version: 66.10
glider: 169
mission: 5
dive: 435
start: 2 1 112 8 33 5
data:
$ID,169
$MISSION,5
$DIVE,435
$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,45
$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,-12329.318
$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
$GPS1,010212,082530,2341.772,12343.184,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.7
$GPS2,010212,083243,2341.726,12343.114,15,1.8,20,-3.4
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2349.362,12351.462
$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,48.4,20000,-15.4,-9.167
$D_GRID,3385
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.57,0.000,2,0.000,0.000,132,2665,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.9,-8.4,14,124,6.90,1.85,-9.98,0.000,4,0.224,0.052,1800,3839,3697,0,0,0,0,0,0,24.77,26.00,26.52
$GC,162,-0.47,-175.2,30.8,-34.9,25,169,0.17,1.85,0.00,0.000,6,0.166,0.023,1853,2579,3698,0,0,0,0,0,0,25.56,26.11,28.83
$GC,474,-0.38,-175.2,113.4,-25.4,86,482,0.12,2.10,0.00,0.000,4,0.175,0.026,1901,1175,3697,0,0,0,0,0,0,26.01,26.14,28.83
$GC,546,-0.43,-175.2,123.6,-6.8,99,554,0.00,2.30,0.00,0.000,6,0.000,0.037,1891,2649,3697,0,0,0,0,0,0,28.83,26.06,28.83
$GC,859,-0.42,-175.2,159.9,-11.9,160,866,0.00,2.22,0.00,0.000,4,0.000,0.026,1891,1165,3698,0,0,0,0,0,0,28.83,26.20,28.83
$GC,913,-0.48,-175.2,165.1,-6.8,170,920,0.00,2.30,0.00,0.000,6,0.000,0.037,1885,2649,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1224,-0.47,-175.2,196.2,-11.1,231,1231,0.00,1.80,0.00,0.000,4,0.000,0.043,1876,3816,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1261,-0.47,-175.2,200.1,-10.8,237,1268,0.00,1.80,0.00,0.000,6,0.000,0.021,1876,2558,3698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1568,-0.47,-175.2,240.8,-13.8,268,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2557,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-0.47,-175.2,277.4,-8.8,298,1880,0.00,2.00,0.00,0.000,4,0.000,0.043,1866,3810,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1936,-0.51,-175.2,281.4,-5.3,304,1939,0.00,1.77,0.00,0.000,6,0.000,0.023,1866,2572,3698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2247,-0.51,-175.2,308.4,-8.8,335,2256,0.00,2.05,0.00,0.000,4,0.000,0.029,1866,1167,3698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2293,-0.55,-175.2,311.7,-7.7,339,2300,0.00,2.30,0.00,0.000,6,0.000,0.036,1862,2653,3698,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2598,-0.55,-175.2,338.0,-9.3,370,2607,0.00,2.20,0.00,0.000,4,0.000,0.027,1862,1175,3698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2634,-0.56,-175.2,340.9,-9.2,373,2641,0.10,2.28,0.00,0.000,6,0.091,0.036,1799,2650,3698,0,0,0,0,0,0,26.13,26.14,28.83
$GC,2940,-0.51,-175.2,391.5,-18.5,404,2950,0.12,2.20,0.00,0.000,4,0.153,0.025,1839,1175,3697,0,0,0,0,0,0,26.20,26.22,28.83
$GC,3014,-0.55,-175.2,401.0,-10.3,411,3023,0.00,2.28,0.00,0.000,6,0.000,0.037,1833,2653,3697,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3323,-0.55,-175.2,436.9,-11.2,442,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2653,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-0.55,-175.2,468.4,-10.0,472,3635,0.00,2.17,0.00,0.000,4,0.000,0.028,1833,1177,3695,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3678,-0.58,-175.2,473.4,-8.8,477,3687,0.00,2.30,0.00,0.000,6,0.000,0.037,1826,2658,3695,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3988,-0.58,-175.2,507.8,-11.6,508,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2657,