version: 66.10
glider: 169
mission: 5
dive: 264
start: 12 29 111 23 47 28
data:
$ID,169
$MISSION,5
$DIVE,264
$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,340
$T_MISSION,380
$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,225
$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,-11054.072
$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
$GPS1,291211,233630,2209.463,12416.364,35,1.8,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.5
$GPS2,291211,234706,2209.343,12416.443,37,1.0,41,-3.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,HEADING
$TGT_LATLONG,2201.707,12408.206
$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,228.0,20000,-15.3,-9.706
$D_GRID,5356
$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,-0.62,-194.6,0.0,0.0,0,127,0.00,0.00,-107.57,0.000,2,0.000,0.000,115,2556,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.62,-194.6,3.8,-8.1,19,155,6.65,2.00,-11.50,0.000,4,0.220,0.053,1788,3821,3775,0,0,0,0,0,0,25.15,26.03,26.49
$GC,309,-0.52,-194.6,69.8,-31.8,53,316,0.15,1.83,0.00,0.000,6,0.164,0.024,1835,2570,3774,0,0,0,0,0,0,25.81,26.22,28.83
$GC,622,-0.42,-194.6,175.2,-30.1,114,629,0.12,2.03,0.00,0.000,4,0.176,0.025,1883,1174,3774,0,0,0,0,0,0,26.07,26.27,28.83
$GC,712,-0.48,-194.6,189.0,-8.9,131,719,0.00,2.22,0.00,0.000,6,0.000,0.037,1872,2657,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1022,-0.46,-194.6,233.4,-14.9,171,1026,0.00,1.75,0.00,0.000,4,0.000,0.045,1863,3814,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1094,-0.49,-194.6,242.2,-10.5,178,1098,0.00,1.80,0.00,0.000,6,0.000,0.023,1863,2560,3774,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1407,-0.48,-194.6,284.7,-13.4,209,1415,0.00,1.95,0.00,0.000,4,0.000,0.043,1853,3821,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1459,-0.49,-194.6,291.3,-12.1,214,1463,0.00,1.80,0.00,0.000,6,0.000,0.023,1853,2570,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1770,-0.48,-194.6,329.2,-12.6,245,1779,0.00,2.03,0.00,0.000,4,0.000,0.029,1853,1166,3774,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1801,-0.48,-194.6,333.1,-12.5,248,1810,0.00,2.25,0.00,0.000,6,0.000,0.040,1843,2656,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2112,-0.46,-194.6,375.0,-13.8,279,2116,0.00,1.80,0.00,0.000,4,0.000,0.047,1834,3816,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2146,-0.44,-194.6,379.0,-12.8,282,2153,0.10,1.80,0.00,0.000,6,0.135,0.024,1865,2558,3772,0,0,0,0,0,0,26.25,26.47,28.83
$GC,2454,-0.47,-194.6,404.1,-8.0,313,2462,0.00,1.98,0.00,0.000,4,0.000,0.044,1856,3814,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2496,-0.51,-194.6,407.3,-7.9,317,2499,0.00,1.80,0.00,0.000,6,0.000,0.024,1856,2563,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2807,-0.53,-194.6,433.9,-7.6,348,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2559,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-0.56,-194.6,454.9,-8.2,378,3118,0.00,1.98,0.00,0.000,4,0.000,0.044,1848,3830,3767,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3154,-0.60,-194.6,458.3,-7.8,382,3161,0.00,1.83,0.00,0.000,6,0.000,0.024,1848,2557,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3462,-0.62,-194.6,489.0,-9.8,413,3464,0.12,0.00,0.00,0.000,6,0.077,0.000,1768,2557,3765,0,0,0,0,0,0,26.59,28.83,28.83
$GC,3761,-0.57,-194.6,542.4,-17.2,443,3771,0.17,1.98,0.00,0.000,4,0.138,0.043,1815,3820,3763,0,0,0,0,0,0,26.15,26.22,28.83
