version: 66.10
glider: 169
mission: 5
dive: 524
start: 2 20 112 10 6 28
data:
$ID,169
$MISSION,5
$DIVE,524
$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,-8
$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,-13568.789
$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
$GPS1,200212,095907,2208.111,12243.873,39,1.1,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.6
$GPS2,200212,100602,2208.212,12243.744,12,1.8,12,-2.9
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,323.6,167765,-16.1,-8.684
$D_GRID,4762
$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,-0.58,-146.0,0.0,0.0,0,96,0.00,0.00,-77.40,0.000,2,0.000,0.000,130,2679,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.5,-7.1,13,121,7.30,1.85,-8.45,0.000,4,0.239,0.050,1801,3838,3577,0,0,0,0,0,0,24.73,25.97,26.51
$GC,206,-0.53,-146.0,39.8,-23.3,32,213,0.12,1.80,0.00,0.000,6,0.153,0.021,1834,2590,3577,0,0,0,0,0,0,25.75,26.13,28.83
$GC,520,-0.46,-146.0,112.5,-21.7,93,527,0.00,2.17,0.00,0.000,4,0.000,0.028,1843,1177,3577,0,0,0,0,0,0,28.83,26.04,28.83
$GC,668,-0.46,-146.0,133.5,-12.5,121,676,0.10,2.38,0.00,0.000,6,0.149,0.037,1860,2652,3577,0,0,0,0,0,0,25.78,25.96,28.83
$GC,982,-0.42,-146.0,182.2,-15.9,182,988,0.00,2.30,0.00,0.000,4,0.000,0.027,1861,1172,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1016,-0.42,-146.0,187.4,-13.6,188,1023,0.00,2.35,0.00,0.000,6,0.000,0.037,1851,2647,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1332,-0.39,-146.0,234.0,-13.9,228,1341,0.12,2.25,0.00,0.000,4,0.159,0.024,1900,1177,3577,0,0,0,0,0,0,26.12,26.09,28.83
$GC,1377,-0.41,-146.0,238.2,-9.4,232,1384,0.00,2.35,0.00,0.000,6,0.000,0.036,1892,2649,3577,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1685,-0.44,-146.0,263.9,-9.4,263,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2649,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1986,-0.47,-146.0,292.2,-8.8,293,1995,0.00,2.28,0.00,0.000,4,0.000,0.026,1892,1175,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2041,-0.53,-146.0,296.9,-8.2,298,2050,0.08,2.35,0.00,0.000,6,0.045,0.034,1796,2662,3577,0,0,0,0,0,0,25.95,26.00,28.83
$GC,2348,-0.46,-146.0,356.5,-19.3,329,2359,0.17,1.75,0.00,0.000,4,0.144,0.040,1844,3820,3577,0,0,0,0,0,0,25.97,25.93,28.83
$GC,2375,-0.41,-146.0,360.8,-18.1,331,2382,0.12,1.77,0.00,0.000,6,0.128,0.022,1882,2574,3577,0,0,0,0,0,0,25.98,26.29,28.83
$GC,2682,-0.44,-146.0,385.9,-7.6,362,2686,0.00,2.12,0.00,0.000,4,0.000,0.028,1882,1175,3577,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2728,-0.50,-146.0,389.3,-8.3,366,2735,0.00,2.35,0.00,0.000,6,0.000,0.035,1875,2648,3577,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3035,-0.52,-146.0,416.6,-7.7,397,3045,0.10,2.28,0.00,0.000,4,0.091,0.024,1793,1176,3576,0,0,0,0,0,0,26.51,26.10,28.83
$GC,3073,-0.53,-146.0,420.4,-10.7,400,3080,0.17,2.38,0.00,0.000,6,0.118,0.037,1836,2653,3576,0,0,0,0,0,0,25.70,25.94,28.83
$GC,3378,-0.53,-146.0,455.7,-11.1,431,3387,0.00,2.28,0.00,0.000,4,0.000,0.026,1837,1174,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3444,-0.56,-146.0,461.8,-9.2,437,3452,0.00,2.35,0.00,0.000,6,0.000,0.037,1826,2646,3575,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3751,-0.55,-146.0,499.4,-12.1,468,3760,0.00,2.25,0.00,0.000,4,0.000,0.026,1826,1170,3573,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3804,-0.56,-146.0,505.2,-10.5,473,3814,0.00,2.35,0.00,0.000,6,0.000,0.037,1819,2648,3573,