version: 66.10
glider: 169
mission: 5
dive: 124
start: 12 3 111 4 8 0
data:
$ID,169
$MISSION,5
$DIVE,124
$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,-10435.662
$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
$GPS1,031211,035825,2238.253,12240.562,43,1.3,43,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.0
$GPS2,031211,040737,2238.332,12240.449,11,1.6,11,-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,293.2,135475,-14.8,-9.167
$D_GRID,5050
$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,-170.3,0.0,0.0,0,87,0.00,0.00,-67.50,0.000,2,0.000,0.000,108,2681,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-170.3,3.6,-8.1,12,120,6.72,1.80,-14.73,0.000,4,0.227,0.060,1804,3811,3677,0,0,0,0,0,0,25.59,26.06,26.43
$GC,284,-0.46,-170.3,71.5,-35.5,49,291,0.17,1.80,0.00,0.000,6,0.159,0.026,1859,2564,3677,0,0,0,0,0,0,25.89,26.25,28.83
$GC,596,-0.38,-170.3,164.4,-24.7,110,603,0.00,2.03,0.00,0.000,4,0.000,0.030,1870,1172,3676,0,0,0,0,0,0,28.83,26.32,28.83
$GC,690,-0.39,-170.3,179.5,-12.0,128,697,0.00,2.25,0.00,0.000,6,0.000,0.043,1859,2655,3677,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1001,-0.34,-170.3,240.4,-18.9,170,1010,0.12,2.15,0.00,0.000,4,0.163,0.028,1911,1182,3677,0,0,0,0,0,0,26.27,26.41,28.83
$GC,1056,-0.36,-170.3,247.1,-11.5,175,1063,0.00,2.22,0.00,0.000,6,0.000,0.042,1909,2660,3677,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1365,-0.39,-170.3,267.3,-6.8,206,1368,0.00,1.77,0.00,0.000,4,0.000,0.050,1901,3812,3677,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1399,-0.42,-170.3,269.8,-7.7,209,1405,0.00,1.80,0.00,0.000,6,0.000,0.028,1901,2556,3676,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1706,-0.45,-170.3,296.3,-5.8,240,1716,0.12,2.00,0.00,0.000,4,0.076,0.028,1802,1168,3676,0,0,0,0,0,0,26.64,26.48,28.83
$GC,1732,-0.46,-170.3,298.1,-6.5,242,1739,0.22,2.22,0.00,0.000,6,0.132,0.041,1860,2657,3676,0,0,0,0,0,0,26.21,26.45,28.83
$GC,2039,-0.44,-170.3,339.6,-15.1,273,2043,0.00,2.15,0.00,0.000,4,0.000,0.029,1861,1169,3675,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2080,-0.44,-170.3,345.2,-13.4,277,2089,0.00,2.22,0.00,0.000,6,0.000,0.043,1851,2654,3675,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2390,-0.42,-170.3,379.9,-11.8,308,2394,0.00,1.77,0.00,0.000,4,0.000,0.048,1843,3822,3674,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2425,-0.40,-170.3,383.9,-12.6,311,2432,0.08,1.83,0.00,0.000,6,0.109,0.025,1874,2555,3674,0,0,0,0,0,0,26.36,26.58,28.83
$GC,2733,-0.42,-170.3,411.5,-7.7,342,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2554,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,-0.44,-170.3,436.0,-8.2,372,3042,0.00,1.98,0.00,0.000,4,0.000,0.031,1874,1164,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3066,-0.47,-170.3,438.7,-8.3,375,3074,0.00,2.20,0.00,0.000,6,0.000,0.042,1866,2646,3670,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3377,-0.48,-170.3,465.1,-7.6,406,3380,0.00,1.77,0.00,0.000,4,0.000,0.049,1858,3813,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3419,-0.50,-170.3,468.3,-7.4,410,3422,0.00,1.80,0.00,0.000,6,0.000,0.028,1857,2561,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3731,-0.50,-170.3,491.6,-8.7,441,3740,0.00,1.98,0.00,0.000,4,0.000,0.034,1858,1186,3666,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3776,-0.52,-170.3,495.6,-9.4,445,3782,0.00,2.20,0.00,0.000,6,0.000,0.042,1849,2654,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4084,-0.52,-170.3,533.2,-11.8,476,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2654,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.52,-170.3,563.5,-9.0,506,4394,0.00,2.15,0.00,0.000,4,0.000,0.031,1849,1178,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4430,-0.54,-170.3,566.8,-7.8,510,4437,0.00,2.20,0.00,0.000,6,0.000,0.044,1839,2653,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4737,-0.54,-170.3,596.3,-10.0,541,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2653,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-0.54,-170.3,627.7,-10.1,558,5042,0.00,2.17,0.00,0.000,4,0.000,0.032,1839,1179,3657,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5079,-0.54,-170.3,631.5,-9.9,560,5083,0.00,2.25,0.00,0.000,6,0.000,0.044,1830,2657,3657,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5394,-0.53,-170.3,665.2,-10.9,576,5399,0.00,2.15,0.00,0.000,4,0.000,0.032,1830,1186,3655,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5454,-0.53,-170.3,671.3,-10.6,579,5458,0.00,2.22,0.00,0.000,6,0.000,0.044,1821,2654,3654,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5767,-0.52,-170.3,706.0,-10.9,595,5770,0.00,1.77,0.00,0.000,4,0.000,0.050,1813,3815,3652,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5817,-0.50,-170.3,710.6,-10.8,597,5821,0.12,1.80,0.00,0.000,6,0.125,0.028,1851,2560,3652,0,0,0,0,0,0,26.32,26.55,28.83
