version: 66.10
glider: 165
mission: 5
dive: 10
start: 11 15 111 6 2 11
data:
$ID,165
$MISSION,5
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,1
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-137246.17
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,140
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.316994
$PRESSURE_SLOPE,0.000116182
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$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,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,151111,055407,2128.631,11955.692,30,1.0,30,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-72.8
$GPS2,151111,060150,2128.522,11955.525,11,1.0,11,-2.5
$SPEED_LIMITS,0.163,0.274
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,180.9,275174,-16.0,-9.429
$D_GRID,3076
$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,13,begin dive
$GC,15,-0.74,-170.3,0.0,0.0,0,87,0.00,0.00,-69.28,0.000,2,0.000,0.000,136,1917,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.74,-170.3,3.3,-4.6,10,128,10.30,2.17,-20.42,0.000,4,0.246,0.063,2706,567,3483,0,0,0,0,0,0,25.65,25.97,26.30
$GC,137,-0.55,-170.3,15.6,-26.8,16,145,0.22,2.15,0.00,0.000,6,0.194,0.034,2761,1958,3483,0,0,0,0,0,0,25.77,26.02,28.83
$GC,454,-0.47,-170.3,116.5,-28.9,77,462,0.12,2.20,0.00,0.000,4,0.190,0.048,2800,575,3483,0,0,0,0,0,0,26.04,26.16,28.83
$GC,651,-0.47,-170.3,148.3,-12.9,114,659,0.00,2.12,0.00,0.000,6,0.000,0.039,2794,1947,3484,0,0,0,0,0,0,28.83,26.27,28.83
$GC,967,-0.48,-170.3,183.1,-9.9,175,975,0.00,2.17,0.00,0.000,4,0.000,0.050,2794,573,3485,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1040,-0.50,-170.3,190.6,-9.7,188,1048,0.00,2.15,0.00,0.000,6,0.000,0.041,2794,1960,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1357,-0.52,-170.3,219.6,-8.2,249,1365,0.00,2.20,0.00,0.000,4,0.000,0.054,2794,3356,3485,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1421,-0.56,-170.3,224.5,-7.4,260,1429,0.00,2.10,0.00,0.000,6,0.000,0.035,2794,1967,3484,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1744,-0.59,-170.3,254.7,-9.0,317,1753,0.12,2.17,0.00,0.000,4,0.092,0.051,2732,555,3484,0,0,0,0,0,0,26.53,26.43,28.83
$GC,1830,-0.58,-170.3,265.6,-13.7,325,1839,0.10,2.10,0.00,0.000,6,0.142,0.041,2760,1957,3484,0,0,0,0,0,0,26.34,26.48,28.83
$GC,2139,-0.59,-170.3,295.1,-7.9,356,2149,0.00,2.20,0.00,0.000,4,0.000,0.054,2756,3372,3483,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2195,-0.62,-170.3,299.4,-7.6,361,2203,0.00,2.10,0.00,0.000,6,0.000,0.036,2756,1948,3483,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2504,-0.63,-170.3,326.2,-8.7,392,2513,0.00,2.10,0.00,0.000,4,0.000,0.054,2756,564,3482,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2546,-0.65,-170.3,330.0,-9.2,396,2555,0.00,2.12,0.00,0.000,6,0.000,0.041,2755,1958,3481,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2857,-0.67,-170.3,355.8,-8.1,427,2865,0.00,2.17,0.00,0.000,4,0.000,0.054,2755,3364,3479,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2938,-0.69,-170.3,362.1,-7.6,435,2947,0.00,2.10,0.00,0.000,6,0.000,0.037,2755,1950,3479,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3248,-0.71,-170.3,384.7,-7.5,466,3250,0.12,0.00,0.00,0.000,6,0.099,0.000,2699,1950,3476,0,0,0,0,0,0,26.60,28.83,28.83
$GC,3548,-0.70,-170.3,419.7,-12.6,496,3557,0.00,2.22,0.00,0.000,4,0.000,0.056,2698,3358,3473,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3571,-0.68,-170.3,422.3,-12.4,498,3580,0.08,2.08,0.00,0.000,6,0.151,0.037,2724,1950,3473,0,0,0,0,0,0,26.44,26.59,28.83
