version: 66.10
glider: 169
mission: 5
dive: 274
start: 1 1 112 1 53 53
data:
$ID,169
$MISSION,5
$DIVE,274
$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,-11066.656
$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
$GPS1,010112,014536,2142.355,12413.159,24,2.0,24,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.8
$GPS2,010112,015331,2142.278,12413.099,43,1.1,43,-2.9
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,HEADING
$TGT_LATLONG,2136.879,12403.039
$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,242.9,20000,-14.5,-9.167
$D_GRID,5642
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-83.93,0.000,2,0.000,0.000,115,2691,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.60,-194.6,3.4,-7.5,15,137,6.85,1.83,-15.02,0.000,4,0.226,0.058,1798,3815,3775,0,0,0,0,0,0,25.13,26.03,26.53
$GC,265,-0.50,-194.6,60.3,-29.5,45,273,0.15,1.83,0.00,0.000,6,0.158,0.023,1846,2565,3775,0,0,0,0,0,0,25.82,26.24,28.83
$GC,576,-0.40,-194.6,155.3,-27.9,106,584,0.12,2.03,0.00,0.000,4,0.174,0.024,1894,1160,3775,0,0,0,0,0,0,26.08,26.29,28.83
$GC,658,-0.46,-194.6,167.0,-7.2,121,664,0.00,2.28,0.00,0.000,6,0.000,0.037,1883,2661,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,974,-0.44,-194.6,207.1,-13.5,178,975,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2661,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1274,-0.44,-194.6,242.8,-10.3,208,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2661,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1575,-0.46,-194.6,270.0,-8.4,238,1579,0.00,2.20,0.00,0.000,4,0.000,0.031,1883,1170,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1628,-0.50,-194.6,274.3,-7.4,243,1636,0.00,2.22,0.00,0.000,6,0.000,0.037,1874,2656,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1939,-0.51,-194.6,304.7,-10.8,274,1942,0.00,1.77,0.00,0.000,4,0.000,0.044,1865,3822,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1980,-0.54,-194.6,309.0,-10.3,278,1983,0.00,1.80,0.00,0.000,6,0.000,0.024,1865,2565,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2293,-0.55,-194.6,339.9,-9.9,309,2301,0.00,2.00,0.00,0.000,4,0.000,0.027,1865,1166,3774,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2324,-0.57,-194.6,342.9,-9.2,312,2333,0.00,2.25,0.00,0.000,6,0.000,0.037,1858,2658,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2634,-0.57,-194.6,374.7,-10.3,343,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2658,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2937,-0.59,-194.6,400.7,-6.7,373,2946,0.12,1.77,0.00,0.000,4,0.077,0.042,1760,3821,3771,0,0,0,0,0,0,26.60,26.25,28.83
$GC,2960,-0.59,-194.6,403.0,-7.9,375,2965,0.15,1.83,0.00,0.000,6,0.119,0.022,1823,2547,3771,0,0,0,0,0,0,25.98,26.48,28.83
$GC,3274,-0.56,-194.6,443.0,-13.4,406,3282,0.00,2.00,0.00,0.000,4,0.000,0.045,1814,3822,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3318,-0.54,-194.6,448.6,-13.3,410,3325,0.00,1.80,0.00,0.000,6,0.000,0.023,1814,2559,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3625,-0.52,-194.6,490.7,-13.6,441,3634,0.00,1.98,0.00,0.000,4,0.000,0.044,1805,3822,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3658,-0.50,-194.6,494.9,-13.5,444,3667,0.15,1.80,0.00,0.000,6,0.122,0.023,1852,2558,3768,0,0,0,0,0,0,26.16,26.48,28.83
