version: 66.10
glider: 169
mission: 5
dive: 213
start: 12 20 111 0 53 22
data:
$ID,169
$MISSION,5
$DIVE,213
$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,-10989.7
$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
$GPS1,201211,004437,2335.350,12249.028,39,1.0,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.8
$GPS2,201211,005302,2335.433,12249.064,13,1.2,13,-3.3
$SPEED_LIMITS,0.163,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,2326.081,12254.949
$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,153.3,20000,-14.9,-9.429
$D_GRID,2779
$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,-0.61,-194.6,0.0,0.0,0,91,0.00,0.00,-72.15,0.000,2,0.000,0.000,108,2668,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-194.6,3.3,-5.9,13,124,6.88,2.25,-14.30,0.000,4,0.230,0.042,1811,1182,3776,0,0,0,0,0,0,25.27,26.04,26.44
$GC,227,-0.53,-194.6,58.6,-34.8,38,234,0.12,2.28,0.00,0.000,6,0.161,0.044,1833,2658,3776,0,0,0,0,0,0,25.77,26.00,28.83
$GC,539,-0.44,-194.6,169.5,-25.4,99,547,0.12,2.17,0.00,0.000,4,0.174,0.026,1881,1179,3776,0,0,0,0,0,0,26.05,26.22,28.83
$GC,595,-0.46,-194.6,178.6,-10.5,109,601,0.00,2.25,0.00,0.000,6,0.000,0.041,1870,2658,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,910,-0.42,-194.6,228.3,-16.7,155,913,0.00,1.75,0.00,0.000,4,0.000,0.047,1861,3815,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,931,-0.39,-194.6,231.9,-16.2,157,934,0.00,1.80,0.00,0.000,6,0.000,0.024,1861,2561,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1242,-0.36,-194.6,281.1,-16.0,188,1244,0.12,0.00,0.00,0.000,6,0.148,0.000,1897,2556,3776,0,0,0,0,0,0,26.30,28.83,28.83
$GC,1542,-0.40,-194.6,305.2,-6.5,218,1546,0.00,1.98,0.00,0.000,4,0.000,0.046,1888,3813,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1597,-0.46,-194.6,308.5,-6.4,223,1604,0.00,1.80,0.00,0.000,6,0.000,0.025,1888,2551,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1906,-0.58,-194.6,337.2,-9.8,254,1915,0.15,1.98,0.00,0.000,4,0.103,0.028,1832,1172,3775,0,0,0,0,0,0,26.41,26.35,28.83
$GC,1978,-0.68,-194.6,344.2,-9.5,261,1988,0.10,2.20,0.00,0.000,6,0.078,0.038,1787,2651,3776,0,0,0,0,0,0,26.16,26.30,28.83
$GC,2288,-0.60,-194.6,403.4,-21.9,292,2291,0.00,1.80,0.00,0.000,4,0.000,0.045,1778,3815,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2362,-0.55,-194.6,418.0,-18.9,299,2371,0.17,1.80,0.00,0.000,6,0.126,0.024,1831,2560,3773,0,0,0,0,0,0,26.09,26.46,28.83
$GC,2669,-0.53,-194.6,457.8,-11.4,330,2678,0.00,2.00,0.00,0.000,4,0.000,0.030,1832,1182,3772,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2706,-0.53,-194.6,460.9,-10.1,333,2712,0.00,2.22,0.00,0.000,6,0.000,0.041,1823,2656,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3011,-0.51,-194.6,496.9,-12.5,364,3014,0.00,1.77,0.00,0.000,4,0.000,0.047,1815,3814,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3081,-0.51,-194.6,505.4,-11.3,371,3086,0.12,1.80,0.00,0.000,6,0.120,0.024,1854,2562,3770,0,0,0,0,0,0,26.22,26.47,28.83
$GC,3389,-0.53,-194.6,530.1,-8.2,401,3397,0.00,2.00,0.00,0.000,4,0.000,0.030,1855,1184,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3431,-0.57,-194.6,533.5,-7.8,405,3440,0.00,2.20,0.00,0.000,6,0.000,0.041,1846,2649,3768,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3742,-0.58,-194.6,561.5,-9.0,436,3751,0.00,2.15,0.00,0.000,4,0.000,0.030,1846,1186,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3764,-0.60,-194.6,563.4,-8.7,438,3773,0.00,2.22,0.00,0.000,6,0.000,0.041,1837,2658,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