version: 66.10
glider: 169
mission: 5
dive: 500
start: 2 15 112 6 0 40
data:
$ID,169
$MISSION,5
$DIVE,500
$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,-12542.38
$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
$GPS1,150212,055236,2134.831,12400.777,28,1.0,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.1
$GPS2,150212,060016,2134.762,12400.684,12,2.4,31,-2.9
$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,145.5,8897,-16.1,-8.684
$D_GRID,5192
$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,-81.57,0.000,2,0.000,0.000,117,2674,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-146.0,4.0,-9.9,14,125,6.95,2.40,-6.25,0.000,4,0.220,0.038,1822,1173,3577,0,0,0,0,0,0,24.74,26.05,26.53
$GC,169,-0.51,-146.0,30.5,-26.5,25,176,0.12,2.38,0.00,0.000,6,0.159,0.041,1844,2642,3578,0,0,0,0,0,0,25.63,25.88,28.83
$GC,483,-0.43,-146.0,107.9,-24.8,86,490,0.00,2.25,0.00,0.000,4,0.000,0.024,1855,1174,3578,0,0,0,0,0,0,28.83,26.15,28.83
$GC,559,-0.43,-146.0,121.6,-13.3,100,567,0.00,2.35,0.00,0.000,6,0.000,0.037,1843,2653,3578,0,0,0,0,0,0,28.83,26.01,28.83
$GC,871,-0.37,-146.0,188.5,-21.4,161,878,0.12,2.30,0.00,0.000,4,0.162,0.025,1893,1174,3578,0,0,0,0,0,0,26.14,26.12,28.83
$GC,959,-0.43,-146.0,198.7,-8.5,177,966,0.00,2.33,0.00,0.000,6,0.000,0.036,1883,2655,3578,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1275,-0.43,-146.0,239.2,-13.0,209,1284,0.00,2.25,0.00,0.000,4,0.000,0.027,1883,1182,3578,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1299,-0.43,-146.0,242.2,-12.9,211,1306,0.00,2.35,0.00,0.000,6,0.000,0.037,1874,2653,3578,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1608,-0.43,-146.0,277.0,-11.0,242,1617,0.00,2.25,0.00,0.000,4,0.000,0.027,1874,1182,3578,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1675,-0.47,-146.0,282.7,-7.8,248,1683,0.00,2.33,0.00,0.000,6,0.000,0.036,1868,2645,3578,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1980,-0.47,-146.0,314.5,-10.5,279,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2645,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.47,-146.0,346.1,-10.9,309,2292,0.00,2.25,0.00,0.000,4,0.000,0.027,1868,1179,3578,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2345,-0.52,-146.0,352.3,-8.7,315,2354,0.00,2.30,0.00,0.000,6,0.000,0.037,1865,2645,3578,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2655,-0.52,-146.0,385.9,-11.7,346,2664,0.00,2.25,0.00,0.000,4,0.000,0.027,1865,1166,3577,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2680,-0.53,-146.0,388.4,-11.7,348,2687,0.00,2.35,0.00,0.000,6,0.000,0.037,1865,2645,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2987,-0.54,-146.0,420.5,-8.8,379,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2645,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3292,-0.55,-146.0,440.8,-5.7,409,3301,0.00,2.22,0.00,0.000,4,0.000,0.027,1864,1180,3575,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3348,-0.60,-146.0,443.7,-4.7,414,3356,0.15,2.33,0.00,0.000,6,0.068,0.037,1762,2645,3575,0,0,0,0,0,0,26.06,26.03,28.83
$GC,3654,-0.52,-146.0,495.6,-18.1,445,3656,0.25,0.00,0.00,0.000,6,0.141,0.000,1836,2646,3574,0,0,0,0,0,0,25.83,28.83,28.83