$GC,3967,-0.52,-194.6,518.7,-6.8,475,3971,0.00,1.95,0.00,0.000,4,0.000,0.044,1843,3815,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4010,-0.55,-194.6,521.4,-6.5,479,4013,0.00,1.80,0.00,0.000,6,0.000,0.024,1842,2564,3766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4321,-0.57,-194.6,546.4,-8.6,510,4330,0.00,2.00,0.00,0.000,4,0.000,0.028,1843,1180,3764,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4354,-0.59,-194.6,549.0,-8.3,513,4358,0.00,2.22,0.00,0.000,6,0.000,0.038,1835,2657,3764,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4665,-0.59,-194.6,580.8,-10.0,544,4669,0.00,1.75,0.00,0.000,4,0.000,0.045,1825,3820,3762,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4700,-0.61,-194.6,583.7,-9.6,547,4707,0.00,1.80,0.00,0.000,6,0.000,0.024,1825,2562,3761,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5008,-0.61,-194.6,610.1,-8.2,572,5012,0.00,1.98,0.00,0.000,4,0.000,0.047,1816,3813,3759,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5063,-0.61,-194.6,613.8,-8.4,574,5069,0.00,1.80,0.00,0.000,6,0.000,0.024,1816,2560,3759,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5370,-0.61,-194.6,647.4,-11.6,590,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2560,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5671,-0.61,-194.6,681.8,-11.2,605,5676,0.00,1.98,0.00,0.000,4,0.000,0.045,1808,3829,3755,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5733,-0.62,-194.6,688.3,-10.9,608,5736,0.00,1.83,0.00,0.000,6,0.000,0.025,1807,2566,3754,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6044,-0.61,-194.6,719.8,-9.9,624,6050,0.00,1.98,0.00,0.000,4,0.000,0.046,1798,3817,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6077,-0.60,-194.6,721.9,-10.0,625,6084,0.00,1.80,0.00,0.000,6,0.000,0.025,1798,2566,3751,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6385,-0.59,-194.6,756.3,-10.6,641,6391,0.00,1.95,0.00,0.000,4,0.000,0.048,1789,3815,3749,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6427,-0.58,-194.6,760.6,-10.7,643,6431,0.12,1.83,0.00,0.000,6,0.123,0.024,1828,2558,3749,0,0,0,0,0,0,26.15,26.41,28.83
$GC,6747,-0.60,-194.6,784.8,-7.3,659,6752,0.00,2.00,0.00,0.000,4,0.000,0.046,1818,3826,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6779,-0.61,-194.6,786.4,-7.4,660,6786,0.00,1.83,0.00,0.000,6,0.000,0.025,1818,2560,3746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7088,-0.62,-194.6,811.3,-7.7,676,7094,0.00,2.00,0.00,0.000,4,0.000,0.030,1818,1183,3745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7116,-0.63,-194.6,812.7,-7.6,677,7125,0.00,2.25,0.00,0.000,6,0.000,0.041,1812,2658,3744,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7426,-0.63,-194.6,840.4,-9.5,693,7429,0.00,1.80,0.00,0.000,4,0.000,0.047,1803,3821,3743,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7460,-0.63,-194.6,842.4,-9.5,694,7466,0.00,1.83,0.00,0.000,6,0.000,0.024,1803,2562,3742,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7768,-0.63,-194.6,875.5,-10.2,710,7773,0.00,1.95,0.00,0.000,4,0.000,0.047,1795,3812,3741,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7809,-0.63,-194.6,879.5,-10.0,712,7813,0.00,1.83,0.00,0.000,6,0.000,0.024,1794,2572,3741,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8130,-0.63,-194.6,913.4,-10.6,728,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2570,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8427,-0.63,-194.6,945.7,-10.5,743,8432,0.00,1.98,0.00,0.000,4,0.000,0.047,1785,3814,3738,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8460,-0.63,-194.6,947.8,-10.5,744,8466,0.00,1.83,0.00,0.000,6,0.000,0.025,1785,2565,3737,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8769,-0.61,-194.6,984.0,-11.4,760,8774,0.00,2.00,0.00,0.000,4,0.000,0.048,1775,3827,3735,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8800,-0.59,-194.6,986.3,-11.4,761,8808,0.15,1.83,0.00,0.000,6,0.117,0.026,1823,2565,3735,0,0,0,0,0,0,26.03,26.34,28.83
