version: 66.10
glider: 169
mission: 5
dive: 132
start: 12 4 111 21 53 9
data:
$ID,169
$MISSION,5
$DIVE,132
$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,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$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,-10446.02
$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
$GPS1,041211,214601,2258.539,12215.945,42,1.0,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.9
$GPS2,041211,215244,2258.700,12215.999,17,1.6,17,-3.1
$SPEED_LIMITS,0.159,0.276
$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,279.2,85952,-14.3,-9.167
$D_GRID,5126
$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,16,-0.58,-180.0,0.0,0.0,0,96,0.00,0.00,-77.03,0.000,2,0.000,0.000,116,2682,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-180.0,3.8,-8.7,13,128,6.75,1.83,-12.25,0.000,4,0.230,0.057,1803,3823,3715,0,0,0,0,0,0,25.55,26.06,26.44
$GC,209,-0.46,-180.0,54.1,-37.2,32,216,0.17,1.83,0.00,0.000,6,0.169,0.025,1858,2560,3715,0,0,0,0,0,0,25.78,26.19,28.83
$GC,528,-0.38,-180.0,145.5,-20.6,93,537,0.00,2.00,0.00,0.000,4,0.000,0.030,1868,1182,3715,0,0,0,0,0,0,28.83,26.28,28.83
$GC,592,-0.37,-180.0,156.2,-12.1,104,600,0.12,2.22,0.00,0.000,6,0.143,0.042,1895,2654,3716,0,0,0,0,0,0,26.09,26.25,28.83
$GC,910,-0.36,-180.0,197.0,-13.5,165,919,0.00,1.77,0.00,0.000,4,0.000,0.048,1886,3819,3716,0,0,0,0,0,0,28.83,26.29,28.83
$GC,957,-0.36,-180.0,203.4,-13.2,171,960,0.00,1.80,0.00,0.000,6,0.000,0.025,1890,2559,3716,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1269,-0.36,-180.0,236.9,-8.6,202,1278,0.00,1.98,0.00,0.000,4,0.000,0.047,1881,3823,3716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1304,-0.36,-180.0,240.2,-9.6,205,1313,0.00,1.80,0.00,0.000,6,0.000,0.024,1881,2554,3716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1610,-0.36,-180.0,273.0,-10.1,236,1614,0.00,1.98,0.00,0.000,4,0.000,0.029,1881,1180,3716,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1630,-0.36,-180.0,274.6,-10.1,237,1639,0.00,2.22,0.00,0.000,6,0.000,0.041,1871,2660,3716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1938,-0.36,-180.0,307.8,-10.3,268,1941,0.00,1.77,0.00,0.000,4,0.000,0.049,1862,3823,3716,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2003,-0.37,-180.0,314.4,-10.2,274,2010,0.00,1.80,0.00,0.000,6,0.000,0.026,1862,2556,3715,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2311,-0.35,-180.0,350.5,-13.2,305,2313,0.12,0.00,0.00,0.000,6,0.140,0.000,1900,2556,3714,0,0,0,0,0,0,26.42,28.83,28.83
$GC,2611,-0.38,-180.0,371.6,-6.7,335,2615,0.00,1.98,0.00,0.000,4,0.000,0.049,1891,3818,3712,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2643,-0.43,-180.0,373.5,-6.2,338,2647,0.00,1.83,0.00,0.000,6,0.000,0.028,1891,2562,3712,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2955,-0.47,-180.0,387.4,-3.9,369,2964,0.00,2.00,0.00,0.000,4,0.000,0.033,1891,1180,3710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2987,-0.52,-180.0,388.9,-4.5,372,2996,0.10,2.17,0.00,0.000,6,0.047,0.041,1815,2655,3710,0,0,0,0,0,0,26.41,26.44,28.83
$GC,3297,-0.48,-180.0,432.9,-16.4,403,3308,0.12,2.15,0.00,0.000,4,0.149,0.030,1861,1184,3709,0,0,0,0,0,0,26.38,26.46,28.83