$GC,3838,-0.59,-194.6,550.4,-7.9,450,3845,0.00,1.80,0.00,0.000,6,0.000,0.025,1815,2561,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4145,-0.59,-194.6,579.9,-10.8,481,4154,0.00,1.98,0.00,0.000,4,0.000,0.046,1806,3814,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4187,-0.59,-194.6,584.3,-10.3,485,4190,0.00,1.80,0.00,0.000,6,0.000,0.024,1806,2566,3761,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4509,-0.58,-194.6,620.5,-10.5,508,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2559,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4808,-0.58,-194.6,649.4,-8.9,523,4814,0.00,1.98,0.00,0.000,4,0.000,0.044,1797,3821,3756,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4857,-0.58,-194.6,652.9,-9.0,525,4860,0.00,1.83,0.00,0.000,6,0.000,0.024,1797,2558,3756,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5163,-0.57,-194.6,684.6,-10.7,540,5168,0.00,1.98,0.00,0.000,4,0.000,0.045,1788,3816,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5218,-0.57,-194.6,689.1,-11.1,542,5225,0.12,1.80,0.00,0.000,6,0.125,0.024,1826,2558,3753,0,0,0,0,0,0,26.17,26.44,28.83
$GC,5523,-0.59,-194.6,717.2,-9.0,558,5529,0.00,2.03,0.00,0.000,4,0.000,0.029,1827,1173,3750,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5546,-0.61,-194.6,718.9,-9.1,559,5550,0.00,2.25,0.00,0.000,6,0.000,0.040,1819,2656,3750,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5860,-0.63,-194.6,745.1,-7.7,575,5863,0.00,1.80,0.00,0.000,4,0.000,0.049,1810,3816,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5889,-0.64,-194.6,746.8,-7.7,576,5893,0.00,1.83,0.00,0.000,6,0.000,0.026,1810,2562,3747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6197,-0.65,-194.6,773.5,-8.8,591,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2561,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.66,-194.6,800.4,-9.3,606,6502,0.00,2.00,0.00,0.000,4,0.000,0.047,1802,3822,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6549,-0.67,-194.6,804.2,-9.5,608,6556,0.00,1.83,0.00,0.000,6,0.000,0.025,1802,2559,3742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6856,-0.67,-194.6,839.4,-11.1,624,6860,0.00,1.98,0.00,0.000,4,0.000,0.047,1793,3814,3741,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6881,-0.67,-194.6,842.0,-11.2,625,6885,0.00,1.83,0.00,0.000,6,0.000,0.025,1793,2560,3741,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7198,-0.67,-194.6,879.1,-11.5,641,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2559,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7499,-0.67,-194.6,912.5,-10.9,656,7505,0.00,1.98,0.00,0.000,4,0.000,0.047,1783,3819,3736,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7526,-0.67,-194.6,914.8,-11.0,657,7530,0.00,1.83,0.00,0.000,6,0.000,0.026,1783,2560,3736,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7840,-0.66,-194.6,951.2,-11.5,673,7845,0.00,1.98,0.00,0.000,4,0.000,0.030,1783,1176,3735,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7878,-0.66,-194.6,955.6,-11.4,675,7884,0.00,2.28,0.00,0.000,6,0.000,0.041,1773,2659,3734,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8177,begin apogee
$GC,8182,-0.20,0.0,992.1,-12.5,690,8362,0.50,0.10,168.23,1.178,6,0.104,0.057,1945,2538,2969,0,0,0,0,0,0,25.73,24.70,23.62
$STATE,8363,end apogee,CONTROL_FINISHED_OK
$STATE,8363,begin climb
$GC,8365,0.62,194.6,1001.3,0.0,699,8562,0.73,2.17,185.85,1.186,4,0.048,0.045,2220,3818,2172,0,0,0,0,0,0,24.98,24.19,23.08
