version: 66.10
glider: 169
mission: 5
dive: 414
start: 1 27 112 23 15 28
data:
$ID,169
$MISSION,5
$DIVE,414
$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,180
$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,35
$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,-11400.018
$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
$GPS1,270112,224606,2330.011,12313.630,36,1.2,36,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.2
$GPS2,270112,231506,2329.749,12314.082,34,1.5,34,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2338.595,12320.844
$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,38.3,20000,-15.4,-9.167
$D_GRID,3504
$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,-0.60,-175.2,0.0,0.0,0,91,0.00,0.00,-71.90,0.000,2,0.000,0.000,116,2711,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.60,-175.2,3.7,-7.3,13,119,7.10,2.42,-12.90,0.000,4,0.233,0.043,1819,1187,3696,0,0,0,0,0,0,24.79,26.05,26.57
$GC,224,-0.56,-175.2,48.9,-19.4,37,231,0.00,2.30,0.00,0.000,6,0.000,0.039,1808,2653,3696,0,0,0,0,0,0,28.83,26.07,28.83
$GC,535,-0.42,-175.2,154.8,-37.1,98,544,0.20,2.22,0.00,0.000,4,0.174,0.022,1878,1159,3696,0,0,0,0,0,0,25.81,26.28,28.83
$GC,628,-0.47,-175.2,173.8,-8.4,115,635,0.00,2.30,0.00,0.000,6,0.000,0.037,1867,2651,3696,0,0,0,0,0,0,28.83,26.18,28.83
$GC,939,-0.45,-175.2,225.4,-16.4,162,942,0.00,1.77,0.00,0.000,4,0.000,0.042,1858,3819,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,963,-0.42,-175.2,229.3,-17.1,164,970,0.00,1.77,0.00,0.000,6,0.000,0.021,1858,2565,3696,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1274,-0.40,-175.2,278.5,-14.0,195,1283,0.00,2.03,0.00,0.000,4,0.000,0.028,1858,1170,3696,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1299,-0.39,-175.2,282.0,-13.7,197,1307,0.12,2.28,0.00,0.000,6,0.132,0.038,1888,2651,3696,0,0,0,0,0,0,26.05,26.20,28.83
$GC,1607,-0.43,-175.2,308.4,-8.1,228,1615,0.00,2.17,0.00,0.000,4,0.000,0.028,1888,1172,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1651,-0.48,-175.2,311.9,-8.2,232,1658,0.00,2.28,0.00,0.000,6,0.000,0.037,1882,2651,3695,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1960,-0.61,-175.2,335.7,-8.2,263,1967,0.20,0.00,0.00,0.000,6,0.080,0.000,1793,2652,3693,0,0,0,0,0,0,26.42,28.83,28.83
$GC,2268,-0.55,-175.2,378.8,-18.6,294,2278,0.12,2.20,0.00,0.000,4,0.151,0.026,1837,1174,3692,0,0,0,0,0,0,26.25,26.28,28.83
$GC,2387,-0.59,-175.2,390.9,-8.2,305,2393,0.00,2.28,0.00,0.000,6,0.000,0.038,1830,2651,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2693,-0.58,-175.2,429.2,-12.1,336,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2651,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3004,-0.57,-175.2,465.1,-10.7,367,3012,0.00,2.17,0.00,0.000,4,0.000,0.028,1830,1177,3688,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3065,-0.59,-175.2,470.6,-8.1,373,3074,0.00,2.28,0.00,0.000,6,0.000,0.040,1825,2651,3687,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3375,-0.59,-175.2,502.6,-10.1,404,3378,0.00,1.77,0.00,0.000,4,0.000,0.043,1816,3817,3686,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3406,-0.59,-175.2,505.8,-10.3,407,3409,0.00,1.80,0.00,0.000,6,0.000,0.023,1816,2572,3686,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3717,-0.58,-175.2,540.9,-11.5,438,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2564,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-0