version: 66.10
glider: 169
mission: 5
dive: 439
start: 2 2 112 4 3 6
data:
$ID,169
$MISSION,5
$DIVE,439
$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,-12334.351
$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
$GPS1,020212,035536,2341.969,12347.311,43,1.2,54,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-60.6
$GPS2,020212,040244,2341.891,12347.283,12,1.9,12,-3.4
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2350.737,12354.056
$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,38.4,20000,-15.4,-9.167
$D_GRID,3494
$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,-175.2,0.0,0.0,0,113,0.00,0.00,-94.03,0.000,2,0.000,0.000,116,2711,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.60,-175.2,3.7,-8.1,17,141,7.97,1.75,-10.00,0.000,4,0.266,0.051,1799,3820,3694,0,0,0,0,0,0,24.72,25.99,26.53
$GC,168,-0.44,-175.2,27.9,-43.9,26,176,0.20,1.83,0.00,0.000,6,0.157,0.023,1861,2581,3694,0,0,0,0,0,0,25.55,26.12,28.83
$GC,482,-0.35,-175.2,104.8,-24.9,87,489,0.12,2.08,0.00,0.000,4,0.180,0.026,1909,1177,3695,0,0,0,0,0,0,26.01,26.15,28.83
$GC,533,-0.37,-175.2,113.7,-11.5,96,540,0.00,2.30,0.00,0.000,6,0.000,0.037,1909,2653,3694,0,0,0,0,0,0,28.83,26.08,28.83
$GC,843,-0.37,-175.2,157.0,-11.8,157,850,0.00,2.22,0.00,0.000,4,0.000,0.029,1909,1168,3694,0,0,0,0,0,0,28.83,26.20,28.83
$GC,899,-0.44,-175.2,162.4,-7.2,167,906,0.12,2.30,0.00,0.000,6,0.076,0.035,1811,2655,3694,0,0,0,0,0,0,26.15,26.14,28.83
$GC,1211,-0.35,-175.2,239.3,-24.2,213,1220,0.25,2.17,0.00,0.000,4,0.163,0.024,1897,1177,3694,0,0,0,0,0,0,25.70,26.23,28.83
$GC,1256,-0.35,-175.2,246.1,-15.8,217,1263,0.00,2.28,0.00,0.000,6,0.000,0.036,1895,2651,3694,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1563,-0.38,-175.2,266.2,-6.5,248,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2651,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-0.42,-175.2,289.0,-8.3,278,1873,0.00,2.17,0.00,0.000,4,0.000,0.027,1894,1177,3694,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1901,-0.48,-175.2,291.7,-8.4,281,1908,0.10,2.28,0.00,0.000,6,0.089,0.036,1826,2653,3694,0,0,0,0,0,0,26.15,26.16,28.83
$GC,2206,-0.44,-175.2,337.4,-14.1,312,2216,0.12,2.22,0.00,0.000,4,0.155,0.025,1868,1172,3694,0,0,0,0,0,0,26.20,26.24,28.83
$GC,2260,-0.47,-175.2,342.5,-8.7,317,2269,0.00,2.28,0.00,0.000,6,0.000,0.037,1865,2647,3694,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2570,-0.49,-175.2,368.5,-9.5,348,2579,0.00,2.20,0.00,0.000,4,0.000,0.028,1865,1178,3693,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2597,-0.50,-175.2,370.7,-9.4,350,2604,0.00,2.30,0.00,0.000,6,0.000,0.039,1865,2653,3693,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2902,-0.52,-175.2,400.2,-10.1,381,2911,0.00,2.25,0.00,0.000,4,0.000,0.030,1865,1173,3693,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2934,-0.55,-175.2,403.5,-10.2,384,2943,0.00,2.30,0.00,0.000,6,0.000,0.039,1865,2649,3692,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3244,-0.58,-175.2,431.8,-8.3,415,3246,0.12,0.00,0.00,0.000,6,0.075,0.000,1780,2649,3691,0,0,0,0,0,0,26.54,28.83,28.83
$GC,3544,-0.52,-175.2,483.2,-16.8,445,3554,0.17,2.22,0.00,0.000,4,0.154,0.026,1843,1168,3690,0,0,0,0,0,0,25.98,26.20,28.83
