version: 66.10
glider: 169
mission: 5
dive: 272
start: 12 31 111 15 40 24
data:
$ID,169
$MISSION,5
$DIVE,272
$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,-9
$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,240
$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,-11064.143
$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
$GPS1,311211,153300,2148.689,12415.511,38,1.2,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.2
$GPS2,311211,154002,2148.575,12415.552,13,1.2,13,-2.9
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2143.176,12405.484
$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,242.9,20000,-14.5,-9.167
$D_GRID,5356
$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,-0.60,-194.6,0.0,0.0,0,104,0.00,0.00,-84.10,0.000,2,0.000,0.000,116,2685,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.60,-194.6,3.4,-5.8,15,137,6.75,1.83,-14.75,0.000,4,0.222,0.056,1796,3822,3776,0,0,0,0,0,0,25.10,26.05,26.52
$GC,271,-0.52,-194.6,62.1,-26.7,46,278,0.12,1.83,0.00,0.000,6,0.155,0.024,1837,2575,3776,0,0,0,0,0,0,25.91,26.22,28.83
$GC,583,-0.42,-194.6,164.0,-28.3,107,590,0.12,2.03,0.00,0.000,4,0.172,0.027,1885,1178,3776,0,0,0,0,0,0,26.10,26.26,28.83
$GC,685,-0.47,-194.6,178.9,-8.7,126,692,0.00,2.22,0.00,0.000,6,0.000,0.038,1875,2656,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,994,-0.44,-194.6,225.1,-15.8,171,998,0.00,1.80,0.00,0.000,4,0.000,0.047,1866,3814,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1036,-0.43,-194.6,231.2,-15.1,175,1039,0.00,1.80,0.00,0.000,6,0.000,0.023,1866,2558,3776,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1348,-0.42,-194.6,272.9,-12.8,206,1357,0.00,1.95,0.00,0.000,4,0.000,0.043,1856,3817,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1383,-0.41,-194.6,277.2,-12.9,209,1389,0.00,1.80,0.00,0.000,6,0.000,0.022,1856,2556,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1690,-0.39,-194.6,319.4,-13.1,240,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2556,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-0.39,-194.6,356.6,-11.8,270,2001,0.00,1.98,0.00,0.000,4,0.000,0.043,1847,3830,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2034,-0.40,-194.6,361.7,-11.6,274,2043,0.12,1.83,0.00,0.000,6,0.111,0.024,1889,2557,3776,0,0,0,0,0,0,26.27,26.47,28.83
$GC,2345,-0.45,-194.6,379.9,-4.3,305,2353,0.00,2.00,0.00,0.000,4,0.000,0.028,1889,1159,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2366,-0.51,-194.6,380.8,-4.4,307,2376,0.12,2.25,0.00,0.000,6,0.081,0.036,1829,2664,3774,0,0,0,0,0,0,26.29,26.31,28.83
$GC,2676,-0.49,-194.6,417.4,-13.2,338,2679,0.00,1.75,0.00,0.000,4,0.000,0.044,1820,3815,3773,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2717,-0.48,-194.6,423.0,-13.3,342,2727,0.12,1.80,0.00,0.000,6,0.116,0.023,1861,2558,3772,0,0,0,0,0,0,26.25,26.48,28.83
$GC,3028,-0.51,-194.6,449.3,-8.1,373,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2558,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3329,-0.54,-194.6,470.9,-6.6,403,3338,0.00,1.98,0.00,0.000,4,0.000,0.043,1852,3815,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3351,-0.57,-194.6,472.4,-6.4,405,3355,0.00,1.80,0.00,0.000,6,0.000,0.024,1852,2562,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3663,-0.59,-194.6,494.2,-6.4,436,3672,0.10,1.98,0.00,0.000,4,0.088,0.026,1774,1183,3767,0,0,0,0,0,0,26.62,26.35,28.83
$GC,3686,-0.61,-194.6,496.2,-7.5,438,3695,0.17,2.22,0.00,0.000,6,0.125,0.037,1817,2663,3767,0,0,0,0,0,0,26.03,26.28,28.83
