version: 66.10
glider: 169
mission: 5
dive: 56
start: 11 20 111 2 7 1
data:
$ID,169
$MISSION,5
$DIVE,56
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$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,-10339.785
$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
$GPS1,201111,020006,2327.823,12406.092,53,1.9,53,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.7
$GPS2,201111,020632,2327.753,12406.124,13,1.1,13,-3.3
$SPEED_LIMITS,0.143,0.288
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-1.024,-4.016
$KALMAN_X,8564308.0,0.0,0.0,5225999.0,26286.0
$KALMAN_Y,1913313.4,0.0,0.0,698693.1,129875.4
$MHEAD_RNG_PITCHd_Wd,231.1,218334,-11.2,-8.250
$D_GRID,3206
$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,17,-0.55,-219.0,0.0,0.0,0,119,0.00,0.00,-99.43,0.000,2,0.000,0.000,117,2650,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.55,-219.0,3.5,-6.2,14,154,6.88,2.20,-12.75,0.000,4,0.241,0.048,1834,1191,3875,0,0,0,0,0,0,25.86,26.18,26.48
$GC,313,-0.46,-219.0,73.8,-27.4,44,323,0.10,2.25,0.00,0.000,6,0.148,0.048,1856,2644,3876,0,0,0,0,0,0,26.11,26.26,28.83
$GC,686,-0.38,-219.0,163.7,-20.0,105,692,0.00,1.80,0.00,0.000,4,0.000,0.054,1848,3817,3875,0,0,0,0,0,0,28.83,26.39,28.83
$GC,790,-0.34,-219.0,184.9,-16.5,122,802,0.10,1.83,0.00,0.000,6,0.113,0.028,1895,2563,3875,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1168,-0.32,-219.0,229.1,-10.6,183,1175,0.00,1.95,0.00,0.000,4,0.000,0.050,1887,3817,3875,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1210,-0.32,-219.0,233.6,-10.5,189,1217,0.00,1.80,0.00,0.000,6,0.000,0.028,1887,2558,3875,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1538,-0.31,-219.0,264.3,-8.8,235,1548,0.00,2.00,0.00,0.000,4,0.000,0.034,1887,1179,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1564,-0.31,-219.0,266.2,-8.3,237,1571,0.00,2.22,0.00,0.000,6,0.000,0.044,1878,2644,3874,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1874,-0.30,-219.0,295.6,-9.8,268,1878,0.12,1.80,0.00,0.000,4,0.137,0.049,1916,3825,3873,0,0,0,0,0,0,26.51,26.55,28.83
$GC,1907,-0.33,-219.0,298.0,-7.7,271,1910,0.00,1.80,0.00,0.000,6,0.000,0.029,1916,2571,3872,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2218,-0.42,-219.0,330.0,-11.6,302,2228,0.12,2.00,0.00,0.000,4,0.109,0.031,1867,1182,3870,0,0,0,0,0,0,26.59,26.59,28.83
$GC,2332,-0.51,-219.0,343.4,-11.6,313,2340,0.00,2.17,0.00,0.000,6,0.000,0.043,1867,2654,3870,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2641,-0.61,-219.0,374.8,-10.2,344,2650,0.12,2.15,0.00,0.000,4,0.112,0.032,1823,1170,3868,0,0,0,0,0,0,26.60,26.61,28.83
$GC,2693,-0.69,-219.0,380.1,-9.9,349,2703,0.12,2.22,0.00,0.000,6,0.090,0.043,1774,2661,3868,0,0,0,0,0,0,26.58,26.60,28.83
$GC,3003,-0.61,-219.0,428.8,-19.2,380,3008,0.12,1.77,0.00,0.000,4,0.159,0.050,1805,3811,3866,0,0,0,0,0,0,26.51,26.58,28.83
$GC,3045,-0.54,-219.0,435.6,-16.5,384,3049,0.00,1.77,0.00,0.000,6,0.000,0.029,1805,2570,3866,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3356,-0.49,-219.0,481.9,-14.7,415,3366,0.12,1.92,0.00,0.000,4,0.141,0.049,1839,3810,3864,0,0,0,0,0,0,26.54,26.58,28.83
$GC,3382,-0.45,-219.0,484.7,-13.8,417,3388,0.00,1.80,0.00,0.000,6,0.000,0.029,1839,2575,3864,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3689,-0.44,-219.0,516.2,-10.2,448,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2575,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3992,-0.43,-219.0,543.8,-8.6,478,3996,0.10,1.92,0.00,0.000,4,0.143,0.050,1861,3815,3859,0,0,0,0,0,0,26.60,26.59,28.83
