version: 66.10
glider: 169
mission: 5
dive: 129
start: 12 4 111 6 17 56
data:
$ID,169
$MISSION,5
$DIVE,129
$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,-10442.057
$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
$GPS1,041211,061000,2250.332,12223.469,39,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.2
$GPS2,041211,061732,2250.461,12223.436,16,1.1,16,-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,286.9,101116,-14.8,-9.167
$D_GRID,5356
$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,-170.3,0.0,0.0,0,98,0.00,0.00,-78.47,0.000,2,0.000,0.000,116,2679,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-170.3,3.2,-6.0,14,132,6.75,1.80,-15.30,0.000,4,0.230,0.063,1803,3808,3676,0,0,0,0,0,0,25.53,26.06,26.42
$GC,229,-0.48,-170.3,54.0,-29.0,38,237,0.15,1.80,0.00,0.000,6,0.163,0.027,1850,2578,3676,0,0,0,0,0,0,25.85,26.17,28.83
$GC,540,-0.39,-170.3,156.5,-27.1,99,548,0.12,2.03,0.00,0.000,4,0.180,0.030,1898,1184,3676,0,0,0,0,0,0,26.06,26.27,28.83
$GC,667,-0.42,-170.3,174.3,-9.0,123,674,0.00,2.22,0.00,0.000,6,0.000,0.041,1887,2656,3676,0,0,0,0,0,0,28.83,26.28,28.83
$GC,977,-0.40,-170.3,216.3,-16.2,174,981,0.00,2.15,0.00,0.000,4,0.000,0.030,1887,1180,3676,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1039,-0.42,-170.3,224.6,-12.1,180,1048,0.00,2.22,0.00,0.000,6,0.000,0.042,1878,2655,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1349,-0.40,-170.3,263.7,-13.9,211,1357,0.00,2.15,0.00,0.000,4,0.000,0.030,1877,1184,3676,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1401,-0.41,-170.3,270.0,-11.9,216,1410,0.00,2.22,0.00,0.000,6,0.000,0.041,1868,2661,3676,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1711,-0.39,-170.3,310.9,-10.6,247,1720,0.00,2.15,0.00,0.000,4,0.000,0.031,1868,1185,3676,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1756,-0.39,-170.3,314.7,-9.1,251,1762,0.00,2.20,0.00,0.000,6,0.000,0.041,1858,2655,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2064,-0.37,-170.3,352.1,-13.0,282,2073,0.10,2.15,0.00,0.000,4,0.167,0.028,1886,1184,3675,0,0,0,0,0,0,26.44,26.46,28.83
$GC,2109,-0.39,-170.3,356.3,-9.8,286,2116,0.00,2.20,0.00,0.000,6,0.000,0.041,1878,2655,3675,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2417,-0.41,-170.3,381.8,-8.0,317,2421,0.00,1.77,0.00,0.000,4,0.000,0.047,1869,3807,3674,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2469,-0.44,-170.3,386.3,-8.4,322,2472,0.00,1.77,0.00,0.000,6,0.000,0.026,1870,2561,3673,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2782,-0.46,-170.3,414.9,-8.9,353,2790,0.00,2.00,0.00,0.000,4,0.000,0.032,1869,1177,3672,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2833,-0.49,-170.3,419.1,-7.8,358,2842,0.00,2.22,0.00,0.000,6,0.000,0.042,1860,2655,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3143,-0.49,-170.3,447.2,-9.0,389,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2655,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3444,-0.49,-170.3,472.9,-8.6,419,3453,0.00,2.15,0.00,0.000,4,0.000,0.031,1860,1181,3667,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3496,-0.52,-170.3,477.0,-7.6,424,3505,0.00,2.20,0.00,0.000,6,0.000,0.042,1851,2655,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3806,-0.52,-170.3,506.7,-9.7,455,3815,0.00,2.15,0.00,0.000,4,0.000,0.031,1851,1184,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3868,-0.56,-170.3,512.2,-8.3,461,3877,0.00,2.22,0.00,0.000,6,0.000,0.042,1842,2658,