version: 66.10
glider: 169
mission: 5
dive: 412
start: 1 27 112 12 39 42
data:
$ID,169
$MISSION,5
$DIVE,412
$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,180
$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,40
$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,-11397.502
$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
$GPS1,270112,123137,2328.417,12307.953,32,0.9,32,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.0
$GPS2,270112,123920,2328.341,12308.098,15,1.5,15,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2336.614,12315.674
$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,43.3,20000,-15.4,-9.167
$D_GRID,3653
$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,16,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.65,0.000,2,0.000,0.000,117,2672,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.9,-8.8,14,125,7.10,1.83,-11.20,0.000,4,0.231,0.053,1798,3823,3696,0,0,0,0,0,0,24.75,25.98,26.53
$GC,249,-0.53,-175.2,67.8,-24.1,42,256,0.12,1.80,0.00,0.000,6,0.161,0.021,1837,2578,3696,0,0,0,0,0,0,25.84,26.22,28.83
$GC,562,-0.43,-175.2,159.6,-27.0,103,569,0.12,2.05,0.00,0.000,4,0.176,0.021,1885,1154,3696,0,0,0,0,0,0,26.06,26.26,28.83
$GC,623,-0.48,-175.2,169.1,-8.8,114,630,0.00,2.30,0.00,0.000,6,0.000,0.035,1875,2654,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,935,-0.46,-175.2,209.4,-13.6,168,936,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,2653,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.45,-175.2,250.2,-13.2,198,1245,0.00,2.15,0.00,0.000,4,0.000,0.025,1876,1173,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1272,-0.45,-175.2,254.4,-12.4,201,1279,0.00,2.28,0.00,0.000,6,0.000,0.037,1865,2655,3696,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1578,-0.45,-175.2,289.7,-11.6,232,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2655,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1882,-0.45,-175.2,324.0,-11.4,262,1891,0.00,2.20,0.00,0.000,4,0.000,0.027,1865,1172,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1954,-0.51,-175.2,330.5,-7.5,269,1963,0.00,2.28,0.00,0.000,6,0.000,0.037,1857,2653,3696,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2263,-0.51,-175.2,361.4,-9.8,300,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2652,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,-0.52,-175.2,389.8,-9.7,330,2575,0.00,2.20,0.00,0.000,4,0.000,0.027,1856,1168,3694,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2599,-0.54,-175.2,392.8,-8.9,333,2608,0.00,2.28,0.00,0.000,6,0.000,0.037,1851,2654,3694,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2908,-0.55,-175.2,421.0,-8.7,364,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2654,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,-0.57,-175.2,446.2,-8.1,394,3221,0.00,2.17,0.00,0.000,4,0.000,0.027,1850,1171,3691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3254,-0.61,-175.2,449.6,-7.6,398,3263,0.00,2.28,0.00,0.000,6,0.000,0.037,1843,2653,3691,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3564,-0.62,-175.2,477.9,-9.5,429,3568,0.00,1.75,0.00,0.000,4,0.000,0.043,1834,3818,3689,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3606,-0.65,-175.2,481.8,-9.3,433,3614,0.00,1.80,0.00,0.000,6,0.000,0.024,1834,2572,3689,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3915,-0.65,-175.2,511.8,-9.4,464,3924,0.00,2.08,0.00,0.000,4,0.000,0.029,1834,1171,3687,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3957,-0.68,-175.2,515.4,-9.0,468,3966,0.00,2.28,0.00,0.000,6,0.000,0.037,1825,2654,3686,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4269,-0.68,-175.2,547.4,-10.6,499,4273,0.00,1.77,0.00,0.000,4,0.000,0.044,1817,3816,3684,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4300,-0.68,-175.2,550.7,-9.9,502,4304,0.00,1.83,0.00,0.000,6,0.000,0.024,1817,2567,3684,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4605,-0.68,-175.2,580.9,-9.9,532,4614,0.00,2.05,0.00,0.000,4,0.000,0.028,1817,1177,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4640,-0.68,-175.2,584.0,-10.0,535,4647,0.00,2.28,0.00,0.000,6,0.000,0.038,1808,2651,3682,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4958,-0.67,-175.2,617.7,-10.8,559,4962,0.00,2.20,0.00,0.000,4,0.000,0.028,1808,1179,3680,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4992,-0.67,-175.2,620.2,-11.1,560,4999,0.00,2.28,0.00,0.000,6,0.000,0.039,1800,2651,3679,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5301,-0.66,-175.2,657.1,-11.4,576,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2651,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5600,-0.64,-175.2,690.7,-10.9,591,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2651,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.63,-175.2,720.8,-9.7,606,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2651,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6202,-0.63,-175.2,748.0,-8.6,621,6207,0.00,2.22,0.00,0.000,4,0.000,0.030,1800,1179,3670,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6240,-0.63,-175.2,750.9,-8.0,623,6246,0.00,2.33,0.00,0.000,6,0.000,0.040,1791,2653,3670,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6563,-0.61,-175.2,780.9,-10.4,639,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2653,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,-0.60,-175.2,815.1,-11.5,654,6866,0.00,2.20,0.00,0.000,4,0.000,0.027,1791,1176,3665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6909,-0.60,-175.2,819.4,-10.9,656,6914,0.12,2.30,0.00,0.000,6,0.133,0.040,1819,2652,3666,0,0,0,0,0,0,25.85,26.02,28.83
