version: 66.10
glider: 169
mission: 5
dive: 122
start: 12 2 111 18 0 26
data:
$ID,169
$MISSION,5
$DIVE,122
$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,360
$T_MISSION,400
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,1
$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,-10433.05
$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
$GPS1,021211,175236,2234.759,12247.831,58,1.3,58,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.8
$GPS2,021211,180002,2234.783,12247.787,16,1.6,16,-3.0
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,293.9,149491,-14.8,-9.167
$D_GRID,4962
$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,-0.58,-170.3,0.0,0.0,0,120,0.00,0.00,-100.62,0.000,2,0.000,0.000,117,2669,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.58,-170.3,4.1,-9.1,18,149,6.72,1.77,-11.20,0.000,4,0.229,0.055,1804,3822,3675,0,0,0,0,0,0,25.57,26.05,26.42
$GC,232,-0.48,-170.3,48.7,-30.0,38,240,0.15,1.83,0.00,0.000,6,0.162,0.026,1851,2577,3675,0,0,0,0,0,0,25.86,26.17,28.83
$GC,543,-0.38,-170.3,144.6,-22.8,99,551,0.12,2.03,0.00,0.000,4,0.180,0.027,1899,1169,3676,0,0,0,0,0,0,26.08,26.29,28.83
$GC,579,-0.35,-170.3,151.2,-16.0,105,586,0.00,2.25,0.00,0.000,6,0.000,0.044,1888,2653,3675,0,0,0,0,0,0,28.83,26.25,28.83
$GC,889,-0.33,-170.3,195.2,-17.0,166,896,0.00,2.15,0.00,0.000,4,0.000,0.030,1888,1183,3676,0,0,0,0,0,0,28.83,26.38,28.83
$GC,926,-0.33,-170.3,201.3,-17.3,172,933,0.00,2.22,0.00,0.000,6,0.000,0.043,1878,2654,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1234,-0.30,-170.3,248.3,-13.0,203,1236,0.12,0.00,0.00,0.000,6,0.154,0.000,1914,2653,3676,0,0,0,0,0,0,26.33,28.83,28.83
$GC,1534,-0.33,-170.3,267.2,-6.2,233,1543,0.00,2.17,0.00,0.000,4,0.000,0.030,1915,1176,3675,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1566,-0.38,-170.3,269.1,-6.0,236,1575,0.00,2.22,0.00,0.000,6,0.000,0.042,1909,2655,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1878,-0.41,-170.3,290.5,-6.7,267,1881,0.00,1.77,0.00,0.000,4,0.000,0.049,1901,3821,3674,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1912,-0.45,-170.3,292.7,-6.6,270,1920,0.12,1.80,0.00,0.000,6,0.086,0.026,1836,2557,3674,0,0,0,0,0,0,26.46,26.55,28.83
$GC,2219,-0.40,-170.3,342.9,-16.8,301,2228,0.12,2.00,0.00,0.000,4,0.145,0.030,1882,1181,3673,0,0,0,0,0,0,26.37,26.49,28.83
$GC,2271,-0.40,-170.3,348.7,-9.9,306,2280,0.00,2.22,0.00,0.000,6,0.000,0.044,1873,2657,3673,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2583,-0.40,-170.3,373.6,-8.9,337,2591,0.00,2.15,0.00,0.000,4,0.000,0.031,1874,1177,3671,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2627,-0.42,-170.3,377.2,-8.4,341,2634,0.00,2.22,0.00,0.000,6,0.000,0.042,1864,2658,3671,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2936,-0.42,-170.3,406.5,-8.5,372,2944,0.00,2.15,0.00,0.000,4,0.000,0.031,1864,1181,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2970,-0.43,-170.3,409.2,-8.1,375,2977,0.00,2.22,0.00,0.000,6,0.000,0.043,1855,2659,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3277,-0.43,-170.3,441.2,-12.3,406,3285,0.00,2.12,0.00,0.000,4,0.000,0.031,1856,1185,3668,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3300,-0.43,-170.3,443.8,-12.5,408,3308,0.00,2.25,0.00,0.000,6,0.000,0.043,1846,2656,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3610,-0.42,-170.3,477.0,-8.6,439,3619,0.00,2.10,0.00,0.000,4,0.000,0.031,1846,1187,3666,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3645,-0.42,-170.3,479.6,-8.2,442,3652,0.12,2.20,0.00,0.000,6,0.136,0.042,1876,2655,3666,0,0,0,0,0,0,26.33,26.46,28.83