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4177,-0.56,-170.3,543.8,-10.1,492,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2658,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-0.56,-170.3,574.4,-9.8,522,4488,0.00,2.15,0.00,0.000,4,0.000,0.031,1842,1187,3660,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4541,-0.58,-170.3,579.9,-8.2,528,4550,0.00,2.22,0.00,0.000,6,0.000,0.042,1832,2655,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4863,-0.58,-170.3,608.8,-8.2,555,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2655,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-0.58,-170.3,634.3,-8.6,570,5166,0.00,2.17,0.00,0.000,4,0.000,0.032,1833,1184,3655,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5215,-0.58,-170.3,638.1,-9.0,572,5221,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2655,3655,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5521,-0.57,-170.3,669.9,-10.1,588,5526,0.00,2.12,0.00,0.000,4,0.000,0.032,1823,1191,3653,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5553,-0.56,-170.3,671.9,-10.1,589,5560,0.00,2.22,0.00,0.000,6,0.000,0.044,1813,2656,3652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5861,-0.54,-170.3,710.7,-12.3,605,5866,0.00,2.17,0.00,0.000,4,0.000,0.031,1813,1171,3650,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5903,-0.53,-170.3,715.3,-12.1,607,5908,0.12,2.25,0.00,0.000,6,0.138,0.044,1842,2653,3650,0,0,0,0,0,0,26.22,26.36,28.83
$GC,6219,-0.54,-170.3,741.7,-8.0,623,6225,0.00,2.15,0.00,0.000,4,0.000,0.032,1842,1186,3647,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6261,-0.56,-170.3,744.9,-8.0,625,6265,0.00,2.22,0.00,0.000,6,0.000,0.044,1834,2653,3647,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6574,-0.56,-170.3,772.3,-9.0,641,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2653,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6873,-0.56,-170.3,798.7,-8.5,656,6878,0.00,2.17,0.00,0.000,4,0.000,0.032,1833,1184,3642,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6937,-0.58,-170.3,803.4,-8.1,659,6941,0.00,2.25,0.00,0.000,6,0.000,0.045,1824,2658,3642,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7249,-0.58,-170.3,830.6,-8.4,675,7255,0.00,2.17,0.00,0.000,4,0.000,0.033,1824,1186,3640,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7294,-0.58,-170.3,833.8,-8.2,677,7299,0.00,2.25,0.00,0.000,6,0.000,0.044,1814,2658,3639,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7609,-0.57,-170.3,863.7,-9.7,693,7615,0.00,2.17,0.00,0.000,4,0.000,0.032,1814,1185,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7641,-0.57,-170.3,865.7,-9.9,694,7648,0.00,2.22,0.00,0.000,6,0.000,0.044,1808,2653,3639,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7951,-0.56,-170.3,898.7,-10.5,710,7956,0.00,2.15,0.00,0.000,4,0.000,0.033,1808,1195,3637,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7982,-0.55,-170.3,901.0,-10.5,711,7990,0.12,2.22,0.00,0.000,6,0.137,0.044,1837,2655,3637,0,0,0,0,0,0,26.16,26.30,28.83
$GC,8290,-0.56,-170.3,924.5,-6.6,727,8295,0.00,2.15,0.00,0.000,4,0.000,0.033,1837,1188,3636,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8337,-0.59,-170.3,927.2,-7.0,729,8341,0.00,2.22,0.00,0.000,6,0.000,0.046,1827,2652,3636,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8644,-0.59,-170.3,952.0,-8.3,744,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2653,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8944,-0.59,-170.3,979.0,-9.0,759,8950,0.00,2.17,0.00,0.000,4,0.000,0.033,1827,1183,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8977,-0.60,-170.3,981.0,-9.2,760,8984,0.00,2.25,0.00,0.000,6,0.000,0.046,1819,2655,3633,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,9062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9062,begin apogee
