version: 66.10
glider: 169
mission: 5
dive: 215
start: 12 20 111 10 46 46
data:
$ID,169
$MISSION,5
$DIVE,215
$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,-10992.216
$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
$GPS1,201211,103924,2332.621,12253.581,40,1.4,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.1
$GPS2,201211,104626,2332.695,12253.641,11,1.7,11,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2323.343,12259.524
$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,2762
$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,16,-0.61,-194.6,0.0,0.0,0,97,0.00,0.00,-77.72,0.000,2,0.000,0.000,116,2707,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.61,-194.6,3.8,-8.4,14,124,6.80,0.00,-12.35,0.000,6,0.229,0.000,1801,2707,3776,0,0,0,0,0,0,25.26,28.83,26.47
$GC,428,-0.47,-194.6,150.5,-37.2,78,435,0.17,2.28,0.00,0.000,4,0.189,0.025,1861,1171,3776,0,0,0,0,0,0,25.76,26.19,28.83
$GC,580,-0.51,-194.6,177.4,-9.3,107,586,0.00,2.25,0.00,0.000,6,0.000,0.040,1851,2654,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,890,-0.45,-194.6,237.4,-21.3,150,894,0.00,1.77,0.00,0.000,4,0.000,0.045,1842,3819,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,945,-0.41,-194.6,247.0,-17.6,155,952,0.12,1.80,0.00,0.000,6,0.131,0.024,1879,2560,3776,0,0,0,0,0,0,26.13,26.40,28.83
$GC,1251,-0.41,-194.6,286.2,-11.1,186,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2561,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-0.42,-194.6,316.6,-9.2,216,1562,0.00,1.95,0.00,0.000,4,0.000,0.046,1871,3814,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1595,-0.44,-194.6,320.6,-9.4,220,1599,0.00,1.80,0.00,0.000,6,0.000,0.024,1871,2558,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1906,-0.46,-194.6,352.4,-10.8,251,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2555,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-0.48,-194.6,381.0,-8.5,281,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2555,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2519,-0.50,-194.6,401.4,-6.3,312,2523,0.00,2.00,0.00,0.000,4,0.000,0.046,1862,3822,3773,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2551,-0.54,-194.6,403.6,-6.8,315,2555,0.00,1.83,0.00,0.000,6,0.000,0.024,1862,2559,3773,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2863,-0.56,-194.6,428.8,-8.4,346,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2557,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3164,-0.59,-194.6,454.2,-8.9,376,3173,0.12,1.95,0.00,0.000,4,0.075,0.042,1762,3805,3770,0,0,0,0,0,0,26.62,26.25,28.83
$GC,3239,-0.53,-194.6,466.5,-19.4,383,3247,0.25,1.77,0.00,0.000,6,0.125,0.024,1839,2564,3770,0,0,0,0,0,0,25.95,26.45,28.83
$GC,3547,-0.53,-194.6,505.0,-10.9,414,3550,0.00,2.00,0.00,0.000,4,0.000,0.030,1840,1183,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3582,-0.54,-194.6,508.4,-10.7,417,3589,0.00,2.22,0.00,0.000,6,0.000,0.039,1830,2658,3769,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3888,-0.54,-194.6,541.0,-10.3,448,3891,0.00,1.75,0.00,0.000,4,0.000,0.046,1822,3815,3767,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3919,-0.54,-194.6,544.3,-10.5,451,3923,0.00,1.80,0.00,0.000,6,0.000,0.024,1822,2565,3766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4230,-0.53,-194.6,578.1,-11.1,482,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2557,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4541,-0.53,-194.6,612.5,-11.4,508,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2557,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.53,-194.6,644.5,-10.2,523,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2557,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,-0.53,-194.6,676.1,-10.6,538,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2557,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.53,-194.6,707.3,-10.0,553,5446,0.00,2.03,0.00,0.000,4,0.000,0.031,1822,1186,3756,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5464,-0.54,-194.6,709.3,-10.1,554,5468,0.00,2.22,0.00,0.000,6,0.000,0.041,1813,2656,3756,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5777,-0.54,-194.6,742.1,-10.0,570,5780,0.00,1.77,0.00,0.000,4,0.000,0.047,1804,3820,3754,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5811,-0.54,-194.6,744.3,-9.9,571,5818,0.10,1.83,0.00,0.000,6,0.132,0.026,1834,2556,3753,0,0,0,0,0,0,26.20,26.42,28.83
$GC,6120,-0.56,-194.6,767.0,-6.8,587,6125,0.00,2.00,0.00,0.000,4,0.000,0.030,1835,1186,3751,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6147,-0.58,-194.6,768.3,-6.8,588,6151,0.00,2.22,0.00,0.000,6,0.000,0.041,1826,2654,3750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6459,-0.59,-194.6,791.4,-7.4,604,6465,0.00,2.17,0.00,0.000,4,0.000,0.031,1826,1183,3748,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6492,-0.61,-194.6,792.9,-7.5,605,6499,0.00,2.25,0.00,0.000,6,0.000,0.043,1818,2654,3748,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6802,-0.61,-194.6,820.6,-9.1,621,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2654,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7099,-0.62,-194.6,849.2,-9.7,636,7105,0.00,2.20,0.00,0.000,4,0.000,0.031,1818,1182,3744,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7143,-0.64,-194