version: 66.10
glider: 169
mission: 5
dive: 268
start: 12 30 111 19 23 23
data:
$ID,169
$MISSION,5
$DIVE,268
$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,360
$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,240
$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,-11059.105
$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
$GPS1,301211,191524,2158.284,12417.682,42,0.8,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.8
$GPS2,301211,192301,2158.220,12417.680,15,1.3,32,-3.0
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2152.821,12407.602
$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,243.0,20000,-14.5,-9.167
$D_GRID,5445
$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,-0.60,-194.6,0.0,0.0,0,116,0.00,0.00,-96.50,0.000,2,0.000,0.000,117,2689,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.60,-194.6,3.4,-7.2,17,145,6.85,1.83,-12.15,0.000,4,0.227,0.053,1796,3824,3776,0,0,0,0,0,0,25.13,26.08,26.53
$GC,313,-0.52,-194.6,68.5,-27.1,54,320,0.15,1.83,0.00,0.000,6,0.155,0.024,1844,2574,3775,0,0,0,0,0,0,25.84,26.24,28.83
$GC,626,-0.42,-194.6,162.8,-25.8,115,633,0.12,1.92,0.00,0.000,4,0.173,0.037,1873,3818,3775,0,0,0,0,0,0,26.10,26.20,28.83
$GC,767,-0.46,-194.6,179.3,-7.5,142,774,0.00,1.80,0.00,0.000,6,0.000,0.024,1872,2559,3775,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1082,-0.43,-194.6,225.6,-14.5,188,1086,0.00,2.00,0.00,0.000,4,0.000,0.028,1872,1168,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1137,-0.45,-194.6,231.5,-10.5,193,1143,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2656,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1445,-0.43,-194.6,273.7,-14.6,224,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2656,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-0.43,-194.6,315.7,-11.6,255,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2656,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,-0.43,-194.6,345.8,-9.5,285,2064,0.00,2.17,0.00,0.000,4,0.000,0.029,1863,1170,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2087,-0.44,-194.6,348.8,-9.4,288,2096,0.00,2.25,0.00,0.000,6,0.000,0.038,1855,2659,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2397,-0.44,-194.6,377.6,-10.2,319,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2659,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.45,-194.6,410.2,-10.4,349,2707,0.00,2.12,0.00,0.000,4,0.000,0.028,1855,1179,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2741,-0.47,-194.6,414.2,-9.1,353,2750,0.00,2.22,0.00,0.000,6,0.000,0.037,1847,2658,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3051,-0.48,-194.6,439.1,-7.6,384,3054,0.00,1.75,0.00,0.000,4,0.000,0.044,1838,3818,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3086,-0.49,-194.6,441.7,-7.8,387,3092,0.00,1.80,0.00,0.000,6,0.000,0.024,1838,2557,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3393,-0.49,-194.6,472.1,-10.0,418,3402,0.00,1.95,0.00,0.000,4,0.000,0.043,1829,3822,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3415,-0.49,-194.6,474.4,-9.7,420,3419,0.00,1.83,0.00,0.000,6,0.000,0.023,1829,2561,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3726,-0.49,-194.6,507.2,-10.9,451,3736,0.00,2.00,0.00,0.000,4,0.000,0.029,1829,1179,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3751,-0.49,-194.6,509.5,-10.5,453,3758,0.00,2.25,0.00,0.000,6,0.000,0.038,1820,2655,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4059,-0.48,-194.6,543.8,-10.2,484,4061,0.12,0.00,0.00,0.000,6,0.145,0.000,1858,2654,3763,0,0,0,0,0,0,26.34,28.83,28.83
