version: 66.10
glider: 169
mission: 5
dive: 34
start: 11 15 111 5 56 22
data:
$ID,169
$MISSION,5
$DIVE,34
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,350
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,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,-10310.9
$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,2000
$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,8
$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
$GPS1,151111,054506,2336.210,12244.715,34,1.1,34,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.9
$GPS2,151111,055555,2336.359,12244.765,11,1.8,16,-3.2
$SPEED_LIMITS,0.163,0.289
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,126.2,121636,-14.0,-9.429
$D_GRID,3127
$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,-0.59,-194.6,0.0,0.0,0,100,0.00,0.00,-81.57,0.000,2,0.000,0.000,114,2658,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.59,-194.6,3.7,-6.1,10,132,6.57,2.25,-13.98,0.000,4,0.228,0.048,1813,1183,3776,0,0,0,0,0,0,25.83,26.10,26.39
$GC,180,-0.51,-194.6,36.9,-29.8,20,190,0.08,2.30,0.00,0.000,6,0.146,0.050,1829,2653,3775,0,0,0,0,0,0,26.02,26.13,28.83
$GC,560,-0.40,-194.6,165.6,-30.1,81,569,0.12,2.20,0.00,0.000,4,0.181,0.034,1877,1185,3775,0,0,0,0,0,0,26.23,26.35,28.83
$GC,652,-0.43,-194.6,182.5,-10.4,95,661,0.00,2.25,0.00,0.000,6,0.000,0.047,1866,2651,3776,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1031,-0.41,-194.6,241.1,-13.7,156,1040,0.00,1.80,0.00,0.000,4,0.000,0.053,1857,3816,3775,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1062,-0.39,-194.6,245.1,-13.2,160,1071,0.00,1.83,0.00,0.000,6,0.000,0.031,1858,2574,3775,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1383,-0.37,-194.6,289.5,-13.6,194,1395,0.00,1.92,0.00,0.000,4,0.000,0.051,1848,3818,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1408,-0.35,-194.6,292.9,-13.6,196,1419,0.12,1.80,0.00,0.000,6,0.134,0.031,1886,2574,3774,0,0,0,0,0,0,26.45,26.56,28.83
$GC,1719,-0.37,-194.6,319.9,-7.5,227,1727,0.00,1.98,0.00,0.000,4,0.000,0.035,1886,1197,3773,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1762,-0.41,-194.6,322.8,-7.0,231,1770,0.00,2.15,0.00,0.000,6,0.000,0.046,1882,2654,3772,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2071,-0.43,-194.6,342.3,-5.8,262,2074,0.00,1.77,0.00,0.000,4,0.000,0.053,1873,3822,3770,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2115,-0.48,-194.6,344.8,-6.0,266,2124,0.00,1.80,0.00,0.000,6,0.000,0.031,1873,2575,3769,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2424,-0.50,-194.6,367.7,-7.9,297,2433,0.10,0.00,0.00,0.000,6,0.090,0.000,1800,2575,3768,0,0,0,0,0,0,26.68,28.83,28.83
$GC,2732,-0.45,-194.6,420.0,-17.8,328,2741,0.15,1.90,0.00,0.000,4,0.143,0.050,1841,3811,3766,0,0,0,0,0,0,26.53,26.60,28.83
$GC,2775,-0.43,-194.6,426.1,-14.2,332,2778,0.00,1.80,0.00,0.000,6,0.000,0.034,1841,2575,3766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3086,-0.43,-194.6,461.7,-12.1,363,3094,0.00,2.00,0.00,0.000,4,0.000,0.037,1841,1187,3763,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3141,-0.44,-194.6,467.6,-11.3,368,3148,0.00,2.22,0.00,0.000,6,0.000,0.050,1834,2656,3763,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3448,-0.43,-194.6,504.7,-11.2,399,3452,0.00,1.77,0.00,0.000,4,0.000,0.054,1825,3817,3760,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3472,-0.42,-194.6,507.1,-11.2,401,3479,0.08,1.83,0.00,0.000,6,0.105,0.033,1868,2577,3760,0,0,0,0,0,0,26.56,26.67,28.83
