version: 66.10
glider: 169
mission: 5
dive: 464
start: 2 7 112 10 40 12
data:
$ID,169
$MISSION,5
$DIVE,464
$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,380
$T_MISSION,420
$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,150
$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,-12494.325
$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
$GPS1,070212,102627,2317.676,12358.925,50,2.9,69,-3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.7
$GPS2,070212,103946,2317.662,12358.928,15,2.6,34,-3.3
$SPEED_LIMITS,0.150,0.248
$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,227.8,199399,-16.1,-8.684
$D_GRID,5031
$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,15,begin dive
$GC,17,-0.58,-146.0,0.0,0.0,0,90,0.00,0.00,-70.03,0.000,2,0.000,0.000,105,2686,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.58,-146.0,3.8,-8.7,12,119,7.15,1.77,-11.93,0.000,4,0.228,0.050,1801,3821,3575,0,0,0,0,0,0,24.79,26.01,26.58
$GC,263,-0.53,-146.0,50.8,-21.2,44,271,0.12,1.83,0.00,0.000,6,0.157,0.027,1840,2597,3575,0,0,0,0,0,0,25.81,26.13,28.83
$GC,577,-0.45,-146.0,124.0,-24.8,105,583,0.00,2.15,0.00,0.000,4,0.000,0.028,1845,1173,3575,0,0,0,0,0,0,28.83,26.16,28.83
$GC,742,-0.45,-146.0,148.8,-12.3,137,748,0.00,2.33,0.00,0.000,6,0.000,0.037,1833,2655,3575,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1053,-0.40,-146.0,207.2,-16.5,194,1064,0.12,2.25,0.00,0.000,4,0.165,0.025,1884,1170,3575,0,0,0,0,0,0,26.15,26.20,28.83
$GC,1132,-0.45,-146.0,214.8,-7.0,201,1139,0.00,2.30,0.00,0.000,6,0.000,0.036,1874,2649,3575,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1439,-0.44,-146.0,250.5,-12.6,232,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2648,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1741,-0.44,-146.0,284.0,-10.4,262,1750,0.00,2.22,0.00,0.000,4,0.000,0.027,1874,1167,3575,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1773,-0.45,-146.0,287.5,-10.1,265,1782,0.00,2.30,0.00,0.000,6,0.000,0.036,1864,2647,3575,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2083,-0.45,-146.0,320.4,-11.6,296,2092,0.00,2.17,0.00,0.000,4,0.000,0.026,1865,1173,3575,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2117,-0.45,-146.0,324.0,-11.3,299,2124,0.00,2.33,0.00,0.000,6,0.000,0.036,1855,2665,3574,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2425,-0.44,-146.0,363.2,-12.5,330,2429,0.00,2.25,0.00,0.000,4,0.000,0.025,1854,1176,3574,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2477,-0.46,-146.0,368.9,-10.7,335,2486,0.00,2.28,0.00,0.000,6,0.000,0.037,1845,2644,3574,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2787,-0.45,-146.0,406.8,-12.4,366,2797,0.00,2.20,0.00,0.000,4,0.000,0.025,1845,1170,3573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2819,-0.45,-146.0,410.5,-11.7,369,2828,0.00,2.33,0.00,0.000,6,0.000,0.036,1835,2653,3572,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3131,-0.43,-146.0,448.6,-13.5,400,3141,0.12,2.22,0.00,0.000,4,0.152,0.025,1877,1177,3571,0,0,0,0,0,0,26.20,26.20,28.83
$GC,3206,-0.50,-146.0,454.9,-6.5,407,3214,0.00,2.28,0.00,0.000,6,0.000,0.036,1868,2650,3571,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3515,-0.57,-146.0,474.9,-5.7,438,3525,0.12,1.80,0.00,0.000,4,0.079,0.040,1783,3818,3570,0,0,0,0,0,0,26.49,26.08,28.83
$GC,3548,-0.60,-146.0,477.6,-7.5,441,3553,0.08,1.80,0.00,0.000,6,0.126,0.021,1810,2565,3570,0,0,0,0,0,0,26.06,26.38,28.83
