version: 66.10
glider: 169
mission: 5
dive: 488
start: 2 12 112 17 22 8
data:
$ID,169
$MISSION,5
$DIVE,488
$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,380
$T_MISSION,420
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-12526.428
$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
$GPS1,120212,171437,2210.294,12405.056,36,1.1,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.8
$GPS2,120212,172143,2210.307,12405.014,17,1.8,17,-3.0
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,184.0,75147,-16.1,-8.684
$D_GRID,5059
$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,-0.58,-146.0,0.0,0.0,0,97,0.00,0.00,-78.43,0.000,2,0.000,0.000,97,2671,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-146.0,3.7,-7.3,13,128,7.22,2.35,-8.93,0.000,4,0.230,0.037,1824,1168,3576,0,0,0,0,0,0,24.78,26.09,26.55
$GC,224,-0.58,-146.0,38.8,-15.1,35,230,0.00,2.35,0.00,0.000,6,0.000,0.037,1813,2648,3577,0,0,0,0,0,0,28.83,25.99,28.83
$GC,537,-0.48,-146.0,126.0,-28.6,96,544,0.12,2.25,0.00,0.000,4,0.177,0.025,1860,1177,3577,0,0,0,0,0,0,26.06,26.15,28.83
$GC,619,-0.49,-146.0,141.4,-13.1,111,625,0.00,2.33,0.00,0.000,6,0.000,0.037,1849,2646,3577,0,0,0,0,0,0,28.83,26.06,28.83
$GC,931,-0.45,-146.0,199.5,-16.7,172,938,0.00,2.25,0.00,0.000,4,0.000,0.027,1849,1169,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,968,-0.42,-146.0,205.0,-15.3,176,976,0.12,2.33,0.00,0.000,6,0.139,0.037,1873,2646,3577,0,0,0,0,0,0,25.86,26.08,28.83
$GC,1276,-0.40,-146.0,241.0,-11.8,207,1285,0.00,2.22,0.00,0.000,4,0.000,0.026,1874,1174,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1321,-0.42,-146.0,245.3,-10.2,211,1328,0.00,2.33,0.00,0.000,6,0.000,0.037,1865,2650,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1628,-0.40,-146.0,283.6,-13.1,242,1638,0.00,2.25,0.00,0.000,4,0.000,0.028,1865,1179,3577,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1682,-0.42,-146.0,289.7,-11.1,247,1691,0.00,2.30,0.00,0.000,6,0.000,0.038,1865,2645,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1992,-0.41,-146.0,327.0,-12.3,278,2002,0.00,2.22,0.00,0.000,4,0.000,0.026,1864,1181,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2036,-0.42,-146.0,331.7,-10.9,282,2045,0.00,2.30,0.00,0.000,6,0.000,0.038,1865,2643,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2346,-0.42,-146.0,364.8,-11.1,313,2354,0.00,2.25,0.00,0.000,4,0.000,0.028,1864,1174,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2388,-0.43,-146.0,369.2,-10.4,317,2397,0.00,2.28,0.00,0.000,6,0.000,0.038,1864,2640,3576,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2698,-0.43,-146.0,403.5,-11.5,348,2707,0.00,2.20,0.00,0.000,4,0.000,0.027,1864,1180,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2732,-0.45,-146.0,407.4,-11.9,351,2740,0.00,2.30,0.00,0.000,6,0.000,0.039,1863,2647,3576,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3040,-0.46,-146.0,441.8,-10.1,382,3050,0.00,2.28,0.00,0.000,4,0.000,0.029,1863,1171,3576,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3085,-0.49,-146.0,445.6,-9.1,386,3093,0.00,2.33,0.00,0.000,6,0.000,0.037,1862,2645,3575,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3393,-0.50,-146.0,471.5,-7.6,417,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2645,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3697,-0.51,-146.0,497.0,-10.0,447,3701,0.00,1.77,0.00,0.000,4,0.000,0.044,1853,3813,3573,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3741,-0.53,-146.0,501.4,-9.7,451,3748,0.00,1.80,0.00,0.000,6,0.000,0.022,1853,2579,3573,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4049,-0.55,-146.0,531.9,-9.3,482,4059,0.00,2.12,0.00,0.000,4,0.000,0.029,1853,1172,3572,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4135,-0.59,-146.0,539.1,-8.1,490,4143,0.00,2.33,0.00,0.000,6,0.000,0.037,1843,2646,3572,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4442,-0.59,-146.0,565.6,-8.3,521,4451,0.00,2.20,0.00,0.000,4,0.000,0.028,1843,1183,3571,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4497,-0.62,-146.0,569.5,-7.2,526,4505,0.00,2.33,0.00,0.000,6,0.000,0.037,1836,2654,3571,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4803,-0.62,-146.0,596.8,-9.0,557,4812,0.00,2.25,0.00,0.000,4,0.000,0.027,1836,1174,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4828,-0.63,-146.0,598.7,-8.9,559,4835,0.00,2.35,0.00,0.000,6,0.000,0.038,1826,2653,3569,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5145,-0.63,-146.0,627.4,-8.9,576,5151,0.00,2.25,0.00,0.000,4,0.000,0.028,1826,1180,3567,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5187,-0.64,-146.0,630.7,-8.8,578,5192,0.00,2.33,0.00,0.000,6,0.000,0.040,1824,2643,3567,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5505,-0.64,-146.0,659.9,-9.4,594,5511,0.00,2.28,0.00,0.000,4,0.000,0.028,1824,1172,3565,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5567,-0.66,-146.0,665.2,-8.8,597,5572,0.00,2.33,0.00,0.000,6,0.000,0.041,1815,2641,