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4289,-0.58,-175.2,542.4,-10.8,538,4298,0.00,2.22,0.00,0.000,4,0.000,0.029,1826,1175,3691,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4321,-0.59,-175.2,545.7,-10.3,541,4330,0.00,2.28,0.00,0.000,6,0.000,0.038,1818,2647,3691,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4632,-0.59,-175.2,579.7,-11.0,572,4635,0.00,1.77,0.00,0.000,4,0.000,0.046,1810,3816,3688,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4652,-0.59,-175.2,582.2,-11.6,574,4656,0.00,1.80,0.00,0.000,6,0.000,0.024,1809,2576,3688,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4966,-0.58,-175.2,621.4,-12.8,597,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2569,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5263,-0.58,-175.2,658.2,-12.3,612,5267,0.00,2.08,0.00,0.000,4,0.000,0.031,1809,1177,3684,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5304,-0.58,-175.2,662.9,-12.0,614,5310,0.00,2.30,0.00,0.000,6,0.000,0.038,1800,2649,3684,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5626,-0.57,-175.2,701.5,-11.3,630,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2650,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,-0.56,-175.2,731.3,-9.1,645,5931,0.00,2.20,0.00,0.000,4,0.000,0.028,1800,1172,3679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5974,-0.56,-175.2,734.7,-8.7,647,5984,0.12,2.33,0.00,0.000,6,0.128,0.039,1830,2650,3679,0,0,0,0,0,0,25.87,26.03,28.83
$GC,6287,-0.58,-175.2,752.9,-5.7,663,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2649,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6586,-0.60,-175.2,771.3,-6.5,678,6592,0.00,2.22,0.00,0.000,4,0.000,0.028,1830,1172,3675,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6613,-0.63,-175.2,772.7,-6.5,679,6617,0.00,2.33,0.00,0.000,6,0.000,0.039,1822,2650,3675,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6920,-0.64,-175.2,797.5,-8.7,694,6924,0.00,1.77,0.00,0.000,4,0.000,0.047,1814,3813,3673,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6957,-0.66,-175.2,799.7,-9.0,695,6964,0.00,1.80,0.00,0.000,6,0.000,0.025,1814,2568,3672,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7263,-0.67,-175.2,832.0,-10.5,711,7269,0.00,2.10,0.00,0.000,4,0.000,0.032,1814,1175,3670,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7303,-0.69,-175.2,836.3,-10.6,713,7308,0.00,2.33,0.00,0.000,6,0.000,0.040,1812,2649,3670,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7624,-0.70,-175.2,871.6,-10.7,729,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2648,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7923,-0.70,-175.2,902.8,-10.2,744,7928,0.00,2.22,0.00,0.000,4,0.000,0.029,1812,1176,3667,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7967,-0.72,-175.2,906.8,-10.1,746,7973,0.12,2.33,0.00,0.000,6,0.076,0.041,1728,2647,3666,0,0,0,0,0,0,25.96,25.92,28.83
$GC,8283,-0.66,-175.2,963.3,-17.6,762,8285,0.22,0.00,0.00,0.000,6,0.142,0.000,1793,2647,3665,0,0,0,0,0,0,25.84,28.83,28.83
$STATE,8560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8560,begin apogee
$GC,8567,-0.20,0.0,991.3,-9.2,776,8732,0.43,0.12,156.90,1.188,6,0.101,0.050,1942,2531,2973,0,0,0,0,0,0,25.68,24.82,23.28
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8733,begin climb
$GC,8735,0.60,175.2,996.9,0.0,784,8914,0.70,2.15,169.10,1.190,4,0.047,0.045,2214,3816,2256,0,0,0,0,0,0,25.16,24.87,23.32
$GC,8962,0.49,175.2,973.6,20.1,796,8968,0.20,2.12,0.00,0.000,6,0.187,0.027,2172,2457,2239,0,0,0,0,0,0,25.11,25.58,28.83
