version: 66.10
glider: 169
mission: 5
dive: 436
start: 2 1 112 13 35 58
data:
$ID,169
$MISSION,5
$DIVE,436
$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,-12330.575
$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
$GPS1,010212,132807,2341.490,12344.046,40,1.4,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.1
$GPS2,010212,133536,2341.470,12344.009,21,1.0,37,-3.4
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2349.106,12352.355
$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,3478
$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,-175.2,0.0,0.0,0,102,0.00,0.00,-83.15,0.000,2,0.000,0.000,122,2675,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.60,-175.2,4.0,-9.1,15,130,6.95,1.83,-8.62,0.000,4,0.224,0.047,1798,3833,3697,0,0,0,0,0,0,24.73,26.08,26.54
$GC,168,-0.50,-175.2,32.5,-37.0,26,175,0.17,1.83,0.00,0.000,6,0.143,0.024,1848,2591,3697,0,0,0,0,0,0,25.69,26.13,28.83
$GC,481,-0.39,-175.2,116.9,-30.0,87,488,0.12,2.12,0.00,0.000,4,0.181,0.026,1895,1173,3697,0,0,0,0,0,0,26.03,26.15,28.83
$GC,583,-0.46,-175.2,132.8,-9.1,106,590,0.00,2.30,0.00,0.000,6,0.000,0.036,1885,2654,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,895,-0.44,-175.2,179.4,-13.3,167,902,0.00,2.20,0.00,0.000,4,0.000,0.026,1885,1172,3697,0,0,0,0,0,0,28.83,26.22,28.83
$GC,944,-0.47,-175.2,185.5,-9.5,176,951,0.00,2.30,0.00,0.000,6,0.000,0.037,1878,2653,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1260,-0.46,-175.2,219.2,-10.1,221,1268,0.00,2.20,0.00,0.000,4,0.000,0.027,1878,1172,3697,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1291,-0.46,-175.2,222.4,-10.2,224,1300,0.00,2.30,0.00,0.000,6,0.000,0.037,1869,2651,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1602,-0.45,-175.2,258.2,-11.9,255,1605,0.00,1.77,0.00,0.000,4,0.000,0.045,1860,3814,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1635,-0.45,-175.2,261.7,-11.1,258,1642,0.00,1.77,0.00,0.000,6,0.000,0.023,1860,2571,3697,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1944,-0.43,-175.2,302.6,-13.8,289,1953,0.00,2.05,0.00,0.000,4,0.000,0.027,1860,1169,3697,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2005,-0.48,-175.2,309.1,-9.2,295,2015,0.00,2.30,0.00,0.000,6,0.000,0.037,1852,2655,3697,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2317,-0.47,-175.2,343.2,-10.8,326,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2654,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-0.47,-175.2,370.0,-8.2,356,2626,0.00,2.20,0.00,0.000,4,0.000,0.031,1852,1176,3697,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2662,-0.49,-175.2,373.4,-8.0,360,2669,0.00,2.28,0.00,0.000,6,0.000,0.037,1852,2650,3697,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2969,-0.50,-175.2,399.5,-9.3,391,2977,0.00,2.20,0.00,0.000,4,0.000,0.028,1852,1164,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3010,-0.52,-175.2,403.2,-9.3,395,3019,0.00,2.30,0.00,0.000,6,0.000,0.038,1851,2649,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3320,-0.53,-175.2,429.7,-9.4,426,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2649,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3623,-0.55,-175.2,457.6,-8.6,456,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2649,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3934,-0.57,-175.2,485.4,-8.9,487,3942,0.00,2.20,0.00,0.000,4,0.000,0.028,1852,1176,3691,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3987,-0.62,-175.2,490.2,-8.7,492,3996,0.08,2.30,0.00,0.000,6,0.045,0.037,1791,2652,3691,0,0,0,0,0,0,26.07,26.13,28.83
