version: 66.10
glider: 169
mission: 5
dive: 191
start: 12 15 111 13 31 22
data:
$ID,169
$MISSION,5
$DIVE,191
$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,350
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,1
$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,-10962.024
$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
$GPS1,151211,132306,2327.347,12151.108,32,1.1,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.4
$GPS2,151211,133101,2327.558,12151.026,14,1.6,31,-3.1
$SPEED_LIMITS,0.163,0.319
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,81.9,214093,-13.1,-9.429
$D_GRID,4312
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.63,-243.3,0.0,0.0,0,117,0.00,0.00,-96.90,0.000,2,0.000,0.000,117,2707,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.63,-243.3,3.1,-5.3,17,156,6.82,2.33,-19.15,0.000,4,0.233,0.044,1807,1185,3963,0,0,0,0,0,0,25.39,26.05,26.46
$GC,179,-0.47,-243.3,25.8,-42.4,27,186,0.20,2.25,0.00,0.000,6,0.153,0.041,1852,2654,3964,0,0,0,0,0,0,25.67,26.01,28.83
$GC,491,-0.39,-243.3,102.0,-19.4,88,498,0.10,0.00,0.00,0.000,6,0.184,0.000,1877,2654,3963,0,0,0,0,0,0,26.17,28.83,28.83
$GC,803,-0.37,-243.3,150.4,-13.7,149,810,0.00,1.83,0.00,0.000,4,0.000,0.050,1869,3814,3964,0,0,0,0,0,0,28.83,26.17,28.83
$GC,848,-0.39,-243.3,155.4,-8.9,157,855,0.00,1.83,0.00,0.000,6,0.000,0.025,1869,2549,3965,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1157,-0.37,-243.3,192.3,-12.1,218,1164,0.00,2.00,0.00,0.000,4,0.000,0.046,1859,3818,3964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1213,-0.40,-243.3,197.7,-8.2,228,1220,0.00,1.80,0.00,0.000,6,0.000,0.024,1859,2556,3964,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1522,-0.39,-243.3,230.9,-10.8,261,1531,0.00,1.98,0.00,0.000,4,0.000,0.045,1850,3822,3964,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1578,-0.41,-243.3,235.6,-9.3,266,1585,0.00,1.80,0.00,0.000,6,0.000,0.024,1850,2556,3963,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1883,-0.41,-243.3,268.1,-11.1,297,1892,0.00,1.98,0.00,0.000,4,0.000,0.044,1841,3824,3961,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1936,-0.42,-243.3,273.2,-10.4,302,1945,0.10,1.80,0.00,0.000,6,0.117,0.024,1875,2556,3961,0,0,0,0,0,0,26.30,26.48,28.83
$GC,2245,-0.45,-243.3,297.2,-7.6,333,2254,0.00,1.95,0.00,0.000,4,0.000,0.045,1866,3814,3959,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2268,-0.49,-243.3,298.9,-7.4,335,2277,0.00,1.80,0.00,0.000,6,0.000,0.025,1866,2554,3959,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2577,-0.60,-243.3,327.2,-9.7,366,2586,0.12,1.95,0.00,0.000,4,0.119,0.043,1816,3816,3957,0,0,0,0,0,0,26.41,26.27,28.83
$GC,2610,-0.69,-243.3,330.4,-9.6,369,2618,0.00,1.80,0.00,0.000,6,0.000,0.024,1816,2542,3956,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2921,-0.79,-243.3,354.9,-6.9,400,2931,0.15,1.95,0.00,0.000,4,0.085,0.044,1750,3804,3954,0,0,0,0,0,0,26.48,26.27,28.83
$GC,2955,-0.86,-243.3,357.4,-7.2,403,2959,0.00,1.77,0.00,0.000,6,0.000,0.024,1750,2559,3954,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3266,-0.75,-243.3,429.4,-25.7,434,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2557,3952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3570,-0.66,-243.3,500.8,-24.0,464,3579,0.12,1.95,0.00,0.000,4,0.164,0.044,1780,3814,3950,0,0,0,0,0,0,26.22,26.25,28.83
$GC,3625,-0.60,-243.3,512.5,-20.4,469,3632,0.08,1.83,0.00,0.000,6,0.106,0.024,1822,2560,3949,0,0,0,0,0,0,26.17,26.47,28.83
