version: 66.10
glider: 169
mission: 5
dive: 254
start: 12 28 111 2 39 52
data:
$ID,169
$MISSION,5
$DIVE,254
$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,320
$T_MISSION,360
$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,225
$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,-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,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,-11041.394
$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
$GPS1,281211,023157,2248.970,12358.649,37,2.6,56,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.5
$GPS2,281211,023931,2248.898,12358.635,15,2.0,32,-3.2
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,182.3,146138,-15.1,-10.312
$D_GRID,5712
$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,-0.65,-219.0,0.0,0.0,0,103,0.00,0.00,-83.38,0.000,2,0.000,0.000,117,2670,3025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.65,-219.0,3.3,-6.8,15,137,6.75,2.20,-16.95,0.000,4,0.226,0.037,1802,1170,3873,0,0,0,0,0,0,25.15,26.10,26.51
$GC,226,-0.60,-219.0,43.6,-22.7,37,232,0.00,2.25,0.00,0.000,6,0.000,0.042,1792,2651,3873,0,0,0,0,0,0,28.83,26.05,28.83
$GC,537,-0.45,-219.0,180.7,-44.8,98,546,0.22,2.17,0.00,0.000,4,0.169,0.028,1868,1184,3873,0,0,0,0,0,0,25.77,26.22,28.83
$GC,638,-0.49,-219.0,201.1,-11.0,115,644,0.00,2.22,0.00,0.000,6,0.000,0.040,1864,2654,3873,0,0,0,0,0,0,28.83,26.20,28.83
$GC,947,-0.46,-219.0,252.9,-15.9,146,953,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2654,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.45,-219.0,295.1,-15.0,177,1265,0.00,2.15,0.00,0.000,4,0.000,0.028,1865,1181,3873,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1308,-0.48,-219.0,301.9,-12.0,182,1317,0.00,2.22,0.00,0.000,6,0.000,0.039,1864,2656,3873,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1617,-0.48,-219.0,333.7,-10.0,213,1621,0.00,1.77,0.00,0.000,4,0.000,0.045,1856,3813,3873,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1662,-0.50,-219.0,337.5,-9.3,217,1668,0.00,1.77,0.00,0.000,6,0.000,0.024,1856,2557,3873,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1969,-0.51,-219.0,364.6,-9.9,248,1978,0.00,1.95,0.00,0.000,4,0.000,0.043,1847,3822,3872,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1992,-0.53,-219.0,366.8,-9.7,250,1996,0.00,1.80,0.00,0.000,6,0.000,0.023,1847,2556,3873,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2304,-0.55,-219.0,403.1,-11.7,281,2312,0.00,2.00,0.00,0.000,4,0.000,0.029,1847,1177,3872,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2338,-0.58,-219.0,406.3,-10.8,284,2345,0.00,2.22,0.00,0.000,6,0.000,0.039,1839,2657,3871,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2645,-0.59,-219.0,436.4,-8.8,315,2649,0.00,1.80,0.00,0.000,4,0.000,0.044,1831,3819,3870,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2682,-0.60,-219.0,439.3,-9.0,318,2689,0.00,1.80,0.00,0.000,6,0.000,0.024,1831,2555,3870,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2987,-0.61,-219.0,475.4,-13.4,349,2997,0.00,1.95,0.00,0.000,4,0.000,0.044,1821,3820,3867,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3020,-0.62,-219.0,479.7,-13.0,352,3023,0.00,1.80,0.00,0.000,6,0.000,0.024,1821,2561,3867,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3333,-0.63,-219.0,514.2,-10.3,383,3341,0.00,1.98,0.00,0.000,4,0.000,0.044,1812,3817,3866,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3367,-0.64,-219.0,517.6,-10.3,386,3374,0.00,1.80,0.00,0.000,6,0.000,0.024,1813,2557,3866,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3674