.6,852.9,-9.3,638,7147,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2657,3744,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7455,-0.64,-194.6,882.6,-9.0,654,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2657,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7755,-0.64,-194.6,906.2,-7.5,669,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2657,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,-0.64,-194.6,927.3,-7.0,684,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2657,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8357,-0.64,-194.6,949.0,-7.7,699,8363,0.00,2.15,0.00,0.000,4,0.000,0.031,1812,1190,3737,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8405,-0.66,-194.6,952.0,-7.5,701,8409,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2650,3737,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8711,-0.67,-194.6,976.9,-7.9,716,8715,0.00,1.85,0.00,0.000,4,0.000,0.051,1804,3817,3735,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8746,-0.68,-194.6,978.8,-8.0,717,8753,0.00,1.85,0.00,0.000,6,0.000,0.028,1804,2571,3735,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,8870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8870,begin apogee
$GC,8876,-0.20,0.0,990.6,-8.6,724,9054,0.40,0.10,167.50,1.179,6,0.098,0.061,1946,2531,2970,0,0,0,0,0,0,25.83,24.68,23.74
$STATE,9055,end apogee,CONTROL_FINISHED_OK
$STATE,9055,begin climb
$GC,9057,0.61,194.6,998.7,0.0,733,9255,0.70,2.45,184.90,1.183,4,0.047,0.040,2228,1070,2171,0,0,0,0,0,0,24.96,24.17,23.17
$GC,9286,0.52,194.6,979.6,17.4,744,9291,0.20,2.38,0.00,0.000,6,0.158,0.041,2177,2523,2159,0,0,0,0,0,0,24.46,24.69,28.83
$GC,9596,0.46,194.6,931.3,15.1,759,9601,0.00,2.03,0.00,0.000,4,0.000,0.046,2176,3811,2153,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9654,0.40,194.6,921.0,16.3,762,9661,0.17,2.05,0.00,0.000,6,0.171,0.032,2141,2466,2151,0,0,0,0,0,0,25.51,25.90,28.83
$GC,9975,0.37,194.6,882.9,11.6,778,9981,0.00,2.10,0.00,0.000,4,0.000,0.047,2141,3812,2149,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10098,0.33,194.6,866.8,13.5,784,10103,0.12,2.03,0.00,0.000,6,0.171,0.031,2120,2464,2148,0,0,0,0,0,0,25.75,26.08,28.83
$GC,10413,0.32,194.6,835.7,9.6,800,10418,0.00,2.08,0.00,0.000,4,0.000,0.036,2130,1055,2148,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10430,0.32,194.6,833.7,9.6,801,10436,0.00,2.28,0.00,0.000,6,0.000,0.041,2130,2532,2147,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10751,0.31,194.6,802.1,9.6,817,10757,0.00,2.00,0.00,0.000,4,0.000,0.048,2130,3812,2148,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10791,0.28,194.6,797.6,10.2,819,10796,0.15,2.03,0.00,0.000,6,0.158,0.032,2101,2465,2146,0,0,0,0,0,0,25.77,26.15,28.83
$GC,11115,0.39,274.7,774.5,6.8,835,11194,0.10,2.28,62.40,1.219,4,0.093,0.048,2161,3812,1866,0,0,0,0,1,0,26.43,25.20,24.05
$GC,11220,0.36,274.7,762.4,12.5,840,11228,0.15,2.08,1.88,0.191,6,0.148,0.031,2131,2466,1858,0,0,0,0,0,0,25.23,25.46,25.09
$GC,11537,0.36,274.7,728.6,10.7,856,11542,0.00,2.10,0.00,0.000,4,0.000,0.037,2141,1057,1867,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11561,0.37,274.7,726.5,10.8,857,11567,0.00,2.28,0.00,0.000,6,0.000,0.041,2141,2523,1866,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11875,0.37,274.7,691.0,10.8,873,11881,0.00,2.03,0.00,0.000,4,0.000,0.047,2142,3813,1866,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11928,0.37,274.7,686.0,11.5,875,11935,0.00,2.05,0.00,0.000,6,0.000,0.030,2152,2463,1866,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12237,0.36,274.7,648.3,11.6,891,12240,0.00,2.15,0.00,0.000,4,0.000,0.047,2152,3822,1866,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12251,0.35,274.7,648.3,11.6,891,12259,0.15,2.05,0.00,0.000,6,0.153,0.029,2122,2459,1866,0,0,0,0,0,0,25.77,26.15,28.83
$GC,12560,0.40,298.6,619.1,8.6,907,12599,0.00,2.20,33.20,0.911,4,0.000,0.037,2132,1056,1752,0,0,0,0,0,0,28.83,25.77,24.76
$GC,12615,0.46,329.0,615.8,8.4,909,12651,0.00,2.28,30.62,0.907,6,0.000,0.040,2132,2523,1636,0,0,0,0,0,0,28.83,25.75,24.51
$GC,12959,0.57,393.2,588.7,7.3,934,13028,0.17,0.00,60.97,0.907,6,0.060,0.000,2225,2523,1363,0,0,0,0,0,0,26.08,28.83,24.37
$GC,13329,0.53,393.2,517.2,20.9,971,13334,0.12,2.03,0.00,0.000,4,0.161,0.045,2186,3815,1350,0,0,0,0,0,0,25.70,25.82,28.83
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$STATE,17444,end climb,SURFACE_DEPTH_REACHED
$STATE,17444,begin surface coast
$FINISH,0.4,1.023199
$STATE,17465,end surface coast,CONTROL_FINISHED_OK
$STATE,17466,begin surface
$SM_CCo,17481,13.48,0.123,0,0,1244,425.10
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$IRIDIUM_FIX,2326.22,12253.15,201211,050526
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.80
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.1,29.976
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.475,145.500,541.475,13.475,0.000,30.199,17.849,239.160,0.000,0.000,12.132,3646.155,10216.847,663.479,3001.827,362.316,0.000,2100.598,0.000,2558.549,0.000,0.543,0.000
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$MEM,324612
$DATA_FILE_SIZE,100407,1532
$CAP_FILE_SIZE,185112,0
$CFSIZE,260165632,203145216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201211,153931,2331.010,12256.234,39,1.0,39,-3.2