$GC,3861,-0.58,-146.0,520.4,-14.2,472,3869,0.00,2.08,0.00,0.000,4,0.000,0.028,1811,1174,3568,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3955,-0.59,-146.0,531.7,-11.1,481,3962,0.00,2.33,0.00,0.000,6,0.000,0.037,1801,2652,3568,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4262,-0.55,-146.0,574.2,-12.9,512,4266,0.00,1.80,0.00,0.000,4,0.000,0.044,1792,3818,3567,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4284,-0.52,-146.0,577.0,-12.7,514,4294,0.15,1.80,0.00,0.000,6,0.131,0.022,1836,2560,3567,0,0,0,0,0,0,25.98,26.36,28.83
$GC,4594,-0.53,-146.0,606.3,-9.7,542,4600,0.00,2.08,0.00,0.000,4,0.000,0.027,1836,1172,3565,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4642,-0.56,-146.0,609.9,-9.5,544,4646,0.00,2.33,0.00,0.000,6,0.000,0.036,1826,2656,3565,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4949,-0.56,-146.0,641.1,-9.6,559,4955,0.00,2.25,0.00,0.000,4,0.000,0.027,1826,1178,3562,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4983,-0.56,-146.0,643.0,-9.5,560,4990,0.00,2.30,0.00,0.000,6,0.000,0.037,1818,2647,3562,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5289,-0.56,-146.0,674.8,-10.4,576,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2647,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5590,-0.56,-146.0,706.3,-10.4,591,5596,0.00,2.20,0.00,0.000,4,0.000,0.028,1818,1177,3558,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5637,-0.57,-146.0,710.1,-10.0,593,5642,0.00,2.33,0.00,0.000,6,0.000,0.037,1809,2651,3558,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5944,-0.57,-146.0,742.1,-10.1,608,5950,0.00,2.25,0.00,0.000,4,0.000,0.029,1809,1168,3556,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5973,-0.57,-146.0,744.1,-10.2,609,5977,0.00,2.35,0.00,0.000,6,0.000,0.039,1799,2650,3555,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6279,-0.56,-146.0,776.1,-10.4,624,6285,0.00,2.25,0.00,0.000,4,0.000,0.028,1800,1172,3553,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6327,-0.56,-146.0,780.3,-10.6,626,6332,0.12,2.35,0.00,0.000,6,0.132,0.039,1827,2649,3552,0,0,0,0,0,0,25.82,26.00,28.83
$GC,6635,-0.58,-146.0,807.5,-8.9,641,6641,0.00,2.22,0.00,0.000,4,0.000,0.030,1827,1182,3550,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6676,-0.60,-146.0,810.9,-8.7,643,6681,0.00,2.30,0.00,0.000,6,0.000,0.040,1819,2641,3550,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6997,-0.61,-146.0,839.5,-8.7,659,7002,0.00,2.22,0.00,0.000,4,0.000,0.029,1819,1171,3548,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7028,-0.62,-146.0,841.2,-8.8,660,7035,0.00,2.35,0.00,0.000,6,0.000,0.040,1812,2650,3548,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7335,-0.62,-146.0,869.9,-8.9,676,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2649,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7637,-0.63,-146.0,897.0,-9.0,691,7643,0.00,2.25,0.00,0.000,4,0.000,0.029,1812,1178,3545,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7679,-0.65,-146.0,900.7,-9.2,693,7684,0.00,2.35,0.00,0.000,6,0.000,0.040,1809,2646,3544,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7993,-0.65,-146.0,931.8,-10.1,709,7998,0.00,2.25,0.00,0.000,4,0.000,0.029,1809,1177,3542,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8020,-0.65,-146.0,933.8,-10.0,710,8024,0.00,2.35,0.00,0.000,6,0.000,0.040,1799,2650,3542,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8326,-0.65,-146.0,964.4,-9.8,725,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2650,3540,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8605,begin apogee