$GC,4360,-0.52,-194.6,565.0,-7.2,514,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2654,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4661,-0.56,-194.6,587.3,-6.8,544,4669,0.00,2.15,0.00,0.000,4,0.000,0.030,1858,1175,3759,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4704,-0.61,-194.6,590.3,-6.7,548,4713,0.08,2.22,0.00,0.000,6,0.048,0.041,1785,2654,3758,0,0,0,0,0,0,26.19,26.23,28.83
$GC,5014,-0.56,-194.6,633.0,-14.6,568,5019,0.12,1.80,0.00,0.000,4,0.142,0.045,1819,3818,3755,0,0,0,0,0,0,26.29,26.17,28.83
$GC,5032,-0.53,-194.6,635.8,-14.5,569,5036,0.00,1.85,0.00,0.000,6,0.000,0.026,1820,2563,3755,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5354,-0.53,-194.6,669.5,-10.4,585,5360,0.00,1.98,0.00,0.000,4,0.000,0.047,1810,3815,3753,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5417,-0.54,-194.6,675.4,-9.9,588,5420,0.00,1.80,0.00,0.000,6,0.000,0.025,1810,2572,3753,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5735,-0.54,-194.6,705.6,-8.9,604,5739,0.00,2.03,0.00,0.000,4,0.000,0.031,1810,1171,3750,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5757,-0.54,-194.6,707.4,-8.7,605,5763,0.12,2.25,0.00,0.000,6,0.125,0.040,1840,2654,3749,0,0,0,0,0,0,26.06,26.18,28.83
$GC,6079,-0.56,-194.6,727.6,-6.7,621,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2654,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6377,-0.59,-194.6,746.4,-5.9,636,6383,0.00,2.17,0.00,0.000,4,0.000,0.030,1840,1175,3745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6420,-0.62,-194.6,748.9,-6.2,638,6424,0.00,2.25,0.00,0.000,6,0.000,0.041,1832,2654,3745,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6733,-0.64,-194.6,770.2,-7.1,654,6737,0.00,1.80,0.00,0.000,4,0.000,0.047,1823,3819,3742,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6769,-0.66,-194.6,771.9,-7.2,655,6775,0.00,1.83,0.00,0.000,6,0.000,0.028,1823,2562,3742,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7077,-0.67,-194.6,799.2,-8.9,671,7080,0.00,2.03,0.00,0.000,4,0.000,0.033,1823,1181,3741,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7100,-0.69,-194.6,801.4,-8.9,672,7105,0.00,2.28,0.00,0.000,6,0.000,0.041,1815,2659,3741,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7419,-0.69,-194.6,832.1,-9.7,688,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2658,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,-0.69,-194.6,860.9,-9.3,703,7725,0.00,2.17,0.00,0.000,4,0.000,0.030,1814,1182,3738,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7761,-0.71,-194.6,864.5,-9.2,705,7766,0.00,2.22,0.00,0.000,6,0.000,0.041,1806,2649,3737,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8079,-0.71,-194.6,895.8,-10.2,721,8082,0.00,1.83,0.00,0.000,4,0.000,0.047,1797,3823,3735,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8108,-0.71,-194.6,897.8,-10.3,722,8112,0.00,1.83,0.00,0.000,6,0.000,0.027,1797,2568,3735,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8415,-0.70,-194.6,930.5,-10.2,737,8421,0.00,2.05,0.00,0.000,4,0.000,0.033,1797,1186,3734,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8447,-0.70,-194.6,932.5,-10.2,738,8454,0.00,2.25,0.00,0.000,6,0.000,0.042,1787,2652,3734,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8758,-0.68,-194.6,964.8,-9.9,754,8761,0.00,1.80,0.00,0.000,4,0.000,0.049,1779,3820,3733,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8788,-0.67,-194.6,967.1,-9.8,755,8792,0.00,1.83,0.00,0.000,6,0.000,0.028,1778,2575,3732,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,9011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9011,begin apogee