$GC,9068,-0.20,0.0,990.9,-10.0,765,9218,0.35,0.12,144.10,1.181,6,0.101,0.087,1943,2528,2977,0,0,0,0,0,0,26.10,24.82,24.06
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9221,0.58,170.3,999.0,0.0,772,9385,0.68,0.00,159.98,1.185,6,0.048,0.000,2204,2528,2284,0,0,0,0,0,0,24.98,28.83,23.73
$GC,9679,0.48,170.3,937.0,19.5,795,9685,0.12,2.05,0.00,0.000,4,0.196,0.049,2169,3814,2254,0,0,0,0,0,0,25.50,25.68,28.83
$GC,9780,0.40,170.3,918.1,18.7,800,9786,0.15,2.08,0.00,0.000,6,0.183,0.034,2143,2459,2252,0,0,0,0,0,0,25.56,25.86,28.83
$GC,10101,0.35,170.3,873.7,13.3,816,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2457,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10401,0.31,170.3,833.9,12.7,831,10407,0.12,2.10,0.00,0.000,4,0.178,0.047,2106,3813,2249,0,0,0,0,0,0,25.94,26.08,28.83
$GC,10453,0.27,170.3,828.6,13.0,833,10460,0.00,2.03,0.00,0.000,6,0.000,0.032,2116,2464,2248,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10761,0.25,170.3,794.4,10.1,849,10767,0.00,2.08,0.00,0.000,4,0.000,0.037,2126,1069,2248,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10783,0.23,170.3,792.4,10.1,850,10788,0.15,2.22,0.00,0.000,6,0.144,0.044,2085,2526,2247,0,0,0,0,0,0,25.94,26.15,28.83
$GC,11098,0.30,219.9,768.4,7.4,866,11155,0.00,2.12,47.17,0.998,4,0.000,0.052,2084,3809,2068,0,0,0,0,0,0,28.83,25.47,24.75
$GC,11222,0.35,245.8,758.7,8.2,872,11252,0.00,2.08,25.05,0.968,6,0.000,0.033,2095,2462,1976,0,0,0,0,0,0,28.83,25.71,24.62
$GC,11556,0.41,275.7,732.2,8.1,888,11594,0.12,2.22,28.05,0.992,4,0.076,0.041,2185,1058,1842,0,0,0,0,0,0,26.05,25.48,24.70
$GC,11620,0.41,275.7,724.2,11.7,891,11625,0.15,2.33,0.00,0.000,6,0.142,0.044,2144,2529,1833,0,0,0,0,0,0,25.46,25.58,28.83
$GC,11934,0.40,275.7,684.1,12.3,907,11939,0.00,2.00,0.00,0.000,4,0.000,0.051,2144,3812,1829,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11961,0.39,275.7,681.7,12.3,908,11965,0.00,2.05,0.00,0.000,6,0.000,0.034,2154,2467,1827,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12269,0.37,275.7,638.4,14.0,923,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2464,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12569,0.36,275.7,597.0,13.0,939,12578,0.00,2.10,0.00,0.000,4,0.000,0.054,2155,3815,1826,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,17727,end climb,SURFACE_DEPTH_REACHED
$STATE,17727,begin surface coast
$FINISH,0.3,1.022550
$STATE,17749,end surface coast,CONTROL_FINISHED_OK
$STATE,17749,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,39.28
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.90
$XPDR_PINGS,0
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$10V_AH,10.2,20.769
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.775,170.950,600.825,0.000,0.000,31.070,49.452,235.121,0.000,0.000,18.800,3810.800,10111.009,751.816,3209.929,366.284,0.000,2297.061,0.000,2726.331,0.000,0.542,0.000
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$MEM,324620
$DATA_FILE_SIZE,107112,1613
$CAP_FILE_SIZE,198866,0
$CFSIZE,260165632,210919424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041211,111627,2252.909,12220.865,39,2.2,58,-3.0