version: 66.10
glider: 169
mission: 5
dive: 429
start: 1 31 112 2 40 11
data:
$ID,169
$MISSION,5
$DIVE,429
$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,-1
$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,-11418.89
$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
$GPS1,310112,023206,2341.293,12335.654,40,0.9,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.6
$GPS2,310112,023950,2341.212,12335.683,14,1.5,14,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$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,66.9,36549,-15.4,-9.167
$D_GRID,3695
$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,-175.2,0.0,0.0,0,98,0.00,0.00,-77.82,0.000,2,0.000,0.000,110,2680,3072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.0,-5.1,14,126,7.10,2.40,-13.00,0.000,4,0.228,0.042,1817,1173,3696,0,0,0,0,0,0,24.72,25.99,26.53
$GC,234,-0.56,-175.2,40.8,-18.2,39,240,0.00,2.33,0.00,0.000,6,0.000,0.040,1806,2648,3696,0,0,0,0,0,0,28.83,25.97,28.83
$GC,547,-0.43,-175.2,144.7,-36.4,100,554,0.20,2.25,0.00,0.000,4,0.166,0.028,1876,1173,3696,0,0,0,0,0,0,25.79,26.13,28.83
$GC,653,-0.48,-175.2,165.8,-12.0,120,660,0.00,2.28,0.00,0.000,6,0.000,0.037,1866,2650,3696,0,0,0,0,0,0,28.83,26.09,28.83
$GC,965,-0.46,-175.2,214.2,-12.5,171,968,0.00,2.22,0.00,0.000,4,0.000,0.026,1866,1168,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,996,-0.45,-175.2,217.8,-11.7,174,1005,0.00,2.30,0.00,0.000,6,0.000,0.038,1856,2650,3696,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1307,-0.43,-175.2,254.3,-11.3,205,1316,0.00,2.20,0.00,0.000,4,0.000,0.028,1856,1174,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1348,-0.43,-175.2,258.8,-10.8,209,1357,0.00,2.30,0.00,0.000,6,0.000,0.038,1847,2652,3696,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1659,-0.41,-175.2,295.0,-11.8,240,1668,0.10,2.20,0.00,0.000,4,0.164,0.025,1875,1178,3696,0,0,0,0,0,0,26.34,26.23,28.83
$GC,1692,-0.41,-175.2,298.1,-9.9,243,1700,0.00,2.28,0.00,0.000,6,0.000,0.039,1871,2649,3696,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2003,-0.42,-175.2,322.1,-8.4,274,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2649,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,-0.45,-175.2,348.3,-9.0,305,2323,0.00,2.17,0.00,0.000,4,0.000,0.028,1871,1182,3696,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2346,-0.49,-175.2,351.1,-8.3,308,2355,0.00,2.28,0.00,0.000,6,0.000,0.039,1871,2650,3696,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2656,-0.51,-175.2,371.4,-4.2,339,2660,0.00,1.77,0.00,0.000,4,0.000,0.046,1862,3816,3695,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2683,-0.54,-175.2,372.2,-4.0,341,2689,0.00,1.80,0.00,0.000,6,0.000,0.022,1862,2556,3695,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2988,-0.56,-175.2,389.0,-8.0,372,2997,0.00,2.05,0.00,0.000,4,0.000,0.027,1862,1165,3694,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3050,-0.62,-175.2,393.8,-7.6,378,3059,0.10,2.30,0.00,0.000,6,0.039,0.037,1759,2651,3694,0,0,0,0,0,0,26.15,26.13,28.83
$GC,3360,-0.53,-175.2,462.9,-23.9,409,3362,0.25,0.00,0.00,0.000,6,0.142,0.000,1833,2651,3693,0,0,0,0,0,0,25.87,28.83,28.83