$GC,3995,-0.59,-194.6,532.4,-12.3,469,4004,0.00,2.17,0.00,0.000,4,0.000,0.028,1817,1171,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4047,-0.60,-194.6,538.0,-10.6,474,4056,0.00,2.25,0.00,0.000,6,0.000,0.038,1809,2660,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4357,-0.59,-194.6,578.3,-13.2,505,4360,0.00,1.77,0.00,0.000,4,0.000,0.044,1800,3823,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4418,-0.59,-194.6,586.0,-12.2,511,4421,0.00,1.83,0.00,0.000,6,0.000,0.024,1800,2561,3762,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4727,-0.56,-194.6,619.5,-10.6,532,4732,0.00,2.00,0.00,0.000,4,0.000,0.029,1800,1177,3760,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4773,-0.55,-194.6,623.7,-10.4,534,4778,0.12,2.25,0.00,0.000,6,0.124,0.039,1831,2660,3760,0,0,0,0,0,0,26.10,26.23,28.83
$GC,5084,-0.57,-194.6,645.2,-7.2,549,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2659,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5381,-0.58,-194.6,671.2,-9.4,564,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2659,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.59,-194.6,698.6,-8.7,579,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2659,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5982,-0.61,-194.6,723.4,-7.9,594,5986,0.00,2.17,0.00,0.000,4,0.000,0.028,1831,1182,3751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6025,-0.63,-194.6,726.7,-7.8,596,6031,0.00,2.22,0.00,0.000,6,0.000,0.040,1824,2653,3751,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6344,-0.64,-194.6,751.9,-7.5,612,6348,0.00,1.83,0.00,0.000,4,0.000,0.047,1815,3820,3748,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6369,-0.65,-194.6,753.4,-7.4,613,6373,0.00,1.83,0.00,0.000,6,0.000,0.026,1815,2560,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6681,-0.65,-194.6,778.3,-7.9,629,6686,0.00,1.98,0.00,0.000,4,0.000,0.046,1806,3816,3746,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6722,-0.66,-194.6,781.7,-8.3,631,6725,0.00,1.83,0.00,0.000,6,0.000,0.025,1806,2567,3745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7044,-0.66,-194.6,811.5,-9.8,647,7049,0.00,1.95,0.00,0.000,4,0.000,0.047,1797,3813,3743,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7072,-0.66,-194.6,813.6,-9.9,648,7075,0.00,1.80,0.00,0.000,6,0.000,0.025,1797,2574,3743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7385,-0.65,-194.6,847.6,-10.8,664,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2566,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,-0.64,-194.6,878.0,-9.8,679,7690,0.00,1.98,0.00,0.000,4,0.000,0.048,1788,3811,3740,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7706,-0.64,-194.6,880.1,-9.9,680,7710,0.00,1.83,0.00,0.000,6,0.000,0.027,1788,2566,3740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8025,-0.62,-194.6,914.1,-11.4,696,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2565,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,-0.61,-194.6,949.0,-11.7,711,8330,0.00,2.00,0.00,0.000,4,0.000,0.047,1778,3821,3737,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8387,-0.60,-194.6,955.8,-11.3,714,8392,0.12,1.83,0.00,0.000,6,0.124,0.025,1817,2565,3737,0,0,0,0,0,0,26.08,26.35,28.83
$GC,8701,-0.62,-194.6,980.4,-7.1,730,8705,0.00,2.05,0.00,0.000,4,0.000,0.031,1818,1171,3736,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8726,-0.64,-194.6,982.1,-7.1,731,8730,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2653,3736,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8836,begin apogee