$GC,3331,-0.46,-180.0,437.4,-13.9,406,3340,0.00,2.20,0.00,0.000,6,0.000,0.042,1852,2654,3709,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3641,-0.46,-180.0,467.9,-10.1,437,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2654,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3942,-0.46,-180.0,496.2,-9.0,467,3952,0.00,2.15,0.00,0.000,4,0.000,0.032,1851,1184,3705,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3997,-0.49,-180.0,500.7,-8.4,472,4001,0.00,2.22,0.00,0.000,6,0.000,0.043,1842,2659,3705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4308,-0.49,-180.0,531.0,-9.2,503,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2659,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4610,-0.49,-180.0,559.0,-9.4,533,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2658,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-0.49,-180.0,588.8,-9.5,564,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2658,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,-0.49,-180.0,616.7,-8.8,586,5235,0.00,2.15,0.00,0.000,4,0.000,0.031,1842,1181,3695,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5262,-0.50,-180.0,618.5,-8.8,587,5270,0.00,2.22,0.00,0.000,6,0.000,0.044,1834,2652,3695,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5568,-0.50,-180.0,647.5,-8.7,603,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2653,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,-0.50,-180.0,672.5,-8.1,618,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2653,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,-0.50,-180.0,697.8,-8.5,633,6175,0.00,2.12,0.00,0.000,4,0.000,0.031,1834,1186,3688,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6243,-0.51,-180.0,702.8,-8.4,636,6251,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2652,3688,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6549,-0.51,-180.0,731.6,-8.8,652,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2652,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6848,-0.51,-180.0,756.8,-8.1,667,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2652,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.51,-180.0,781.6,-8.4,682,7155,0.00,2.15,0.00,0.000,4,0.000,0.032,1825,1185,3683,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7191,-0.52,-180.0,784.8,-8.4,684,7195,0.00,2.25,0.00,0.000,6,0.000,0.044,1818,2657,3683,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7504,-0.52,-180.0,814.8,-9.7,700,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2658,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7804,-0.52,-180.0,843.6,-9.5,715,7809,0.00,2.17,0.00,0.000,4,0.000,0.033,1818,1184,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7852,-0.52,-180.0,847.3,-9.4,717,7856,0.00,2.25,0.00,0.000,6,0.000,0.047,1813,2655,3679,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8166,-0.51,-180.0,878.1,-9.6,733,8168,0.10,0.00,0.00,0.000,6,0.164,0.000,1841,2654,3678,0,0,0,0,0,0,26.44,28.83,28.83
$GC,8465,-0.53,-180.0,898.8,-6.6,748,8470,0.00,2.17,0.00,0.000,4,0.000,0.033,1841,1182,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8508,-0.56,-180.0,901.5,-6.5,750,8512,0.00,2.25,0.00,0.000,6,0.000,0.045,1833,2655,3676,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8823,-0.57,-180.0,924.3,-7.6,766,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2654,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9120,-0.59,-180.0,946.9,-7.5,781,9126,0.00,2.20,0.00,0.000,4,0.000,0.034,1833,1179,3674,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9155,-0.61,-180.0,948.2,-7.1,782,9162,0.00,2.28,0.00,0.000,6,0.000,0.048,1829,2656,3674,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9461,-0.62,-180.0,973.2,-8.5,798,9465,0.00,1.77,0.00,0.000,4,0.000,0.052,1821,3811,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9491,-0.64,-180.0,975.1,-8.7,799,9494,0.00,1.80,0.00,0.000,6,0.000,0.030,1821,2572,3672,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,9660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9660,begin apogee