.57,-175.2,575.6,-11.6,468,4028,0.00,2.03,0.00,0.000,4,0.000,0.031,1816,1182,3681,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4062,-0.59,-175.2,580.5,-11.3,472,4071,0.00,2.28,0.00,0.000,6,0.000,0.040,1812,2646,3681,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4381,-0.59,-175.2,615.6,-10.6,497,4387,0.00,2.22,0.00,0.000,4,0.000,0.028,1812,1171,3678,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4409,-0.59,-175.2,617.7,-10.5,498,4413,0.00,2.30,0.00,0.000,6,0.000,0.038,1804,2651,3678,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4717,-0.57,-175.2,652.5,-11.4,513,4721,0.00,1.80,0.00,0.000,4,0.000,0.044,1795,3826,3675,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4743,-0.56,-175.2,655.1,-11.2,514,4749,0.12,1.83,0.00,0.000,6,0.124,0.023,1832,2559,3675,0,0,0,0,0,0,26.11,26.39,28.83
$GC,5062,-0.58,-175.2,681.5,-7.9,530,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2559,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5361,-0.60,-175.2,704.0,-7.3,545,5366,0.00,1.98,0.00,0.000,4,0.000,0.044,1824,3810,3670,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5412,-0.63,-175.2,707.0,-7.4,547,5419,0.00,1.80,0.00,0.000,6,0.000,0.024,1824,2561,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5721,-0.65,-175.2,731.4,-7.7,563,5726,0.00,2.05,0.00,0.000,4,0.000,0.028,1824,1173,3667,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5748,-0.66,-175.2,733.0,-7.9,564,5752,0.00,2.30,0.00,0.000,6,0.000,0.041,1816,2651,3666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6055,-0.66,-175.2,759.6,-9.0,579,6059,0.00,1.77,0.00,0.000,4,0.000,0.047,1807,3814,3665,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6089,-0.66,-175.2,761.6,-9.1,580,6096,0.00,1.83,0.00,0.000,6,0.000,0.026,1807,2566,3663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6398,-0.66,-175.2,791.2,-9.3,596,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2566,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6697,-0.66,-175.2,819.4,-9.4,611,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2566,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,-0.66,-175.2,847.3,-9.0,626,7002,0.00,2.03,0.00,0.000,4,0.000,0.049,1798,3817,3658,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7024,-0.66,-175.2,849.1,-9.2,627,7028,0.00,1.83,0.00,0.000,6,0.000,0.025,1798,2551,3658,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7332,-0.66,-175.2,878.3,-9.2,642,7336,0.00,2.03,0.00,0.000,4,0.000,0.047,1788,3817,3656,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7357,-0.66,-175.2,880.3,-9.1,643,7360,0.00,1.83,0.00,0.000,6,0.000,0.024,1788,2566,3656,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7669,-0.65,-175.2,910.9,-9.8,659,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2565,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,-0.64,-175.2,940.9,-10.0,674,7975,0.00,1.98,0.00,0.000,4,0.000,0.047,1779,3814,3652,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7997,-0.63,-175.2,943.1,-10.1,675,8001,0.00,1.83,0.00,0.000,6,0.000,0.025,1779,2569,3652,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8305,-0.61,-175.2,977.6,-11.3,690,8307,0.12,0.00,0.00,0.000,6,0.140,0.000,1816,2567,3651,0,0,0,0,0,0,26.26,28.83,28.83
$STATE,8461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8462,begin apogee
$GC,8467,-0.20,0.0,991.0,-8.1,698,8629,0.35,0.10,153.57,1.187,6,0.096,0.057,1942,2537,2972,0,0,0,0,0,0,25.86,24.81,23.37