$GC,3932,-0.60,-243.3,545.7,-10.6,500,3942,0.00,2.00,0.00,0.000,4,0.000,0.031,1823,1183,3947,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3967,-0.61,-243.3,549.0,-10.1,503,3974,0.00,2.22,0.00,0.000,6,0.000,0.041,1814,2658,3947,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4276,-0.60,-243.3,582.7,-11.1,534,4280,0.00,1.75,0.00,0.000,4,0.000,0.047,1805,3814,3944,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4300,-0.59,-243.3,585.2,-11.0,536,4307,0.00,1.83,0.00,0.000,6,0.000,0.024,1805,2561,3944,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4618,-0.57,-243.3,621.1,-11.2,559,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2560,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-0.56,-243.3,654.1,-11.0,574,4924,0.00,1.95,0.00,0.000,4,0.000,0.050,1797,3814,3940,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4940,-0.55,-243.3,656.1,-10.9,575,4944,0.08,1.83,0.00,0.000,6,0.099,0.026,1830,2564,3940,0,0,0,0,0,0,26.21,26.46,28.83
$GC,5260,-0.56,-243.3,680.5,-7.4,591,5265,0.00,2.00,0.00,0.000,4,0.000,0.031,1830,1185,3937,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5286,-0.58,-243.3,682.0,-7.5,592,5290,0.00,2.22,0.00,0.000,6,0.000,0.041,1825,2653,3937,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5594,-0.59,-243.3,706.5,-8.1,607,5598,0.00,1.83,0.00,0.000,4,0.000,0.050,1817,3811,3934,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5638,-0.62,-243.3,709.9,-8.0,609,5643,0.00,1.80,0.00,0.000,6,0.000,0.028,1817,2561,3934,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5956,-0.62,-243.3,737.8,-8.9,625,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2561,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6259,-0.62,-243.3,764.4,-9.0,640,6264,0.00,1.95,0.00,0.000,4,0.000,0.050,1809,3802,3930,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6290,-0.62,-243.3,766.2,-9.0,641,6297,0.00,1.80,0.00,0.000,6,0.000,0.026,1809,2556,3930,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6597,-0.62,-243.3,796.4,-9.6,657,6602,0.00,2.03,0.00,0.000,4,0.000,0.031,1809,1172,3928,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6625,-0.62,-243.3,798.4,-9.6,658,6629,0.00,2.22,0.00,0.000,6,0.000,0.041,1800,2653,3928,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6932,-0.61,-243.3,832.5,-11.5,673,6935,0.00,1.80,0.00,0.000,4,0.000,0.050,1791,3811,3926,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6974,-0.60,-243.3,837.2,-11.4,675,6977,0.00,1.80,0.00,0.000,6,0.000,0.028,1791,2570,3926,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7295,-0.59,-243.3,876.8,-12.6,691,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2562,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7595,-0.57,-243.3,914.4,-12.4,706,7601,0.12,2.05,0.00,0.000,4,0.132,0.031,1837,1177,3923,0,0,0,0,0,0,26.32,26.22,28.83
$GC,7628,-0.57,-243.3,916.6,-12.0,707,7635,0.00,2.25,0.00,0.000,6,0.000,0.044,1829,2651,3922,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7937,-0.68,-243.3,945.6,-9.7,723,7943,0.12,1.83,0.00,0.000,4,0.125,0.049,1782,3820,3920,0,0,0,0,0,0,26.34,26.06,28.83
$GC,7983,-0.79,-243.3,949.4,-9.5,725,7988,0.12,1.83,0.00,0.000,6,0.118,0.029,1746,2575,3920,0,0,0,0,0,0,26.14,26.36,28.83
$GC,8293,-0.82,-243.3,975.6,-8.1,740,8297,0.00,2.05,0.00,0.000,4,0.000,0.030,1746,1168,3919,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8358,-0.82,-243.3,981.6,-9.1,743,8362,0.00,2.28,0.00,0.000,6,0.000,0.045,1738,2651,3919,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,8427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8427,begin apogee
$GC,8434,-0.20,0.0,992.0,-14.0,747,8650,0.60,0.10,206.85,1.177,6,0.119,0.059,1936,2531,2968,0,0,0,0,0,0,25.56,24.56,23.68
$STATE,8651,end apogee,CONTROL_FINISHED_OK
$STATE,8651,begin climb
$GC,8654,0.63,243.3,1002.2,0.0,758,8891,0.75,0.00,226.43,1.172,6,0.047,0.000,2222,2530,1972,0,0,0,0,0,0,24.79,28.83,23.14
