version: 66.10
glider: 169
mission: 5
dive: 269
start: 12 31 111 0 25 59
data:
$ID,169
$MISSION,5
$DIVE,269
$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,-11060.365
$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
$GPS1,311211,001806,2155.505,12416.661,36,1.1,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.2
$GPS2,311211,002537,2155.481,12416.638,35,1.1,35,-3.0
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2150.082,12406.562
$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,5314
$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,-194.6,0.0,0.0,0,111,0.00,0.00,-90.72,0.000,2,0.000,0.000,118,2667,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.60,-194.6,3.6,-8.1,16,139,6.88,2.28,-12.40,0.000,4,0.229,0.041,1819,1177,3775,0,0,0,0,0,0,25.12,26.08,26.50
$GC,252,-0.54,-194.6,50.7,-20.8,42,259,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2657,3776,0,0,0,0,0,0,28.83,26.05,28.83
$GC,565,-0.41,-194.6,164.3,-33.6,103,572,0.20,2.17,0.00,0.000,4,0.165,0.026,1879,1173,3776,0,0,0,0,0,0,25.84,26.23,28.83
$GC,677,-0.47,-194.6,182.7,-8.2,124,684,0.00,2.25,0.00,0.000,6,0.000,0.037,1869,2662,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,988,-0.43,-194.6,224.3,-14.1,168,991,0.00,1.77,0.00,0.000,4,0.000,0.044,1860,3815,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1019,-0.41,-194.6,228.5,-13.3,171,1022,0.00,1.80,0.00,0.000,6,0.000,0.023,1860,2564,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1330,-0.38,-194.6,275.9,-15.0,202,1334,0.00,2.00,0.00,0.000,4,0.000,0.028,1860,1177,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1371,-0.38,-194.6,281.3,-13.4,206,1381,0.12,2.25,0.00,0.000,6,0.126,0.038,1891,2658,3776,0,0,0,0,0,0,26.12,26.26,28.83
$GC,1683,-0.41,-194.6,304.3,-6.7,237,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2658,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1985,-0.45,-194.6,319.2,-4.2,267,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2658,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-0.50,-194.6,334.4,-5.9,298,2301,0.12,0.00,0.00,0.000,6,0.076,0.000,1792,2658,3774,0,0,0,0,0,0,26.60,28.83,28.83
$GC,2602,-0.42,-194.6,400.8,-20.7,329,2611,0.22,2.17,0.00,0.000,4,0.136,0.026,1876,1177,3774,0,0,0,0,0,0,26.03,26.35,28.83
$GC,2655,-0.45,-194.6,407.4,-10.7,334,2664,0.00,2.22,0.00,0.000,6,0.000,0.039,1872,2657,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2966,-0.57,-194.6,432.0,-8.3,365,2973,0.15,0.00,0.00,0.000,6,0.100,0.000,1812,2657,3772,0,0,0,0,0,0,26.44,28.83,28.83
$GC,3275,-0.61,-194.6,452.7,-7.2,396,3283,0.00,2.15,0.00,0.000,4,0.000,0.028,1812,1174,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3317,-0.62,-194.6,456.2,-8.5,400,3326,0.00,2.22,0.00,0.000,6,0.000,0.038,1802,2656,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3626,-0.58,-194.6,505.0,-17.0,431,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2656,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.54,-194.6,549.1,-14.1,461,3935,0.12,0.00,0.00,0.000,6,0.150,0.000,1838,2656,3767,0,0,0,0,0,0,26.33,28.83,28.83