$GC,3954,-0.52,-146.0,528.0,-10.8,475,3963,0.00,2.30,0.00,0.000,4,0.000,0.028,1836,1174,3572,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4006,-0.55,-146.0,533.2,-9.9,480,4016,0.00,2.35,0.00,0.000,6,0.000,0.037,1827,2652,3572,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4316,-0.55,-146.0,567.7,-10.5,511,4325,0.00,2.30,0.00,0.000,4,0.000,0.028,1827,1168,3570,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4350,-0.55,-146.0,570.8,-9.8,514,4357,0.00,2.38,0.00,0.000,6,0.000,0.039,1825,2643,3570,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4660,-0.55,-146.0,602.8,-11.1,544,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2643,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.55,-146.0,636.2,-10.7,559,4964,0.00,1.83,0.00,0.000,4,0.000,0.048,1817,3814,3566,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4981,-0.55,-146.0,638.5,-10.5,560,4985,0.00,1.80,0.00,0.000,6,0.000,0.024,1816,2580,3566,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5304,-0.55,-146.0,664.4,-6.5,576,5309,0.00,2.10,0.00,0.000,4,0.000,0.028,1816,1183,3564,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5358,-0.56,-146.0,666.7,-6.0,578,5364,0.00,2.35,0.00,0.000,6,0.000,0.039,1808,2645,3564,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5664,-0.55,-146.0,688.1,-8.2,594,5668,0.00,2.28,0.00,0.000,4,0.000,0.028,1808,1178,3561,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5694,-0.55,-146.0,690.4,-8.6,595,5699,0.12,2.38,0.00,0.000,6,0.129,0.038,1838,2650,3561,0,0,0,0,0,0,25.77,25.94,28.83
$GC,6003,-0.57,-146.0,715.0,-8.3,610,6008,0.00,2.25,0.00,0.000,4,0.000,0.029,1838,1184,3559,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6046,-0.60,-146.0,718.4,-8.5,612,6052,0.00,2.35,0.00,0.000,6,0.000,0.039,1830,2643,3558,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6361,-0.61,-146.0,747.1,-8.9,628,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2643,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6663,-0.63,-146.0,772.2,-8.2,643,6667,0.00,2.28,0.00,0.000,4,0.000,0.031,1830,1188,3554,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6707,-0.65,-146.0,775.7,-8.2,645,6713,0.00,2.33,0.00,0.000,6,0.000,0.041,1825,2640,3554,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7027,-0.67,-146.0,805.1,-9.6,661,7031,0.00,1.80,0.00,0.000,4,0.000,0.047,1817,3812,3551,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7058,-0.68,-146.0,807.4,-10.0,662,7061,0.00,1.80,0.00,0.000,6,0.000,0.024,1817,2585,3551,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7369,-0.69,-146.0,843.3,-10.8,678,7375,0.00,2.15,0.00,0.000,4,0.000,0.031,1817,1174,3549,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7392,-0.70,-146.0,845.5,-10.8,679,7396,0.00,2.38,0.00,0.000,6,0.000,0.041,1813,2642,3549,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7706,-0.70,-146.0,875.5,-8.6,695,7711,0.00,2.28,0.00,0.000,4,0.000,0.030,1813,1182,3548,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7745,-0.71,-146.0,878.7,-8.3,697,7751,0.00,2.35,0.00,0.000,6,0.000,0.041,1813,2640,3547,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8066,-0.71,-146.0,900.4,-6.6,713,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2640,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8364,-0.71,-146.0,920.0,-6.4,728,8368,0.00,2.28,0.00,0.000,4,0.000,0.031,1812,1186,3544,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8394,-0.72,-146.0,921.4,-6.6,729,8399,0.10,2.38,0.00,0.000,6,0.090,0.041,1741,2643,3543,0,0,0,0,0,0,25.79,25.79,28.83
$GC,8702,-0.67,-146.0,962.0,-13.4,744,8708,0.15,2.30,0.00,0.000,4,0.151,0.029,1799,1177,3543,0,0,0,0,0,0,25.98,25.89,28.83
$GC,8749,-0.64,-146.0,966.3,-12.3,746,8753,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2649,3543,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,9034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9034,begin apogee
$GC,9041,-0.20,0.0,991.4,-8.9,760,9178,0.40,0.17,129.77,1.193,6,0.099,0.067,1939,2534,2974,0,0,0,0,0,0,25.62,24.85,23.25