$GC,3661,-0.53,-175.2,497.1,-8.6,439,3669,0.00,2.20,0.00,0.000,4,0.000,0.028,1834,1178,3691,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3713,-0.56,-175.2,500.8,-6.6,444,3721,0.00,2.28,0.00,0.000,6,0.000,0.039,1826,2648,3691,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4022,-0.56,-175.2,526.9,-9.4,475,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2648,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,-0.56,-175.2,556.8,-9.9,505,4334,0.00,2.20,0.00,0.000,4,0.000,0.029,1826,1180,3687,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4381,-0.59,-175.2,562.0,-9.1,510,4388,0.00,2.30,0.00,0.000,6,0.000,0.041,1818,2650,3686,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4688,-0.59,-175.2,594.5,-10.7,541,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2649,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-0.59,-175.2,629.9,-11.9,559,5003,0.00,2.22,0.00,0.000,4,0.000,0.029,1818,1174,3682,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5059,-0.60,-175.2,636.5,-11.3,562,5065,0.00,2.33,0.00,0.000,6,0.000,0.040,1812,2650,3682,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5378,-0.60,-175.2,674.1,-12.3,578,5383,0.00,2.22,0.00,0.000,4,0.000,0.029,1813,1172,3680,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5410,-0.60,-175.2,676.7,-12.4,579,5417,0.00,2.33,0.00,0.000,6,0.000,0.041,1812,2650,3680,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5720,-0.60,-175.2,712.0,-10.3,595,5726,0.00,2.20,0.00,0.000,4,0.000,0.030,1812,1176,3677,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5751,-0.60,-175.2,714.1,-10.1,596,5758,0.00,2.33,0.00,0.000,6,0.000,0.041,1812,2652,3677,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6059,-0.60,-175.2,742.9,-8.4,612,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2652,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6361,-0.60,-175.2,767.5,-8.0,627,6367,0.00,2.20,0.00,0.000,4,0.000,0.029,1812,1183,3673,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6400,-0.62,-175.2,770.6,-7.9,629,6405,0.00,2.33,0.00,0.000,6,0.000,0.041,1812,2649,3673,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6722,-0.62,-175.2,794.6,-8.1,645,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2649,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7019,-0.62,-175.2,821.4,-9.2,660,7022,0.00,1.80,0.00,0.000,4,0.000,0.048,1804,3818,3669,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7054,-0.62,-175.2,823.5,-9.3,661,7061,0.00,1.83,0.00,0.000,6,0.000,0.025,1804,2575,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7364,-0.62,-175.2,854.5,-9.2,677,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2576,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,-0.62,-175.2,880.8,-8.8,692,7667,0.00,1.98,0.00,0.000,4,0.000,0.047,1794,3811,3666,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7689,-0.62,-175.2,882.5,-9.0,693,7693,0.00,1.83,0.00,0.000,6,0.000,0.025,1794,2568,3665,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7996,-0.62,-175.2,914.2,-10.1,708,8002,0.00,2.10,0.00,0.000,4,0.000,0.031,1794,1172,3664,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8044,-0.62,-175.2,918.2,-10.1,710,8048,0.00,2.33,0.00,0.000,6,0.000,0.040,1784,2649,3663,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8351,-0.60,-175.2,951.4,-10.4,725,8358,0.12,2.25,0.00,0.000,4,0.145,0.028,1827,1182,3661,0,0,0,0,0,0,26.17,26.03,28.83
