version: 66.10
glider: 169
mission: 5
dive: 491
start: 2 13 112 8 9 46
data:
$ID,169
$MISSION,5
$DIVE,491
$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,-12530.391
$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
$GPS1,130212,080236,2201.298,12402.995,32,1.0,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.2
$GPS2,130212,080920,2201.265,12402.910,14,1.4,14,-3.0
$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,144.9,58120,-16.1,-8.684
$D_GRID,5373
$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,-0.58,-146.0,0.0,0.0,0,101,0.00,0.00,-81.90,0.000,2,0.000,0.000,117,2659,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.58,-146.0,3.1,-5.0,14,131,7.07,2.35,-10.75,0.000,4,0.225,0.041,1825,1176,3576,0,0,0,0,0,0,24.70,26.02,26.56
$GC,170,-0.49,-146.0,25.4,-27.7,25,177,0.12,2.33,0.00,0.000,6,0.155,0.036,1846,2645,3577,0,0,0,0,0,0,25.70,25.96,28.83
$GC,483,-0.42,-146.0,103.9,-25.2,86,490,0.00,2.28,0.00,0.000,4,0.000,0.029,1856,1180,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,578,-0.44,-146.0,122.6,-15.9,104,586,0.00,2.33,0.00,0.000,6,0.000,0.037,1844,2645,3576,0,0,0,0,0,0,28.83,26.04,28.83
$GC,891,-0.39,-146.0,200.4,-23.6,165,900,0.12,2.25,0.00,0.000,4,0.162,0.026,1895,1172,3577,0,0,0,0,0,0,26.13,26.16,28.83
$GC,947,-0.42,-146.0,209.1,-15.2,170,954,0.00,2.33,0.00,0.000,6,0.000,0.035,1886,2647,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1253,-0.42,-146.0,249.6,-10.9,201,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2646,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-0.42,-146.0,272.9,-5.8,231,1564,0.00,2.28,0.00,0.000,4,0.000,0.028,1886,1170,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1618,-0.47,-146.0,275.6,-3.2,237,1627,0.00,2.30,0.00,0.000,6,0.000,0.035,1876,2650,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1927,-0.47,-146.0,296.5,-7.7,268,1937,0.00,2.25,0.00,0.000,4,0.000,0.027,1876,1175,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1950,-0.47,-146.0,298.2,-7.8,270,1959,0.00,2.35,0.00,0.000,6,0.000,0.037,1866,2653,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2260,-0.47,-146.0,329.7,-11.5,301,2264,0.00,2.25,0.00,0.000,4,0.000,0.026,1866,1184,3576,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2296,-0.47,-146.0,333.1,-10.9,304,2304,0.00,2.33,0.00,0.000,6,0.000,0.037,1858,2645,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2602,-0.46,-146.0,371.1,-12.6,335,2611,0.00,2.25,0.00,0.000,4,0.000,0.028,1858,1171,3576,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2637,-0.46,-146.0,375.0,-12.5,338,2643,0.00,2.33,0.00,0.000,6,0.000,0.036,1848,2646,3576,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2945,-0.45,-146.0,409.9,-10.2,369,2953,0.00,2.25,0.00,0.000,4,0.000,0.027,1848,1170,3575,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2986,-0.45,-146.0,413.9,-9.6,373,2995,0.00,2.35,0.00,0.000,6,0.000,0.037,1838,2648,3575,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3297,-0.43,-146.0,448.5,-11.7,404,3307,0.10,2.22,0.00,0.000,4,0.164,0.024,1866,1175,3574,0,0,0,0,0,0,26.33,26.17,28.83
