version: 66.10
glider: 169
mission: 5
dive: 258
start: 12 28 111 20 29 55
data:
$ID,169
$MISSION,5
$DIVE,258
$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,-11046.521
$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
$GPS1,281211,202224,2230.799,12405.406,23,1.0,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.5
$GPS2,281211,202934,2230.719,12405.436,10,3.2,29,-3.1
$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,187.9,112840,-15.1,-10.312
$D_GRID,5548
$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,-219.0,0.0,0.0,0,120,0.00,0.00,-100.07,0.000,2,0.000,0.000,111,2683,3051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.65,-219.0,3.3,-6.8,18,154,6.75,2.25,-16.10,0.000,4,0.225,0.039,1802,1171,3873,0,0,0,0,0,0,25.14,26.08,26.50
$GC,238,-0.59,-219.0,43.8,-21.4,39,245,0.00,2.25,0.00,0.000,6,0.000,0.041,1792,2652,3873,0,0,0,0,0,0,28.83,26.05,28.83
$GC,552,-0.47,-219.0,168.1,-36.5,100,559,0.20,2.17,0.00,0.000,4,0.168,0.025,1862,1181,3873,0,0,0,0,0,0,25.84,26.24,28.83
$GC,628,-0.50,-219.0,184.8,-11.4,114,634,0.00,2.22,0.00,0.000,6,0.000,0.039,1852,2654,3873,0,0,0,0,0,0,28.83,26.18,28.83
$GC,942,-0.46,-219.0,244.3,-19.1,154,946,0.00,1.77,0.00,0.000,4,0.000,0.046,1844,3814,3873,0,0,0,0,0,0,28.83,26.19,28.83
$GC,974,-0.41,-219.0,250.6,-19.6,157,983,0.12,1.77,0.00,0.000,6,0.137,0.022,1880,2543,3873,0,0,0,0,0,0,26.13,26.43,28.83
$GC,1284,-0.43,-219.0,283.0,-9.7,188,1292,0.00,2.00,0.00,0.000,4,0.000,0.045,1870,3813,3873,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1309,-0.44,-219.0,285.2,-10.0,190,1315,0.00,1.80,0.00,0.000,6,0.000,0.024,1871,2551,3873,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1617,-0.47,-219.0,314.4,-8.5,221,1626,0.00,1.98,0.00,0.000,4,0.000,0.043,1862,3823,3873,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1652,-0.50,-219.0,317.3,-8.6,224,1659,0.00,1.80,0.00,0.000,6,0.000,0.024,1862,2547,3873,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1959,-0.53,-219.0,338.1,-5.5,255,1967,0.00,1.95,0.00,0.000,4,0.000,0.027,1861,1177,3873,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1982,-0.56,-219.0,339.3,-5.4,257,1991,0.08,2.20,0.00,0.000,6,0.050,0.037,1802,2653,3873,0,0,0,0,0,0,26.25,26.29,28.83
$GC,2290,-0.52,-219.0,389.4,-17.3,288,2295,0.12,1.75,0.00,0.000,4,0.149,0.042,1835,3816,3873,0,0,0,0,0,0,26.28,26.25,28.83
$GC,2316,-0.48,-219.0,393.2,-17.3,290,2323,0.00,1.80,0.00,0.000,6,0.000,0.022,1835,2557,3873,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2622,-0.48,-219.0,426.8,-10.8,321,2631,0.00,1.95,0.00,0.000,4,0.000,0.044,1825,3816,3871,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2657,-0.49,-219.0,430.1,-10.6,324,2664,0.00,1.77,0.00,0.000,6,0.000,0.024,1825,2557,3871,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2963,-0.49,-219.0,463.1,-11.1,355,2967,0.00,1.95,0.00,0.000,4,0.000,0.043,1817,3816,3869,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3003,-0.50,-219.0,467.1,-11.1,358,3010,0.10,1.77,0.00,0.000,6,0.126,0.023,1849,2556,3868,0,0,0,0,0,0,26.27,26.48,28.83
$GC,3310,-0.53,-219.0,489.6,-6.8,389,3319,0.00,1.98,0.00,0.000,4,0.000,0.044,1840,3821,3867,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3342,-0.58,-219.0,491.7,-6.3,392,3345,0.00,1.77,0.00,0.000,6,0.000,0.024,1840,2562,3866,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3654,-0.61,-219.0,511.0,-6.2,423,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2555,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3956,-0.64,-219.0,531.8,-7.5,453,3965,0.12,1.95,0.00,0.000,4,0.074,0.042,1741,3818,3861,0,0,0,0,0,0,26.59,26.21,28.83
