version: 66.10
glider: 169
mission: 5
dive: 456
start: 2 5 112 16 59 1
data:
$ID,169
$MISSION,5
$DIVE,456
$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,2
$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,-12483.686
$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
$GPS1,050212,165037,2349.678,12355.311,27,1.5,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.7
$GPS2,050212,165836,2349.613,12355.320,40,1.8,40,-3.4
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,207.3,258688,-15.4,-9.167
$D_GRID,2875
$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,-175.2,0.0,0.0,0,96,0.00,0.00,-76.88,0.000,2,0.000,0.000,115,2664,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.5,-7.7,13,126,7.12,2.30,-10.55,0.000,4,0.229,0.041,1819,1166,3692,0,0,0,0,0,0,24.69,25.99,26.55
$GC,154,-0.46,-175.2,27.5,-39.4,22,161,0.17,2.35,0.00,0.000,6,0.153,0.039,1855,2653,3692,0,0,0,0,0,0,25.57,25.94,28.83
$GC,468,-0.37,-175.2,112.6,-26.2,83,475,0.12,2.25,0.00,0.000,4,0.176,0.025,1904,1170,3692,0,0,0,0,0,0,26.05,26.14,28.83
$GC,560,-0.44,-175.2,126.1,-8.8,100,568,0.00,2.30,0.00,0.000,6,0.000,0.034,1893,2655,3692,0,0,0,0,0,0,28.83,26.10,28.83
$GC,875,-0.43,-175.2,161.8,-9.7,161,881,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,2655,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1184,-0.44,-175.2,193.0,-10.7,222,1191,0.00,2.22,0.00,0.000,4,0.000,0.028,1893,1177,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1260,-0.49,-175.2,199.9,-9.3,236,1268,0.00,2.28,0.00,0.000,6,0.000,0.036,1884,2650,3692,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1567,-0.49,-175.2,232.7,-11.2,267,1575,0.00,2.20,0.00,0.000,4,0.000,0.025,1884,1167,3692,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1590,-0.51,-175.2,235.0,-10.4,269,1599,0.00,2.28,0.00,0.000,6,0.000,0.036,1874,2649,3692,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1899,-0.51,-175.2,259.5,-8.1,300,1908,0.00,2.20,0.00,0.000,4,0.000,0.026,1875,1179,3693,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1923,-0.53,-175.2,261.5,-8.3,302,1931,0.00,2.28,0.00,0.000,6,0.000,0.037,1865,2650,3692,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2232,-0.53,-175.2,290.2,-8.4,333,2236,0.00,2.20,0.00,0.000,4,0.000,0.025,1865,1175,3692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2265,-0.54,-175.2,292.7,-8.1,336,2275,0.00,2.30,0.00,0.000,6,0.000,0.037,1856,2649,3692,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2573,-0.54,-175.2,328.1,-12.0,367,2582,0.00,2.20,0.00,0.000,4,0.000,0.028,1856,1177,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2626,-0.58,-175.2,333.2,-9.4,372,2636,0.00,2.25,0.00,0.000,6,0.000,0.037,1852,2641,3692,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2934,-0.58,-175.2,368.1,-12.3,403,2943,0.00,2.22,0.00,0.000,4,0.000,0.028,1851,1163,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2970,-0.59,-175.2,371.9,-12.5,406,2979,0.00,2.33,0.00,0.000,6,0.000,0.037,1851,2652,3692,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3277,-0.60,-175.2,403.0,-9.9,437,3280,0.00,1.80,0.00,0.000,4,0.000,0.045,1843,3818,3691,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3308,-0.61,-175.2,406.0,-9.3,440,3311,0.00,1.77,0.00,0.000,6,0.000,0.023,1843,2578,3690,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3619,-0.61,-175.2,438.4,-10.4,471,3628,0.00,2.08,0.00,0.000,4,0.000,0.028,1843,1177,3689,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3661,-0.64,-175.2,442.4,-9.8,475,3671,0.10,2.30,0.00,0.000,6,0.090,0.037,1777,2650,3689,0,0,0,0,0,0,26.10,26.10,28.83
