version: 66.10
glider: 169
mission: 5
dive: 207
start: 12 18 111 19 49 40
data:
$ID,169
$MISSION,5
$DIVE,207
$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,200
$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,150
$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,-10982.151
$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
$GPS1,181211,194201,2338.511,12234.331,38,1.6,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.9
$GPS2,181211,194920,2338.651,12234.345,11,1.6,11,-3.2
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2329.299,12240.232
$TGT_RADIUS,1852.000
$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,153.2,20000,-14.9,-9.429
$D_GRID,3022
$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,-0.61,-194.6,0.0,0.0,0,103,0.00,0.00,-82.75,0.000,2,0.000,0.000,116,2662,3035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.61,-194.6,3.5,-7.3,15,136,6.95,2.22,-14.95,0.000,4,0.235,0.043,1813,1171,3774,0,0,0,0,0,0,25.30,26.06,26.46
$GC,234,-0.54,-194.6,48.8,-27.6,39,241,0.12,2.28,0.00,0.000,6,0.164,0.044,1835,2651,3774,0,0,0,0,0,0,25.78,26.01,28.83
$GC,547,-0.41,-194.6,157.1,-32.6,100,554,0.12,2.17,0.00,0.000,4,0.187,0.025,1881,1172,3774,0,0,0,0,0,0,26.01,26.24,28.83
$GC,598,-0.41,-194.6,169.2,-16.5,109,604,0.00,2.25,0.00,0.000,6,0.000,0.042,1871,2653,3774,0,0,0,0,0,0,28.83,26.15,28.83
$GC,908,-0.36,-194.6,218.8,-17.2,159,909,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2653,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.35,-194.6,261.1,-12.0,189,1217,0.00,2.15,0.00,0.000,4,0.000,0.030,1871,1188,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1261,-0.36,-194.6,266.8,-10.5,194,1270,0.08,2.17,0.00,0.000,6,0.094,0.040,1897,2655,3774,0,0,0,0,0,0,26.12,26.25,28.83
$GC,1570,-0.40,-194.6,285.9,-6.2,225,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2655,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.44,-194.6,305.5,-7.1,255,1882,0.00,2.15,0.00,0.000,4,0.000,0.030,1897,1184,3774,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1895,-0.49,-194.6,307.2,-6.8,257,1905,0.12,2.22,0.00,0.000,6,0.081,0.041,1829,2654,3774,0,0,0,0,0,0,26.28,26.27,28.83
$GC,2205,-0.44,-194.6,358.4,-16.7,288,2207,0.12,0.00,0.00,0.000,6,0.150,0.000,1865,2654,3772,0,0,0,0,0,0,26.33,28.83,28.83
$GC,2505,-0.45,-194.6,394.0,-10.4,318,2508,0.00,1.77,0.00,0.000,4,0.000,0.048,1856,3816,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2537,-0.47,-194.6,397.2,-10.3,321,2540,0.00,1.80,0.00,0.000,6,0.000,0.024,1856,2563,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2848,-0.48,-194.6,429.1,-9.5,352,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2555,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,-0.49,-194.6,456.8,-10.0,382,3159,0.00,1.95,0.00,0.000,4,0.000,0.046,1847,3815,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3195,-0.51,-194.6,460.7,-8.9,386,3202,0.00,1.80,0.00,0.000,6,0.000,0.025,1847,2556,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3501,-0.51,-194.6,491.6,-10.7,417,3510,0.00,2.03,0.00,0.000,4,0.000,0.031,1847,1171,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3536,-0.53,-194.6,494.8,-10.4,420,3542,0.00,2.25,0.00,0.000,6,0.000,0.040,1838,2658,3766,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3844,-0.53,-194.6,527.6,-10.5,451,3847,0.00,1.77,0.00,0.000,4,0.000,0.046,1829,3822,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3886,-0.53,-194.6,532.0,-10.5,455,3890,0.00,1.80,0.00,0.000,6,0.000,0.024,1829,2570,