$GC,9282,0.44,175.2,922.9,14.9,812,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2455,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,0.39,175.2,880.2,14.3,827,9589,0.12,2.17,0.00,0.000,4,0.177,0.045,2134,3811,2231,0,0,0,0,0,0,25.93,25.94,28.83
$GC,9656,0.35,175.2,872.2,13.5,830,9663,0.00,2.05,0.00,0.000,6,0.000,0.028,2145,2455,2231,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9963,0.32,175.2,833.6,12.1,846,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2454,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,0.30,175.2,796.3,12.0,861,10269,0.12,2.17,0.00,0.000,4,0.172,0.044,2106,3812,2229,0,0,0,0,0,0,26.01,25.95,28.83
$GC,10323,0.28,175.2,789.5,11.5,864,10328,0.00,2.03,0.00,0.000,6,0.000,0.028,2116,2464,2228,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10642,0.32,202.4,761.0,8.2,880,10669,0.00,0.00,20.52,0.943,6,0.000,0.000,2117,2463,2151,0,0,0,0,1,0,28.83,28.83,23.82
$GC,10978,0.36,235.3,734.0,8.0,897,11024,0.00,2.22,40.58,0.975,4,0.000,0.035,2127,1065,2011,0,0,0,0,0,0,28.83,25.57,23.92
$GC,11057,0.42,273.2,727.7,7.8,901,11101,0.00,2.33,37.92,0.982,6,0.000,0.037,2127,2526,1864,0,0,0,0,0,0,28.83,25.67,23.75
$GC,11413,0.44,273.2,694.9,9.6,919,11419,0.00,2.08,0.00,0.000,4,0.000,0.046,2127,3821,1841,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11441,0.46,273.2,692.7,10.0,920,11445,0.00,2.08,0.00,0.000,6,0.000,0.028,2137,2460,1840,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11749,0.47,273.2,656.6,11.5,935,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2458,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12051,0.49,273.2,624.4,10.0,950,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2459,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12349,0.53,295.1,597.0,8.4,966,12379,0.12,2.22,20.23,0.921,4,0.079,0.038,2228,1060,1763,0,0,0,0,0,0,26.43,25.88,24.10
$GC,12396,0.51,295.1,591.3,13.1,970,12403,0.17,2.30,0.00,0.000,6,0.140,0.037,2178,2529,1757,0,0,0,0,0,0,25.61,25.89,28.83
$GC,12702,0.50,295.1,553.9,11.3,1001,12706,0.00,2.03,0.00,0.000,4,0.000,0.046,2178,3813,1754,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12759,0.48,295.1,547.7,12.1,1006,12766,0.00,2.05,0.00,0.000,6,0.000,0.027,2188,2455,1754,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13066,0.46,295.1,513.2,9.9,1037,13076,0.12,2.17,0.00,0.000,4,0.164,0.044,2149,3817,1753,0,0,0,0,0,0,26.02,25.91,28.83
$GC,13120,0.50,319.0,508.5,8.3,1042,13149,0.00,2.05,23.27,0.862,6,0.000,0.027,2159,2451,1674,0,0,0,0,0,0,28.83,26.13,24.22
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$STATE,17543,end climb,SURFACE_DEPTH_REACHED
$STATE,17544,begin surface coast
$FINISH,0.7,1.023725
$STATE,17560,end surface coast,CONTROL_FINISHED_OK
$STATE,17560,begin surface
$SM_CCo,17634,0.00,0.000,0,0,1166,444.73
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$IRIDIUM_FIX,2333.28,12343.36,010212,030304
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.66
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,9.9,54.065
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.800,149.350,573.250,0.000,0.000,30.551,18.112,235.134,0.000,0.000,21.728,3857.812,9945.314,698.079,3149.633,389.592,0.000,2201.790,0.000,2694.028,0.000,0.544,0.000
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$SENSOR_SECS,1119.648,2066.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,110378,1649
$CAP_FILE_SIZE,188609,0
$CFSIZE,260165632,181891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010212,132807,2341.490,12344.046,40,1.4,40,-3.4