$GC,4028,-0.44,-219.0,546.3,-7.6,481,4037,0.00,1.80,0.00,0.000,6,0.000,0.031,1862,2562,3859,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4335,-0.53,-219.0,573.4,-9.5,512,4343,0.00,1.92,0.00,0.000,4,0.000,0.052,1861,3823,3857,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4379,-0.61,-219.0,577.7,-10.4,516,4387,0.15,1.80,0.00,0.000,6,0.097,0.031,1802,2573,3856,0,0,0,0,0,0,26.60,26.67,28.83
$GC,4687,-0.70,-219.0,601.7,-7.6,546,4691,0.00,2.03,0.00,0.000,4,0.000,0.033,1810,1171,3853,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4751,-0.80,-219.0,607.0,-8.4,549,4756,0.17,2.22,0.00,0.000,6,0.076,0.044,1736,2656,3852,0,0,0,0,0,0,26.60,26.62,28.83
$GC,5064,-0.70,-219.0,666.3,-22.0,565,5070,0.12,1.75,0.00,0.000,4,0.169,0.050,1767,3822,3850,0,0,0,0,0,0,26.48,26.59,28.83
$GC,5166,-0.65,-219.0,683.3,-15.7,570,5171,0.08,1.83,0.00,0.000,6,0.116,0.030,1797,2572,3849,0,0,0,0,0,0,26.51,26.66,28.83
$GC,5488,-0.61,-219.0,722.3,-11.4,586,5494,0.00,1.92,0.00,0.000,4,0.000,0.054,1788,3817,3847,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5509,-0.58,-219.0,724.6,-11.6,587,5513,0.08,1.83,0.00,0.000,6,0.109,0.031,1819,2575,3846,0,0,0,0,0,0,26.52,26.67,28.83
$GC,5831,-0.56,-219.0,754.7,-9.4,603,5836,0.00,1.90,0.00,0.000,4,0.000,0.052,1810,3811,3844,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5875,-0.55,-219.0,758.6,-9.4,605,5878,0.00,1.80,0.00,0.000,6,0.000,0.031,1810,2568,3844,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6192,-0.53,-219.0,790.0,-9.6,621,6198,0.00,1.95,0.00,0.000,4,0.000,0.054,1801,3822,3841,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6235,-0.51,-219.0,793.8,-9.5,623,6239,0.15,1.80,0.00,0.000,6,0.111,0.031,1851,2575,3841,0,0,0,0,0,0,26.53,26.65,28.83
$GC,6551,-0.54,-219.0,810.5,-5.0,639,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2574,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,-0.56,-219.0,823.6,-4.0,654,6854,0.00,1.92,0.00,0.000,4,0.000,0.053,1843,3817,3837,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6871,-0.59,-219.0,824.4,-4.0,655,6875,0.00,1.83,0.00,0.000,6,0.000,0.031,1843,2575,3836,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7188,-0.68,-219.0,850.0,-10.3,671,7194,0.12,2.00,0.00,0.000,4,0.117,0.034,1799,1179,3835,0,0,0,0,0,0,26.59,26.60,28.83
$GC,7241,-0.79,-219.0,854.1,-10.5,673,7248,0.12,2.22,0.00,0.000,6,0.081,0.046,1730,2655,3834,0,0,0,0,0,0,26.60,26.59,28.83
$GC,7548,-0.70,-219.0,908.5,-18.6,689,7553,0.15,1.77,0.00,0.000,4,0.153,0.052,1770,3817,3832,0,0,0,0,0,0,26.45,26.55,28.83
$GC,7574,-0.62,-219.0,912.6,-18.5,690,7578,0.05,1.83,0.00,0.000,6,0.125,0.031,1809,2575,3832,0,0,0,0,0,0,26.48,26.65,28.83
$GC,7895,-0.61,-219.0,944.9,-9.2,706,7900,0.00,1.92,0.00,0.000,4,0.000,0.054,1801,3817,3830,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7926,-0.59,-219.0,946.8,-9.1,707,7933,0.00,1.80,0.00,0.000,6,0.000,0.031,1800,2575,3830,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8233,-0.57,-219.0,976.3,-8.9,723,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2575,3829,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8391,begin apogee
$GC,8397,-0.20,0.0,990.2,-8.8,731,8586,0.40,0.12,181.07,1.157,6,0.098,0.088,1944,2527,2972,0,0,0,0,0,0,26.48,24.78,24.10
$STATE,8587,end apogee,CONTROL_FINISHED_OK
$STATE,8587,begin climb
$GC,8589,0.55,219.0,998.1,0.0,740,8800,0.65,2.38,201.65,1.142,4,0.042,0.044,2212,1068,2074,0,0,0,0,0,0,24.99,24.63,23.94
$GC,8841,0.45,219.0,970.1,19.2,753,8846,0.20,2.33,0.00,0.000,6,0.162,0.045,2160,2518,2059,0,0,0,0,0,0,24.99,25.10,28.83