$GC,7221,-0.61,-175.2,846.3,-8.1,671,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2651,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7517,-0.63,-175.2,871.4,-8.6,686,7522,0.00,2.20,0.00,0.000,4,0.000,0.031,1819,1184,3663,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7546,-0.65,-175.2,873.1,-8.6,687,7555,0.00,2.30,0.00,0.000,6,0.000,0.041,1811,2649,3662,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7858,-0.66,-175.2,900.1,-8.5,703,7862,0.00,1.80,0.00,0.000,4,0.000,0.048,1802,3816,3661,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7908,-0.67,-175.2,903.8,-8.4,705,7911,0.00,1.83,0.00,0.000,6,0.000,0.027,1802,2570,3660,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8217,-0.67,-175.2,931.7,-8.8,720,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2568,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,-0.67,-175.2,956.9,-8.3,735,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2568,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8816,-0.67,-175.2,982.5,-8.7,750,8821,0.00,2.08,0.00,0.000,4,0.000,0.031,1802,1182,3657,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8843,-0.68,-175.2,984.3,-8.7,751,8847,0.00,2.33,0.00,0.000,6,0.000,0.041,1799,2654,3656,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8913,-0.20,0.0,990.2,-8.0,754,9076,0.40,0.15,155.85,1.187,6,0.103,0.074,1939,2534,2977,0,0,0,0,0,0,25.71,24.85,23.28
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.60,175.2,996.2,0.0,762,9259,0.70,2.45,167.73,1.187,4,0.048,0.034,2220,1055,2252,0,0,0,0,0,0,25.13,24.84,23.27
$GC,9393,0.54,175.2,964.0,16.3,778,9399,0.12,2.30,0.00,0.000,6,0.168,0.039,2189,2524,2235,0,0,0,0,0,0,25.51,25.77,28.83
$GC,9709,0.48,175.2,912.7,15.5,794,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2524,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10008,0.41,175.2,869.4,14.6,809,10014,0.12,2.00,0.00,0.000,4,0.184,0.042,2150,3814,2231,0,0,0,0,0,0,25.93,25.99,28.83
$GC,10055,0.36,175.2,863.6,14.7,811,10060,0.12,2.08,0.00,0.000,6,0.175,0.028,2130,2453,2229,0,0,0,0,0,0,25.78,26.16,28.83
$GC,10365,0.36,190.6,834.5,8.6,826,10382,0.00,0.00,13.00,1.017,6,0.000,0.000,2129,2451,2196,0,0,0,0,0,0,28.83,28.83,24.07
$GC,10684,0.37,206.0,806.9,8.6,842,10705,0.00,2.22,15.95,1.004,4,0.000,0.046,2129,3816,2133,0,0,0,0,0,0,28.83,25.86,24.23
$GC,10742,0.36,206.0,801.2,10.1,845,10746,0.00,2.08,0.00,0.000,6,0.000,0.028,2139,2461,2123,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11054,0.34,206.0,770.2,10.0,861,11059,0.00,2.12,0.00,0.000,4,0.000,0.037,2150,1059,2119,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11082,0.33,206.0,768.2,9.9,862,11087,0.12,2.28,0.00,0.000,6,0.142,0.040,2116,2525,2118,0,0,0,0,0,0,25.77,25.97,28.83
$GC,11390,0.37,226.3,741.7,8.4,877,11414,0.00,0.00,22.05,0.971,6,0.000,0.000,2116,2524,2055,0,0,0,0,0,0,28.83,28.83,24.24
$GC,11711,0.41,245.7,714.2,8.5,893,11733,0.00,0.00,19.35,0.968,6,0.000,0.000,2116,2525,1975,0,0,0,0,0,0,28.83,28.83,24.21
$GC,12029,0.45,262.7,687.1,8.6,909,12052,0.12,2.28,17.33,0.965,4,0.077,0.034,2207,1054,1900,0,0,0,0,0,0,26.29,25.83,24.20
$GC,12102,0.44,262.7,679.7,12.0,912,12110,0.17,2.30,0.00,0.000,6,0.138,0.040,2158,2525,1888,0,0,0,0,0,0,25.55,25.82,28.83
$GC,12405,0.43,262.7,641.8,11.9,928,12411,0.00,2.00,0.00,0.000,4,0.000,0.045,2157,3813,1886,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12468,0.42,262.7,634.0,12.9,931,12472,0.00,2.08,0.00,0.000,6,0.000,0.028,2167,2456,1885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12781,0.41,262.7,594.1,12.8,949,12790,0.00,2.08,0.00,0.000,4,0.000,0.036,2178,1067,1884,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12812,0.41,262.7,590.2,12.2,952,12822,0.12,2.25,0.00,0.000,6,0.138,0.039,2143,2524,1884,0,0,0,0,0,0,25.79,25.99,28.83
$GC,13123,0.42,262.7,557.7,9.9,983,13132,0.00,2.22,0.00,0.000,4,0.000,0.034,2154,1041,1884,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13158,0.43,262.7,554.6,9.8,986,13165,0.00,2.30,0.00,0.000,6,0.000,0.038,2154,2532,1883,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,18326,end climb,SURFACE_DEPTH_REACHED
$STATE,18326,begin surface coast
$FINISH,0.2,1.023047
$STATE,18352,end surface coast,CONTROL_FINISHED_OK
$STATE,18352,begin surface
$SM_CCo,18368,10.95,0.125,0,0,1243,425.10
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,9.9,51.366
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.200,138.375,539.900,10.950,0.000,23.347,41.086,255.879,0.000,0.000,16.387,3906.275,10646.592,672.560,3178.530,411.234,0.000,2165.788,0.000,2701.589,0.000,0.543,0.000
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$MEM,330440
$DATA_FILE_SIZE,110293,1662
$CAP_FILE_SIZE,190676,0
$CFSIZE,260165632,185176064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270112,174707,2329.224,12310.901,36,1.0,36,-3.3