$GC,3620,-0.57,-175.2,489.5,-5.1,452,3627,0.00,2.30,0.00,0.000,6,0.000,0.038,1834,2650,3689,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3927,-0.57,-175.2,510.0,-7.7,483,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2650,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-0.57,-175.2,536.2,-9.5,513,4236,0.00,2.20,0.00,0.000,4,0.000,0.028,1834,1173,3686,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4273,-0.59,-175.2,540.2,-9.4,517,4280,0.00,2.30,0.00,0.000,6,0.000,0.038,1826,2650,3685,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4580,-0.59,-175.2,572.6,-10.7,548,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2650,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4880,-0.59,-175.2,603.9,-9.8,576,4886,0.00,2.25,0.00,0.000,4,0.000,0.028,1826,1167,3682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4922,-0.61,-175.2,607.5,-9.5,578,4926,0.00,2.33,0.00,0.000,6,0.000,0.039,1818,2649,3682,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5234,-0.61,-175.2,639.6,-10.3,594,5239,0.00,2.22,0.00,0.000,4,0.000,0.028,1817,1169,3679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5275,-0.62,-175.2,643.5,-10.1,596,5281,0.00,2.33,0.00,0.000,6,0.000,0.040,1808,2650,3679,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5594,-0.61,-175.2,677.5,-10.1,612,5598,0.00,1.80,0.00,0.000,4,0.000,0.046,1799,3818,3676,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5630,-0.60,-175.2,679.5,-9.9,613,5636,0.00,1.80,0.00,0.000,6,0.000,0.024,1799,2574,3676,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5937,-0.59,-175.2,711.4,-10.3,629,5942,0.00,2.05,0.00,0.000,4,0.000,0.029,1799,1180,3674,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5988,-0.59,-175.2,715.1,-9.7,631,5996,0.10,2.33,0.00,0.000,6,0.145,0.040,1819,2654,3674,0,0,0,0,0,0,25.88,26.03,28.83
$GC,6299,-0.60,-175.2,740.8,-8.0,647,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2654,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,-0.60,-175.2,766.7,-8.8,662,6601,0.00,2.20,0.00,0.000,4,0.000,0.031,1819,1186,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6624,-0.62,-175.2,768.6,-8.8,663,6628,0.00,2.30,0.00,0.000,6,0.000,0.041,1810,2650,3669,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6931,-0.62,-175.2,799.1,-9.9,678,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2649,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7232,-0.62,-175.2,827.7,-9.0,693,7237,0.00,2.22,0.00,0.000,4,0.000,0.029,1810,1180,3666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7260,-0.62,-175.2,829.4,-9.0,694,7264,0.00,2.30,0.00,0.000,6,0.000,0.039,1800,2649,3665,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7565,-0.62,-175.2,859.0,-9.3,709,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2649,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,-0.62,-175.2,887.5,-9.8,724,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2648,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,-0.62,-175.2,915.4,-9.0,739,8170,0.00,2.25,0.00,0.000,4,0.000,0.029,1799,1175,3661,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8216,-0.62,-175.2,919.1,-9.0,741,8220,0.00,2.35,0.00,0.000,6,0.000,0.041,1790,2651,3661,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8523,-0.61,-175.2,948.5,-9.5,756,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2650,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8826,-0.60,-175.2,975.7,-9.3,771,8831,0.00,2.20,0.00,0.000,4,0.000,0.030,1790,1182,3658,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8877,-0.60,-175.2,979.2,-9.2,773,8884,0.12,2.33,0.00,0.000,6,0.137,0.042,1817,2647,3658,0,0,0,0,0,0,25.71,25.89,28.83
$STATE,9022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9022,begin apogee
$GC,9029,-0.20,0.0,990.8,-7.2,781,9193,0.35,0.12,157.27,1.184,6,0.105,0.054,1939,2531,2974,0,0,0,0,0,0,25.76,24.79,23.24
$STATE,9194,end apogee,CONTROL_FINISHED_OK
$STATE,9194,begin climb