$GC,3780,-0.44,-194.6,528.0,-6.5,432,3784,0.00,1.95,0.00,0.000,4,0.000,0.055,1858,3828,3758,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3805,-0.47,-194.6,529.5,-6.2,434,3814,0.00,1.83,0.00,0.000,6,0.000,0.034,1859,2574,3757,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4114,-0.49,-194.6,551.8,-7.5,465,4123,0.00,1.92,0.00,0.000,4,0.000,0.054,1851,3815,3755,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4136,-0.52,-194.6,553.7,-7.6,467,4140,0.00,1.83,0.00,0.000,6,0.000,0.034,1851,2587,3755,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4448,-0.54,-194.6,580.6,-8.9,498,4458,0.00,2.05,0.00,0.000,4,0.000,0.039,1851,1184,3752,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4495,-0.57,-194.6,584.5,-9.1,502,4501,0.00,2.22,0.00,0.000,6,0.000,0.048,1843,2655,3752,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4811,-0.57,-194.6,617.6,-10.3,526,4817,0.00,2.17,0.00,0.000,4,0.000,0.037,1843,1182,3750,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4834,-0.58,-194.6,619.6,-10.1,527,4838,0.00,2.22,0.00,0.000,6,0.000,0.049,1836,2654,3750,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5151,-0.58,-194.6,652.6,-10.1,543,5154,0.00,1.77,0.00,0.000,4,0.000,0.057,1827,3814,3746,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5173,-0.58,-194.6,654.7,-10.1,544,5176,0.00,1.80,0.00,0.000,6,0.000,0.034,1827,2579,3746,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5496,-0.58,-194.6,686.4,-9.4,560,5501,0.00,1.90,0.00,0.000,4,0.000,0.057,1818,3809,3744,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5522,-0.58,-194.6,688.3,-9.3,561,5526,0.00,1.80,0.00,0.000,6,0.000,0.034,1819,2576,3744,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5835,-0.57,-194.6,721.4,-10.5,577,5840,0.00,1.90,0.00,0.000,4,0.000,0.057,1810,3811,3742,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5888,-0.56,-194.6,725.7,-10.5,579,5897,0.00,1.80,0.00,0.000,6,0.000,0.036,1810,2578,3741,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6194,-0.54,-194.6,759.9,-10.6,595,6200,0.00,2.05,0.00,0.000,4,0.000,0.040,1810,1183,3739,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6229,-0.53,-194.6,762.1,-10.6,596,6235,0.00,2.22,0.00,0.000,6,0.000,0.050,1801,2650,3739,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6537,-0.51,-194.6,797.4,-11.0,612,6543,0.12,2.12,0.00,0.000,4,0.151,0.037,1844,1187,3737,0,0,0,0,0,0,26.57,26.63,28.83
$GC,6569,-0.50,-194.6,799.5,-10.8,613,6575,0.00,2.22,0.00,0.000,6,0.000,0.051,1838,2648,3737,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6877,-0.51,-194.6,823.2,-7.7,629,6881,0.00,1.83,0.00,0.000,4,0.000,0.060,1830,3811,3734,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6927,-0.52,-194.6,826.6,-8.0,631,6930,0.00,1.80,0.00,0.000,6,0.000,0.035,1830,2579,3734,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7239,-0.53,-194.6,851.7,-7.0,647,7243,0.00,2.05,0.00,0.000,4,0.000,0.041,1830,1183,3732,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7295,-0.55,-194.6,854.7,-6.8,649,7303,0.00,2.22,0.00,0.000,6,0.000,0.051,1824,2650,3732,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7604,-0.55,-194.6,876.5,-6.6,665,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2650,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7902,-0.55,-194.6,896.8,-7.0,680,7908,0.00,2.15,0.00,0.000,4,0.000,0.040,1824,1202,3729,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7935,-0.55,-194.6,