version: 66.10
glider: 165
mission: 5
dive: 191
start: 12 30 111 7 24 49
data:
$ID,165
$MISSION,5
$DIVE,191
$N_DIVES,0
$D_SURF,11
$D_FLARE,11
$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,340
$T_MISSION,380
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51872
$NAV_MODE,0
$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,450
$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,-271651.34
$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,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,52
$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,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$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,48
$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
$GPS1,301211,071337,2104.499,11954.542,24,1.8,24,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.38
$_SM_ANGLEo,-59.1
$GPS2,301211,072428,2104.013,11954.459,13,2.3,32,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.084,-0.266
$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,9.6,76503,-15.3,-9.706
$D_GRID,3446
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.75,-194.6,0.0,0.0,0,123,0.00,0.00,-103.12,0.000,2,0.000,0.000,134,2004,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.75,-194.6,11.1,-8.3,15,156,10.27,2.12,-9.40,0.000,4,0.237,0.053,2694,3353,3581,0,0,0,0,0,0,25.36,26.06,25.99
$GC,219,-0.67,-194.6,42.1,-26.3,30,227,0.10,2.15,0.00,0.000,6,0.154,0.032,2726,1945,3581,0,0,0,0,0,0,25.82,26.16,28.83
$GC,553,-0.57,-194.6,133.5,-30.4,91,560,0.12,2.12,0.00,0.000,4,0.181,0.043,2765,560,3581,0,0,0,0,0,0,26.07,26.19,28.83
$GC,623,-0.52,-194.6,152.0,-24.3,103,630,0.00,2.08,0.00,0.000,6,0.000,0.034,2759,1947,3581,0,0,0,0,0,0,28.83,26.25,28.83
$GC,951,-0.49,-194.6,213.4,-16.2,157,960,0.12,2.15,0.00,0.000,4,0.163,0.047,2789,3351,3582,0,0,0,0,0,0,26.20,26.21,28.83
$GC,1036,-0.51,-194.6,225.3,-12.2,165,1046,0.00,2.05,0.00,0.000,6,0.000,0.032,2789,1956,3582,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1345,-0.52,-194.6,254.6,-7.4,196,1355,0.00,2.15,0.00,0.000,4,0.000,0.049,2782,3350,3582,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1379,-0.54,-194.6,257.1,-7.9,199,1388,0.00,2.08,0.00,0.000,6,0.000,0.033,2782,1944,3582,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1688,-0.55,-194.6,285.1,-9.9,230,1698,0.00,2.12,0.00,0.000,4,0.000,0.047,2782,545,3582,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1733,-0.57,-194.6,289.8,-10.8,234,1742,0.00,2.12,0.00,0.000,6,0.000,0.035,2782,1955,3582,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2041,-0.59,-194.6,323.3,-9.6,265,2050,0.00,2.15,0.00,0.000,4,0.000,0.051,2781,3351,3582,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2083,-0.62,-194.6,326.7,-8.0,269,2092,0.00,2.08,0.00,0.000,6,0.000,0.032,2781,1949,3582,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2393,-0.65,-194.6,343.4,-4.1,300,2403,0.12,2.20,0.00,0.000,4,0.088,0.047,2700,3353,3581,0,0,0,0,0,0,26.53,26.25,28.83
$GC,2455,-0.63,-194.6,348.8,-9.8,306,2465,0.17,2.08,0.00,0.000,6,0.137,0.034,2751,1956,3581,0,0,0,0,0,0,26.08,26.37,28.83
$GC,2767,-0.63,-194.6,377.7,-11.7,337,2775,0.00,2.12,0.00,0.000,4,0.000,0.049,2752,558,3580,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2792,-0.64,-194.6,380.6,-11.8,339,2799,0.00,2.10,0.00,0.000,6,0.000,0.035,2751,1957,3580,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3098,-0.65,-194.6,415.8,-10.2,370,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1957,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3402,-0.67,-194.6,441.2,-6.9,400,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1957,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3711,-0.69,-194.6,460.4,-7.1,431,3720,0.00,2.17,0.00,0.000,4,0.000,0.054,2752,3347,3575,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3776,-0.72,-194.6,465.3,-7.4,437,3784,0.10,2.10,0.00,0.000,6,0.103,0.034,2691,1957,3575,0,0,0,0,0,0,26.31,26.36,28.83