$STATE,9179,end apogee,CONTROL_FINISHED_OK
$STATE,9180,begin climb
$GC,9182,0.58,146.0,996.5,0.0,767,9339,0.70,2.47,141.73,1.191,4,0.054,0.033,2216,1049,2370,0,0,0,0,0,0,25.20,25.03,23.28
$GC,9345,0.50,161.0,991.3,8.1,775,9366,0.17,2.40,15.60,1.102,6,0.165,0.037,2171,2526,2321,0,0,0,0,0,0,24.99,25.31,23.43
$GC,9679,0.44,161.0,952.0,10.2,792,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2526,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9982,0.39,161.0,918.1,11.4,807,9988,0.12,2.00,0.00,0.000,4,0.183,0.043,2134,3809,2294,0,0,0,0,0,0,25.89,25.89,28.83
$GC,10083,0.35,161.0,905.9,11.8,812,10089,0.00,2.03,0.00,0.000,6,0.000,0.028,2145,2458,2292,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10402,0.32,161.0,871.7,10.7,828,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2456,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10704,0.30,161.0,839.9,10.5,843,10709,0.12,2.17,0.00,0.000,4,0.178,0.044,2108,3809,2290,0,0,0,0,0,0,25.96,25.83,28.83
$GC,10807,0.29,161.0,829.7,9.8,848,10813,0.00,2.05,0.00,0.000,6,0.000,0.028,2118,2459,2289,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11122,0.30,170.0,803.1,8.3,864,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2458,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11424,0.32,186.0,778.7,8.0,879,11454,0.00,2.28,23.55,1.028,4,0.000,0.047,2118,3811,2209,0,0,0,0,0,0,28.83,25.70,23.93
$GC,11510,0.32,186.0,771.7,8.9,883,11514,0.00,2.08,0.00,0.000,6,0.000,0.027,2128,2463,2200,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11818,0.32,186.0,743.6,9.1,898,11822,0.00,2.17,0.00,0.000,4,0.000,0.037,2139,1053,2197,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11839,0.32,186.0,741.5,9.3,899,11845,0.00,2.35,0.00,0.000,6,0.000,0.039,2139,2531,2196,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12160,0.31,186.0,710.6,9.7,915,12166,0.00,2.28,0.00,0.000,4,0.000,0.034,2151,1054,2195,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12194,0.31,186.0,708.6,9.8,916,12202,0.15,2.33,0.00,0.000,6,0.139,0.039,2109,2531,2195,0,0,0,0,0,0,25.57,25.86,28.83
$GC,12500,0.35,202.0,682.7,8.0,932,12520,0.00,0.00,15.10,0.962,6,0.000,0.000,2109,2531,2148,0,0,0,0,0,0,28.83,28.83,24.10
$GC,12821,0.38,212.0,655.8,8.3,948,12831,0.00,2.35,3.95,0.738,4,0.000,0.034,2121,1054,2113,0,0,0,0,0,0,28.83,25.98,24.06
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$GC,14694,0.59,370.7,460.5,19.5,1101,14703,0.00,2.03,0.00,0.000,4,0.000,0.044,2204,3809,1438,0,0,0,0,0,0,28.83,25.82,28.83
$GC,14745,0.59,370.7,450.3,19.4,1106,14754,0.00,2.03,0.00,0.000,6,0.000,0.026,2215,2463,1438,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,17406,end climb,SURFACE_DEPTH_REACHED
$STATE,17406,begin surface coast
$FINISH,0.1,1.023234
$STATE,17435,end surface coast,CONTROL_FINISHED_OK
$STATE,17435,begin surface
$SM_CCo,17509,0.00,0.000,0,0,784,538.43
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.96
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,23.70
$XPDR_PINGS,0
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$10V_AH,9.8,61.860
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.000,174.875,640.350,0.000,0.000,28.309,17.169,241.347,0.000,0.000,33.038,3741.810,9992.589,756.043,3019.270,424.628,0.000,2242.863,0.000,2563.737,0.000,0.543,0.000
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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,100432,1497
$CAP_FILE_SIZE,187743,0
$CFSIZE,260165632,175534080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.296,241.9,1
$GPS,150212,105337,2131.702,12359.804,39,0.9,39,-2.8