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4199,-0.53,-194.6,566.1,-10.8,486,4207,0.00,1.98,0.00,0.000,4,0.000,0.046,1819,3837,3762,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4232,-0.53,-194.6,569.6,-10.9,489,4239,0.00,1.85,0.00,0.000,6,0.000,0.025,1819,2567,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4552,-0.52,-194.6,605.5,-11.3,519,4558,0.00,2.00,0.00,0.000,4,0.000,0.031,1819,1187,3760,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4604,-0.52,-194.6,609.9,-11.2,521,4612,0.10,2.22,0.00,0.000,6,0.143,0.041,1841,2657,3760,0,0,0,0,0,0,26.11,26.25,28.83
$GC,4911,-0.54,-194.6,637.7,-8.4,537,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2657,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-0.56,-194.6,662.2,-8.0,552,5216,0.00,2.17,0.00,0.000,4,0.000,0.029,1841,1178,3755,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5256,-0.59,-194.6,665.5,-7.8,554,5261,0.00,2.20,0.00,0.000,6,0.000,0.041,1833,2643,3755,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5575,-0.60,-194.6,691.6,-8.4,570,5579,0.00,1.83,0.00,0.000,4,0.000,0.049,1824,3808,3752,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5600,-0.61,-194.6,693.6,-8.5,571,5604,0.00,1.80,0.00,0.000,6,0.000,0.026,1824,2566,3752,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5917,-0.61,-194.6,721.8,-8.7,587,5922,0.00,1.95,0.00,0.000,4,0.000,0.049,1815,3812,3749,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5938,-0.61,-194.6,723.5,-8.7,588,5941,0.00,1.83,0.00,0.000,6,0.000,0.027,1815,2563,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6259,-0.61,-194.6,754.0,-9.8,604,6265,0.00,2.03,0.00,0.000,4,0.000,0.033,1815,1188,3747,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6299,-0.62,-194.6,758.0,-9.8,606,6305,0.00,2.22,0.00,0.000,6,0.000,0.042,1806,2652,3746,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6622,-0.61,-194.6,791.9,-11.0,622,6627,0.00,2.15,0.00,0.000,4,0.000,0.031,1806,1190,3744,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6642,-0.61,-194.6,794.1,-10.8,623,6646,0.00,2.22,0.00,0.000,6,0.000,0.042,1796,2653,3744,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6960,-0.60,-194.6,829.1,-10.7,639,6966,0.00,2.20,0.00,0.000,4,0.000,0.031,1796,1178,3743,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7004,-0.59,-194.6,832.9,-10.2,641,7009,0.12,2.25,0.00,0.000,6,0.129,0.042,1825,2653,3742,0,0,0,0,0,0,25.99,26.13,28.83
$GC,7318,-0.60,-194.6,855.7,-7.1,657,7324,0.00,2.15,0.00,0.000,4,0.000,0.031,1826,1188,3741,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7360,-0.62,-194.6,858.7,-7.3,659,7364,0.00,2.22,0.00,0.000,6,0.000,0.043,1817,2655,3741,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7672,-0.62,-194.6,884.7,-8.6,675,7678,0.00,2.20,0.00,0.000,4,0.000,0.031,1817,1181,3738,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7701,-0.63,-194.6,886.5,-8.7,676,7705,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2658,3738,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8007,-0.63,-194.6,916.9,-9.9,691,8013,0.00,2.17,0.00,0.000,4,0.000,0.032,1807,1189,3736,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8050,-0.64,-194.6,920.6,-9.6,693,8054,0.00,2.22,0.00,0.000,6,0.000,0.044,1798,2651,3737,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8363,-0.63,-194.6,952.4,-10.2,709,8368,0.00,2.17,0.00,0.000,4,0.000,0.031,1798,1189,3735,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8401,-0.63,-194.6,956.3,-9.9,711,8407,0.00,2.25,0.00,0.000,6,0.000,0.043,1788,2657,3735,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8722,-0.61,-194.6,989.8,-10.4,727,8728,0.00,2.20,0.00,0.000,4,0.000,0.032,1788,1187,3734,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,8740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8740,begin apogee