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4113,-0.55,-146.0,540.9,-11.9,504,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2647,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.54,-146.0,575.9,-11.4,534,4425,0.00,2.28,0.00,0.000,4,0.000,0.027,1818,1180,3570,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4468,-0.55,-146.0,581.3,-9.3,539,4478,0.00,2.38,0.00,0.000,6,0.000,0.037,1812,2645,3569,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4791,-0.54,-146.0,616.8,-11.4,564,4795,0.00,1.80,0.00,0.000,4,0.000,0.045,1804,3810,3568,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4821,-0.53,-146.0,619.5,-11.5,565,4825,0.12,1.77,0.00,0.000,6,0.123,0.021,1842,2575,3568,0,0,0,0,0,0,25.96,26.25,28.83
$GC,5130,-0.55,-146.0,643.3,-6.8,580,5135,0.00,2.10,0.00,0.000,4,0.000,0.027,1843,1182,3566,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5163,-0.57,-146.0,644.7,-6.8,581,5171,0.00,2.35,0.00,0.000,6,0.000,0.037,1839,2644,3566,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5469,-0.58,-146.0,667.4,-7.4,597,5474,0.00,2.28,0.00,0.000,4,0.000,0.028,1839,1181,3564,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5503,-0.60,-146.0,668.9,-7.5,598,5510,0.00,2.38,0.00,0.000,6,0.000,0.039,1838,2646,3564,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5809,-0.62,-146.0,693.7,-8.1,614,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2645,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6108,-0.64,-146.0,718.8,-8.9,629,6115,0.12,2.30,0.00,0.000,4,0.079,0.026,1759,1167,3560,0,0,0,0,0,0,26.45,25.98,28.83
$GC,6192,-0.63,-146.0,729.2,-13.2,633,6199,0.20,2.42,0.00,0.000,6,0.126,0.040,1808,2647,3559,0,0,0,0,0,0,25.48,25.81,28.83
$GC,6508,-0.63,-146.0,767.3,-11.0,649,6514,0.00,2.30,0.00,0.000,4,0.000,0.029,1808,1181,3558,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6583,-0.64,-146.0,773.2,-10.0,652,6589,0.00,2.40,0.00,0.000,6,0.000,0.038,1799,2650,3557,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6888,-0.62,-146.0,803.9,-9.6,668,6894,0.00,2.33,0.00,0.000,4,0.000,0.028,1799,1178,3555,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6937,-0.62,-146.0,807.8,-9.9,670,6941,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2642,3555,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7243,-0.61,-146.0,841.7,-11.4,685,7247,0.00,1.80,0.00,0.000,4,0.000,0.047,1791,3820,3553,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7306,-0.61,-146.0,848.6,-11.3,688,7310,0.00,1.83,0.00,0.000,6,0.000,0.024,1791,2590,3552,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7626,-0.60,-146.0,887.3,-12.3,704,7631,0.00,2.17,0.00,0.000,4,0.000,0.029,1792,1182,3551,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7678,-0.60,-146.0,892.1,-12.2,706,7686,0.12,2.40,0.00,0.000,6,0.126,0.040,1821,2648,3551,0,0,0,0,0,0,25.58,25.74,28.83
$GC,7988,-0.61,-146.0,919.5,-7.7,722,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2648,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,-0.63,-146.0,940.0,-6.9,737,8292,0.00,2.33,0.00,0.000,4,0.000,0.029,1821,1181,3548,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8330,-0.65,-146.0,943.2,-8.1,739,8334,0.00,2.40,0.00,0.000,6,0.000,0.041,1819,2642,3548,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8643,-0.66,-146.0,969.8,-9.5,755,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2641,3546,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8860,begin apogee