$GC,6125,-0.52,-170.3,735.5,-7.8,612,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2558,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6424,-0.54,-170.3,760.0,-7.8,627,6430,0.00,1.95,0.00,0.000,4,0.000,0.051,1842,3814,3648,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6452,-0.56,-170.3,761.4,-7.6,628,6455,0.00,1.80,0.00,0.000,6,0.000,0.028,1842,2571,3647,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6764,-0.57,-170.3,780.7,-5.3,644,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2563,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7064,-0.59,-170.3,799.2,-6.9,659,7069,0.00,2.03,0.00,0.000,4,0.000,0.034,1842,1182,3643,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7106,-0.61,-170.3,802.0,-7.1,661,7110,0.00,2.25,0.00,0.000,6,0.000,0.044,1833,2658,3642,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7421,-0.61,-170.3,829.0,-9.1,677,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2658,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7718,-0.61,-170.3,854.2,-7.8,692,7724,0.00,2.17,0.00,0.000,4,0.000,0.033,1833,1185,3639,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7752,-0.62,-170.3,855.6,-7.6,693,7758,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2654,3639,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8059,-0.62,-170.3,878.1,-6.8,709,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2654,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8358,-0.62,-170.3,902.5,-8.8,724,8364,0.00,2.15,0.00,0.000,4,0.000,0.034,1824,1186,3636,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8392,-0.62,-170.3,904.3,-8.9,725,8399,0.00,2.22,0.00,0.000,6,0.000,0.044,1816,2652,3636,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8700,-0.62,-170.3,933.1,-8.6,741,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2652,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,-0.62,-170.3,956.8,-7.8,756,9004,0.00,2.17,0.00,0.000,4,0.000,0.034,1816,1185,3633,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9052,-0.62,-170.3,960.0,-7.8,758,9058,0.00,2.25,0.00,0.000,6,0.000,0.046,1813,2656,3633,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9358,-0.62,-170.3,989.1,-10.1,774,9362,0.00,1.77,0.00,0.000,4,0.000,0.052,1804,3811,3632,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,9378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9378,begin apogee
$GC,9385,-0.20,0.0,991.4,-10.3,775,9536,0.40,0.12,144.48,1.186,6,0.099,0.086,1946,2533,2977,0,0,0,0,0,0,26.10,24.83,24.05
$STATE,9537,end apogee,CONTROL_FINISHED_OK
$STATE,9537,begin climb
$GC,9539,0.58,170.3,999.6,0.0,782,9709,0.68,2.17,159.90,1.188,4,0.047,0.050,2207,3803,2275,0,0,0,0,0,0,25.01,24.56,23.77
$GC,9759,0.46,170.3,985.5,15.9,793,9764,0.22,2.12,0.00,0.000,6,0.187,0.033,2162,2464,2259,0,0,0,0,0,0,24.90,25.12,28.83
$GC,10072,0.40,170.3,942.5,14.0,809,10076,0.00,2.15,0.00,0.000,4,0.000,0.048,2162,3822,2252,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10102,0.33,170.3,939.2,14.4,810,10107,0.20,2.08,0.00,0.000,6,0.174,0.033,2121,2467,2251,0,0,0,0,0,0,25.55,25.89,28.83
$GC,10410,0.30,170.3,902.4,11.0,825,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2466,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10710,0.27,170.3,869.4,11.3,840,10715,0.00,2.12,0.00,0.000,4,0.000,0.052,2121,3805,2249,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10782,0.24,170.3,861.7,12.5,843,10789,0.15,2.03,0.00,0.000,6,0.165,0.032,2092,2462,2248,0,0,0,0,0,0,25.86,26.17,28.83
$GC,11089,0.24,170.3,829.4,10.1,859,11094,0.00,2.10,0.00,0.000,4,0.000,0.049,2091,3813,2247,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11122,0.24,170.3,827.3,10.0,860,11129,0.00,2.03,0.00,0.000,6,0.000,0.031,2102,2462,2246,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11428,0.24,170.3,795.5,9.2,876,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2462,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11729,0.29,212.6,770.7,7.6,891,11769,0.00,2.22,29.62,1.027,4,0.000,0.050,2102,3816,2116,0,0,0,0,1,0,28.83,25.79,24.90
$GC,11841,0.30,223.4,761.7,8.8,896,11871,0.00,2.08,20.38,0.986,6,0.000,0.031,2112,2460,2058,0,0,0,0,0,0,28.83,25.90,24.82
$GC,12174,0.30,223.4,731.1,10.0,913,12179,0.00,2.10,0.00,0.000,4,0.000,0.040,2123,1069,2046,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12232,0.31,223.4,724.8,10.4,916,12236,0.00,2.25,0.00,0.000,6,0.000,0.044,2123,2519,2045,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12554,0.30,223.4,690.1,10.4,932,12559,0.00,2.03,0.00,0.000,4,0.000,0.050,2123,3812,2043,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12598,0.29,223.4,685.4,10.8,934,12602,0.00,2.05,0.00,0.000,6,0.000,0.033,2133,2459,2042,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,18928,end climb,SURFACE_DEPTH_REACHED
$STATE,18928,begin surface coast
$FINISH,0.9,1.022727
$STATE,18949,end surface coast,CONTROL_FINISHED_OK
$STATE,18949,begin surface
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$IRIDIUM_FIX,2230.01,12243.13,021211,232358
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.43
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.8,27.420
$10V_AH,10.2,20.171
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.600,175.975,582.850,0.000,0.000,60.623,60.047,235.871,0.000,0.000,12.059,3976.607,11131.603,709.900,3351.401,380.278,0.000,2297.229,0.000,2818.602,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,110090,1673
$CAP_FILE_SIZE,207454,0
$CFSIZE,260165632,211402752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031211,092650,2240.559,12236.680,58,2.4,77,-3.0