$GC,3971,-0.58,-175.2,495.2,-17.3,506,3980,0.12,2.22,0.00,0.000,4,0.155,0.024,1827,1166,3687,0,0,0,0,0,0,26.18,26.20,28.83
$GC,4027,-0.58,-175.2,501.8,-11.3,511,4033,0.00,2.33,0.00,0.000,6,0.000,0.038,1818,2651,3687,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4334,-0.56,-175.2,543.4,-14.8,542,4343,0.00,2.25,0.00,0.000,4,0.000,0.028,1818,1169,3685,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4366,-0.56,-175.2,547.8,-14.1,545,4375,0.00,2.33,0.00,0.000,6,0.000,0.040,1812,2650,3685,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4676,-0.54,-175.2,577.6,-8.8,576,4686,0.00,2.20,0.00,0.000,4,0.000,0.028,1812,1181,3683,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4702,-0.53,-175.2,579.8,-9.7,578,4709,0.12,2.30,0.00,0.000,6,0.132,0.037,1842,2651,3683,0,0,0,0,0,0,25.91,26.08,28.83
$GC,5009,-0.55,-175.2,608.7,-10.7,605,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2650,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5309,-0.57,-175.2,638.1,-8.9,620,5315,0.00,2.20,0.00,0.000,4,0.000,0.029,1842,1180,3679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5337,-0.60,-175.2,640.0,-8.8,621,5341,0.00,2.30,0.00,0.000,6,0.000,0.038,1839,2649,3679,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5647,-0.62,-175.2,662.4,-7.4,636,5652,0.00,2.20,0.00,0.000,4,0.000,0.028,1839,1176,3676,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5675,-0.65,-175.2,664.1,-7.5,637,5685,0.12,2.33,0.00,0.000,6,0.078,0.038,1768,2651,3677,0,0,0,0,0,0,26.05,26.03,28.83
$GC,5987,-0.61,-175.2,709.5,-14.1,653,5993,0.12,2.22,0.00,0.000,4,0.145,0.027,1811,1173,3674,0,0,0,0,0,0,26.20,26.12,28.83
$GC,6019,-0.57,-175.2,712.1,-13.9,654,6026,0.00,2.33,0.00,0.000,6,0.000,0.040,1802,2649,3674,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6327,-0.56,-175.2,741.9,-10.1,670,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2648,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6628,-0.56,-175.2,777.9,-12.6,685,6633,0.00,2.22,0.00,0.000,4,0.000,0.028,1802,1175,3669,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6674,-0.56,-175.2,782.7,-12.2,687,6678,0.00,2.33,0.00,0.000,6,0.000,0.039,1799,2649,3669,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6987,-0.56,-175.2,820.6,-11.6,703,6993,0.12,2.22,0.00,0.000,4,0.140,0.027,1843,1176,3667,0,0,0,0,0,0,26.22,26.08,28.83
$GC,7019,-0.56,-175.2,822.6,-11.2,704,7027,0.00,2.33,0.00,0.000,6,0.000,0.039,1838,2651,3667,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7327,-0.59,-175.2,843.9,-6.5,720,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2650,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7628,-0.62,-175.2,863.4,-6.5,735,7633,0.00,2.22,0.00,0.000,4,0.000,0.028,1839,1175,3664,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7660,-0.66,-175.2,864.8,-6.6,736,7668,0.12,2.33,0.00,0.000,6,0.079,0.039,1766,2649,3663,0,0,0,0,0,0,25.97,25.95,28.83
$GC,7968,-0.63,-175.2,907.1,-13.8,752,7974,0.12,1.80,0.00,0.000,4,0.144,0.044,1800,3840,3662,0,0,0,0,0,0,26.17,25.88,28.83
