version: 66.10
glider: 169
mission: 5
dive: 43
start: 11 17 111 6 47 34
data:
$ID,169
$MISSION,5
$DIVE,43
$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,400
$T_MISSION,430
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,13
$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,-10322.229
$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,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
$GPS1,171111,063730,2342.659,12325.017,38,1.3,43,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.2
$GPS2,171111,064708,2342.749,12325.181,15,1.3,15,-3.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.256,-0.045
$KALMAN_X,8491284.0,0.0,0.0,5243780.5,273193.0
$KALMAN_Y,1626359.2,0.0,0.0,1012523.1,51313.1
$MHEAD_RNG_PITCHd_Wd,78.4,52270,-13.2,-8.250
$D_GRID,4211
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-170.3,0.0,0.0,0,97,0.00,0.00,-76.57,0.000,2,0.000,0.000,103,2662,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.54,-170.3,3.2,-4.6,10,125,7.10,0.00,-13.75,0.000,6,0.249,0.000,1818,2663,3676,0,0,0,0,0,0,25.81,28.83,26.42
$GC,474,-0.38,-170.3,165.2,-35.7,73,483,0.17,2.20,0.00,0.000,4,0.190,0.033,1878,1191,3676,0,0,0,0,0,0,26.15,26.34,28.83
$GC,626,-0.38,-170.3,189.9,-10.7,98,634,0.00,2.25,0.00,0.000,6,0.000,0.047,1867,2655,3676,0,0,0,0,0,0,28.83,26.38,28.83
$GC,983,-0.33,-170.3,248.3,-16.5,159,992,0.00,1.80,0.00,0.000,4,0.000,0.050,1858,3816,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1015,-0.27,-170.3,253.0,-16.5,162,1024,0.12,1.80,0.00,0.000,6,0.112,0.029,1906,2576,3676,0,0,0,0,0,0,26.39,26.52,28.83
$GC,1324,-0.29,-170.3,275.6,-6.6,193,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2576,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1634,-0.32,-170.3,297.8,-6.8,224,1644,0.00,1.90,0.00,0.000,4,0.000,0.051,1898,3809,3674,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1657,-0.35,-170.3,299.6,-6.6,226,1660,0.00,1.75,0.00,0.000,6,0.000,0.030,1898,2574,3674,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1968,-0.37,-170.3,319.0,-6.1,257,1977,0.00,2.03,0.00,0.000,4,0.000,0.034,1898,1177,3672,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2003,-0.40,-170.3,321.0,-6.0,260,2010,0.00,2.22,0.00,0.000,6,0.000,0.045,1894,2658,3673,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2310,-0.42,-170.3,340.5,-7.1,291,2314,0.00,2.15,0.00,0.000,4,0.000,0.036,1895,1182,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2335,-0.45,-170.3,342.1,-7.3,293,2343,0.12,2.20,0.00,0.000,6,0.081,0.045,1820,2652,3671,0,0,0,0,0,0,26.61,26.59,28.83
$GC,2642,-0.38,-170.3,394.2,-16.5,324,2652,0.15,2.15,0.00,0.000,4,0.149,0.034,1870,1185,3669,0,0,0,0,0,0,26.51,26.61,28.83
$GC,2705,-0.41,-170.3,400.5,-7.8,330,2714,0.00,2.20,0.00,0.000,6,0.000,0.047,1865,2651,3668,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3014,-0.41,-170.3,427.7,-9.4,361,3017,0.00,1.77,0.00,0.000,4,0.000,0.052,1855,3824,3666,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3075,-0.42,-170.3,433.3,-9.1,367,3084,0.00,1.80,0.00,0.000,6,0.000,0.031,1856,2568,3665,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3385,-0.42,-170.3,463.3,-9.3,398,3393,0.00,2.00,0.00,0.000,4,0.000,0.035,1855,1183,3663,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3416,-0.42,-170.3,466.0,-8.9,401,3420,0.00,2.20,0.00,0.000,6,0.000,0.046,1846,2651,3664,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3727,-0.40,-170.3,496.6,-10.6,432,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2652,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.39,-170.3,527.9,-10.3,462,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2652,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.38,-170.3,559.7,-10.2,492,4339,0.10,2.12,0.00,0.000,4,0.160,0.034,1876,1194,3656,0,0,0,0,0,0,26.59,26.65,28.83