,-0.64,-219.0,551.8,-11.5,417,3677,0.00,1.95,0.00,0.000,4,0.000,0.044,1804,3814,3864,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3697,-0.64,-219.0,554.2,-11.3,419,3704,0.00,1.83,0.00,0.000,6,0.000,0.023,1804,2561,3864,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4005,-0.64,-219.0,593.1,-12.5,450,4014,0.00,2.03,0.00,0.000,4,0.000,0.030,1803,1178,3861,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4041,-0.65,-219.0,596.9,-12.6,453,4047,0.00,2.22,0.00,0.000,6,0.000,0.040,1795,2653,3860,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4357,-0.64,-219.0,638.9,-13.1,471,4360,0.00,1.80,0.00,0.000,4,0.000,0.047,1786,3822,3859,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4386,-0.63,-219.0,641.7,-13.0,472,4390,0.00,1.80,0.00,0.000,6,0.000,0.024,1786,2559,3859,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4694,-0.61,-219.0,679.0,-10.9,487,4699,0.00,1.98,0.00,0.000,4,0.000,0.046,1776,3823,3856,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4755,-0.60,-219.0,685.2,-10.4,490,4760,0.12,1.80,0.00,0.000,6,0.126,0.023,1815,2556,3855,0,0,0,0,0,0,26.16,26.44,28.83
$GC,5076,-0.62,-219.0,709.1,-7.5,506,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2557,3853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-0.64,-219.0,732.3,-7.9,521,5381,0.00,1.98,0.00,0.000,4,0.000,0.047,1806,3832,3851,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5423,-0.66,-219.0,735.5,-8.2,523,5426,0.00,1.85,0.00,0.000,6,0.000,0.026,1806,2557,3850,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5729,-0.67,-219.0,763.1,-9.3,538,5735,0.00,2.00,0.00,0.000,4,0.000,0.030,1806,1172,3848,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5757,-0.68,-219.0,765.0,-9.3,539,5761,0.00,2.25,0.00,0.000,6,0.000,0.041,1798,2652,3848,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6066,-0.68,-219.0,798.0,-11.0,554,6069,0.00,1.80,0.00,0.000,4,0.000,0.048,1789,3819,3846,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6107,-0.69,-219.0,803.0,-11.3,556,6112,0.00,1.80,0.00,0.000,6,0.000,0.027,1789,2563,3845,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6429,-0.69,-219.0,841.2,-11.6,572,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2562,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6727,-0.69,-219.0,872.5,-9.7,587,6732,0.00,1.95,0.00,0.000,4,0.000,0.049,1780,3814,3841,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6749,-0.69,-219.0,874.5,-9.7,588,6753,0.00,1.85,0.00,0.000,6,0.000,0.025,1780,2536,3841,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7068,-0.68,-219.0,906.5,-9.6,604,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,2535,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7369,-0.67,-219.0,933.1,-8.7,619,7374,0.00,1.98,0.00,0.000,4,0.000,0.047,1770,3816,3838,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7395,-0.67,-219.0,935.0,-8.8,620,7399,0.00,1.85,0.00,0.000,6,0.000,0.026,1770,2565,3837,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7708,-0.65,-219.0,966.6,-10.6,636,7713,0.00,2.03,0.00,0.000,4,0.000,0.034,1770,1192,3836,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7754,-0.65,-219.0,970.7,-10.6,638,7759,0.12,2.22,0.00,0.000,6,0.131,0.043,1798,2655,3836,0,0,0,0,0,0,25.93,26.08,28.83
$STATE,7980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7980,begin apogee
$GC,7986,-0.20,0.0,991.9,-9.5,649,8184,0.40,0.10,186.75,1.196,6,0.093,0.055,1942,2533,2971,0,0,0,0,0,0,25.91,24.58,23.54
