version: 66.10
glider: 169
mission: 5
dive: 457
start: 2 5 112 22 5 17
data:
$ID,169
$MISSION,5
$DIVE,457
$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,-12485.04
$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
$GPS1,050212,215737,2344.882,12355.720,38,1.2,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.5
$GPS2,050212,220452,2344.856,12355.776,10,2.2,29,-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,204.9,249859,-15.4,-9.167
$D_GRID,3115
$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,-175.2,0.0,0.0,0,102,0.00,0.00,-83.10,0.000,2,0.000,0.000,117,2652,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.60,-175.2,3.3,-5.9,14,133,7.20,2.33,-13.18,0.000,4,0.233,0.038,1819,1163,3697,0,0,0,0,0,0,24.66,26.04,26.54
$GC,207,-0.56,-175.2,35.8,-21.6,32,215,0.00,2.35,0.00,0.000,6,0.000,0.039,1808,2651,3698,0,0,0,0,0,0,28.83,25.94,28.83
$GC,522,-0.43,-175.2,141.1,-31.0,93,529,0.17,2.22,0.00,0.000,4,0.170,0.023,1871,1170,3698,0,0,0,0,0,0,25.84,26.17,28.83
$GC,594,-0.46,-175.2,154.2,-9.3,106,600,0.00,2.30,0.00,0.000,6,0.000,0.038,1860,2649,3698,0,0,0,0,0,0,28.83,26.05,28.83
$GC,904,-0.43,-175.2,199.7,-15.2,167,911,0.00,2.22,0.00,0.000,4,0.000,0.027,1860,1174,3698,0,0,0,0,0,0,28.83,26.18,28.83
$GC,942,-0.42,-175.2,204.3,-13.2,171,950,0.00,2.28,0.00,0.000,6,0.000,0.039,1850,2641,3698,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1249,-0.39,-175.2,248.3,-14.6,202,1251,0.12,0.00,0.00,0.000,6,0.151,0.000,1886,2640,3698,0,0,0,0,0,0,26.25,28.83,28.83
$GC,1550,-0.43,-175.2,274.8,-8.3,232,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2640,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.46,-175.2,294.8,-5.6,262,1860,0.00,2.20,0.00,0.000,4,0.000,0.028,1886,1173,3698,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1886,-0.51,-175.2,296.5,-5.4,265,1893,0.00,2.30,0.00,0.000,6,0.000,0.037,1878,2649,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2195,-0.61,-175.2,316.2,-7.5,296,2206,0.15,2.20,0.00,0.000,4,0.078,0.025,1819,1173,3697,0,0,0,0,0,0,26.41,26.21,28.83
$GC,2249,-0.67,-175.2,320.9,-8.8,301,2258,0.00,2.30,0.00,0.000,6,0.000,0.037,1809,2650,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2559,-0.61,-175.2,375.3,-18.5,332,2568,0.00,2.22,0.00,0.000,4,0.000,0.027,1809,1171,3697,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2603,-0.58,-175.2,382.3,-16.4,336,2610,0.00,2.33,0.00,0.000,6,0.000,0.038,1798,2651,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2911,-0.53,-175.2,437.1,-17.3,367,2921,0.12,2.20,0.00,0.000,4,0.155,0.025,1840,1178,3695,0,0,0,0,0,0,26.19,26.18,28.83
$GC,2954,-0.53,-175.2,442.6,-12.9,371,2963,0.00,2.30,0.00,0.000,6,0.000,0.039,1838,2647,3696,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3264,-0.53,-175.2,469.9,-8.6,402,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2647,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-0.53,-175.2,501.8,-11.5,432,3573,0.00,2.22,0.00,0.000,4,0.000,0.029,1839,1178,3693,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3607,-0.56,-175.2,506.3,-10.8,436,3616,0.00,2.28,0.00,0.000,6,0.000,0.039,1838,2640,3693,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3917,-0.57,-175.2,534.7,-7.6,467,3920,0.00,1.83,0.00,0.000,4,0.000,0.045,1830,3826,3691,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3950,-0.59,-175.2,537.1,-7.6,470,3953,0.00,1.80,0.00,0.000,6,0.000,0.024,1829,2580,3691,