$GC,8611,-0.20,0.0,990.4,-9.1,739,8749,0.40,0.15,129.90,1.187,6,0.105,0.075,1938,2532,2974,0,0,0,0,0,0,25.66,24.93,23.29
$STATE,8750,end apogee,CONTROL_FINISHED_OK
$STATE,8750,begin climb
$GC,8752,0.58,146.0,995.3,0.0,746,8902,0.70,2.15,140.02,1.195,4,0.052,0.044,2208,3812,2375,0,0,0,0,0,0,25.25,25.02,23.37
$GC,8918,0.53,190.3,990.7,6.9,753,8967,0.15,2.12,42.50,1.160,6,0.202,0.027,2185,2451,2199,0,0,0,0,0,0,25.02,25.43,23.51
$GC,9266,0.48,190.3,930.4,15.3,771,9271,0.00,2.15,0.00,0.000,4,0.000,0.044,2185,3811,2175,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9333,0.42,190.3,919.5,17.4,774,9337,0.17,2.05,0.00,0.000,6,0.171,0.027,2149,2462,2172,0,0,0,0,0,0,25.59,26.08,28.83
$GC,9640,0.40,190.3,880.5,11.5,789,9644,0.00,2.15,0.00,0.000,4,0.000,0.046,2149,3812,2171,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9686,0.37,190.3,875.1,12.2,791,9692,0.00,2.05,0.00,0.000,6,0.000,0.028,2159,2459,2170,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10002,0.35,190.3,836.1,12.0,807,10008,0.12,2.15,0.00,0.000,4,0.175,0.044,2122,3812,2170,0,0,0,0,0,0,25.98,25.94,28.83
$GC,10076,0.33,190.3,829.2,11.7,810,10082,0.00,2.05,0.00,0.000,6,0.000,0.028,2132,2457,2169,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10381,0.33,190.3,797.7,9.8,826,10387,0.00,2.15,0.00,0.000,4,0.000,0.035,2144,1048,2168,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10404,0.33,190.3,795.8,9.8,827,10409,0.00,2.30,0.00,0.000,6,0.000,0.039,2144,2524,2167,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10718,0.32,190.3,762.9,10.5,843,10722,0.00,2.03,0.00,0.000,4,0.000,0.046,2144,3812,2167,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10742,0.31,190.3,760.2,10.7,844,10747,0.15,2.05,0.00,0.000,6,0.157,0.027,2115,2459,2167,0,0,0,0,0,0,25.72,26.15,28.83
$GC,11058,0.36,222.5,735.1,7.4,860,11094,0.00,0.00,30.58,0.989,6,0.000,0.000,2115,2456,2062,0,0,0,0,0,0,28.83,28.83,23.94
$GC,11395,0.40,236.5,707.8,8.1,877,11414,0.00,0.00,12.85,0.964,6,0.000,0.000,2115,2456,2006,0,0,0,0,0,0,28.83,28.83,24.03
$GC,11716,0.46,259.1,682.3,7.8,893,11747,0.12,2.22,23.52,0.972,4,0.076,0.037,2210,1064,1912,0,0,0,0,0,0,26.32,25.75,24.04
$GC,11777,0.46,259.1,674.5,11.5,896,11782,0.17,2.33,0.00,0.000,6,0.139,0.038,2161,2529,1903,0,0,0,0,0,0,25.51,25.79,28.83
$GC,12096,0.46,259.1,636.4,11.5,912,12101,0.00,2.00,0.00,0.000,4,0.000,0.045,2161,3813,1899,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12137,0.46,259.1,631.2,12.3,914,12141,0.00,2.08,0.00,0.000,6,0.000,0.027,2171,2453,1898,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12450,0.45,259.1,592.2,11.5,933,12454,0.00,2.20,0.00,0.000,4,0.000,0.044,2171,3823,1898,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18032,end climb,SURFACE_DEPTH_REACHED
$STATE,18032,begin surface coast
$FINISH,0.3,1.012099
$STATE,18075,end surface coast,CONTROL_FINISHED_OK
$STATE,18075,begin surface
$SM_CCo,18090,40.25,0.122,0,0,1244,425.10
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,9.9,57.464
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.000,182.250,448.400,40.250,0.000,128.798,79.578,228.410,0.000,0.000,36.791,4137.854,10271.315,677.206,3386.447,429.224,0.000,2213.215,0.000,2746.174,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,107119,1644
$CAP_FILE_SIZE,202073,0
$CFSIZE,260165632,179113984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,119.1,1
$GPS,070212,154356,2314.695,12359.296,62,1.4,62,-3.3