$GC,8380,-0.59,-175.2,953.4,-10.0,726,8385,0.00,2.33,0.00,0.000,6,0.000,0.041,1825,2650,3662,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8687,-0.62,-175.2,972.3,-5.5,741,8693,0.00,2.20,0.00,0.000,4,0.000,0.029,1825,1182,3661,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8721,-0.64,-175.2,973.5,-5.5,742,8728,0.00,2.30,0.00,0.000,6,0.000,0.041,1825,2647,3660,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,9026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9026,begin apogee
$GC,9031,-0.20,0.0,990.8,-5.5,758,9196,0.32,0.15,157.25,1.184,6,0.094,0.073,1943,2534,2977,0,0,0,0,0,0,25.86,24.82,23.18
$STATE,9197,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9199,0.60,175.2,995.5,0.0,766,9379,0.70,2.20,169.38,1.188,4,0.047,0.046,2213,3811,2252,0,0,0,0,0,0,25.11,24.79,23.22
$GC,9411,0.50,175.2,976.5,18.0,777,9416,0.20,2.12,0.00,0.000,6,0.184,0.028,2173,2460,2239,0,0,0,0,0,0,24.97,25.39,28.83
$GC,9724,0.44,175.2,924.2,15.9,793,9729,0.00,2.17,0.00,0.000,4,0.000,0.037,2183,1053,2230,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9752,0.40,175.2,920.9,16.2,794,9757,0.15,2.30,0.00,0.000,6,0.149,0.038,2143,2530,2229,0,0,0,0,0,0,25.65,25.94,28.83
$GC,10059,0.37,175.2,876.8,13.5,809,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2530,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10359,0.34,175.2,839.8,11.4,824,10365,0.00,2.25,0.00,0.000,4,0.000,0.034,2155,1050,2227,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10387,0.32,175.2,837.6,11.3,825,10392,0.15,2.30,0.00,0.000,6,0.142,0.039,2114,2528,2226,0,0,0,0,0,0,25.72,26.00,28.83
$GC,10696,0.36,209.2,811.8,8.0,840,10734,0.00,2.08,25.48,0.993,4,0.000,0.045,2113,3816,2124,0,0,0,0,1,0,28.83,25.77,23.83
$GC,10760,0.39,231.2,806.4,8.4,843,10797,0.00,2.08,23.17,0.972,6,0.000,0.028,2123,2454,2036,0,0,0,0,1,0,28.83,25.91,23.63
$GC,11099,0.43,260.3,777.6,8.1,860,11144,0.00,2.25,39.70,0.991,4,0.000,0.045,2124,3814,1910,0,0,0,0,0,0,28.83,25.46,23.91
$GC,11175,0.45,281.5,771.1,8.4,864,11201,0.00,2.10,21.85,0.996,6,0.000,0.028,2134,2465,1830,0,0,0,0,0,0,28.83,25.69,23.88
$GC,11512,0.51,316.0,743.9,8.0,881,11549,0.12,0.00,34.25,1.005,6,0.078,0.000,2208,2466,1687,0,0,0,0,0,0,26.22,28.83,23.96
$GC,11851,0.47,316.0,689.4,15.9,898,11857,0.12,2.15,0.00,0.000,4,0.161,0.043,2168,3814,1666,0,0,0,0,0,0,25.84,25.85,28.83
$GC,11899,0.44,316.0,683.5,15.2,900,11903,0.00,2.08,0.00,0.000,6,0.000,0.028,2179,2458,1665,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12206,0.42,316.0,644.5,12.4,915,12212,0.12,2.10,0.00,0.000,4,0.164,0.034,2150,1061,1664,0,0,0,0,0,0,25.97,25.98,28.83
$GC,12219,0.41,316.0,644.5,12.4,915,12225,0.00,2.28,0.00,0.000,6,0.000,0.037,2150,2531,1663,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12527,0.44,327.3,615.7,8.8,931,12536,0.00,2.25,3.03,0.569,4,0.000,0.033,2161,1059,1643,0,0,0,0,0,0,28.83,26.02,24.07
$GC,12558,0.47,338.0,614.0,8.8,932,12585,0.00,2.28,18.73,0.920,6,0.000,0.038,2161,2528,1593,0,0,0,0,0,0,28.83,26.02,24.19
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$STATE,17360,end climb,SURFACE_DEPTH_REACHED
$STATE,17360,begin surface coast
$FINISH,0.3,1.023980
$STATE,17376,end surface coast,CONTROL_FINISHED_OK
$STATE,17376,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,9.9,53.356
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330460
$DATA_FILE_SIZE,103623,1563
$CAP_FILE_SIZE,185860,0
$CFSIZE,260165632,182464512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310112,073207,2340.461,12337.442,37,1.3,37,-3.3