$GC,3363,-0.48,-146.0,454.3,-7.4,410,3371,0.00,2.28,0.00,0.000,6,0.000,0.037,1857,2639,3574,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3674,-0.49,-146.0,485.4,-9.8,441,3683,0.00,2.22,0.00,0.000,4,0.000,0.028,1857,1181,3573,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3706,-0.52,-146.0,488.6,-9.3,444,3716,0.00,2.33,0.00,0.000,6,0.000,0.037,1848,2650,3573,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4017,-0.52,-146.0,516.9,-9.0,475,4025,0.00,2.25,0.00,0.000,4,0.000,0.028,1848,1176,3572,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4050,-0.54,-146.0,519.6,-8.7,478,4059,0.00,2.28,0.00,0.000,6,0.000,0.038,1839,2638,3572,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4359,-0.54,-146.0,550.5,-10.8,509,4362,0.00,1.77,0.00,0.000,4,0.000,0.044,1830,3820,3570,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4415,-0.55,-146.0,555.8,-10.4,514,4422,0.00,1.80,0.00,0.000,6,0.000,0.024,1830,2578,3569,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4723,-0.55,-146.0,583.2,-7.4,545,4732,0.00,2.08,0.00,0.000,4,0.000,0.028,1830,1181,3569,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4809,-0.58,-146.0,587.8,-5.0,553,4816,0.00,2.33,0.00,0.000,6,0.000,0.037,1820,2646,3568,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5126,-0.58,-146.0,611.3,-8.0,578,5132,0.00,2.28,0.00,0.000,4,0.000,0.029,1821,1175,3566,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5170,-0.58,-146.0,614.5,-8.2,580,5175,0.00,2.33,0.00,0.000,6,0.000,0.038,1812,2644,3566,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5485,-0.57,-146.0,648.6,-11.4,596,5491,0.00,2.25,0.00,0.000,4,0.000,0.028,1812,1180,3563,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5518,-0.56,-146.0,650.9,-11.5,597,5525,0.00,2.35,0.00,0.000,6,0.000,0.038,1801,2651,3563,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5827,-0.54,-146.0,686.4,-10.9,613,5833,0.12,2.25,0.00,0.000,4,0.150,0.026,1844,1180,3561,0,0,0,0,0,0,26.17,26.10,28.83
$GC,5894,-0.56,-146.0,691.2,-8.5,616,5899,0.00,2.33,0.00,0.000,6,0.000,0.038,1834,2646,3561,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6203,-0.57,-146.0,718.8,-9.5,631,6208,0.00,2.28,0.00,0.000,4,0.000,0.031,1834,1176,3559,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6234,-0.59,-146.0,720.9,-9.8,632,6242,0.00,2.35,0.00,0.000,6,0.000,0.040,1825,2642,3559,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6541,-0.59,-146.0,756.5,-11.4,648,6546,0.00,2.30,0.00,0.000,4,0.000,0.032,1825,1173,3556,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6565,-0.60,-146.0,758.8,-11.4,649,6571,0.00,2.35,0.00,0.000,6,0.000,0.040,1816,2650,3556,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6883,-0.60,-146.0,797.9,-12.1,665,6886,0.00,1.77,0.00,0.000,4,0.000,0.045,1808,3823,3554,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6924,-0.60,-146.0,803.0,-12.0,667,6927,0.00,1.83,0.00,0.000,6,0.000,0.024,1808,2586,3553,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7246,-0.60,-146.0,839.2,-10.8,683,7251,0.00,2.10,0.00,0.000,4,0.000,0.030,1808,1182,3551,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7298,-0.60,-146.0,843.2,-10.3,685,7305,0.00,2.35,0.00,0.000,6,0.000,0.039,1798,2644,3551,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7607,-0.59,-146.0,874.8,-10.0,701,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2644,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7905,-0.59,-146.0,903.8,-9.7,716,7911,0.00,2.30,0.00,0.000,4,0.000,0.031,1798,1179,3548,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7945,-0.59,-146.0,907.3,-9.3,718,7951,0.10,2.38,0.00,0.000,6,0.143,0.040,1818,2648,3548,0,0,0,0,0,0,25.74,25.88,28.83