$GC,4382,-0.41,-170.3,564.1,-8.0,497,4391,0.00,2.20,0.00,0.000,6,0.000,0.047,1868,2654,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4693,-0.53,-170.3,588.9,-8.6,528,4702,0.12,1.75,0.00,0.000,4,0.111,0.050,1810,3822,3654,0,0,0,0,0,0,26.65,26.62,28.83
$GC,4817,-0.63,-170.3,598.9,-7.9,540,4820,0.00,1.80,0.00,0.000,6,0.000,0.033,1811,2575,3653,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5139,-0.65,-170.3,621.9,-6.6,557,5144,0.00,1.98,0.00,0.000,4,0.000,0.035,1811,1184,3651,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5198,-0.66,-170.3,626.3,-7.0,560,5204,0.00,2.22,0.00,0.000,6,0.000,0.047,1801,2652,3649,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5520,-0.61,-170.3,662.7,-11.8,576,5525,0.00,2.12,0.00,0.000,4,0.000,0.037,1801,1203,3647,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5558,-0.58,-170.3,667.5,-11.9,578,5564,0.00,2.22,0.00,0.000,6,0.000,0.050,1795,2657,3647,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5880,-0.53,-170.3,708.0,-13.3,594,5886,0.12,2.15,0.00,0.000,4,0.161,0.035,1837,1183,3645,0,0,0,0,0,0,26.53,26.63,28.83
$GC,5942,-0.52,-170.3,713.5,-10.2,597,5946,0.00,2.22,0.00,0.000,6,0.000,0.048,1827,2654,3645,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6254,-0.51,-170.3,739.8,-8.8,613,6257,0.00,1.77,0.00,0.000,4,0.000,0.056,1819,3815,3642,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6289,-0.50,-170.3,741.8,-9.2,614,6295,0.00,1.80,0.00,0.000,6,0.000,0.033,1818,2572,3642,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6595,-0.48,-170.3,774.9,-10.8,630,6601,0.00,1.90,0.00,0.000,4,0.000,0.056,1810,3811,3639,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6638,-0.46,-170.3,779.3,-11.2,632,6642,0.15,1.80,0.00,0.000,6,0.122,0.034,1857,2574,3639,0,0,0,0,0,0,26.54,26.67,28.83
$GC,6953,-0.48,-170.3,802.0,-6.6,648,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2574,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7252,-0.50,-170.3,819.9,-5.5,663,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2574,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,-0.53,-170.3,836.8,-5.9,678,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2574,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,-0.55,-170.3,854.7,-6.2,693,7857,0.12,2.00,0.00,0.000,4,0.078,0.035,1766,1186,3633,0,0,0,0,0,0,26.73,26.63,28.83
$GC,7871,-0.56,-170.3,856.4,-6.7,694,7877,0.17,2.22,0.00,0.000,6,0.145,0.047,1813,2655,3633,0,0,0,0,0,0,26.48,26.62,28.83
$GC,8191,-0.54,-170.3,890.3,-10.6,710,8196,0.00,2.15,0.00,0.000,4,0.000,0.037,1813,1184,3631,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8250,-0.53,-170.3,896.4,-10.3,713,8256,0.00,2.20,0.00,0.000,6,0.000,0.050,1806,2650,3631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8571,-0.50,-170.3,930.0,-10.2,729,8573,0.10,0.00,0.00,0.000,6,0.167,0.000,1833,2650,3629,0,0,0,0,0,0,26.56,28.83,28.83
$GC,8870,-0.50,-170.3,951.5,-6.8,744,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2650,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9171,-0.50,-170.3,971.8,-6.7,759,9177,0.00,2.15,0.00,0.000,4,0.000,0.038,1834,1184,3628,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9200,-0.50,-170.3,973.3,-6.8,760,9209,0.00,2.25,0.00,0.000,6,0.000,0.050,1825,2655,3627,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9408,begin apogee