$GC,3879,-0.68,-170.3,454.2,-10.1,529,3888,0.00,2.15,0.00,0.000,4,0.000,0.055,2724,551,3471,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3913,-0.68,-170.3,457.5,-10.5,532,3920,0.00,2.15,0.00,0.000,6,0.000,0.042,2724,1963,3471,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4221,-0.68,-170.3,489.0,-10.0,563,4230,0.00,2.17,0.00,0.000,4,0.000,0.057,2724,3369,3469,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4245,-0.68,-170.3,491.0,-9.7,565,4252,0.00,2.12,0.00,0.000,6,0.000,0.037,2724,1950,3469,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4552,-0.68,-170.3,523.6,-11.2,596,4561,0.00,2.17,0.00,0.000,4,0.000,0.054,2724,550,3467,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4613,-0.68,-170.3,531.1,-12.2,602,4622,0.00,2.15,0.00,0.000,6,0.000,0.042,2724,1961,3466,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4923,-0.68,-170.3,565.3,-10.3,633,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1962,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5225,-0.68,-170.3,594.7,-9.5,663,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1961,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5525,-0.69,-170.3,621.2,-8.6,681,5530,0.00,2.17,0.00,0.000,4,0.000,0.058,2724,3355,3461,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5597,-0.70,-170.3,626.2,-8.3,684,5604,0.00,2.12,0.00,0.000,6,0.000,0.037,2724,1951,3461,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5905,-0.71,-170.3,649.7,-7.1,700,5911,0.00,2.20,0.00,0.000,4,0.000,0.056,2724,3355,3459,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5967,-0.73,-170.3,653.8,-6.8,703,5971,0.00,2.10,0.00,0.000,6,0.000,0.037,2724,1951,3459,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6280,-0.74,-170.3,676.5,-7.7,719,6284,0.00,2.15,0.00,0.000,4,0.000,0.057,2724,560,3457,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6315,-0.75,-170.3,678.2,-7.6,720,6322,0.00,2.15,0.00,0.000,6,0.000,0.042,2724,1966,3457,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6622,-0.76,-170.3,704.7,-8.4,736,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1966,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.77,-170.3,732.5,-9.5,751,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1966,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7222,-0.78,-170.3,758.5,-8.4,766,7228,0.00,2.15,0.00,0.000,4,0.000,0.058,2724,3357,3453,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7265,-0.80,-170.3,761.5,-7.9,768,7269,0.00,2.10,0.00,0.000,6,0.000,0.037,2724,1954,3453,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7579,-0.82,-170.3,784.4,-7.2,784,7584,0.12,2.20,0.00,0.000,4,0.102,0.054,2661,3351,3452,0,0,0,0,0,0,26.65,26.55,28.83
$GC,7646,-0.81,-170.3,790.5,-9.5,787,7649,0.00,2.10,0.00,0.000,6,0.000,0.038,2661,1954,3451,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7953,-0.78,-170.3,828.0,-11.9,802,7955,0.15,0.00,0.00,0.000,6,0.170,0.000,2700,1953,3451,0,0,0,0,0,0,26.44,28.83,28.83
$GC,8252,-0.78,-170.3,858.1,-10.0,817,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1953,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,-0.78,-170.3,885.3,-8.5,832,8561,0.00,2.22,0.00,0.000,4,0.000,0.059,2699,3360,3449,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8617,-0.78,-170.3,890.7,-8.6,835,8621,0.00,2.15,0.00,0.000,6,0.000,0.040,2699,1947,3448,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8929,-0.78,-170.3,917.3,-8.0,851,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1947,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,-0.78,-170.3,941.4,-8.0,866,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1947,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9529,-0.78,-170.3,965.8,-8.2,881,9535,0.00,2.25,0.00,0.000,4,0.000,0.060,2699,3357,3445,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9590,-0.78,-170.3,970.6,-8.0,884,9595,0.00,2.12,0.00,0.000,6,0.000,0.040,2699,1950,3445,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,9847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9847,begin apogee