$GC,3952,-0.45,-170.3,499.3,-6.7,473,3956,0.00,1.77,0.00,0.000,4,0.000,0.050,1867,3823,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3996,-0.49,-170.3,502.0,-6.7,477,4003,0.00,1.80,0.00,0.000,6,0.000,0.028,1868,2555,3663,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4304,-0.51,-170.3,525.6,-8.2,508,4312,0.00,2.00,0.00,0.000,4,0.000,0.031,1867,1180,3662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4336,-0.55,-170.3,528.2,-8.3,511,4345,0.00,2.22,0.00,0.000,6,0.000,0.043,1860,2656,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4647,-0.56,-170.3,552.6,-7.3,542,4651,0.00,1.77,0.00,0.000,4,0.000,0.049,1852,3823,3660,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4699,-0.59,-170.3,556.6,-7.7,547,4702,0.00,1.83,0.00,0.000,6,0.000,0.027,1852,2561,3659,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5010,-0.61,-170.3,583.7,-9.6,578,5012,0.12,0.00,0.00,0.000,6,0.080,0.000,1775,2555,3657,0,0,0,0,0,0,26.65,28.83,28.83
$GC,5320,-0.55,-170.3,637.1,-17.4,599,5326,0.15,2.00,0.00,0.000,4,0.148,0.031,1825,1177,3655,0,0,0,0,0,0,26.31,26.47,28.83
$GC,5424,-0.56,-170.3,648.4,-10.1,604,5430,0.00,2.25,0.00,0.000,6,0.000,0.045,1815,2656,3655,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5741,-0.54,-170.3,680.3,-9.1,620,5746,0.00,2.17,0.00,0.000,4,0.000,0.031,1815,1179,3652,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5789,-0.53,-170.3,683.9,-8.9,622,5793,0.00,2.25,0.00,0.000,6,0.000,0.047,1810,2655,3651,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6097,-0.50,-170.3,717.5,-11.9,637,6103,0.12,2.15,0.00,0.000,4,0.148,0.031,1854,1185,3649,0,0,0,0,0,0,26.39,26.45,28.83
$GC,6118,-0.49,-170.3,719.8,-11.9,638,6122,0.00,2.22,0.00,0.000,6,0.000,0.044,1845,2652,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6437,-0.51,-170.3,748.8,-8.8,654,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2652,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,-0.53,-170.3,773.7,-8.1,669,6740,0.00,1.80,0.00,0.000,4,0.000,0.053,1836,3807,3644,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6758,-0.55,-170.3,775.4,-8.2,670,6761,0.00,1.80,0.00,0.000,6,0.000,0.028,1836,2565,3643,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7080,-0.56,-170.3,802.3,-8.1,686,7086,0.00,2.00,0.00,0.000,4,0.000,0.034,1836,1183,3641,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7133,-0.57,-170.3,805.6,-8.3,688,7139,0.00,2.22,0.00,0.000,6,0.000,0.045,1826,2653,3641,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7440,-0.57,-170.3,834.3,-9.6,704,7443,0.00,1.77,0.00,0.000,4,0.000,0.054,1818,3816,3639,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7493,-0.57,-170.3,838.5,-10.1,706,7500,0.00,1.80,0.00,0.000,6,0.000,0.028,1818,2570,3639,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7800,-0.57,-170.3,872.3,-10.6,722,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2569,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,-0.57,-170.3,901.0,-8.5,737,8105,0.00,2.03,0.00,0.000,4,0.000,0.033,1818,1186,3636,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8145,-0.57,-170.3,904.3,-8.1,739,8150,0.00,2.22,0.00,0.000,6,0.000,0.044,1813,2650,3636,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8464,-0.57,-170.3,930.7,-8.4,755,8468,0.00,2.17,0.00,0.000,4,0.000,0.033,1813,1183,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8509,-0.57,-170.3,934.3,-8.5,757,8513,0.00,2.25,0.00,0.000,6,0.000,0.048,1811,2651,3634,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8821,-0.56,-170.3,964.5,-10.4,773,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2651,3632,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9059,begin apogee