$GC,9196,0.60,175.2,997.4,0.0,789,9373,0.70,0.00,169.62,1.190,6,0.047,0.000,2211,2531,2263,0,0,0,0,0,0,25.15,28.83,23.28
$GC,9665,0.51,175.2,936.7,18.3,813,9671,0.12,2.05,0.00,0.000,4,0.199,0.044,2168,3820,2231,0,0,0,0,0,0,25.72,25.89,28.83
$GC,9713,0.43,175.2,929.4,18.3,815,9717,0.00,2.08,0.00,0.000,6,0.000,0.028,2178,2462,2230,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10021,0.38,175.2,885.2,13.2,830,10023,0.17,0.00,0.00,0.000,6,0.173,0.000,2132,2460,2228,0,0,0,0,0,0,25.78,28.83,28.83
$GC,10320,0.39,203.9,858.1,8.2,845,10352,0.00,2.22,21.83,0.978,4,0.000,0.047,2132,3815,2145,0,0,0,0,1,0,28.83,25.82,23.81
$GC,10430,0.37,203.9,849.1,9.2,849,10437,0.00,2.08,0.00,0.000,6,0.000,0.028,2142,2456,2147,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10735,0.35,203.9,818.7,9.6,865,10740,0.00,2.17,0.00,0.000,4,0.000,0.047,2142,3811,2147,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10764,0.33,203.9,816.6,9.8,866,10773,0.12,2.05,0.00,0.000,6,0.168,0.028,2121,2457,2147,0,0,0,0,0,0,25.75,26.10,28.83
$GC,11074,0.33,205.3,787.7,9.1,882,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2456,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11377,0.37,240.9,762.8,7.9,897,11423,0.00,2.22,35.22,1.073,4,0.000,0.046,2121,3811,1996,0,0,0,0,1,0,28.83,25.60,23.65
$GC,11480,0.39,257.8,754.6,8.6,902,11511,0.00,2.08,21.35,0.943,6,0.000,0.028,2131,2461,1926,0,0,0,0,1,0,28.83,25.82,23.63
$GC,11813,0.41,272.0,726.0,8.7,919,11838,0.00,0.00,22.90,0.978,6,0.000,0.000,2131,2460,1869,0,0,0,0,0,0,28.83,28.83,24.09
$GC,12132,0.42,272.0,697.1,9.6,935,12138,0.00,2.12,0.00,0.000,4,0.000,0.037,2142,1064,1852,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12159,0.44,272.0,695.1,9.6,936,12163,0.00,2.30,0.00,0.000,6,0.000,0.040,2142,2530,1850,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12466,0.44,272.0,660.5,11.2,951,12472,0.00,2.03,0.00,0.000,4,0.000,0.046,2142,3811,1851,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12493,0.44,272.0,658.1,11.4,952,12497,0.00,2.05,0.00,0.000,6,0.000,0.027,2152,2461,1850,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12800,0.44,272.0,619.9,12.3,967,12806,0.00,2.15,0.00,0.000,4,0.000,0.037,2163,1057,1849,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12846,0.44,272.0,615.2,12.0,969,12852,0.00,2.28,0.00,0.000,6,0.000,0.039,2163,2522,1847,0,0,0,0,0,0,28.83,25.97,28.83
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$GC,14045,0.69,457.2,487.5,5.4,1082,14152,0.22,2.30,99.28,0.833,6,0.048,0.035,2286,2529,1111,0,0,0,0,0,0,25.70,25.61,23.79
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$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,0.5,1.023672
$STATE,17130,end surface coast,CONTROL_FINISHED_OK
$STATE,17130,begin surface
$SM_CCo,17205,0.00,0.000,0,0,638,574.25
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$IRIDIUM_FIX,2335.63,12346.63,010212,232339
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.23
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.2,91.436
$10V_AH,9.9,54.508
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.600,153.275,699.175,0.000,0.000,30.659,20.539,237.138,0.000,0.000,13.782,3557.592,9857.442,791.619,3012.119,386.522,0.000,2275.459,0.000,2569.332,0.000,0.543,0.000
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$SENSOR_SECS,1033.483,1951.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100273,1524
$CAP_FILE_SIZE,183851,0
$CFSIZE,260165632,181534720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020212,085100,2342.036,12348.468,42,1.0,42,-3.4