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4262,-0.59,-175.2,560.9,-8.4,501,4271,0.00,2.08,0.00,0.000,4,0.000,0.030,1829,1180,3689,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4318,-0.62,-175.2,565.2,-8.1,506,4326,0.00,2.30,0.00,0.000,6,0.000,0.037,1820,2654,3688,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4635,-0.62,-175.2,605.4,-12.8,536,4640,0.00,2.22,0.00,0.000,4,0.000,0.028,1821,1172,3686,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4678,-0.62,-175.2,610.2,-12.4,538,4682,0.00,2.33,0.00,0.000,6,0.000,0.038,1812,2652,3686,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4990,-0.61,-175.2,644.8,-10.7,554,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2651,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5289,-0.61,-175.2,673.3,-9.2,569,5295,0.00,2.22,0.00,0.000,4,0.000,0.029,1813,1181,3683,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5332,-0.62,-175.2,676.6,-8.8,571,5337,0.00,2.33,0.00,0.000,6,0.000,0.040,1812,2650,3683,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5650,-0.62,-175.2,707.5,-11.0,587,5654,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3818,3680,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5694,-0.62,-175.2,712.3,-11.3,589,5698,0.00,1.83,0.00,0.000,6,0.000,0.023,1804,2576,3679,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6013,-0.61,-175.2,749.7,-10.9,605,6019,0.00,2.05,0.00,0.000,4,0.000,0.029,1804,1182,3677,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6052,-0.61,-175.2,753.5,-10.2,607,6058,0.00,2.33,0.00,0.000,6,0.000,0.039,1799,2650,3677,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6374,-0.60,-175.2,784.4,-9.3,623,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2650,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,-0.59,-175.2,813.6,-9.9,638,6678,0.00,2.25,0.00,0.000,4,0.000,0.028,1799,1176,3674,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6735,-0.60,-175.2,818.8,-9.1,641,6739,0.00,2.30,0.00,0.000,6,0.000,0.039,1791,2649,3673,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7049,-0.58,-175.2,850.3,-9.6,657,7056,0.10,2.25,0.00,0.000,4,0.157,0.027,1820,1172,3671,0,0,0,0,0,0,26.30,26.06,28.83
$GC,7082,-0.58,-175.2,852.1,-9.2,658,7090,0.00,2.33,0.00,0.000,6,0.000,0.040,1813,2648,3672,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7390,-0.58,-175.2,876.1,-7.9,674,7394,0.00,1.80,0.00,0.000,4,0.000,0.047,1804,3813,3669,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7415,-0.59,-175.2,878.0,-8.1,675,7418,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2570,3669,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7728,-0.59,-175.2,904.9,-8.8,691,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2568,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8028,-0.59,-175.2,933.8,-10.2,706,8033,0.00,2.00,0.00,0.000,4,0.000,0.047,1795,3815,3666,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8060,-0.59,-175.2,935.9,-10.3,707,8067,0.00,1.83,0.00,0.000,6,0.000,0.025,1795,2570,3666,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8369,-0.59,-175.2,971.7,-11.0,723,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2569,3664,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8547,begin apogee
$GC,8553,-0.20,0.0,990.3,-10.1,732,8716,0.43,0.15,156.48,1.187,6,0.098,0.073,1942,2534,2977,0,0,0,0,0,0,25.67,24.84,23.22
$STATE,8717,end apogee,CONTROL_FINISHED_OK
$STATE,8717,begin climb