$GC,7989,-0.60,-175.2,909.6,-13.4,753,7993,0.00,1.85,0.00,0.000,6,0.000,0.024,1800,2567,3661,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8308,-0.60,-175.2,938.9,-8.8,769,8313,0.00,2.08,0.00,0.000,4,0.000,0.031,1800,1185,3660,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8338,-0.60,-175.2,940.5,-8.7,770,8346,0.00,2.30,0.00,0.000,6,0.000,0.041,1791,2639,3659,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8647,-0.59,-175.2,971.6,-10.0,786,8653,0.00,2.22,0.00,0.000,4,0.000,0.030,1791,1182,3658,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8680,-0.59,-175.2,973.6,-10.1,787,8687,0.12,2.33,0.00,0.000,6,0.128,0.040,1820,2650,3658,0,0,0,0,0,0,25.75,25.91,28.83
$STATE,8884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8885,begin apogee
$GC,8891,-0.20,0.0,990.8,-7.9,798,9053,0.35,0.15,154.80,1.189,6,0.093,0.073,1945,2534,2977,0,0,0,0,0,0,25.82,24.87,23.23
$STATE,9054,end apogee,CONTROL_FINISHED_OK
$STATE,9054,begin climb
$GC,9057,0.60,175.2,999.4,0.0,806,9235,0.68,2.20,167.55,1.191,4,0.048,0.044,2207,3815,2253,0,0,0,0,0,0,25.18,24.94,23.31
$GC,9268,0.50,175.2,986.3,15.2,817,9275,0.17,2.12,0.00,0.000,6,0.187,0.027,2175,2463,2241,0,0,0,0,0,0,25.10,25.51,28.83
$GC,9590,0.44,175.2,940.3,14.7,833,9595,0.00,2.15,0.00,0.000,4,0.000,0.044,2175,3806,2234,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9656,0.38,175.2,930.7,15.8,836,9661,0.20,2.05,0.00,0.000,6,0.165,0.028,2131,2465,2233,0,0,0,0,0,0,25.55,26.08,28.83
$GC,9965,0.36,175.2,899.9,9.2,851,9970,0.00,2.15,0.00,0.000,4,0.000,0.044,2131,3814,2232,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10033,0.33,175.2,893.1,10.7,854,10042,0.00,2.05,0.00,0.000,6,0.000,0.027,2142,2458,2231,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10345,0.30,175.2,857.8,11.0,870,10351,0.12,2.17,0.00,0.000,4,0.171,0.044,2104,3816,2230,0,0,0,0,0,0,26.00,25.94,28.83
$GC,10377,0.28,175.2,855.3,11.1,871,10384,0.00,2.05,0.00,0.000,6,0.000,0.028,2114,2458,2229,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10684,0.30,192.3,826.5,8.6,887,10704,0.00,0.00,14.68,1.024,6,0.000,0.000,2114,2458,2188,0,0,0,0,0,0,28.83,28.83,23.99
$GC,11005,0.34,218.8,800.1,8.2,903,11044,0.00,2.28,28.85,1.008,4,0.000,0.044,2114,3834,2074,0,0,0,0,0,0,28.83,25.67,23.94
$GC,11050,0.35,233.3,796.8,8.7,905,11071,0.00,2.12,14.77,1.000,6,0.000,0.028,2125,2455,2022,0,0,0,0,0,0,28.83,25.80,23.82
$GC,11391,0.36,233.3,761.1,10.6,922,11397,0.00,2.12,0.00,0.000,4,0.000,0.044,2125,3811,2004,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11417,0.36,233.3,758.6,10.9,923,11421,0.00,2.05,0.00,0.000,6,0.000,0.027,2135,2461,2003,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11726,0.36,233.3,725.3,9.8,938,11732,0.00,2.12,0.00,0.000,4,0.000,0.046,2135,3811,2001,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11768,0.36,233.3,720.8,10.3,940,11772,0.00,2.05,0.00,0.000,6,0.000,0.027,2146,2459,2001,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,17763,end climb,SURFACE_DEPTH_REACHED
$STATE,17763,begin surface coast
$FINISH,0.2,1.023613
$STATE,17774,end surface coast,CONTROL_FINISHED_OK
$STATE,17774,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.2,94.708
$10V_AH,9.9,56.485
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.900,191.900,647.600,0.000,0.000,24.526,44.435,238.149,0.250,0.000,41.230,3948.144,9946.521,804.327,3184.322,418.634,0.000,2365.745,0.000,2676.146,0.000,0.543,0.000
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$SENSOR_SECS,1076.781,2049.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,103685,1588
$CAP_FILE_SIZE,200476,0
$CFSIZE,260165632,179933184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248,152.4,1
$GPS,050212,215737,2344.882,12355.720,38,1.2,38,-3.4