4074,-0.61,-194.6,589.5,-8.2,469,4077,0.00,1.80,0.00,0.000,4,0.000,0.047,1829,3820,3763,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4146,-0.64,-194.6,595.2,-7.3,476,4155,0.00,1.83,0.00,0.000,6,0.000,0.026,1829,2556,3763,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4455,-0.64,-194.6,622.1,-9.2,495,4461,0.00,2.03,0.00,0.000,4,0.000,0.029,1829,1168,3761,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4498,-0.65,-194.6,625.7,-9.3,497,4502,0.00,2.25,0.00,0.000,6,0.000,0.041,1820,2659,3761,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4811,-0.65,-194.6,657.9,-10.4,513,4814,0.00,1.75,0.00,0.000,4,0.000,0.048,1812,3814,3759,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4854,-0.65,-194.6,662.1,-10.1,515,4858,0.00,1.83,0.00,0.000,6,0.000,0.025,1812,2559,3758,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5173,-0.64,-194.6,696.5,-10.6,531,5178,0.00,2.00,0.00,0.000,4,0.000,0.030,1812,1185,3756,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5199,-0.64,-194.6,698.6,-10.4,532,5204,0.00,2.22,0.00,0.000,6,0.000,0.041,1803,2656,3756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5507,-0.63,-194.6,733.8,-11.9,547,5513,0.00,2.17,0.00,0.000,4,0.000,0.029,1802,1169,3754,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5556,-0.63,-194.6,738.4,-11.8,549,5560,0.00,2.25,0.00,0.000,6,0.000,0.042,1793,2656,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5862,-0.61,-194.6,779.2,-13.5,564,5868,0.00,2.20,0.00,0.000,4,0.000,0.030,1794,1175,3750,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5905,-0.60,-194.6,784.1,-12.9,566,5910,0.12,2.25,0.00,0.000,6,0.129,0.042,1823,2656,3750,0,0,0,0,0,0,26.02,26.16,28.83
$GC,6220,-0.61,-194.6,812.9,-8.9,582,6223,0.00,1.80,0.00,0.000,4,0.000,0.049,1815,3823,3748,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6244,-0.62,-194.6,815.0,-9.0,583,6248,0.00,1.83,0.00,0.000,6,0.000,0.026,1815,2561,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6557,-0.62,-194.6,844.4,-9.2,599,6563,0.00,2.03,0.00,0.000,4,0.000,0.032,1815,1186,3746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6585,-0.63,-194.6,846.3,-9.2,600,6589,0.00,2.22,0.00,0.000,6,0.000,0.044,1806,2653,3746,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6891,-0.63,-194.6,878.6,-10.3,615,6897,0.00,2.17,0.00,0.000,4,0.000,0.031,1806,1182,3744,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6915,-0.63,-194.6,880.7,-10.5,616,6919,0.00,2.25,0.00,0.000,6,0.000,0.043,1797,2657,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7227,-0.62,-194.6,914.9,-10.6,632,7232,0.00,2.20,0.00,0.000,4,0.000,0.031,1797,1181,3742,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7269,-0.62,-194.6,919.0,-10.4,634,7273,0.00,2.25,0.00,0.000,6,0.000,0.043,1787,2658,3742,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7583,-0.60,-194.6,953.6,-11.3,650,7588,0.00,2.15,0.00,0.000,4,0.000,0.031,1786,1188,3740,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7644,-0.60,-194.6,960.2,-11.1,653,7649,0.12,2.28,0.00,0.000,6,0.128,0.044,1815,2659,3739,0,0,0,0,0,0,25.94,26.08,28.83
$GC,7959,-0.62,-194.6,988.2,-8.9,669,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2659,3738,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7995,begin apogee
$GC,8000,-0.20,0.0,991.7,-8.6,671,8178,0.35,0.12,166.55,1.177,6,0.095,0.085,1942,2535,2968,0,0,0,0,0,0,25.95,24.76,23.80
$STATE,8179,end apogee,CONTROL_FINISHED_OK
$STATE,8179,begin climb
$GC,8182,0.61,194.6,1000.6,0.0,680,8370,0.73,0.00,183.35,1.184,6,0.048,0.000,2217,2535,2184,0,0,0,0,0,0,25.00,28.83,23.28