$GC,9413,-0.20,0.0,990.1,-7.9,771,9562,0.30,0.10,141.20,1.164,6,0.106,0.104,1933,2525,2977,0,0,0,0,0,0,26.51,24.79,24.10
$STATE,9563,end apogee,CONTROL_FINISHED_OK
$STATE,9563,begin climb
$GC,9565,0.54,170.3,996.1,0.0,778,9732,0.65,2.35,157.10,1.169,4,0.050,0.041,2190,1069,2275,0,0,0,0,0,0,24.99,24.66,23.91
$GC,9792,0.46,170.3,980.4,15.0,790,9797,0.17,2.33,0.00,0.000,6,0.168,0.047,2147,2526,2257,0,0,0,0,0,0,25.13,25.25,28.83
$GC,10100,0.39,170.3,934.9,14.7,805,10105,0.00,2.03,0.00,0.000,4,0.000,0.057,2147,3812,2252,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10245,0.31,170.3,911.2,17.3,812,10251,0.20,2.08,0.00,0.000,6,0.178,0.038,2105,2459,2251,0,0,0,0,0,0,25.84,26.03,28.83
$GC,10560,0.28,170.3,874.1,10.8,828,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2458,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10860,0.26,170.3,843.7,10.2,843,10866,0.00,2.08,0.00,0.000,4,0.000,0.054,2104,3806,2248,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10888,0.23,170.3,841.6,10.2,844,10892,0.15,2.03,0.00,0.000,6,0.165,0.035,2075,2463,2247,0,0,0,0,0,0,26.13,26.29,28.83
$GC,11195,0.29,219.9,819.5,6.6,859,11239,0.00,0.00,36.30,1.091,6,0.000,0.000,2075,2460,2081,0,0,0,0,1,0,28.83,28.83,24.66
$GC,11538,0.35,261.0,796.0,6.9,876,11595,0.12,2.25,48.50,1.022,4,0.080,0.054,2154,3818,1903,0,0,0,0,0,0,26.10,25.21,24.51
$GC,11644,0.30,261.0,782.0,15.0,881,11650,0.20,2.08,0.00,0.000,6,0.144,0.036,2103,2464,1894,0,0,0,0,0,0,25.40,25.53,28.83
$GC,11958,0.30,261.0,750.3,9.5,897,11964,0.00,2.15,0.00,0.000,4,0.000,0.055,2103,3809,1889,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11999,0.30,261.0,746.2,9.8,899,12002,0.00,2.08,0.00,0.000,6,0.000,0.037,2113,2460,1889,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12320,0.30,261.0,714.3,9.5,915,12321,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2459,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12621,0.30,261.0,686.0,9.8,930,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2459,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12920,0.30,261.0,656.1,9.6,945,12926,0.00,2.10,0.00,0.000,4,0.000,0.044,2123,1068,1886,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12960,0.31,261.0,652.4,9.5,947,12966,0.00,2.22,0.00,0.000,6,0.000,0.047,2122,2519,1884,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13280,0.31,261.0,622.1,8.7,963,13285,0.00,2.00,0.00,0.000,4,0.000,0.054,2123,3809,1884,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13328,0.31,261.0,618.1,9.4,965,13333,0.12,2.00,0.00,0.000,6,0.156,0.036,2100,2463,1884,0,0,0,0,0,0,26.27,26.41,28.83
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$STATE,18873,end climb,SURFACE_DEPTH_REACHED
$STATE,18873,begin surface coast
$FINISH,0.1,1.021969
$STATE,18894,end surface coast,CONTROL_FINISHED_OK
$STATE,18895,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,37.75
$INTERNAL_PRESSURE,9.56447
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.9,10.799
$10V_AH,10.3,9.925
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.425,159.650,627.150,0.000,0.000,52.243,95.159,230.092,0.000,0.000,16.770,3916.519,10041.480,682.802,4481.650,397.260,0.376,2335.385,0.000,4000.856,0.000,0.544,0.000
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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,330340
$DATA_FILE_SIZE,110343,1654
$CAP_FILE_SIZE,203568,0
$CFSIZE,260165632,218800128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171111,120437,2342.418,12331.260,26,1.8,26,-3.3