$GC,9192,0.52,243.3,901.0,23.2,785,9198,0.12,2.00,0.00,0.000,4,0.195,0.047,2183,3802,1953,0,0,0,0,0,0,25.48,25.67,28.83
$GC,9244,0.43,243.3,891.6,23.2,787,9251,0.17,2.05,0.00,0.000,6,0.171,0.031,2147,2466,1952,0,0,0,0,0,0,25.47,25.81,28.83
$GC,9552,0.38,243.3,844.2,14.1,803,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2465,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9852,0.34,243.3,805.0,12.8,818,9857,0.00,2.10,0.00,0.000,4,0.000,0.048,2146,3810,1950,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9913,0.30,243.3,796.3,14.3,821,9918,0.17,2.05,0.00,0.000,6,0.154,0.032,2109,2465,1950,0,0,0,0,0,0,25.74,26.10,28.83
$GC,10226,0.34,272.0,767.4,8.7,837,10255,0.00,0.00,21.75,0.910,6,0.000,0.000,2109,2463,1869,0,0,0,0,1,0,28.83,28.83,24.73
$GC,10548,0.39,317.9,741.3,8.2,853,10599,0.00,2.20,41.65,1.116,4,0.000,0.047,2109,3810,1690,0,0,0,0,1,0,28.83,25.37,24.32
$GC,10631,0.44,353.5,734.7,8.5,856,10683,0.00,2.10,46.83,0.959,6,0.000,0.029,2119,2454,1538,0,0,0,0,0,0,28.83,25.56,24.30
$GC,10985,0.51,397.3,704.6,8.3,874,11035,0.12,2.25,41.20,0.973,4,0.076,0.041,2215,1061,1347,0,0,0,0,0,0,26.02,25.33,24.47
$GC,11058,0.50,397.3,695.3,13.7,877,11065,0.15,2.30,0.00,0.000,6,0.140,0.041,2173,2522,1337,0,0,0,0,0,0,25.33,25.48,28.83
$GC,11364,0.46,397.3,639.3,17.4,893,11370,0.00,2.03,0.00,0.000,4,0.000,0.049,2173,3815,1334,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11406,0.43,397.3,631.6,18.1,895,11411,0.12,2.05,0.00,0.000,6,0.156,0.031,2150,2459,1332,0,0,0,0,0,0,25.75,25.98,28.83
$GC,11720,0.43,397.3,590.5,12.2,914,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2458,1331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12020,0.43,397.3,556.6,11.1,944,12029,0.00,2.08,0.00,0.000,4,0.000,0.038,2160,1070,1331,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12062,0.45,397.3,552.1,10.3,948,12071,0.00,2.22,0.00,0.000,6,0.000,0.039,2160,2534,1329,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12372,0.45,397.3,515.9,12.3,979,12381,0.00,2.00,0.00,0.000,4,0.000,0.049,2160,3814,1330,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12403,0.45,397.3,511.7,12.9,982,12407,0.00,2.03,0.00,0.000,6,0.000,0.031,2170,2461,1329,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,13058,0.41,397.3,419.0,15.6,1047,13067,0.12,1.95,0.00,0.000,4,0.153,0.044,2141,3808,1328,0,0,0,0,0,0,26.13,26.11,28.83
$GC,13094,0.40,397.3,414.0,15.2,1050,13101,0.00,2.03,0.00,0.000,6,0.000,0.029,2151,2447,1328,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,16061,0.98,754.7,13.6,11.1,1481,16067,0.00,2.00,0.00,0.000,6,0.000,0.027,2318,2455,401,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,16143,end climb,SURFACE_DEPTH_REACHED
$STATE,16144,begin surface coast
$FINISH,0.3,1.022766
$STATE,16162,end surface coast,CONTROL_FINISHED_OK
$STATE,16162,begin surface
$SM_CCo,16236,0.00,0.000,0,0,401,632.38
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$IRIDIUM_FIX,2316.83,12149.37,151211,080823
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,41.746
$10V_AH,10.1,27.246
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.350,141.775,787.525,0.000,0.000,23.577,50.006,247.770,0.000,0.000,32.205,3502.814,8941.101,881.811,3003.252,353.149,0.000,2353.501,0.000,2522.724,0.000,0.542,0.000
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$SENSOR_SECS,1017.749,1875.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324368
$DATA_FILE_SIZE,100156,1500
$CAP_FILE_SIZE,182117,0
$CFSIZE,260165632,205467648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,151211,180307,2329.488,12153.947,42,1.0,42,-3.1