$GC,4018,-0.60,-219.0,541.5,-17.4,459,4028,0.22,1.80,0.00,0.000,6,0.122,0.023,1813,2556,3860,0,0,0,0,0,0,25.99,26.44,28.83
$GC,4328,-0.60,-219.0,577.9,-11.6,490,4336,0.00,1.98,0.00,0.000,4,0.000,0.044,1804,3819,3859,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4362,-0.60,-219.0,581.8,-12.3,493,4369,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2560,3859,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4681,-0.60,-219.0,624.1,-12.8,516,4687,0.00,1.95,0.00,0.000,4,0.000,0.048,1795,3823,3858,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4719,-0.60,-219.0,629.4,-12.9,518,4722,0.00,1.80,0.00,0.000,6,0.000,0.024,1795,2570,3857,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5042,-0.59,-219.0,670.5,-12.3,534,5047,0.00,1.98,0.00,0.000,4,0.000,0.047,1786,3818,3854,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5089,-0.58,-219.0,675.4,-12.3,536,5093,0.12,1.80,0.00,0.000,6,0.122,0.026,1825,2557,3853,0,0,0,0,0,0,26.17,26.42,28.83
$GC,5397,-0.60,-219.0,700.6,-7.6,551,5401,0.00,1.95,0.00,0.000,4,0.000,0.045,1816,3816,3852,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5427,-0.63,-219.0,702.5,-7.7,552,5430,0.00,1.80,0.00,0.000,6,0.000,0.024,1816,2567,3851,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5740,-0.64,-219.0,730.0,-8.9,568,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2557,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.66,-219.0,755.0,-8.2,583,6044,0.00,1.98,0.00,0.000,4,0.000,0.046,1808,3821,3848,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6100,-0.68,-219.0,759.7,-8.0,586,6105,0.00,1.80,0.00,0.000,6,0.000,0.025,1808,2557,3847,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6420,-0.69,-219.0,786.1,-8.0,602,6426,0.00,1.95,0.00,0.000,4,0.000,0.046,1799,3833,3845,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6464,-0.70,-219.0,789.2,-7.7,604,6467,0.00,1.83,0.00,0.000,6,0.000,0.025,1798,2558,3845,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6777,-0.70,-219.0,814.6,-8.1,620,6782,0.00,1.98,0.00,0.000,4,0.000,0.031,1799,1185,3842,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6803,-0.71,-219.0,816.3,-8.1,621,6808,0.00,2.22,0.00,0.000,6,0.000,0.041,1789,2653,3843,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7111,-0.71,-219.0,847.4,-10.8,636,7114,0.00,1.77,0.00,0.000,4,0.000,0.047,1780,3816,3841,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7151,-0.71,-219.0,852.1,-11.1,638,7155,0.00,1.80,0.00,0.000,6,0.000,0.026,1780,2572,3841,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7472,-0.71,-219.0,892.8,-12.6,654,7478,0.00,2.03,0.00,0.000,4,0.000,0.032,1780,1171,3839,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7501,-0.71,-219.0,895.2,-12.5,655,7505,0.00,2.28,0.00,0.000,6,0.000,0.041,1770,2657,3839,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7809,-0.70,-219.0,936.1,-12.4,670,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,2657,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8111,-0.69,-219.0,969.3,-10.4,685,8117,0.00,2.15,0.00,0.000,4,0.000,0.030,1770,1190,3836,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8162,-0.69,-219.0,973.3,-10.0,687,8169,0.00,2.25,0.00,0.000,6,0.000,0.041,1760,2658,3836,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,8307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8307,begin apogee
$GC,8313,-0.20,0.0,990.5,-11.4,695,8513,0.52,0.15,192.18,1.172,6,0.103,0.076,1940,2541,2978,0,0,0,0,0,0,25.72,24.62,23.53