3565,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5887,-0.66,-146.0,699.5,-11.2,613,5890,0.00,1.80,0.00,0.000,4,0.000,0.046,1807,3813,3562,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5917,-0.66,-146.0,702.1,-11.4,614,5921,0.00,1.80,0.00,0.000,6,0.000,0.023,1806,2576,3562,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6230,-0.65,-146.0,737.7,-10.9,630,6234,0.00,2.10,0.00,0.000,4,0.000,0.029,1806,1177,3560,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6292,-0.66,-146.0,744.0,-10.3,633,6298,0.00,2.35,0.00,0.000,6,0.000,0.039,1797,2646,3559,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6612,-0.65,-146.0,780.2,-11.4,649,6617,0.00,2.28,0.00,0.000,4,0.000,0.029,1798,1173,3557,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6667,-0.65,-146.0,784.8,-11.3,651,6674,0.00,2.35,0.00,0.000,6,0.000,0.041,1788,2643,3557,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6972,-0.63,-146.0,825.3,-13.5,667,6976,0.00,1.83,0.00,0.000,4,0.000,0.047,1779,3811,3554,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7002,-0.61,-146.0,828.4,-13.6,668,7007,0.12,1.80,0.00,0.000,6,0.130,0.025,1816,2580,3553,0,0,0,0,0,0,25.94,26.22,28.83
$GC,7311,-0.61,-146.0,860.8,-9.1,683,7316,0.00,2.10,0.00,0.000,4,0.000,0.030,1817,1180,3552,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7342,-0.62,-146.0,862.7,-9.2,684,7349,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2643,3552,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7651,-0.62,-146.0,889.1,-7.8,700,7656,0.00,2.25,0.00,0.000,4,0.000,0.031,1812,1177,3550,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7692,-0.63,-146.0,892.1,-7.7,702,7697,0.00,2.38,0.00,0.000,6,0.000,0.042,1812,2648,3549,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8005,-0.63,-146.0,915.5,-7.7,718,8010,0.00,2.28,0.00,0.000,4,0.000,0.031,1812,1181,3548,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8039,-0.64,-146.0,917.1,-7.8,719,8046,0.00,2.38,0.00,0.000,6,0.000,0.042,1812,2651,3548,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8346,-0.65,-146.0,942.8,-8.4,735,8351,0.00,2.28,0.00,0.000,4,0.000,0.030,1813,1175,3546,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8376,-0.66,-146.0,944.4,-8.3,736,8384,0.00,2.33,0.00,0.000,6,0.000,0.041,1812,2640,3546,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8687,-0.66,-146.0,970.4,-8.2,752,8692,0.00,2.22,0.00,0.000,4,0.000,0.029,1812,1184,3544,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8719,-0.67,-146.0,972.0,-8.1,753,8725,0.00,2.35,0.00,0.000,6,0.000,0.041,1812,2641,3544,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,8943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8943,begin apogee
$GC,8950,-0.20,0.0,990.4,-7.7,765,9087,0.38,0.15,130.65,1.185,6,0.099,0.077,1943,2531,2976,0,0,0,0,0,0,25.70,24.89,23.27
$STATE,9088,end apogee,CONTROL_FINISHED_OK
$STATE,9088,begin climb
$GC,9090,0.58,146.0,994.9,0.0,772,9236,0.68,0.00,141.80,1.190,6,0.042,0.000,2216,2531,2382,0,0,0,0,0,0,25.29,28.83,23.35
$GC,9525,0.49,146.0,943.7,15.4,794,9531,0.15,2.05,0.00,0.000,4,0.190,0.044,2164,3812,2354,0,0,0,0,0,0,25.64,25.88,28.83
$GC,9594,0.42,146.0,934.9,14.9,797,9598,0.00,2.05,0.00,0.000,6,0.000,0.027,2174,2462,2352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9901,0.36,146.0,896.8,12.2,812,9907,0.15,2.12,0.00,0.000,4,0.174,0.033,2140,1055,2350,0,0,0,0,0,0,25.82,26.00,28.83
$GC,9920,0.32,146.0,894.3,12.1,813,9926,0.00,2.30,0.00,0.000,6,0.000,0.039,2141,2525,2349,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10242,0.29,146.0,859.3,11.5,829,10246,0.12,2.05,0.00,0.000,4,0.161,0.044,2102,3824,2348,0,0,0,0,0,0,26.02,25.90,28.83
$GC,10312,0.28,146.0,851.9,11.6,832,10316,0.00,2.08,0.00,0.000,6,0.000,0.028,2112,2457,2347,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10620,0.28,146.0,821.3,8.8,847,10626,0.00,2.12,0.00,0.000,4,0.000,0.035,2123,1060,2346,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10647,0.28,148.2,819.7,8.6,848,10651,0.00,2.28,0.00,0.000,6,0.000,0.039,2123,2525,2346,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10955,0.34,199.0,796.4,6.7,863,11005,0.00,2.12,40.45,1.146,4,0.000,0.047,2123,3824,2169,0,0,0,0,1,0,28.83,25.48,23.49
$GC,11057,0.36,224.6,788.9,7.7,868,11101,0.00,2.10,36.97,1.014,6,0.000,0.027,2134,2455,2057,0,0,0,0,0,0,28.83,25.80,23.72
$GC,11415,0.36,224.9,759.0,8.7,886,11421,0.00,2.15,0.00,0.000,4,0.000,0.037,2145,1052,2040,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11436,0.37,224.9,757.3,8.8,887,11440,0.00,2.30,0.00,0.000,6,0.000,0.040,2145,2526,2037,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11749,0.37,224.9,726.2,10.2,903,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2525,2036,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17017,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,96987,1468
$CAP_FILE_SIZE,189149,0
$CFSIZE,260165632,176717824
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