$GC,8268,-0.60,-146.0,927.5,-5.9,734,8272,0.00,1.83,0.00,0.000,4,0.000,0.047,1809,3813,3546,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8293,-0.61,-146.0,928.9,-5.9,735,8297,0.00,1.80,0.00,0.000,6,0.000,0.026,1809,2586,3546,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8611,-0.61,-146.0,950.6,-6.8,751,8617,0.00,2.12,0.00,0.000,4,0.000,0.030,1809,1183,3543,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8651,-0.63,-146.0,953.2,-6.6,753,8656,0.00,2.33,0.00,0.000,6,0.000,0.040,1799,2644,3543,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8971,-0.63,-146.0,978.1,-7.9,769,8974,0.00,1.80,0.00,0.000,4,0.000,0.047,1791,3819,3542,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8993,-0.63,-146.0,980.0,-8.0,770,8996,0.00,1.83,0.00,0.000,6,0.000,0.026,1791,2587,3541,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,9112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9112,begin apogee
$GC,9118,-0.20,0.0,991.3,-9.6,776,9258,0.43,0.15,132.57,1.170,6,0.104,0.076,1937,2534,2978,0,0,0,0,0,0,25.57,24.87,23.22
$STATE,9259,end apogee,CONTROL_FINISHED_OK
$STATE,9259,begin climb
$GC,9261,0.58,146.0,995.2,0.0,783,9416,0.70,2.45,141.30,1.188,4,0.057,0.036,2213,1061,2369,0,0,0,0,0,0,25.22,25.04,23.30
$GC,9480,0.51,146.0,980.3,13.0,794,9486,0.10,2.33,0.00,0.000,6,0.154,0.040,2180,2518,2357,0,0,0,0,0,0,25.34,25.65,28.83
$GC,9799,0.45,146.0,940.1,12.2,810,9805,0.00,2.08,0.00,0.000,4,0.000,0.045,2180,3821,2352,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9887,0.37,146.0,928.2,14.9,814,9892,0.22,2.10,0.00,0.000,6,0.170,0.029,2130,2457,2350,0,0,0,0,0,0,25.43,26.05,28.83
$GC,10196,0.36,146.0,898.5,9.1,829,10201,0.00,2.17,0.00,0.000,4,0.000,0.044,2130,3809,2348,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10257,0.33,146.0,892.3,10.0,832,10261,0.00,2.05,0.00,0.000,6,0.000,0.028,2141,2460,2348,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10571,0.30,146.0,863.4,9.1,848,10577,0.12,2.22,0.00,0.000,4,0.175,0.044,2104,3833,2347,0,0,0,0,0,0,25.98,25.86,28.83
$GC,10623,0.28,146.0,860.0,8.7,850,10630,0.00,2.08,0.00,0.000,6,0.000,0.028,2114,2460,2346,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10931,0.37,219.2,840.7,5.8,866,11002,0.00,2.30,59.67,1.249,4,0.000,0.047,2114,3820,2085,0,0,0,0,1,0,28.83,25.22,23.26
$GC,11030,0.44,275.8,834.2,6.4,871,11097,0.00,2.15,56.50,1.259,6,0.000,0.031,2125,2462,1853,0,0,0,0,1,0,28.83,25.58,23.15
$GC,11410,0.51,317.2,806.7,7.0,890,11471,0.12,2.30,48.72,1.057,4,0.077,0.037,2217,1060,1671,0,0,0,0,0,0,26.22,25.36,23.72
$GC,11498,0.50,317.2,795.5,13.7,894,11505,0.15,2.35,0.00,0.000,6,0.135,0.040,2173,2523,1665,0,0,0,0,0,0,25.37,25.58,28.83
$GC,11815,0.50,317.2,754.8,13.4,910,11820,0.00,2.03,0.00,0.000,4,0.000,0.044,2173,3811,1662,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,17540,end climb,SURFACE_DEPTH_REACHED
$STATE,17541,begin surface coast
$FINISH,0.3,1.010686
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,23.70
$XPDR_PINGS,0
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$10V_AH,9.9,60.781
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,100248,1534
$CAP_FILE_SIZE,196636,0
$CFSIZE,260165632,176414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.116,222.1,1
$GPS,130212,130454,2158.634,12403.860,41,1.0,41,-3.0