$GC,4083,-0.69,-194.6,500.8,-11.9,468,4085,0.12,0.00,0.00,0.000,6,0.161,0.000,2723,1958,3574,0,0,0,0,0,0,26.29,28.83,28.83
$GC,4383,-0.69,-194.6,528.0,-9.8,498,4392,0.00,2.20,0.00,0.000,4,0.000,0.054,2723,3359,3571,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4407,-0.69,-194.6,530.2,-9.8,500,4414,0.00,2.12,0.00,0.000,6,0.000,0.035,2724,1953,3571,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4714,-0.69,-194.6,563.5,-11.9,531,4723,0.00,2.17,0.00,0.000,4,0.000,0.052,2723,554,3570,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4750,-0.69,-194.6,567.4,-12.6,534,4757,0.00,2.15,0.00,0.000,6,0.000,0.037,2724,1950,3568,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5067,-0.69,-194.6,607.8,-12.9,563,5072,0.00,2.20,0.00,0.000,4,0.000,0.054,2724,3353,3567,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5155,-0.70,-194.6,618.2,-12.9,567,5164,0.00,2.15,0.00,0.000,6,0.000,0.034,2724,1942,3566,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5466,-0.70,-194.6,654.0,-8.2,583,5472,0.00,2.28,0.00,0.000,4,0.000,0.054,2724,3363,3565,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5541,-0.72,-194.6,657.7,-6.6,586,5549,0.00,2.12,0.00,0.000,6,0.000,0.034,2723,1955,3564,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5846,-0.73,-194.6,674.1,-5.0,602,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1955,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6146,-0.74,-194.6,692.9,-6.9,617,6152,0.00,2.25,0.00,0.000,4,0.000,0.054,2724,3363,3560,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6191,-0.75,-194.6,695.7,-6.9,619,6197,0.00,2.15,0.00,0.000,6,0.000,0.035,2724,1957,3560,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6506,-0.76,-194.6,724.1,-9.9,635,6512,0.00,2.25,0.00,0.000,4,0.000,0.055,2723,3370,3559,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6539,-0.78,-194.6,726.1,-10.2,636,6546,0.00,2.15,0.00,0.000,6,0.000,0.035,2724,1952,3558,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6847,-0.79,-194.6,762.4,-12.2,652,6853,0.00,2.28,0.00,0.000,4,0.000,0.055,2724,3370,3557,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6895,-0.80,-194.6,767.1,-11.8,654,6899,0.00,2.15,0.00,0.000,6,0.000,0.036,2724,1956,3557,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7203,-0.82,-194.6,800.8,-9.8,669,7209,0.12,2.17,0.00,0.000,4,0.093,0.052,2656,552,3555,0,0,0,0,0,0,26.51,26.15,28.83
$GC,7265,-0.80,-194.6,808.9,-12.4,672,7270,0.15,2.17,0.00,0.000,6,0.167,0.040,2686,1968,3554,0,0,0,0,0,0,25.89,26.23,28.83
$GC,7581,-0.79,-194.6,842.2,-9.2,688,7587,0.00,2.22,0.00,0.000,4,0.000,0.057,2686,3363,3553,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7613,-0.78,-194.6,844.2,-9.0,689,7620,0.00,2.15,0.00,0.000,6,0.000,0.035,2686,1948,3553,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7920,-0.77,-194.6,869.1,-7.5,705,7925,0.00,2.25,0.00,0.000,4,0.000,0.055,2685,3350,3552,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8003,-0.77,-194.6,874.5,-6.8,709,8007,0.00,2.12,0.00,0.000,6,0.000,0.036,2686,1955,3551,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8315,-0.76,-194.6,897.1,-7.1,725,8321,0.00,2.20,0.00,0.000,4,0.000,0.054,2686,557,3550,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8345,-0.75,-194.6,898.7,-7.3,726,8353,0.00,2.15,0.00,0.000,6,0.000,0.041,2685,1952,3549,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8655,-0.74,-194.6,924.2,-8.3,742,8661,0.00,2.20,0.00,0.000,4,0.000,0.057,2682,3353,3548,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8683,-0.73,-194.6,926.1,-8.4,743,8688,0.12,2.12,0.00,0.000,6,0.150,0.036,2717,1957,3548,0,0,0,0,0,0,26.01,26.26,28.83