$STATE,8185,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8187,0.65,219.0,1004.7,0.0,659,8408,0.77,2.50,209.77,1.187,4,0.049,0.041,2239,1074,2075,0,0,0,0,0,0,24.84,24.06,22.96
$GC,8413,0.54,219.0,988.9,16.8,670,8418,0.20,2.38,0.00,0.000,6,0.165,0.039,2190,2521,2064,0,0,0,0,0,0,24.12,24.31,28.83
$GC,8721,0.49,219.0,934.2,17.5,685,8727,0.00,2.03,0.00,0.000,4,0.000,0.047,2190,3813,2053,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8780,0.42,219.0,922.4,19.2,688,8787,0.20,2.05,0.00,0.000,6,0.166,0.031,2146,2467,2050,0,0,0,0,0,0,25.54,25.93,28.83
$GC,9102,0.40,219.0,878.7,12.6,704,9107,0.00,2.08,0.00,0.000,4,0.000,0.047,2146,3805,2048,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9129,0.38,219.0,876.0,12.6,705,9133,0.00,2.05,0.00,0.000,6,0.000,0.029,2156,2457,2047,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9436,0.35,219.0,836.5,12.2,720,9442,0.12,2.10,0.00,0.000,4,0.172,0.035,2129,1055,2047,0,0,0,0,0,0,25.96,26.08,28.83
$GC,9456,0.33,219.0,834.3,11.9,721,9462,0.00,2.22,0.00,0.000,6,0.000,0.040,2129,2524,2045,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9777,0.32,219.0,802.0,10.7,737,9782,0.00,1.95,0.00,0.000,4,0.000,0.046,2129,3804,2045,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9843,0.31,219.0,794.6,11.9,740,9847,0.00,2.00,0.00,0.000,6,0.000,0.030,2139,2467,2044,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10156,0.30,219.0,755.4,12.5,756,10162,0.12,2.10,0.00,0.000,4,0.170,0.035,2111,1062,2044,0,0,0,0,0,0,26.04,26.13,28.83
$GC,10188,0.30,219.0,753.0,12.5,757,10195,0.00,2.25,0.00,0.000,6,0.000,0.041,2112,2527,2043,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10498,0.31,219.0,718.7,11.2,773,10503,0.00,2.20,0.00,0.000,4,0.000,0.040,2123,1057,2043,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10516,0.32,219.0,716.2,11.1,774,10522,0.00,2.22,0.00,0.000,6,0.000,0.039,2123,2523,2043,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10836,0.32,219.0,678.5,11.4,790,10841,0.00,1.98,0.00,0.000,4,0.000,0.047,2122,3813,2042,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10859,0.32,219.0,675.9,11.6,791,10863,0.00,2.00,0.00,0.000,6,0.000,0.028,2133,2465,2042,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11171,0.39,274.3,645.7,8.6,807,11223,0.00,2.22,39.60,1.017,4,0.000,0.047,2133,3811,1861,0,0,0,0,1,0,28.83,25.66,24.27
$GC,11235,0.45,323.6,640.4,8.8,810,11294,0.00,2.05,48.90,1.115,6,0.000,0.028,2144,2464,1658,0,0,0,0,1,0,28.83,25.75,23.89
$GC,11607,0.47,323.6,601.7,11.6,829,11613,0.00,2.20,1.52,0.202,4,0.000,0.037,2154,1057,1659,0,0,0,0,0,0,28.83,25.89,25.37
$GC,11638,0.49,323.6,598.3,11.5,831,11646,0.00,2.22,0.00,0.000,6,0.000,0.040,2154,2524,1664,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11948,0.49,323.6,561.8,11.1,862,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2524,1664,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16488,end climb,SURFACE_DEPTH_REACHED
$STATE,16488,begin surface coast
$FINISH,0.6,1.023391
$STATE,16504,end surface coast,CONTROL_FINISHED_OK
$STATE,16504,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,10.1,34.220
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.400,152.625,637.250,0.000,0.000,25.138,23.728,256.181,0.000,0.000,33.404,3435.611,9530.893,746.628,2928.157,367.430,0.000,2180.302,0.000,2462.147,0.000,0.543,0.000
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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,330408
$DATA_FILE_SIZE,97101,1456
$CAP_FILE_SIZE,180286,0
$CFSIZE,260165632,199598080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,281211,071706,2244.440,12400.713,27,1.3,27,-3.1