$GC,8721,0.60,175.2,997.8,0.0,740,8898,0.70,2.12,168.12,1.187,4,0.048,0.044,2211,3812,2256,0,0,0,0,0,0,25.15,24.89,23.27
$GC,8975,0.50,175.2,974.5,19.2,752,8982,0.20,2.10,0.00,0.000,6,0.184,0.028,2171,2455,2238,0,0,0,0,0,0,25.22,25.70,28.83
$GC,9281,0.44,175.2,926.1,13.9,768,9287,0.00,2.20,0.00,0.000,4,0.000,0.044,2171,3822,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9374,0.38,175.2,913.6,15.7,772,9381,0.17,2.08,0.00,0.000,6,0.167,0.030,2135,2466,2231,0,0,0,0,0,0,25.58,26.06,28.83
$GC,9682,0.39,199.9,882.8,8.3,788,9713,0.00,2.22,18.80,0.958,4,0.000,0.046,2135,3806,2161,0,0,0,0,1,0,28.83,25.83,23.72
$GC,9769,0.36,199.9,875.3,9.4,792,9773,0.00,2.08,0.00,0.000,6,0.000,0.028,2145,2459,2162,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10078,0.34,199.9,845.1,9.9,807,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2457,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10376,0.31,199.9,812.6,11.4,822,10382,0.12,2.15,0.00,0.000,4,0.170,0.031,2119,1045,2161,0,0,0,0,0,0,25.98,26.02,28.83
$GC,10417,0.31,199.9,808.9,10.5,824,10422,0.00,2.28,0.00,0.000,6,0.000,0.039,2119,2511,2159,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10736,0.31,199.9,777.9,10.1,840,10741,0.00,2.05,0.00,0.000,4,0.000,0.046,2118,3813,2159,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10778,0.31,199.9,773.3,11.0,842,10782,0.00,2.05,0.00,0.000,6,0.000,0.028,2129,2464,2159,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11092,0.31,199.9,739.5,9.5,858,11097,0.00,2.15,0.00,0.000,4,0.000,0.047,2129,3810,2159,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11112,0.30,199.9,737.6,9.5,859,11118,0.08,2.05,0.00,0.000,6,0.142,0.026,2114,2457,2159,0,0,0,0,0,0,25.79,26.15,28.83
$GC,11434,0.43,295.5,717.1,5.8,875,11544,0.10,2.30,103.62,0.959,4,0.093,0.044,2177,3811,1765,0,0,0,0,0,0,26.44,25.18,23.63
$GC,11570,0.40,295.5,700.6,13.4,881,11574,0.17,2.12,0.00,0.000,6,0.145,0.026,2140,2456,1753,0,0,0,0,0,0,25.20,25.51,28.83
$GC,11885,0.41,295.5,664.1,11.8,897,11890,0.00,2.17,0.00,0.000,4,0.000,0.044,2140,3807,1746,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11906,0.42,295.5,661.5,11.8,898,11910,0.00,2.05,0.00,0.000,6,0.000,0.026,2150,2463,1746,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12218,0.43,295.5,625.7,10.2,914,12224,0.00,2.15,0.00,0.000,4,0.000,0.046,2150,3812,1744,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12232,0.44,295.5,625.7,10.2,914,12240,0.00,2.05,0.00,0.000,6,0.000,0.027,2161,2461,1744,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12538,0.47,318.6,596.3,8.4,932,12569,0.00,2.20,22.10,0.880,4,0.000,0.046,2161,3812,1668,0,0,0,0,0,0,28.83,25.80,24.09
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$STATE,17408,end climb,SURFACE_DEPTH_REACHED
$STATE,17408,begin surface coast
$FINISH,0.3,1.010634
$STATE,17429,end surface coast,CONTROL_FINISHED_OK
$STATE,17429,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,9.9,56.602
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.650,159.975,606.650,0.000,0.000,30.219,16.850,223.991,0.000,0.000,31.243,3934.561,9729.119,739.176,3107.017,401.839,0.000,2240.838,0.000,2642.501,0.000,0.542,0.000
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$MEM,330436
$DATA_FILE_SIZE,103866,1580
$CAP_FILE_SIZE,190985,0
$CFSIZE,260165632,179847168
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.261,147.3,1
$GPS,060212,025837,2340.125,12356.607,68,1.6,68,-3.4