$GC,9853,-0.17,0.0,990.3,-7.4,897,9996,0.57,0.00,137.18,1.261,6,0.140,0.000,2887,2066,2786,0,0,0,0,0,0,26.39,28.83,23.80
$STATE,9999,end apogee,CONTROL_FINISHED_OK
$STATE,9999,begin climb
$GC,10001,0.74,170.3,991.8,0.0,904,10161,0.82,2.42,151.98,1.224,4,0.062,0.057,3191,3452,2090,0,0,0,0,0,0,24.90,24.57,23.66
$GC,10212,0.64,170.3,960.6,20.9,915,10217,0.17,2.28,0.00,0.000,6,0.194,0.041,3162,2063,2086,0,0,0,0,0,0,25.01,25.17,28.83
$GC,10527,0.57,170.3,904.3,17.3,931,10533,0.00,2.28,0.00,0.000,4,0.000,0.054,3162,3470,2082,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10569,0.49,170.3,897.0,17.2,933,10574,0.22,2.22,0.00,0.000,6,0.184,0.041,3112,2062,2082,0,0,0,0,0,0,25.73,25.91,28.83
$GC,10884,0.45,170.3,856.1,12.6,949,10890,0.00,2.22,0.00,0.000,4,0.000,0.057,3121,652,2081,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10906,0.40,170.3,853.4,12.7,950,10911,0.15,2.17,0.00,0.000,6,0.165,0.039,3082,2054,2079,0,0,0,0,0,0,25.96,26.12,28.83
$GC,11220,0.38,170.3,818.9,11.0,966,11226,0.00,2.22,0.00,0.000,4,0.000,0.052,3082,3466,2078,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11261,0.35,170.3,813.9,11.8,968,11266,0.00,2.17,0.00,0.000,6,0.000,0.038,3090,2058,2078,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11579,0.32,170.3,773.9,12.5,984,11581,0.15,0.00,0.00,0.000,6,0.174,0.000,3051,2057,2079,0,0,0,0,0,0,26.17,28.83,28.83
$GC,11880,0.32,170.3,742.9,10.5,999,11885,0.00,2.25,0.00,0.000,4,0.000,0.051,3051,3474,2077,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11939,0.32,170.3,735.6,11.7,1002,11945,0.00,2.17,0.00,0.000,6,0.000,0.037,3059,2062,2077,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12260,0.31,170.3,699.9,10.3,1018,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2062,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12559,0.34,194.3,672.5,8.5,1033,12586,0.00,2.33,19.73,1.036,4,0.000,0.054,3070,647,1993,0,0,0,0,0,0,28.83,25.98,25.07
$GC,12602,0.37,216.6,669.0,8.6,1035,12628,0.00,2.20,21.08,1.017,6,0.000,0.037,3069,2070,1902,0,0,0,0,0,0,28.83,26.06,24.71
$GC,12939,0.39,236.5,639.5,8.7,1052,12959,0.00,0.00,18.30,0.997,6,0.000,0.000,3069,2070,1821,0,0,0,0,0,0,28.83,28.83,24.76
$GC,13256,0.39,236.5,607.5,11.1,1068,13262,0.00,2.20,0.00,0.000,4,0.000,0.050,3070,3466,1817,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13298,0.39,236.5,602.5,11.8,1070,13304,0.00,2.17,0.00,0.000,6,0.000,0.038,3080,2057,1818,0,0,0,0,0,0,28.83,26.07,28.83
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$GC,15962,0.46,274.1,310.7,10.5,1334,15969,0.00,2.17,0.00,0.000,6,0.000,0.036,3092,2067,1666,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,19009,end climb,SURFACE_DEPTH_REACHED
$STATE,19009,begin surface coast
$FINISH,0.8,1.021497
$STATE,19040,end surface coast,CONTROL_FINISHED_OK
$STATE,19040,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,37.55
$INTERNAL_PRESSURE,9.45385
$TCM_TEMP,26.90
$XPDR_PINGS,35
$24V_AH,23.7,5.268
$10V_AH,10.4,5.092
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,166.100,564.700,0.000,0.000,30.263,54.937,230.385,8.750,0.000,14.295,4335.862,9715.752,713.313,4375.496,416.525,0.000,2402.915,0.000,4046.987,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325148
$DATA_FILE_SIZE,103538,1858
$CAP_FILE_SIZE,207962,0
$CFSIZE,260165632,200339456
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151111,112207,2124.902,11953.495,39,1.1,39,-2.5