$STATE,8514,end apogee,CONTROL_FINISHED_OK
$STATE,8514,begin climb
$GC,8516,0.65,219.0,999.8,0.0,705,8734,0.75,2.45,209.38,1.179,4,0.049,0.034,2235,1058,2076,0,0,0,0,0,0,24.79,24.06,22.94
$GC,8750,0.55,219.0,977.6,18.7,717,8755,0.17,2.40,0.00,0.000,6,0.156,0.039,2192,2523,2060,0,0,0,0,0,0,24.22,24.40,28.83
$GC,9064,0.50,219.0,922.0,17.9,733,9070,0.00,2.00,0.00,0.000,4,0.000,0.047,2192,3816,2049,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9152,0.43,219.0,906.2,19.6,737,9156,0.20,2.05,0.00,0.000,6,0.167,0.029,2148,2462,2048,0,0,0,0,0,0,25.57,25.97,28.83
$GC,9458,0.41,219.0,862.1,13.2,752,9464,0.00,2.12,0.00,0.000,4,0.000,0.046,2148,3820,2046,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9499,0.38,219.0,856.0,13.9,754,9502,0.00,2.05,0.00,0.000,6,0.000,0.028,2158,2461,2045,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9820,0.36,219.0,811.1,13.8,770,9827,0.12,2.12,0.00,0.000,4,0.167,0.043,2120,3821,2044,0,0,0,0,0,0,25.99,26.05,28.83
$GC,9863,0.34,219.0,805.8,13.5,772,9867,0.00,2.05,0.00,0.000,6,0.000,0.029,2129,2460,2043,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10175,0.34,219.0,771.8,10.3,788,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2458,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10475,0.41,277.8,744.7,8.4,803,10534,0.00,2.25,43.83,1.089,4,0.000,0.046,2130,3815,1855,0,0,0,0,1,0,28.83,25.52,24.15
$GC,10601,0.46,318.5,734.1,9.0,809,10661,0.00,2.08,54.60,0.946,6,0.000,0.028,2140,2452,1677,0,0,0,0,0,0,28.83,25.77,24.16
$GC,10980,0.47,318.5,698.9,10.6,828,10985,0.00,2.10,0.00,0.000,4,0.000,0.046,2140,3803,1653,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11012,0.49,318.5,696.6,10.9,829,11018,0.00,2.03,0.00,0.000,6,0.000,0.028,2150,2466,1652,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11320,0.50,318.5,658.5,11.3,845,11326,0.00,2.10,0.00,0.000,4,0.000,0.036,2161,1067,1651,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11348,0.51,318.5,656.5,11.0,846,11352,0.00,2.22,0.00,0.000,6,0.000,0.040,2161,2526,1650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11653,0.51,318.5,622.7,11.1,861,11659,0.00,2.03,0.00,0.000,4,0.000,0.047,2161,3815,1649,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11714,0.51,318.5,615.0,12.7,864,11719,0.00,2.05,0.00,0.000,6,0.000,0.028,2171,2459,1649,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12025,0.51,318.5,575.3,12.8,889,12034,0.00,2.10,0.00,0.000,4,0.000,0.047,2171,3808,1649,0,0,0,0,0,0,28.83,26.06,28.83
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$GC,15806,0.92,578.7,109.1,4.9,1357,15995,0.25,2.08,177.05,0.312,4,0.048,0.047,2350,3820,627,0,0,0,0,0,0,26.44,25.63,25.08
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$STATE,16299,end climb,SURFACE_DEPTH_REACHED
$STATE,16299,begin surface coast
$FINISH,0.2,0.998272
$STATE,16319,end surface coast,CONTROL_FINISHED_OK
$STATE,16319,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,10.1,34.633
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.200,154.075,759.800,0.000,0.000,31.868,42.406,207.146,0.000,0.000,31.587,3383.975,9277.721,824.514,2955.119,356.108,0.000,2311.752,0.000,2510.819,0.000,0.542,0.000
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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,330412
$DATA_FILE_SIZE,97106,1452
$CAP_FILE_SIZE,183678,0
$CFSIZE,260165632,199249920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291211,010406,2226.969,12406.692,31,1.2,31,-3.1