$GC,9666,-0.20,0.0,991.0,-8.6,808,9825,0.35,0.12,152.30,1.177,6,0.099,0.087,1946,2532,2974,0,0,0,0,0,0,26.08,24.79,24.00
$STATE,9826,end apogee,CONTROL_FINISHED_OK
$STATE,9826,begin climb
$GC,9829,0.58,180.0,998.6,0.0,816,10007,0.65,2.17,167.20,1.183,4,0.043,0.049,2206,3802,2234,0,0,0,0,0,0,24.99,24.48,23.68
$GC,10038,0.46,180.0,981.9,17.4,826,10045,0.22,2.12,0.00,0.000,6,0.184,0.032,2161,2467,2220,0,0,0,0,0,0,24.72,24.92,28.83
$GC,10346,0.40,180.0,931.1,15.5,842,10351,0.00,2.15,0.00,0.000,4,0.000,0.054,2160,3807,2213,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10445,0.32,180.0,914.0,17.0,847,10452,0.20,2.05,0.00,0.000,6,0.167,0.034,2118,2467,2212,0,0,0,0,0,0,25.56,25.89,28.83
$GC,10767,0.30,180.0,878.6,10.6,863,10771,0.00,2.12,0.00,0.000,4,0.000,0.042,2128,1057,2210,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10792,0.27,180.0,876.1,10.6,864,10796,0.00,2.28,0.00,0.000,6,0.000,0.044,2128,2526,2209,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11107,0.24,180.0,839.5,11.7,880,11113,0.12,2.00,0.00,0.000,4,0.161,0.049,2090,3811,2209,0,0,0,0,0,0,25.98,26.06,28.83
$GC,11169,0.22,180.0,832.8,11.1,883,11173,0.00,2.03,0.00,0.000,6,0.000,0.032,2100,2459,2208,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11481,0.24,192.9,804.2,8.7,899,11495,0.00,2.20,8.73,0.978,4,0.000,0.050,2100,3816,2187,0,0,0,0,0,0,28.83,26.10,25.26
$GC,11518,0.23,197.0,800.6,9.0,900,11524,0.00,2.03,0.00,0.000,6,0.000,0.031,2111,2466,2179,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11839,0.23,206.1,771.5,8.9,916,11860,0.00,2.20,14.70,0.982,4,0.000,0.050,2111,3813,2130,0,0,0,0,0,0,28.83,25.96,25.19
$GC,11892,0.22,206.1,767.5,9.4,918,11900,0.15,2.05,0.00,0.000,6,0.153,0.032,2081,2464,2122,0,0,0,0,0,0,25.81,26.01,28.83
$GC,12200,0.31,265.9,743.7,7.1,934,12266,0.00,2.20,60.33,0.976,4,0.000,0.039,2091,1069,1887,0,0,0,0,0,0,28.83,25.25,24.52
$GC,12289,0.42,336.7,738.4,6.7,938,12362,0.17,2.30,67.28,0.988,6,0.061,0.042,2191,2522,1605,0,0,0,0,0,0,25.46,25.41,24.21
$GC,12659,0.38,336.7,674.2,17.5,957,12661,0.20,0.00,0.00,0.000,6,0.142,0.000,2134,2522,1578,0,0,0,0,0,0,25.62,28.83,28.83
$GC,12959,0.40,336.7,640.8,10.1,972,12964,0.00,2.22,0.00,0.000,4,0.000,0.039,2145,1052,1575,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12987,0.41,336.7,639.0,9.9,973,12991,0.00,2.28,0.00,0.000,6,0.000,0.043,2144,2523,1573,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,18388,end climb,SURFACE_DEPTH_REACHED
$STATE,18388,begin surface coast
$FINISH,0.5,1.022483
$STATE,18406,end surface coast,CONTROL_FINISHED_OK
$STATE,18406,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,39.91
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,10.2,21.133
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,107111,1636
$CAP_FILE_SIZE,196383,0
$CFSIZE,260165632,210624512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.405, 61.3,1
$GPS,051211,030207,2301.050,12213.580,29,1.3,29,-3.1