version: 66.10
glider: 169
mission: 5
dive: 218
start: 12 21 111 1 23 42
data:
$ID,169
$MISSION,5
$DIVE,218
$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,-9
$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,-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,-10995.991
$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
$GPS1,211211,011606,2329.647,12302.408,27,1.7,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.4
$GPS2,211211,012306,2329.679,12302.439,15,1.3,31,-3.2
$SPEED_LIMITS,0.163,0.290
$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,70.3,96668,-14.9,-9.429
$D_GRID,3519
$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,-0.61,-194.6,0.0,0.0,0,103,0.00,0.00,-83.43,0.000,2,0.000,0.000,116,2696,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.61,-194.6,3.8,-8.2,15,131,6.78,1.80,-12.12,0.000,4,0.228,0.055,1793,3824,3775,0,0,0,0,0,0,25.32,26.06,26.51
$GC,144,-0.32,-194.6,22.5,-48.5,21,151,0.38,1.83,0.00,0.000,6,0.184,0.024,1901,2578,3775,0,0,0,0,0,0,25.38,26.14,28.83
$GC,455,-0.26,-194.6,109.7,-22.0,82,462,0.00,2.03,0.00,0.000,4,0.000,0.029,1911,1182,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,531,-0.32,-194.6,120.4,-8.4,96,538,0.00,2.22,0.00,0.000,6,0.000,0.041,1909,2657,3775,0,0,0,0,0,0,28.83,26.16,28.83
$GC,842,-0.31,-194.6,163.8,-12.5,157,848,0.00,1.75,0.00,0.000,4,0.000,0.046,1900,3817,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,897,-0.35,-194.6,169.8,-9.4,167,903,0.00,1.80,0.00,0.000,6,0.000,0.025,1900,2555,3775,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1212,-0.35,-194.6,211.0,-13.3,221,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2555,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.37,-194.6,243.2,-9.5,251,1521,0.00,1.98,0.00,0.000,4,0.000,0.044,1891,3825,3775,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1557,-0.41,-194.6,247.2,-9.6,255,1564,0.00,1.83,0.00,0.000,6,0.000,0.025,1891,2561,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1866,-0.43,-194.6,274.1,-8.2,286,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2561,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2177,-0.46,-194.6,302.4,-8.5,317,2185,0.00,1.98,0.00,0.000,4,0.000,0.046,1882,3835,3775,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2231,-0.51,-194.6,306.3,-7.0,322,2238,0.10,1.83,0.00,0.000,6,0.093,0.026,1796,2554,3775,0,0,0,0,0,0,26.39,26.49,28.83
$GC,2538,-0.42,-194.6,373.3,-24.5,353,2548,0.22,1.98,0.00,0.000,4,0.142,0.027,1875,1173,3775,0,0,0,0,0,0,26.02,26.36,28.83
$GC,2601,-0.44,-194.6,382.4,-10.1,359,2610,0.00,2.22,0.00,0.000,6,0.000,0.041,1869,2655,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2913,-0.46,-194.6,411.6,-10.6,390,2916,0.00,1.75,0.00,0.000,4,0.000,0.047,1860,3818,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2957,-0.50,-194.6,415.9,-10.0,394,2963,0.00,1.80,0.00,0.000,6,0.000,0.026,1860,2557,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3265,-0.51,-194.6,448.6,-10.2,425,3274,0.00,1.95,0.00,0.000,4,0.000,0.030,1860,1182,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3317,-0.55,-194.6,453.5,-9.1,430,3326,0.00,2.22,0.00,0.000,6,0.000,0.040,1851,2658,3771,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3627,-0.56,-194.6,483.3,-9.6,461,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2658,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3928,-0.57,-194.6,510.1,-8.2,491,3932,0.00,1.75,0.00,0.000,4,0.000,0.046,1842,3818,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3974,-0.60,-194.6,513.8,-8.6,495,3980,0.00,1.80,0.00,0.000,6,0.000,0.026,1843,2558,3768,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4280,-0.61,-194.6,541.3,-8.8,526,4289,0.00,2.03,0.00,0.000,4,0.000,0.031,1843,1172,3766,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4323,-0.64,-194.6,544.5,-8.0,530,4332,0.00,2.22,0.00,0.000,6,0.000,0.041,1835,2656,3766,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4632,-0.64,-194.6,575.1,-11.0,561,4636,0.00,1.80,0.00,0.000,4,0.000,0.047,1826,3823,3764,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4656,-0.64,-194.6,577.6,-11.1,563,4663,0.00,1.80,0.00,0.000,6,0.000,0.026,1826,2565,3764,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4974,-0.64,-194.6,614.4,-11.9,589,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2564,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5275,-0.64,-194.6,647.9,-10.6,604,5280,0.00,1.98,0.00,0.000,4,0.000,0.048,1817,3811,3760,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5317,-0.65,-194.6,652.2,-10.7,606,5320,0.00,1.80,0.00,0.000,6,0.000,0.028,1817,2574,3760,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5630,-0.65,-194.6,688.1,-11.1,622,5635,0.00,2.00,0.00,0.000,4,0.000,0.031,1817,1180,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5670,-0.65,-194.6,692.1,-10.8,624,5674,0.00,2.20,0.00,0.000,6,0.000,0.041,1808,2654,3757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5991,-0.63,-194.6,725.5,-10.8,640,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2654,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,-0.63,-194.6