$GC,9065,-0.20,0.0,990.9,-11.1,785,9235,0.38,0.12,163.57,1.106,6,0.104,0.090,1943,2525,2978,0,0,0,0,0,0,26.13,24.80,24.05
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9239,0.58,170.3,999.6,0.0,793,9409,0.68,2.42,159.93,1.183,4,0.047,0.039,2215,1070,2273,0,0,0,0,0,0,24.98,24.56,23.77
$GC,9457,0.48,170.3,985.5,15.5,804,9464,0.17,2.33,0.00,0.000,6,0.165,0.043,2170,2520,2258,0,0,0,0,0,0,24.91,25.08,28.83
$GC,9763,0.41,170.3,935.3,15.8,820,9769,0.00,2.03,0.00,0.000,4,0.000,0.050,2170,3817,2252,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9830,0.33,170.3,924.6,17.3,823,9835,0.22,2.08,0.00,0.000,6,0.173,0.031,2121,2452,2251,0,0,0,0,0,0,25.58,25.91,28.83
$GC,10140,0.31,170.3,889.0,10.2,838,10145,0.00,2.08,0.00,0.000,4,0.000,0.038,2131,1063,2249,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10171,0.28,170.3,886.9,10.1,839,10178,0.00,2.25,0.00,0.000,6,0.000,0.044,2131,2523,2248,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10478,0.24,170.3,850.4,11.5,855,10484,0.12,2.03,0.00,0.000,4,0.166,0.047,2093,3823,2248,0,0,0,0,0,0,25.98,26.11,28.83
$GC,10561,0.22,170.3,842.1,10.4,859,10565,0.00,2.05,0.00,0.000,6,0.000,0.031,2103,2460,2246,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10873,0.26,210.9,816.8,7.7,875,10919,0.00,2.17,38.75,1.014,4,0.000,0.048,2104,3810,2109,0,0,0,0,0,0,28.83,25.58,24.84
$GC,10947,0.30,245.3,812.0,7.9,878,10986,0.00,2.08,34.40,1.011,6,0.000,0.032,2114,2458,1977,0,0,0,0,0,0,28.83,25.70,24.49
$GC,11291,0.30,245.3,779.3,9.6,895,11296,0.00,2.12,0.00,0.000,4,0.000,0.039,2125,1064,1950,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11318,0.30,245.3,777.2,9.9,896,11322,0.00,2.28,0.00,0.000,6,0.000,0.044,2125,2529,1949,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11624,0.30,245.3,743.5,10.5,911,11629,0.00,2.03,0.00,0.000,4,0.000,0.051,2125,3820,1948,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11685,0.30,245.3,736.5,11.4,914,11690,0.00,2.05,0.00,0.000,6,0.000,0.031,2135,2465,1947,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12006,0.29,245.3,702.3,10.4,930,12008,0.12,0.00,0.00,0.000,6,0.167,0.000,2103,2462,1946,0,0,0,0,0,0,26.07,28.83,28.83
$GC,12305,0.35,278.7,679.0,8.0,945,12344,0.00,2.17,31.62,0.939,4,0.000,0.051,2103,3818,1830,0,0,0,0,0,0,28.83,25.75,25.03
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$STATE,17850,end climb,SURFACE_DEPTH_REACHED
$STATE,17850,begin surface coast
$FINISH,0.7,1.022689
$STATE,17862,end surface coast,CONTROL_FINISHED_OK
$STATE,17862,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,39.91
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,10.1,19.933
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.700,159.250,624.625,0.000,0.000,28.110,39.916,239.357,0.000,0.000,18.271,3771.852,10285.897,761.716,3179.142,359.944,0.000,2294.320,0.000,2709.005,0.000,0.542,0.000
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$MEM,324548
$DATA_FILE_SIZE,103837,1599
$CAP_FILE_SIZE,194931,0
$CFSIZE,260165632,211615744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021211,230101,2236.519,12244.347,69,0.9,69,-3.0