898.2,-7.1,681,7942,0.00,2.22,0.00,0.000,6,0.000,0.052,1816,2656,3729,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8243,-0.55,-194.6,926.9,-9.5,697,8247,0.00,1.77,0.00,0.000,4,0.000,0.060,1807,3818,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8285,-0.55,-194.6,931.0,-9.5,699,8290,0.00,1.83,0.00,0.000,6,0.000,0.036,1807,2577,3727,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8605,-0.54,-194.6,965.1,-10.9,715,8610,0.00,2.05,0.00,0.000,4,0.000,0.041,1807,1184,3726,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8627,-0.54,-194.6,967.3,-11.1,716,8631,0.00,2.25,0.00,0.000,6,0.000,0.053,1799,2648,3726,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,8837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8837,begin apogee
$GC,8843,-0.20,0.0,991.2,-11.3,727,9013,0.38,0.10,161.27,1.168,6,0.106,0.106,1933,2523,2972,0,0,0,0,0,0,26.54,24.72,24.03
$STATE,9014,end apogee,CONTROL_FINISHED_OK
$STATE,9014,begin climb
$GC,9016,0.59,194.6,999.1,0.0,735,9209,0.70,2.17,181.52,1.153,4,0.054,0.056,2193,3805,2173,0,0,0,0,0,0,24.94,24.59,23.87
$GC,9291,0.49,194.6,970.7,20.4,749,9296,0.17,2.10,0.00,0.000,6,0.193,0.038,2162,2478,2156,0,0,0,0,0,0,25.18,25.32,28.83
$GC,9597,0.43,194.6,916.5,16.7,764,9603,0.00,2.12,0.00,0.000,4,0.000,0.056,2161,3813,2151,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9646,0.36,194.6,909.1,17.4,766,9651,0.20,2.08,0.00,0.000,6,0.178,0.038,2120,2461,2150,0,0,0,0,0,0,25.79,25.94,28.83
$GC,9955,0.33,194.6,869.0,11.9,781,9960,0.00,2.10,0.00,0.000,4,0.000,0.057,2120,3803,2149,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10016,0.30,194.6,861.1,12.8,784,10020,0.12,2.05,0.00,0.000,6,0.179,0.037,2099,2462,2148,0,0,0,0,0,0,26.02,26.17,28.83
$GC,10334,0.29,194.6,829.6,9.6,800,10339,0.00,2.12,0.00,0.000,4,0.000,0.056,2099,3808,2147,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10355,0.28,194.6,827.4,9.8,801,10360,0.00,2.03,0.00,0.000,6,0.000,0.037,2110,2461,2147,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10675,0.26,194.6,793.2,10.6,817,10681,0.00,2.10,0.00,0.000,4,0.000,0.044,2120,1069,2146,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10693,0.25,194.6,791.2,10.5,818,10700,0.15,2.22,0.00,0.000,6,0.146,0.049,2077,2518,2145,0,0,0,0,0,0,26.22,26.32,28.83
$GC,11015,0.32,241.9,765.4,7.9,834,11060,0.00,2.10,33.78,1.024,4,0.000,0.057,2077,3803,1992,0,0,0,0,1,0,28.83,25.70,24.79
$GC,11098,0.38,286.6,758.9,8.0,838,11157,0.12,2.05,43.53,1.150,6,0.076,0.037,2157,2466,1817,0,0,0,0,1,0,25.84,25.82,24.16
$GC,11455,0.35,286.6,708.6,14.3,856,11459,0.15,0.00,1.62,0.196,6,0.168,0.000,2118,2466,1808,0,0,0,0,0,0,25.80,28.83,25.76
$GC,11754,0.35,286.6,679.1,9.8,871,11759,0.00,2.15,0.00,0.000,4,0.000,0.059,2117,3806,1816,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11814,0.35,286.6,672.4,10.8,874,11820,0.00,2.05,0.00,0.000,6,0.000,0.038,2127,2463,1816,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,17314,end climb,SURFACE_DEPTH_REACHED
$STATE,17314,begin surface coast
$FINISH,0.1,1.021871
$STATE,17353,end surface coast,CONTROL_FINISHED_OK
$STATE,17353,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,38.54
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,10.3,8.080
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,100368,1479
$CAP_FILE_SIZE,195104,0
$CFSIZE,260165632,219766784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.249,343.5,1
$GPS,151111,104755,2336.284,12248.318,38,1.4,38,-3.3