$STATE,8629,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8633,0.60,175.2,998.5,0.0,706,8809,0.70,2.12,167.25,1.189,4,0.047,0.046,2213,3814,2256,0,0,0,0,0,0,25.20,24.91,23.39
$GC,8835,0.49,175.2,986.7,14.2,716,8843,0.20,2.12,0.00,0.000,6,0.185,0.029,2174,2457,2239,0,0,0,0,0,0,25.03,25.41,28.83
$GC,9145,0.44,175.2,939.1,14.3,732,9150,0.00,2.17,0.00,0.000,4,0.000,0.047,2173,3810,2232,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9173,0.38,175.2,936.0,14.6,733,9182,0.17,2.05,0.00,0.000,6,0.167,0.028,2137,2465,2232,0,0,0,0,0,0,25.63,26.08,28.83
$GC,9484,0.36,175.2,900.1,10.7,749,9488,0.00,2.12,0.00,0.000,4,0.000,0.045,2137,3813,2230,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9527,0.33,175.2,894.6,11.6,751,9533,0.08,2.03,0.00,0.000,6,0.149,0.028,2122,2471,2229,0,0,0,0,0,0,25.85,26.17,28.83
$GC,9848,0.32,175.2,860.7,10.7,767,9853,0.00,2.10,0.00,0.000,4,0.000,0.034,2132,1063,2227,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9880,0.31,175.2,858.6,10.5,768,9887,0.00,2.25,0.00,0.000,6,0.000,0.037,2133,2531,2227,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10186,0.30,175.2,825.5,10.4,784,10192,0.00,2.03,0.00,0.000,4,0.000,0.046,2133,3815,2227,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10290,0.27,175.2,813.2,12.6,789,10294,0.17,2.05,0.00,0.000,6,0.156,0.028,2096,2456,2226,0,0,0,0,0,0,25.72,26.19,28.83
$GC,10604,0.34,223.9,788.7,7.5,805,10650,0.00,2.17,36.35,1.096,4,0.000,0.034,2106,1051,2065,0,0,0,0,1,0,28.83,25.65,23.66
$GC,10680,0.43,275.7,783.0,7.3,809,10743,0.10,2.30,51.70,1.219,6,0.042,0.038,2194,2524,1853,0,0,0,0,1,0,25.72,25.73,23.39
$GC,11056,0.39,275.7,720.2,17.5,828,11062,0.17,2.05,0.00,0.000,4,0.154,0.044,2139,3815,1861,0,0,0,0,0,0,25.72,25.86,28.83
$GC,11140,0.38,275.7,709.0,13.9,832,11144,0.00,2.03,0.00,0.000,6,0.000,0.028,2149,2464,1861,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11451,0.38,275.7,671.4,11.8,848,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2461,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11752,0.38,275.7,636.1,11.7,863,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2461,1860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12051,0.38,275.7,601.6,11.4,878,12057,0.00,2.15,0.00,0.000,4,0.000,0.046,2150,3813,1860,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12093,0.38,275.7,596.5,12.2,881,12101,0.00,2.03,0.00,0.000,6,0.000,0.028,2160,2462,1859,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12401,0.38,275.7,559.1,12.0,912,12410,0.00,2.10,0.00,0.000,4,0.000,0.037,2171,1057,1858,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12432,0.38,275.7,555.6,11.5,915,12442,0.15,2.25,0.00,0.000,6,0.127,0.039,2127,2523,1857,0,0,0,0,0,0,25.79,26.02,28.83
$GC,12743,0.46,322.8,530.7,7.5,946,12802,0.00,0.00,54.30,0.882,6,0.000,0.000,2127,2523,1655,0,0,0,0,0,0,28.83,28.83,24.01
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$STATE,17115,end climb,SURFACE_DEPTH_REACHED
$STATE,17115,begin surface coast
$FINISH,0.6,1.022822
$STATE,17146,end surface coast,CONTROL_FINISHED_OK
$STATE,17146,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,9.8,51.608
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330336
$DATA_FILE_SIZE,100232,1539
$CAP_FILE_SIZE,192448,0
$CFSIZE,260165632,184913920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280112,040237,2330.936,12315.812,30,1.0,30,-3.3