$GC,4238,-0.56,-194.6,578.8,-8.4,492,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2655,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4549,-0.57,-194.6,605.0,-8.1,520,4553,0.00,2.17,0.00,0.000,4,0.000,0.029,1839,1185,3762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4584,-0.60,-194.6,607.1,-8.2,521,4591,0.00,2.22,0.00,0.000,6,0.000,0.039,1831,2654,3762,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4892,-0.61,-194.6,632.5,-8.0,537,4895,0.00,1.80,0.00,0.000,4,0.000,0.046,1822,3821,3761,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4916,-0.62,-194.6,634.3,-7.9,538,4920,0.00,1.83,0.00,0.000,6,0.000,0.024,1822,2558,3760,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5228,-0.62,-194.6,661.3,-9.2,554,5234,0.00,1.98,0.00,0.000,4,0.000,0.044,1813,3823,3758,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5262,-0.62,-194.6,663.1,-9.4,555,5270,0.00,1.83,0.00,0.000,6,0.000,0.024,1813,2557,3758,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5569,-0.62,-194.6,699.0,-11.5,571,5575,0.00,2.00,0.00,0.000,4,0.000,0.029,1813,1180,3755,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5610,-0.62,-194.6,703.5,-11.3,573,5614,0.00,2.25,0.00,0.000,6,0.000,0.041,1811,2653,3755,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5930,-0.62,-194.6,736.1,-9.4,589,5934,0.00,1.80,0.00,0.000,4,0.000,0.046,1802,3815,3753,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5954,-0.62,-194.6,738.4,-9.4,590,5958,0.00,1.83,0.00,0.000,6,0.000,0.024,1802,2569,3752,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6272,-0.61,-194.6,767.3,-9.2,606,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2568,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6573,-0.60,-194.6,796.3,-9.6,621,6576,0.00,1.98,0.00,0.000,4,0.000,0.047,1793,3821,3748,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6607,-0.59,-194.6,798.5,-9.8,622,6614,0.00,1.85,0.00,0.000,6,0.000,0.025,1792,2563,3748,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6914,-0.58,-194.6,832.8,-10.7,638,6920,0.10,1.98,0.00,0.000,4,0.147,0.045,1813,3821,3746,0,0,0,0,0,0,26.41,26.08,28.83
$GC,6943,-0.57,-194.6,834.9,-10.6,639,6947,0.00,1.83,0.00,0.000,6,0.000,0.025,1813,2563,3746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7249,-0.57,-194.6,862.5,-9.2,654,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2562,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,-0.58,-194.6,890.0,-9.1,669,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2562,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7850,-0.59,-194.6,916.0,-8.7,684,7855,0.00,1.98,0.00,0.000,4,0.000,0.048,1804,3811,3741,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7892,-0.60,-194.6,919.3,-8.5,686,7896,0.00,1.83,0.00,0.000,6,0.000,0.025,1804,2562,3740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8205,-0.60,-194.6,947.1,-8.5,702,8211,0.00,2.03,0.00,0.000,4,0.000,0.031,1804,1174,3739,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8237,-0.60,-194.6,948.7,-8.5,703,8244,0.00,2.28,0.00,0.000,6,0.000,0.042,1795,2658,3738,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8545,-0.60,-194.6,978.9,-10.1,719,8549,0.00,2.20,0.00,0.000,4,0.000,0.029,1795,1171,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8575,-0.60,-194.6,981.1,-9.9,720,8579,0.12,2.28,0.00,0.000,6,0.126,0.041,1825,2652,3736,0,0,0,0,0,0,25.92,26.06,28.83
$STATE,8700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8700,begin apogee
$GC,8705,-0.20,0.0,991.5,-7.4,726,8885,0.32,0.12,170.40,1.178,6,0.090,0.086,1945,2537,2971,0,0,0,0,0,0,26.02,24.70,23.57
$STATE,8886,end apogee,CONTROL_FINISHED_OK
$STATE,8886,begin climb
$GC,8888,0.60,194.6,1001.4,0.0,735,9085,0.68,2.25,187.62,1.177,4,0.046,0.046,2209,3813,2177,0,0,0,0,0,0,24.94,24.16,23.01