$GC,8993,-0.75,-194.6,947.8,-6.5,758,8999,0.00,2.22,0.00,0.000,4,0.000,0.053,2717,544,3547,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9045,-0.76,-194.6,950.7,-6.7,760,9052,0.00,2.17,0.00,0.000,6,0.000,0.040,2716,1955,3547,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9353,-0.78,-194.6,971.4,-6.3,776,9359,0.00,2.20,0.00,0.000,4,0.000,0.057,2713,3353,3546,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9380,-0.79,-194.6,972.7,-6.4,777,9384,0.00,2.12,0.00,0.000,6,0.000,0.035,2713,1953,3545,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,9664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9664,begin apogee
$GC,9671,-0.17,0.0,990.9,-6.4,791,9834,0.55,0.00,155.75,1.319,6,0.114,0.000,2898,1953,2785,0,0,0,0,0,0,25.74,28.83,23.54
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9835,begin climb
$GC,9838,0.75,194.6,993.1,0.0,799,10022,0.77,2.60,171.70,1.271,4,0.044,0.052,3210,3387,1990,0,0,0,0,0,0,24.84,23.85,22.77
$GC,10043,0.64,194.6,964.9,20.3,809,10051,0.25,2.35,0.00,0.000,6,0.167,0.041,3159,2003,1987,0,0,0,0,0,0,24.15,24.37,28.83
$GC,10351,0.58,194.6,904.7,18.2,825,10357,0.00,2.28,0.00,0.000,4,0.000,0.054,3167,574,1983,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10411,0.52,194.6,893.2,19.0,828,10418,0.12,2.20,0.00,0.000,6,0.137,0.037,3127,2001,1982,0,0,0,0,0,0,25.66,25.91,28.83
$GC,10732,0.49,194.6,838.7,17.1,844,10737,0.00,2.17,0.00,0.000,4,0.000,0.050,3126,3385,1981,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10812,0.44,194.6,824.8,17.4,848,10818,0.10,2.15,0.00,0.000,6,0.143,0.037,3100,1963,1981,0,0,0,0,0,0,25.86,26.14,28.83
$GC,11132,0.43,194.6,784.1,11.1,864,11138,0.00,2.28,0.00,0.000,4,0.000,0.047,3100,3396,1980,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11192,0.40,194.6,777.1,11.6,867,11198,0.00,2.15,0.00,0.000,6,0.000,0.035,3107,2000,1980,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11511,0.44,239.6,746.2,8.2,883,11554,0.00,2.30,38.20,1.155,4,0.000,0.051,3118,586,1808,0,0,0,0,0,0,28.83,25.56,24.44
$GC,11603,0.50,305.8,740.1,7.5,887,11672,0.00,2.20,59.17,1.139,6,0.000,0.034,3118,2000,1538,0,0,0,0,0,0,28.83,25.75,24.03
$GC,11973,0.50,317.0,704.9,9.3,906,11992,0.00,2.25,10.75,1.004,4,0.000,0.047,3118,3386,1492,0,0,0,0,0,0,28.83,25.82,24.58
$GC,12029,0.48,317.0,700.5,9.8,908,12036,0.00,2.17,0.00,0.000,6,0.000,0.035,3128,1985,1492,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12335,0.47,317.0,659.5,13.8,924,12341,0.00,2.20,0.00,0.000,4,0.000,0.050,3139,586,1491,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12409,0.46,317.0,651.3,13.9,927,12417,0.15,2.12,0.00,0.000,6,0.136,0.033,3096,1976,1489,0,0,0,0,0,0,25.94,26.17,28.83
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$GC,14497,0.64,424.6,408.1,6.1,1113,14598,0.12,2.30,90.40,0.918,4,0.090,0.050,3194,586,1053,0,0,0,0,0,0,26.48,25.25,24.29
$GC,14696,0.63,424.6,382.1,13.9,1132,14703,0.15,2.17,0.00,0.000,6,0.138,0.031,3154,1996,1050,0,0,0,0,0,0,25.53,25.75,28.83
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$STATE,17578,end climb,SURFACE_DEPTH_REACHED
$STATE,17578,begin surface coast
$FINISH,7.3,1.008300
$STATE,17671,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.023219,0.023219
$HUMID,41.69
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$XPDR_PINGS,11
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$10V_AH,10.1,38.699
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,86911,1541
$CAP_FILE_SIZE,202563,0
$CFSIZE,260165632,182226944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,301211,122206,2104.855,11954.342,38,1.4,50,-2.4