$GC,8748,-0.20,0.0,991.8,-10.3,728,8924,0.47,0.05,165.73,1.183,6,0.100,0.067,1944,2471,2970,0,0,0,0,0,0,25.77,24.65,23.81
$STATE,8925,end apogee,CONTROL_FINISHED_OK
$STATE,8925,begin climb
$GC,8928,0.61,194.6,999.1,0.0,737,9124,0.73,2.33,184.25,1.180,4,0.047,0.050,2215,3812,2171,0,0,0,0,0,0,24.96,24.18,23.25
$GC,9195,0.51,194.6,969.5,21.4,750,9200,0.20,2.15,0.00,0.000,6,0.186,0.034,2177,2468,2157,0,0,0,0,0,0,24.72,25.06,28.83
$GC,9505,0.45,194.6,920.1,14.7,765,9510,0.00,2.10,0.00,0.000,4,0.000,0.050,2177,3803,2151,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9523,0.38,194.6,916.8,14.7,766,9529,0.17,2.05,0.00,0.000,6,0.172,0.031,2141,2460,2152,0,0,0,0,0,0,25.51,25.90,28.83
$GC,9844,0.35,194.6,879.1,11.2,782,9849,0.00,2.12,0.00,0.000,4,0.000,0.047,2141,3813,2150,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9883,0.32,194.6,873.9,12.1,784,9889,0.12,2.05,0.00,0.000,6,0.168,0.031,2119,2458,2150,0,0,0,0,0,0,25.75,26.06,28.83
$GC,10204,0.33,209.4,844.4,8.9,800,10223,0.00,2.15,11.70,1.005,4,0.000,0.046,2118,3813,2115,0,0,0,0,0,0,28.83,25.98,24.90
$GC,10247,0.32,209.4,840.1,9.6,802,10252,0.00,2.03,0.00,0.000,6,0.000,0.030,2129,2465,2109,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10566,0.31,209.4,807.6,10.5,818,10571,0.00,2.12,0.00,0.000,4,0.000,0.037,2139,1060,2104,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10580,0.30,209.4,807.6,10.5,818,10587,0.12,2.25,0.00,0.000,6,0.145,0.040,2105,2524,2103,0,0,0,0,0,0,25.84,26.04,28.83
$GC,10888,0.31,210.3,777.9,9.4,834,10893,0.00,2.00,0.00,0.000,4,0.000,0.047,2105,3816,2103,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10928,0.31,210.3,773.7,9.8,836,10932,0.00,2.03,0.00,0.000,6,0.000,0.028,2116,2457,2102,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11241,0.31,210.3,739.8,11.1,852,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2455,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11542,0.31,210.3,704.6,12.0,867,11547,0.00,2.10,0.00,0.000,4,0.000,0.047,2116,3806,2102,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11594,0.31,210.3,699.5,12.2,869,11601,0.00,2.03,0.00,0.000,6,0.000,0.030,2126,2456,2102,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11902,0.32,219.0,665.2,9.1,885,11912,0.00,2.12,2.90,0.550,4,0.000,0.046,2126,3813,2084,0,0,0,0,0,0,28.83,26.22,24.50
$GC,11929,0.33,233.8,663.4,8.9,886,11961,0.00,2.03,23.75,0.923,6,0.000,0.029,2136,2464,2016,0,0,0,0,0,0,28.83,26.26,24.91
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$STATE,17335,end climb,SURFACE_DEPTH_REACHED
$STATE,17335,begin surface coast
$FINISH,0.6,1.023150
$STATE,17357,end surface coast,CONTROL_FINISHED_OK
$STATE,17357,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.45
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$TCM_TEMP,24.20
$XPDR_PINGS,1
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$10V_AH,10.2,29.068
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$FG_AHR_10Vo,0.000
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$MEM,324612
$DATA_FILE_SIZE,100218,1523
$CAP_FILE_SIZE,192587,0
$CFSIZE,260165632,203915264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191211,004106,2338.654,12236.989,23,1.2,23,-3.2