$GC,9148,0.51,194.6,977.4,18.5,748,9155,0.17,2.17,0.00,0.000,6,0.184,0.031,2178,2461,2156,0,0,0,0,0,0,24.73,25.05,28.83
$GC,9469,0.45,194.6,930.7,14.2,764,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2459,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9769,0.39,194.6,886.5,14.8,779,9775,0.12,2.10,0.00,0.000,4,0.179,0.043,2140,3806,2150,0,0,0,0,0,0,25.87,26.00,28.83
$GC,9811,0.34,194.6,880.4,15.0,781,9815,0.00,2.05,0.00,0.000,6,0.000,0.031,2150,2465,2149,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10129,0.31,194.6,839.4,12.8,797,10131,0.15,0.00,0.00,0.000,6,0.164,0.000,2111,2464,2148,0,0,0,0,0,0,25.95,28.83,28.83
$GC,10428,0.31,194.6,809.7,9.6,812,10434,0.00,2.15,0.00,0.000,4,0.000,0.045,2110,3822,2147,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10471,0.31,194.6,805.3,10.1,814,10475,0.00,2.05,0.00,0.000,6,0.000,0.028,2121,2465,2146,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10789,0.31,194.6,772.9,9.8,830,10793,0.00,2.12,0.00,0.000,4,0.000,0.045,2121,3815,2145,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10819,0.30,194.6,770.6,9.9,831,10823,0.00,2.05,0.00,0.000,6,0.000,0.028,2131,2453,2145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11129,0.30,198.3,740.5,9.0,846,11134,0.00,2.12,0.00,0.000,4,0.000,0.047,2131,3810,2145,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11157,0.29,205.2,738.6,9.0,847,11166,0.12,2.05,0.00,0.000,6,0.167,0.031,2110,2459,2144,0,0,0,0,0,0,25.86,26.19,28.83
$GC,11467,0.43,314.7,718.2,5.7,863,11575,0.12,2.25,97.00,1.234,4,0.080,0.044,2192,3818,1699,0,0,0,0,1,0,26.47,24.95,23.68
$GC,11605,0.38,314.7,700.7,14.3,870,11613,0.25,2.15,1.67,0.184,6,0.140,0.030,2132,2460,1694,0,0,0,0,0,0,25.07,25.32,24.98
$GC,11928,0.42,333.7,672.3,8.6,886,11966,0.00,2.15,29.90,0.895,4,0.000,0.035,2142,1056,1610,0,0,0,0,0,0,28.83,25.59,24.51
$GC,11992,0.47,356.0,667.0,8.5,889,12020,0.00,2.30,23.52,0.923,6,0.000,0.038,2143,2532,1526,0,0,0,0,0,0,28.83,25.66,24.25
$GC,12331,0.49,356.0,635.0,10.2,906,12336,0.00,2.22,0.00,0.000,4,0.000,0.037,2153,1062,1506,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12351,0.52,356.0,632.9,10.2,907,12356,0.00,2.25,0.00,0.000,6,0.000,0.038,2153,2523,1505,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12666,0.53,356.0,597.8,10.9,924,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2523,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12976,0.55,356.0,565.0,9.4,955,12985,0.00,1.98,0.00,0.000,4,0.000,0.047,2153,3805,1504,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12998,0.56,356.0,562.6,9.5,957,13007,0.00,2.03,0.00,0.000,6,0.000,0.029,2163,2464,1503,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,17545,end climb,SURFACE_DEPTH_REACHED
$STATE,17545,begin surface coast
$FINISH,0.3,1.023369
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.00
$XPDR_PINGS,1
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$10V_AH,10.1,35.851
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.175,148.025,611.150,0.000,0.000,27.261,41.614,223.340,0.250,0.000,36.730,3670.031,10249.223,726.263,3034.626,380.044,0.000,2191.982,0.000,2566.113,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,103698,1552
$CAP_FILE_SIZE,189300,0
$CFSIZE,260165632,198217728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311211,052100,2153.161,12415.499,36,1.6,36,-3.0