$GC,8842,-0.20,0.0,990.1,-7.0,737,9020,0.35,0.12,168.25,1.182,6,0.096,0.086,1938,2537,2970,0,0,0,0,0,0,25.93,24.75,23.61
$STATE,9021,end apogee,CONTROL_FINISHED_OK
$STATE,9021,begin climb
$GC,9023,0.60,194.6,996.5,0.0,746,9221,0.73,2.45,184.98,1.180,4,0.050,0.040,2224,1064,2172,0,0,0,0,0,0,24.97,24.26,23.11
$GC,9272,0.52,194.6,971.7,18.3,758,9278,0.17,2.35,0.00,0.000,6,0.158,0.042,2179,2521,2159,0,0,0,0,0,0,24.78,25.02,28.83
$GC,9581,0.46,194.6,920.2,15.8,773,9586,0.00,2.00,0.00,0.000,4,0.000,0.047,2178,3815,2153,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9653,0.39,194.6,909.5,17.4,776,9660,0.20,2.05,0.00,0.000,6,0.168,0.029,2136,2465,2151,0,0,0,0,0,0,25.60,26.02,28.83
$GC,9962,0.37,194.6,871.1,11.1,792,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2464,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10261,0.35,194.6,838.1,11.2,807,10266,0.00,2.08,0.00,0.000,4,0.000,0.045,2135,3806,2150,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10321,0.32,194.6,830.3,12.5,810,10327,0.08,2.03,0.00,0.000,6,0.151,0.029,2121,2463,2149,0,0,0,0,0,0,25.87,26.19,28.83
$GC,10641,0.31,194.6,797.8,9.8,826,10645,0.00,2.12,0.00,0.000,4,0.000,0.045,2120,3821,2149,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10655,0.30,194.6,797.8,9.8,826,10662,0.00,2.05,0.00,0.000,6,0.000,0.028,2130,2450,2148,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10963,0.29,194.6,765.1,9.3,842,10967,0.00,2.15,0.00,0.000,4,0.000,0.047,2130,3822,2148,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11018,0.27,194.6,760.5,10.0,844,11026,0.15,2.05,0.00,0.000,6,0.161,0.028,2101,2457,2148,0,0,0,0,0,0,25.83,26.23,28.83
$GC,11326,0.40,294.2,740.2,6.0,860,11429,0.12,2.22,96.18,0.977,4,0.078,0.045,2180,3815,1771,0,0,0,0,0,0,26.46,25.19,24.10
$GC,11463,0.36,294.2,721.5,15.0,867,11470,0.22,2.12,0.00,0.000,6,0.139,0.029,2127,2461,1756,0,0,0,0,0,0,25.24,25.50,28.83
$GC,11786,0.38,294.2,686.2,10.8,883,11791,0.00,2.08,0.00,0.000,4,0.000,0.036,2137,1059,1750,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11824,0.40,294.2,682.0,10.5,885,11829,0.00,2.28,0.00,0.000,6,0.000,0.038,2137,2534,1747,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12145,0.41,294.2,649.7,9.4,901,12150,0.00,1.98,0.00,0.000,4,0.000,0.046,2137,3804,1747,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12172,0.43,294.2,647.8,9.4,902,12176,0.00,2.03,0.00,0.000,6,0.000,0.028,2147,2466,1747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12478,0.43,294.2,616.4,9.7,917,12484,0.00,2.12,0.00,0.000,4,0.000,0.036,2158,1057,1746,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,17745,end climb,SURFACE_DEPTH_REACHED
$STATE,17745,begin surface coast
$FINISH,0.3,1.017850
$STATE,17802,end surface coast,CONTROL_FINISHED_OK
$STATE,17802,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.88
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,10.1,36.202
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.125,164.750,594.550,0.000,0.000,31.286,19.642,232.057,0.000,0.000,13.976,3783.504,10254.269,698.263,3142.915,389.889,0.000,2238.722,0.000,2695.729,0.000,0.543,0.000
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$MEM,330404
$DATA_FILE_SIZE,103671,1591
$CAP_FILE_SIZE,198634,0
$CFSIZE,260165632,197918720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311211,203924,2145.274,12415.069,35,1.5,35,-2.9