4,0.000,0.050,1805,3820,3745,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6813,-0.58,-194.6,848.9,-9.0,631,6816,0.00,1.85,0.00,0.000,6,0.000,0.026,1805,2567,3744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7132,-0.58,-194.6,878.1,-8.9,647,7137,0.00,2.03,0.00,0.000,4,0.000,0.032,1805,1186,3742,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7174,-0.58,-194.6,881.5,-8.8,649,7178,0.00,2.22,0.00,0.000,6,0.000,0.045,1799,2650,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7488,-0.57,-194.6,909.1,-8.9,665,7493,0.00,2.17,0.00,0.000,4,0.000,0.032,1799,1187,3741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7514,-0.56,-194.6,910.9,-9.0,666,7518,0.00,2.25,0.00,0.000,6,0.000,0.045,1799,2652,3741,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7822,-0.56,-194.6,940.7,-9.7,681,7828,0.10,2.17,0.00,0.000,4,0.161,0.030,1828,1187,3739,0,0,0,0,0,0,26.39,26.18,28.83
$GC,7848,-0.56,-194.6,942.6,-9.6,682,7852,0.00,2.25,0.00,0.000,6,0.000,0.045,1826,2656,3739,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8157,-0.58,-194.6,965.3,-7.5,697,8161,0.00,2.20,0.00,0.000,4,0.000,0.032,1826,1174,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8182,-0.60,-194.6,967.0,-7.6,698,8186,0.00,2.25,0.00,0.000,6,0.000,0.044,1825,2650,3737,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8494,-0.62,-194.6,989.2,-6.8,714,8498,0.00,1.80,0.00,0.000,4,0.000,0.052,1817,3818,3736,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,8513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8514,begin apogee
$GC,8521,-0.20,0.0,990.6,-6.7,715,8697,0.35,0.15,165.93,1.175,6,0.088,0.077,1946,2545,2970,0,0,0,0,0,0,26.00,24.76,23.82
$STATE,8698,end apogee,CONTROL_FINISHED_OK
$STATE,8698,begin climb
$GC,8701,0.61,194.6,998.4,0.0,724,8897,0.68,2.20,183.10,1.182,4,0.048,0.047,2206,3812,2171,0,0,0,0,0,0,24.96,24.18,23.25
$GC,8974,0.51,194.6,971.9,19.8,737,8981,0.15,2.15,0.00,0.000,6,0.189,0.032,2182,2464,2159,0,0,0,0,0,0,24.77,25.09,28.83
$GC,9282,0.45,194.6,920.1,15.2,753,9287,0.00,2.12,0.00,0.000,4,0.000,0.049,2181,3808,2154,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9324,0.37,194.6,913.2,16.0,755,9328,0.22,2.03,0.00,0.000,6,0.167,0.030,2131,2465,2153,0,0,0,0,0,0,25.48,25.92,28.83
$GC,9639,0.35,194.6,875.7,11.8,771,9644,0.00,2.12,0.00,0.000,4,0.000,0.050,2131,3814,2151,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9680,0.32,194.6,870.5,12.2,773,9684,0.00,2.05,0.00,0.000,6,0.000,0.030,2142,2462,2151,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9993,0.29,194.6,830.5,12.7,789,9999,0.12,2.12,0.00,0.000,4,0.173,0.046,2104,3817,2150,0,0,0,0,0,0,25.93,25.99,28.83
$GC,10025,0.26,194.6,828.1,12.6,790,10031,0.00,2.05,0.00,0.000,6,0.000,0.029,2115,2453,2150,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10332,0.25,194.6,796.0,9.5,806,10337,0.00,2.12,0.00,0.000,4,0.000,0.048,2115,3815,2149,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10353,0.25,194.6,794.0,9.6,807,10359,0.10,2.00,0.00,0.000,6,0.135,0.030,2092,2462,2149,0,0,0,0,0,0,25.82,26.17,28.83
$GC,10675,0.36,279.3,771.2,6.7,823,10764,0.10,2.28,80.95,1.000,4,0.093,0.048,2152,3815,1828,0,0,0,0,0,0,26.41,25.20,24.31
$GC,10795,0.34,279.3,757.5,12.5,829,10799,0.15,2.08,0.00,0.000,6,0.148,0.030,2123,2465,1817,0,0,0,0,0,0,25.25,25.47,28.83
$GC,11109,0.36,281.4,727.5,9.4,845,11114,0.00,2.15,0.00,0.000,4,0.000,0.047,2122,3810,1812,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11128,0.37,281.4,725.5,9.4,846,11132,0.00,2.05,0.00,0.000,6,0.000,0.029,2133,2456,1811,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11450,0.38,281.4,691.9,10.7,862,11451,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2453,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11752,0.39,281.4,661.2,10.5,877,11757,0.00,2.12,0.00,0.000,4,0.000,0.047,2133,3813,1808,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11793,0.40,281.4,656.4,11.3,879,11796,0.00,2.05,0.00,0.000,6,0.000,0.030,2143,2464,1809,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,16888,end climb,SURFACE_DEPTH_REACHED
$STATE,16888,begin surface coast
$FINISH,0.4,1.023145
$STATE,16903,end surface coast,CONTROL_FINISHED_OK
$STATE,16903,begin surface
$SM_CCo,16979,0.00,0.000,0,0,963,494.52
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.00
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.2,44.117
$10V_AH,10.1,28.618
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.875,175.600,614.100,0.000,0.000,59.256,41.693,251.693,0.000,0.000,16.130,3557.781,9773.670,716.517,3090.977,365.226,0.000,2208.224,0.000,2578.798,0.000,0.543,0.000
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$SENSOR_SECS,1015.130,1956.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,100345,1494
$CAP_FILE_SIZE,192077,0
$CFSIZE,260165632,204312576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181211,051006,2338.515,12228.259,33,1.1,33,-3.2