$GC,9018,-0.20,0.0,991.9,-10.9,766,9196,0.45,0.15,170.45,1.175,6,0.101,0.076,1936,2545,2973,0,0,0,0,0,0,25.77,24.73,23.57
$STATE,9197,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9199,0.60,194.6,1000.3,0.0,775,9397,0.73,2.50,186.43,1.183,4,0.047,0.035,2223,1065,2173,0,0,0,0,0,0,24.91,24.18,23.01
$GC,9463,0.53,194.6,976.2,16.6,788,9468,0.15,2.35,0.00,0.000,6,0.161,0.042,2184,2520,2155,0,0,0,0,0,0,24.82,25.05,28.83
$GC,9778,0.47,194.6,926.6,15.7,804,9784,0.00,2.03,0.00,0.000,4,0.000,0.046,2184,3819,2150,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9850,0.39,194.6,915.8,17.2,807,9858,0.20,2.05,0.00,0.000,6,0.169,0.029,2142,2467,2149,0,0,0,0,0,0,25.58,26.01,28.83
$GC,10158,0.37,194.6,874.3,12.3,823,10163,0.00,2.10,0.00,0.000,4,0.000,0.035,2152,1060,2147,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10177,0.34,194.6,871.9,12.3,824,10183,0.12,2.28,0.00,0.000,6,0.148,0.039,2119,2531,2146,0,0,0,0,0,0,25.83,26.04,28.83
$GC,10500,0.33,194.6,841.1,9.3,840,10505,0.00,2.00,0.00,0.000,4,0.000,0.047,2119,3813,2146,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10532,0.32,194.6,839.1,9.3,841,10539,0.00,2.05,0.00,0.000,6,0.000,0.029,2128,2453,2145,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10838,0.31,194.6,806.6,10.6,857,10844,0.00,2.17,0.00,0.000,4,0.000,0.047,2129,3818,2145,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10861,0.29,194.6,804.2,11.1,858,10866,0.12,2.05,0.00,0.000,6,0.169,0.031,2107,2467,2144,0,0,0,0,0,0,25.84,26.18,28.83
$GC,11176,0.29,194.6,773.2,9.6,874,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2466,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,0.29,194.6,743.6,9.8,889,11479,0.00,2.15,0.00,0.000,4,0.000,0.046,2107,3822,2143,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11502,0.29,194.6,741.5,9.9,890,11506,0.00,2.05,0.00,0.000,6,0.000,0.028,2117,2463,2144,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11808,0.33,229.7,713.1,8.1,905,11848,0.00,2.17,26.58,0.938,4,0.000,0.037,2128,1058,2041,0,0,0,0,1,0,28.83,25.91,24.39
$GC,11879,0.41,291.5,708.6,7.2,908,11951,0.00,2.28,56.70,1.172,6,0.000,0.040,2128,2527,1792,0,0,0,0,1,0,28.83,25.89,23.84
$GC,12253,0.44,307.3,679.4,8.7,927,12281,0.00,0.00,25.55,0.942,6,0.000,0.000,2128,2527,1725,0,0,0,0,0,0,28.83,28.83,24.48
$GC,12574,0.46,307.3,649.0,9.8,943,12579,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1063,1704,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12605,0.48,307.3,647.0,9.8,944,12612,0.00,2.25,0.00,0.000,6,0.000,0.039,2138,2526,1703,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,17518,end climb,SURFACE_DEPTH_REACHED
$STATE,17518,begin surface coast
$FINISH,0.8,1.023373
$STATE,17544,end surface coast,CONTROL_FINISHED_OK
$STATE,17544,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.69
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$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,10.0,35.736
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.650,157.950,648.775,0.000,0.000,22.808,17.966,248.927,0.000,0.000,33.571,3610.109,10248.917,759.211,3058.925,370.237,0.000,2256.928,0.000,2587.547,0.000,0.542,0.000
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$MEM,330404
$DATA_FILE_SIZE,100413,1535
$CAP_FILE_SIZE,188845,0
$CFSIZE,260165632,198320128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,311211,001806,2155.505,12416.661,36,1.1,36,-3.0