,757.8,-10.1,655,6294,0.00,2.17,0.00,0.000,4,0.000,0.031,1809,1186,3752,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6352,-0.63,-194.6,763.4,-9.3,658,6356,0.00,2.20,0.00,0.000,6,0.000,0.041,1799,2654,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6664,-0.61,-194.6,796.1,-10.6,674,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2654,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,-0.60,-194.6,828.7,-10.9,689,6971,0.00,2.15,0.00,0.000,4,0.000,0.033,1799,1186,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7025,-0.60,-194.6,834.8,-10.2,692,7031,0.00,2.25,0.00,0.000,6,0.000,0.043,1790,2666,3747,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7345,-0.58,-194.6,872.2,-12.2,708,7351,0.12,1.75,0.00,0.000,4,0.147,0.049,1825,3811,3745,0,0,0,0,0,0,26.27,26.07,28.83
$GC,7373,-0.57,-194.6,874.6,-12.2,709,7377,0.00,1.80,0.00,0.000,6,0.000,0.029,1825,2567,3744,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7680,-0.59,-194.6,901.9,-8.9,724,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2565,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7982,-0.61,-194.6,927.8,-8.6,739,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2565,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8281,-0.63,-194.6,952.0,-7.6,754,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2565,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,-0.65,-194.6,973.4,-6.8,769,8586,0.00,1.98,0.00,0.000,4,0.000,0.051,1816,3820,3736,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8604,-0.67,-194.6,974.7,-6.8,770,8607,0.00,1.83,0.00,0.000,6,0.000,0.028,1816,2563,3736,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,8813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8813,begin apogee
$GC,8818,-0.20,0.0,990.1,-7.1,781,8997,0.35,0.12,166.77,1.188,6,0.094,0.086,1942,2536,2968,0,0,0,0,0,0,25.98,24.77,23.81
$STATE,8998,end apogee,CONTROL_FINISHED_OK
$STATE,8998,begin climb
$GC,9000,0.61,194.6,996.7,0.0,790,9197,0.73,2.20,182.98,1.182,4,0.047,0.047,2218,3806,2169,0,0,0,0,0,0,25.02,24.27,23.31
$GC,9420,0.51,194.6,929.4,22.2,811,9427,0.20,2.08,0.00,0.000,6,0.184,0.034,2178,2464,2153,0,0,0,0,0,0,25.32,25.72,28.83
$GC,9742,0.45,194.6,878.0,15.2,827,9748,0.00,2.10,0.00,0.000,4,0.000,0.038,2188,1070,2149,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9760,0.40,194.6,874.8,15.3,828,9767,0.17,2.25,0.00,0.000,6,0.151,0.041,2140,2528,2148,0,0,0,0,0,0,25.67,25.97,28.83
$GC,10081,0.38,194.6,836.5,11.7,844,10086,0.00,2.03,0.00,0.000,4,0.000,0.049,2140,3820,2148,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10174,0.34,194.6,825.9,13.4,848,10181,0.00,2.05,0.00,0.000,6,0.000,0.031,2150,2464,2146,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10481,0.31,194.6,787.3,11.6,864,10487,0.12,2.10,0.00,0.000,4,0.171,0.035,2123,1054,2146,0,0,0,0,0,0,25.99,26.10,28.83
$GC,10501,0.29,194.6,785.1,11.5,865,10507,0.00,2.22,0.00,0.000,6,0.000,0.040,2123,2519,2145,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10822,0.29,194.6,754.8,9.5,881,10827,0.00,2.00,0.00,0.000,4,0.000,0.047,2123,3814,2145,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10863,0.28,194.6,750.2,10.4,883,10868,0.12,2.03,0.00,0.000,6,0.159,0.029,2101,2464,2144,0,0,0,0,0,0,25.89,26.20,28.83
$GC,11180,0.36,246.1,725.2,7.8,899,11228,0.00,2.17,37.85,1.058,4,0.000,0.038,2111,1054,1975,0,0,0,0,1,0,28.83,25.67,24.44
$GC,11244,0.44,305.7,720.7,7.5,902,11317,0.12,2.28,57.15,1.196,6,0.077,0.040,2192,2522,1734,0,0,0,0,1,0,25.71,25.69,23.94
$GC,11616,0.41,305.7,662.3,15.8,921,11623,0.15,2.08,1.45,0.180,4,0.155,0.047,2144,3815,1731,0,0,0,0,0,0,25.70,25.83,25.39
$GC,11656,0.39,305.7,656.5,14.9,923,11662,0.00,2.08,0.00,0.000,6,0.000,0.029,2154,2455,1736,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11977,0.39,305.7,618.9,12.6,939,11982,0.00,2.12,0.00,0.000,4,0.000,0.047,2155,3816,1737,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12024,0.39,305.7,613.4,13.2,941,12027,0.00,2.03,0.00,0.000,6,0.000,0.029,2165,2465,1737,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12335,0.37,305.7,571.0,13.0,966,12344,0.12,2.08,0.00,0.000,4,0.162,0.044,2126,3807,1737,0,0,0,0,0,0,26.01,26.02,28.83
$GC,12366,0.37,305.7,566.7,12.7,969,12375,0.00,2.00,0.00,0.000,6,0.000,0.028,2136,2459,1737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12677,0.40,307.0,537.7,9.4,1000,12687,0.00,2.08,1.62,0.195,4,0.000,0.035,2147,1063,1726,0,0,0,0,0,0,28.83,26.10,25.41
$GC,12710,0.43,310.0,534.7,9.3,1003,12720,0.00,2.22,3.00,0.591,6,0.000,0.040,2147,2524,1718,0,0,0,0,0,0,28.83,26.10,24.49
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$STATE,16986,end climb,SURFACE_DEPTH_REACHED
$STATE,16986,begin surface coast
$FINISH,0.1,1.023140
$STATE,16992,end surface coast,CONTROL_FINISHED_OK
$STATE,16993,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,10.1,30.312
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330620
$DATA_FILE_SIZE,100449,1539
$CAP_FILE_SIZE,187524,0
$CFSIZE,260165632,202862592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,211211,060906,2330.132,12305.835,28,0.9,28,-3.3