$GC,8866,-0.20,0.0,990.1,-9.0,766,9005,0.35,0.15,131.73,1.185,6,0.100,0.074,1941,2535,2976,0,0,0,0,0,0,25.65,24.76,23.29
$STATE,9006,end apogee,CONTROL_FINISHED_OK
$STATE,9006,begin climb
$GC,9008,0.58,146.0,996.4,0.0,773,9164,0.68,2.47,141.48,1.198,4,0.044,0.037,2220,1062,2369,0,0,0,0,0,0,25.19,24.94,23.25
$GC,9221,0.50,146.0,986.4,12.5,783,9228,0.17,2.35,0.00,0.000,6,0.170,0.037,2175,2526,2359,0,0,0,0,0,0,25.19,25.59,28.83
$GC,9528,0.44,146.0,945.0,12.8,799,9533,0.00,2.03,0.00,0.000,4,0.000,0.044,2175,3815,2355,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9550,0.37,146.0,942.2,13.0,800,9554,0.20,2.08,0.00,0.000,6,0.177,0.027,2134,2456,2353,0,0,0,0,0,0,25.36,26.01,28.83
$GC,9864,0.35,146.0,910.0,9.3,816,9867,0.00,2.20,0.00,0.000,4,0.000,0.045,2134,3817,2351,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9933,0.32,146.0,903.0,10.7,819,9938,0.12,2.08,0.00,0.000,6,0.171,0.028,2114,2462,2350,0,0,0,0,0,0,25.63,26.03,28.83
$GC,10241,0.38,198.0,880.5,6.6,834,10299,0.00,0.00,51.00,1.092,6,0.000,0.000,2114,2459,2158,0,0,0,0,0,0,28.83,28.83,23.70
$GC,10601,0.45,242.1,854.8,6.9,852,10652,0.12,2.33,43.50,1.065,4,0.076,0.046,2193,3820,1981,0,0,0,0,0,0,26.22,25.37,23.72
$GC,10708,0.39,242.1,840.8,15.1,857,10712,0.22,2.12,0.00,0.000,6,0.159,0.028,2143,2462,1969,0,0,0,0,0,0,25.27,25.73,28.83
$GC,11015,0.39,242.1,809.0,9.6,872,11021,0.00,2.17,0.00,0.000,4,0.000,0.045,2143,3813,1965,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11079,0.39,242.1,802.4,10.8,875,11082,0.00,2.05,0.00,0.000,6,0.000,0.028,2152,2467,1964,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11396,0.38,242.1,765.2,12.1,891,11401,0.00,2.15,0.00,0.000,4,0.000,0.035,2164,1055,1963,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11437,0.38,242.1,760.6,11.9,893,11441,0.00,2.33,0.00,0.000,6,0.000,0.037,2164,2524,1961,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11755,0.37,242.1,718.7,12.6,909,11757,0.12,0.00,0.00,0.000,6,0.155,0.000,2130,2524,1961,0,0,0,0,0,0,26.08,28.83,28.83
$GC,12056,0.42,271.4,693.7,7.5,924,12095,0.00,2.40,29.20,0.947,4,0.000,0.034,2141,1044,1859,0,0,0,0,0,0,28.83,25.70,23.99
$GC,12113,0.48,302.3,690.7,7.4,926,12151,0.00,2.35,32.90,0.950,6,0.000,0.036,2141,2527,1745,0,0,0,0,0,0,28.83,25.77,23.81
$GC,12455,0.51,302.3,661.5,9.0,943,12461,0.00,2.03,0.00,0.000,4,0.000,0.045,2142,3814,1722,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12488,0.53,302.3,659.5,9.1,944,12494,0.00,2.08,0.00,0.000,6,0.000,0.027,2152,2454,1722,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,18396,end climb,SURFACE_DEPTH_REACHED
$STATE,18396,begin surface coast
$FINISH,0.5,1.010350
$STATE,18437,end surface coast,CONTROL_FINISHED_OK
$STATE,18437,begin surface
$SM_CCo,18451,25.45,0.119,0,0,1242,425.10
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$IRIDIUM_FIX,2159.71,12245.93,200212,040455
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,9.8,64.789
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.425,184.475,528.300,25.450,0.000,29.565,22.248,216.185,0.000,0.000,13.469,4240.362,10127.825,767.646,3288.211,446.738,0.000,2352.913,0.000,2843.229,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1149.228,2124.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,110233,1694
$CAP_FILE_SIZE,206968,0
$CFSIZE,260165632,173142016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.229,322.0,1
$GPS,200212,151536,2211.982,12240.072,39,1.0,39,-2.9