$GC,4295,-0.57,-175.2,541.8,-16.2,523,4297,0.12,0.00,0.00,0.000,6,0.149,0.000,1826,2652,3689,0,0,0,0,0,0,26.26,28.83,28.83
$GC,4595,-0.57,-175.2,571.6,-8.0,553,4604,0.00,2.22,0.00,0.000,4,0.000,0.029,1827,1174,3687,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4661,-0.62,-175.2,576.0,-6.5,559,4668,0.00,2.30,0.00,0.000,6,0.000,0.038,1819,2655,3687,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4980,-0.62,-175.2,604.8,-9.9,589,4985,0.00,2.22,0.00,0.000,4,0.000,0.029,1819,1179,3685,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5018,-0.63,-175.2,609.0,-10.3,591,5024,0.00,2.33,0.00,0.000,6,0.000,0.039,1813,2652,3685,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5338,-0.63,-175.2,646.1,-11.6,607,5341,0.00,1.77,0.00,0.000,4,0.000,0.048,1804,3816,3682,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5368,-0.63,-175.2,648.5,-11.5,608,5372,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2569,3682,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5674,-0.62,-175.2,686.7,-12.0,623,5680,0.00,2.10,0.00,0.000,4,0.000,0.030,1804,1167,3680,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5694,-0.62,-175.2,689.0,-11.9,624,5700,0.00,2.35,0.00,0.000,6,0.000,0.039,1795,2654,3679,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6015,-0.61,-175.2,728.9,-12.9,640,6019,0.00,1.83,0.00,0.000,4,0.000,0.047,1786,3816,3677,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6037,-0.59,-175.2,731.8,-12.8,641,6043,0.12,1.83,0.00,0.000,6,0.127,0.024,1823,2564,3677,0,0,0,0,0,0,26.03,26.32,28.83
$GC,6360,-0.60,-175.2,760.0,-7.8,657,6366,0.00,2.05,0.00,0.000,4,0.000,0.028,1823,1177,3675,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6402,-0.63,-175.2,763.0,-7.4,659,6406,0.00,2.33,0.00,0.000,6,0.000,0.039,1814,2654,3675,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6714,-0.63,-175.2,787.9,-8.0,675,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2653,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-0.64,-175.2,814.6,-9.6,690,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2654,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7314,-0.65,-175.2,846.3,-10.8,705,7320,0.00,2.22,0.00,0.000,4,0.000,0.030,1814,1180,3669,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7348,-0.67,-175.2,848.4,-10.9,706,7355,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2650,3669,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7654,-0.68,-175.2,883.1,-10.7,722,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2650,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,-0.69,-175.2,913.8,-10.0,737,7960,0.00,2.25,0.00,0.000,4,0.000,0.030,1813,1182,3665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7983,-0.70,-175.2,915.9,-10.2,738,7987,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2648,3665,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8289,-0.71,-175.2,945.8,-9.2,753,8292,0.00,1.80,0.00,0.000,4,0.000,0.049,1804,3815,3663,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8313,-0.72,-175.2,947.6,-9.2,754,8317,0.00,1.83,0.00,0.000,6,0.000,0.026,1804,2572,3663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8626,-0.72,-175.2,975.7,-8.6,770,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2570,3662,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8803,begin apogee
$GC,8808,-0.20,0.0,991.0,-8.4,779,8971,0.40,0.15,155.30,1.193,6,0.098,0.074,1945,2532,2977,0,0,0,0,0,0,25.73,24.87,23.27
$STATE,8972,end apogee,CONTROL_FINISHED_OK