$GC,8660,0.52,194.6,928.2,20.6,704,8666,0.12,2.03,0.00,0.000,4,0.194,0.046,2180,3815,2155,0,0,0,0,0,0,25.53,25.73,28.83
$GC,8690,0.44,194.6,924.0,20.9,705,8699,0.15,2.05,0.00,0.000,6,0.180,0.031,2152,2466,2154,0,0,0,0,0,0,25.49,25.84,28.83
$GC,8999,0.40,194.6,880.8,12.1,721,9005,0.00,2.15,0.00,0.000,4,0.000,0.047,2152,3812,2152,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9040,0.36,194.6,875.2,13.1,723,9045,0.12,2.05,0.00,0.000,6,0.171,0.031,2131,2466,2151,0,0,0,0,0,0,25.74,26.05,28.83
$GC,9364,0.37,214.9,843.4,8.8,739,9389,0.00,2.22,18.17,1.027,4,0.000,0.047,2131,3821,2092,0,0,0,0,0,0,28.83,25.86,24.82
$GC,9411,0.37,231.3,839.7,8.9,741,9434,0.00,2.05,16.33,1.017,6,0.000,0.030,2142,2465,2031,0,0,0,0,0,0,28.83,25.91,24.58
$GC,9744,0.35,231.3,807.8,9.6,758,9749,0.00,2.12,0.00,0.000,4,0.000,0.037,2152,1061,2012,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9762,0.34,231.3,806.0,9.6,759,9769,0.12,2.28,0.00,0.000,6,0.143,0.041,2118,2530,2011,0,0,0,0,0,0,25.79,25.98,28.83
$GC,10085,0.37,253.3,779.7,8.7,775,10111,0.00,2.10,21.73,0.982,4,0.000,0.049,2118,3817,1939,0,0,0,0,0,0,28.83,25.81,24.83
$GC,10162,0.38,253.3,772.2,9.7,779,10165,0.00,2.08,0.00,0.000,6,0.000,0.030,2128,2462,1928,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10480,0.38,253.3,739.9,10.0,795,10483,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1056,1925,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10510,0.39,253.3,737.6,9.9,796,10514,0.00,2.25,0.00,0.000,6,0.000,0.041,2139,2523,1924,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10819,0.39,253.3,702.4,11.5,811,10824,0.00,2.03,0.00,0.000,4,0.000,0.047,2139,3822,1923,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10837,0.39,253.3,700.0,11.5,812,10842,0.00,2.05,0.00,0.000,6,0.000,0.029,2149,2457,1923,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11157,0.38,253.3,660.9,12.1,828,11163,0.00,2.08,0.00,0.000,4,0.000,0.038,2160,1060,1923,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11180,0.38,253.3,658.6,11.9,829,11185,0.00,2.25,0.00,0.000,6,0.000,0.041,2160,2530,1922,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11493,0.37,253.3,619.1,12.5,845,11499,0.12,2.00,0.00,0.000,4,0.156,0.047,2121,3816,1922,0,0,0,0,0,0,26.09,26.05,28.83
$GC,11540,0.37,253.3,614.6,12.1,847,11544,0.00,2.05,0.00,0.000,6,0.000,0.029,2131,2463,1921,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,14051,0.54,349.7,329.1,11.7,1087,14060,0.00,2.20,0.00,0.000,4,0.000,0.036,2187,1059,1524,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,16878,end climb,SURFACE_DEPTH_REACHED
$STATE,16878,begin surface coast
$FINISH,0.4,1.020705
$STATE,16899,end surface coast,CONTROL_FINISHED_OK
$STATE,16899,begin surface
$SM_CCo,16913,0.85,0.208,0,0,1244,425.10
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$IRIDIUM_FIX,2326.22,12246.66,191211,202006
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.3,46.023
$10V_AH,10.1,29.747
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.500,180.450,570.725,0.850,0.000,25.701,47.270,297.847,0.000,0.000,14.847,3664.427,9527.101,695.493,3136.154,369.441,0.000,2186.285,0.000,2616.926,0.000,0.543,0.000
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$SENSOR_SECS,1042.322,1967.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,103652,1536
$CAP_FILE_SIZE,194675,0
$CFSIZE,260165632,203325440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201211,053631,2334.210,12251.220,44,1.6,44,-3.2