$GC,9154,0.38,219.0,920.1,15.3,769,9158,0.00,2.03,0.00,0.000,4,0.000,0.052,2160,3813,2052,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9239,0.30,219.0,905.6,17.5,773,9243,0.15,2.08,0.00,0.000,6,0.158,0.036,2110,2479,2050,0,0,0,0,0,0,25.78,25.98,28.83
$GC,9557,0.27,219.0,871.7,10.0,789,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2477,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9856,0.24,219.0,842.0,9.8,804,9860,0.00,2.08,0.00,0.000,4,0.000,0.051,2109,3809,2047,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9881,0.21,219.0,839.6,10.1,805,9886,0.15,2.03,0.00,0.000,6,0.158,0.033,2078,2462,2046,0,0,0,0,0,0,26.10,26.27,28.83
$GC,10194,0.28,276.9,816.8,6.8,821,10243,0.00,0.00,42.35,1.092,6,0.000,0.000,2078,2459,1849,0,0,0,0,1,0,28.83,28.83,24.58
$GC,10534,0.40,358.7,795.8,6.2,838,10636,0.17,2.30,89.00,0.999,4,0.059,0.051,2176,3809,1499,0,0,0,0,0,0,26.10,24.96,24.28
$GC,10664,0.34,358.7,777.7,15.7,844,10670,0.22,2.10,0.00,0.000,6,0.142,0.034,2124,2473,1492,0,0,0,0,0,0,25.22,25.34,28.83
$GC,10979,0.34,358.7,746.5,9.3,860,10982,0.00,2.15,0.00,0.000,4,0.000,0.044,2133,1065,1488,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11008,0.34,358.7,744.5,9.4,861,11012,0.00,2.25,0.00,0.000,6,0.000,0.045,2133,2519,1486,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11315,0.34,358.7,711.7,10.4,876,11320,0.00,2.00,0.00,0.000,4,0.000,0.053,2134,3812,1486,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11357,0.34,358.7,707.3,10.8,878,11361,0.00,2.08,0.00,0.000,6,0.000,0.034,2143,2464,1485,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11676,0.33,358.7,669.9,11.6,894,11681,0.00,2.08,0.00,0.000,4,0.000,0.043,2153,1062,1485,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11718,0.33,358.7,665.5,11.4,896,11723,0.08,2.25,0.00,0.000,6,0.116,0.045,2114,2515,1483,0,0,0,0,0,0,26.18,26.27,28.83
$GC,12038,0.35,358.7,636.9,8.8,912,12043,0.00,2.17,0.00,0.000,4,0.000,0.041,2125,1068,1483,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12059,0.37,358.7,635.1,8.9,913,12063,0.00,2.22,0.00,0.000,6,0.000,0.044,2125,2525,1482,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12372,0.38,358.7,606.2,9.0,929,12377,0.00,1.98,0.00,0.000,4,0.000,0.056,2125,3808,1482,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12400,0.40,358.7,604.1,9.2,930,12404,0.00,2.03,0.00,0.000,6,0.000,0.035,2134,2462,1482,0,0,0,0,0,0,28.83,26.40,28.83
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$STATE,17744,end climb,SURFACE_DEPTH_REACHED
$STATE,17744,begin surface coast
$FINISH,0.3,1.022156
$STATE,17767,end surface coast,CONTROL_FINISHED_OK
$STATE,17767,begin surface
$SM_CCo,17841,0.00,0.000,0,0,811,531.81
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$IRIDIUM_FIX,2321.52,12404.86,191111,212156
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.60
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.9,13.443
$10V_AH,10.3,12.127
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.450,166.775,659.525,0.000,0.000,28.768,21.633,209.743,0.000,0.000,15.531,4252.882,9220.221,802.661,3566.378,368.749,0.378,2360.061,0.000,3270.958,0.000,0.542,0.000
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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,330432
$DATA_FILE_SIZE,103803,1582
$CAP_FILE_SIZE,196926,0
$CFSIZE,260165632,217505792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.549, 87.9,1
$GPS,201111,070531,2324.000,12407.252,41,1.0,41,-3.3