$STATE,8972,begin climb
$GC,8974,0.60,175.2,998.5,0.0,787,9153,0.70,2.45,168.05,1.194,4,0.047,0.034,2226,1058,2253,0,0,0,0,0,0,25.18,24.93,23.33
$GC,9182,0.51,175.2,984.4,15.8,798,9188,0.15,2.33,0.00,0.000,6,0.149,0.039,2180,2516,2239,0,0,0,0,0,0,25.10,25.41,28.83
$GC,9501,0.45,175.2,937.8,14.0,814,9506,0.00,2.05,0.00,0.000,4,0.000,0.046,2180,3820,2234,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9585,0.38,175.2,925.2,15.9,818,9590,0.20,2.08,0.00,0.000,6,0.170,0.029,2137,2461,2232,0,0,0,0,0,0,25.55,26.07,28.83
$GC,9898,0.36,175.2,891.6,10.3,834,9903,0.00,2.20,0.00,0.000,4,0.000,0.047,2137,3818,2230,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9926,0.33,175.2,889.4,10.4,835,9930,0.00,2.08,0.00,0.000,6,0.000,0.029,2147,2463,2230,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10234,0.30,175.2,852.8,12.0,850,10240,0.12,2.15,0.00,0.000,4,0.171,0.044,2110,3815,2229,0,0,0,0,0,0,26.01,25.97,28.83
$GC,10276,0.28,175.2,848.0,12.2,852,10280,0.00,2.05,0.00,0.000,6,0.000,0.027,2120,2460,2228,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10589,0.28,175.2,815.6,10.6,868,10594,0.00,2.10,0.00,0.000,4,0.000,0.036,2131,1058,2227,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10640,0.28,175.2,811.2,10.7,870,10647,0.00,2.28,0.00,0.000,6,0.000,0.039,2131,2526,2227,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10948,0.27,175.2,775.5,11.2,886,10954,0.12,2.03,0.00,0.000,4,0.152,0.045,2091,3814,2226,0,0,0,0,0,0,26.09,25.93,28.83
$GC,11032,0.28,175.2,767.4,10.1,890,11036,0.00,2.05,0.00,0.000,6,0.000,0.028,2102,2457,2226,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11344,0.38,248.5,744.4,6.6,906,11415,0.00,2.28,58.85,1.205,4,0.000,0.037,2112,1060,1972,0,0,0,0,1,0,28.83,25.29,23.38
$GC,11454,0.51,337.8,738.1,6.0,911,11552,0.17,2.33,85.03,1.260,6,0.060,0.037,2212,2526,1602,0,0,0,0,1,0,25.64,25.56,23.20
$GC,11866,0.47,337.8,671.5,16.4,932,11872,0.15,2.05,0.00,0.000,4,0.160,0.045,2165,3815,1609,0,0,0,0,0,0,25.75,25.84,28.83
$GC,11958,0.46,337.8,660.9,13.2,936,11965,0.00,2.05,0.00,0.000,6,0.000,0.028,2175,2463,1608,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12266,0.44,337.8,621.4,13.1,952,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2461,1607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12565,0.44,337.8,575.9,16.9,974,12574,0.00,2.12,0.00,0.000,4,0.000,0.035,2186,1056,1606,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12596,0.44,337.8,570.6,16.6,977,12606,0.12,2.28,0.00,0.000,6,0.130,0.037,2150,2524,1605,0,0,0,0,0,0,25.82,26.00,28.83
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$STATE,16786,end climb,SURFACE_DEPTH_REACHED
$STATE,16786,begin surface coast
$FINISH,0.4,1.023704
$STATE,16803,end surface coast,CONTROL_FINISHED_OK
$STATE,16803,begin surface
$SM_CCo,16878,0.00,0.000,0,0,896,510.96
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$IRIDIUM_FIX,2330.93,12342.06,010212,080836
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.2,90.815
$10V_AH,9.9,54.177
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.825,150.825,622.800,0.000,0.000,27.340,17.503,237.567,0.000,0.000,38.110,3511.551,9694.013,726.760,2981.217,384.322,0.000,2172.913,0.000,2525.885,0.000,0.543,0.000
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$SENSOR_SECS,1016.694,1958.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,97093,1496
$CAP_FILE_SIZE,181470,0
$CFSIZE,260165632,181813248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010212,181824,2341.585,12345.517,41,1.4,41,-3.4