$STATE,8825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8825,begin apogee
$GC,8830,-0.20,0.0,990.4,-10.9,763,9010,0.32,0.10,167.95,1.180,6,0.090,0.055,1943,2539,2968,0,0,0,0,0,0,26.01,24.73,23.61
$STATE,9011,end apogee,CONTROL_FINISHED_OK
$STATE,9011,begin climb
$GC,9013,0.60,194.6,999.5,0.0,772,9210,0.70,2.42,185.02,1.180,4,0.047,0.037,2225,1068,2172,0,0,0,0,0,0,25.02,24.30,23.14
$GC,9286,0.53,194.6,974.0,17.4,785,9294,0.17,2.30,0.00,0.000,6,0.158,0.040,2179,2522,2155,0,0,0,0,0,0,24.99,25.25,28.83
$GC,9595,0.47,194.6,923.4,15.0,801,9600,0.00,1.98,0.00,0.000,4,0.000,0.046,2180,3811,2151,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9674,0.40,194.6,909.9,17.0,805,9680,0.12,2.05,0.00,0.000,6,0.155,0.031,2149,2467,2150,0,0,0,0,0,0,25.65,26.03,28.83
$GC,9993,0.37,194.6,873.4,10.5,821,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2465,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10294,0.34,194.6,842.6,10.2,836,10300,0.00,2.12,0.00,0.000,4,0.000,0.045,2149,3805,2147,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10333,0.30,194.6,837.8,11.0,838,10340,0.17,2.05,0.00,0.000,6,0.155,0.030,2112,2452,2146,0,0,0,0,0,0,25.77,26.18,28.83
$GC,10654,0.32,212.2,810.9,8.6,854,10674,0.00,2.25,14.75,0.965,4,0.000,0.048,2112,3818,2109,0,0,0,0,0,0,28.83,26.00,24.67
$GC,10690,0.33,222.8,809.2,8.8,855,10703,0.00,2.08,7.82,0.945,6,0.000,0.031,2122,2456,2071,0,0,0,0,0,0,28.83,26.06,24.46
$GC,11017,0.33,222.8,776.0,9.5,872,11022,0.00,2.10,0.00,0.000,4,0.000,0.037,2133,1060,2066,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11038,0.33,222.8,774.0,9.6,873,11043,0.00,2.25,0.00,0.000,6,0.000,0.038,2132,2528,2065,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11357,0.32,222.8,740.3,10.4,889,11363,0.00,2.00,0.00,0.000,4,0.000,0.045,2133,3822,2065,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11431,0.31,222.8,733.2,11.6,892,11438,0.12,2.05,0.00,0.000,6,0.158,0.028,2111,2457,2065,0,0,0,0,0,0,25.89,26.19,28.83
$GC,11737,0.38,269.4,704.9,7.7,908,11809,0.00,2.20,65.75,0.859,4,0.000,0.038,2121,1059,1874,0,0,0,0,0,0,28.83,25.49,24.44
$GC,11827,0.46,326.3,699.1,7.4,912,11891,0.08,2.30,57.83,0.944,6,0.047,0.038,2194,2546,1647,0,0,0,0,0,0,25.56,25.57,24.07
$GC,12192,0.43,326.3,642.4,16.1,930,12198,0.12,2.00,0.00,0.000,4,0.155,0.044,2154,3813,1619,0,0,0,0,0,0,25.81,25.87,28.83
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$STATE,17461,end climb,SURFACE_DEPTH_REACHED
$STATE,17461,begin surface coast
$FINISH,0.5,1.023396
$STATE,17488,end surface coast,CONTROL_FINISHED_OK
$STATE,17488,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,10.1,36.438
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.200,159.525,678.225,0.000,0.000,27.802,23.697,255.681,0.000,0.000,44.577,3716.885,9963.646,763.716,3183.793,381.019,0.000,2312.164,0.000,2684.449,0.000,0.543,0.000
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$MEM,330404
$DATA_FILE_SIZE,103773,1579
$CAP_FILE_SIZE,194991,0
$CFSIZE,260165632,197730304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010112,064736,2140.015,12411.815,32,2.0,32,-2.9