$GC,8609,0.52,194.6,978.1,19.1,711,8616,0.20,2.15,0.00,0.000,6,0.185,0.031,2182,2466,2156,0,0,0,0,0,0,24.62,24.95,28.83
$GC,8925,0.47,194.6,928.7,14.7,727,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2465,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9227,0.41,194.6,883.6,15.0,742,9233,0.12,2.08,0.00,0.000,4,0.183,0.034,2155,1059,2148,0,0,0,0,0,0,25.86,26.05,28.83
$GC,9260,0.36,194.6,880.7,14.8,743,9266,0.00,2.25,0.00,0.000,6,0.000,0.039,2155,2530,2146,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9567,0.33,194.6,844.9,10.4,759,9573,0.12,1.98,0.00,0.000,4,0.162,0.047,2117,3809,2146,0,0,0,0,0,0,25.99,26.03,28.83
$GC,9609,0.31,194.6,841.0,9.9,761,9612,0.00,2.03,0.00,0.000,6,0.000,0.032,2127,2467,2145,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9927,0.34,228.5,815.8,8.6,777,9966,0.00,2.17,24.98,0.992,4,0.000,0.046,2127,3804,2045,0,0,0,0,1,0,28.83,25.84,24.39
$GC,9993,0.34,230.1,809.5,9.7,780,9996,0.00,2.05,0.00,0.000,6,0.000,0.028,2138,2454,2048,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10306,0.33,230.1,773.4,11.7,796,10311,0.00,2.10,0.00,0.000,4,0.000,0.047,2137,3807,2049,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10368,0.31,230.1,765.4,12.7,799,10372,0.12,2.05,0.00,0.000,6,0.161,0.031,2116,2459,2048,0,0,0,0,0,0,25.82,26.10,28.83
$GC,10682,0.39,286.6,737.5,7.8,815,10752,0.00,2.22,58.17,1.060,4,0.000,0.046,2116,3802,1815,0,0,0,0,1,0,28.83,25.34,24.03
$GC,10776,0.50,358.7,731.7,7.3,819,10864,0.12,2.08,81.18,0.973,6,0.076,0.028,2196,2451,1512,0,0,0,0,0,0,25.54,25.56,23.94
$GC,11182,0.47,358.7,668.0,16.5,840,11184,0.12,0.00,0.00,0.000,6,0.166,0.000,2163,2452,1487,0,0,0,0,0,0,25.82,28.83,28.83
$GC,11481,0.47,358.7,627.9,13.7,855,11487,0.00,2.17,0.00,0.000,4,0.000,0.048,2163,3812,1485,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11503,0.47,358.7,625.2,13.6,856,11507,0.00,2.08,0.00,0.000,6,0.000,0.031,2173,2466,1485,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11812,0.47,358.7,584.9,12.2,877,11821,0.00,2.08,0.00,0.000,4,0.000,0.037,2184,1064,1483,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11856,0.48,358.7,580.3,10.9,881,11863,0.00,2.22,0.00,0.000,6,0.000,0.038,2184,2525,1481,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12165,0.47,358.7,541.9,13.5,912,12174,0.00,1.95,0.00,0.000,4,0.000,0.047,2184,3807,1481,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12196,0.45,358.7,536.9,15.0,915,12206,0.12,2.03,0.00,0.000,6,0.152,0.030,2160,2457,1481,0,0,0,0,0,0,25.92,26.19,28.83
$GC,12507,0.47,358.7,501.1,12.7,946,12516,0.00,2.05,0.00,0.000,4,0.000,0.037,2170,1058,1481,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12532,0.49,358.7,498.3,12.7,948,12538,0.00,2.22,0.00,0.000,6,0.000,0.037,2170,2529,1480,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,16669,end climb,SURFACE_DEPTH_REACHED
$STATE,16669,begin surface coast
$FINISH,0.3,1.010771
$STATE,16691,end surface coast,CONTROL_FINISHED_OK
$STATE,16691,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
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$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,10.1,35.275
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$FG_AHR_10Vo,0.000
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$MEM,330380
$DATA_FILE_SIZE,100410,1517
$CAP_FILE_SIZE,187874,0
$CFSIZE,260165632,198709248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,301211,042725,2207.072,12416.297,39,1.1,39,-3.0