version: 66.10
glider: 169
mission: 6
dive: 52
start: 4 28 112 13 55 39
data:
$ID,169
$MISSION,6
$DIVE,52
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$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,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,-15278.251
$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,2035
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$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,1.75
$ROLL_ADJ_DBAND,0.029999999
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$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
$GPS1,280412,134707,2315.292,12212.104,42,1.3,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.2
$GPS2,280412,135516,2315.289,12212.064,13,6.7,32,-3.1
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,72.9,185852,-13.6,-9.167
$D_GRID,4342
$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,18,-0.61,-219.0,0.0,0.0,0,105,0.00,0.00,-83.68,0.000,2,0.000,0.000,132,2434,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.61,-219.0,3.7,-10.1,15,132,6.62,2.22,-9.27,0.000,4,0.228,0.044,1839,1042,3876,0,0,0,0,0,0,25.70,26.09,26.38
$GC,175,-0.54,-219.0,33.6,-31.9,27,183,0.12,2.42,0.00,0.000,6,0.151,0.039,1863,2523,3876,0,0,0,0,0,0,25.96,26.09,28.83
$GC,367,-0.48,-219.0,86.0,-25.1,64,374,0.00,2.33,0.00,0.000,4,0.000,0.028,1863,1045,3877,0,0,0,0,0,0,28.83,26.22,28.83
$GC,478,-0.46,-219.0,106.6,-15.7,85,485,0.12,2.28,0.00,0.000,6,0.136,0.037,1890,2459,3877,0,0,0,0,0,0,26.15,26.26,28.83
$GC,669,-0.43,-219.0,137.3,-15.5,122,676,0.00,2.10,0.00,0.000,4,0.000,0.043,1880,3819,3877,0,0,0,0,0,0,28.83,26.31,28.83
$GC,709,-0.41,-219.0,143.6,-15.1,129,716,0.00,2.10,0.00,0.000,6,0.000,0.023,1880,2402,3877,0,0,0,0,0,0,28.83,26.39,28.83
$GC,900,-0.38,-219.0,173.9,-15.4,166,908,0.12,2.08,0.00,0.000,4,0.142,0.027,1932,1040,3878,0,0,0,0,0,0,26.28,26.39,28.83
$GC,952,-0.42,-219.0,179.4,-6.9,175,959,0.00,2.25,0.00,0.000,6,0.000,0.033,1932,2461,3878,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1144,-0.50,-219.0,193.1,-8.3,212,1151,0.15,2.10,0.00,0.000,4,0.103,0.037,1867,3833,3878,0,0,0,0,0,0,26.41,26.42,28.83
$GC,1196,-0.59,-219.0,197.5,-7.3,221,1202,0.00,2.15,0.00,0.000,6,0.000,0.019,1873,2365,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1387,-0.67,-219.0,213.8,-8.7,242,1396,0.15,2.30,0.00,0.000,4,0.114,0.039,1813,3822,3878,0,0,0,0,0,0,26.42,26.45,28.83
$GC,1430,-0.71,-219.0,218.2,-10.1,246,1439,0.00,2.10,0.00,0.000,6,0.000,0.022,1813,2389,3878,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1740,-0.66,-219.0,281.8,-19.6,277,1748,0.00,2.05,0.00,0.000,4,0.000,0.026,1815,1033,3878,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1792,-0.63,-219.0,290.8,-17.0,282,1801,0.00,2.22,0.00,0.000,6,0.000,0.034,1805,2457,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2102,-0.58,-219.0,350.2,-20.1,313,2104,0.15,0.00,0.00,0.000,6,0.141,0.000,1850,2456,3878,0,0,0,0,0,0,26.41,28.83,28.83
$GC,2402,-0.57,-219.0,387.2,-11.1,343,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2456,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2703,-0.56,-219.0,418.0,-9.9,373,2712,0.00,2.08,0.00,0.000,4,0.000,0.044,1840,3812,3877,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2745,-0.56,-219.0,422.2,-9.5,377,2754,0.00,2.10,0.00,0.000,6,0.000,0.022,1840,2395,3877,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3055,-0.55,-219.0,455.8,-10.6,408,3064,0.00,2.25,0.00,0.000,4,0.000,0.043,1830,3819,3875,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3098,-0.54,-219.0,460.4,-11.1,412,3106,0.00,2.08,0.00,0.000,6,0.000,0.023,1830,2410,3875,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3407,-0.53,-219.0,496.4,-12.2,443,3417,0.12,2.08,0.00,0.000,4,0.128,0.025,1877,1037,3873,0,0,0,0,0,0,26.51,26.58,28.83
$GC,3453,-0.54,-219.0,500.5,-9.4,447,3459,0.00,2.25,0.00,0.000,6,0.000,0.034,1875,2473,3873,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3760,-0.55,-219.0,524.1,-7.2,478,3769,0.00,2.08,0.00,0.000,4,0.000,0.045,1864,3820,3871,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3823,-0.58,-219.0,528.4,-6.6,484,3831,0.00,2.08,0.00,0.000,6,0.000,0.024,1864,2415,3870,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4134,-0.59,-219.0,555.5,-9.4,515,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2415,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4445,-0.60,-219.0,584.5,-8.9,546,4453,0.00,2.22,0.00,0.000,4,0.000,0.045,1856,3814,3865,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4477,-0.62,-219.0,587.4,-8.7,549,4485,0.00,2.05,0.00,0.000,6,0.000,0.022,1855,2409,3865,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4799,-0.63,-219.0,614.8,-7.8,572,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2409,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-0.63,-219.0,635.6,-6.5,587,5101,0.00,2.25,0.00,0.000,4,0.000,0.046,1846,3820,3861,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5141,-0.64,-219.0,638.5,-6.5,589,5147,0.00,2.05,0.00,0.000,6,0.000,0.024,1846,2425,3860,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5460,-0.64,-219.0,663.8,-8.4,605,5464,0.00,2.20,0.00,0.000,4,0.000,0.047,1837,3817,3859,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5506,-0.64,-219.0,667.5,-8.7,607,5509,0.00,2.05,0.00,0.000,6,0.000,0.025,1837,2433,3859,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5818,-0.64,-219.0,699.2,-10.7,623,5823,0.00,2.17,0.00,0.000,4,0.000,0.045,1827,3810,3857,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5859,-0.64,-219.0,703.5,-10.7,625,5863,0.00,2.03,0.00,0.000,6,0.000,0.022,1827,2436,3856,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6178,-0.64,-219.0,739.7,-11.5,641,6183,0.00,2.10,0.00,0.000,4,0.000,0.029,1827,1040,3853,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6231,-0.64,-219.0,744.2,-11.3,643,6237,0.00,2.33,0.00,0.000,6,0.000,0.037,1825,2510,3853,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6538,-0.63,-219.0,779.6,-11.1,659,6543,0.00,2.25,0.00,0.000,4,0.000,0.030,1826,1049,3852,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6570,-0.62,-219.0,781.9,-11.1,660,6577,0.00,2.33,0.00,0.000,6,0.000,0.040,1826,2507,3852,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6880,-0.61,-219.0,814.7,-10.0,676,6885,0.00,2.03,0.00,0.000,4,0.000,0.050,1817,3817,3850,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6931,-0.61,-219.0,818.8,-10.0,678,6938,0.00,2.05,0.00,0.000,6,0.000,0.025,1817,2434,3849,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7239,-0.60,-219.0,852.2,-10.7,694,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2433,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,-0.59,-219.0,884.5,-10.6,709,7544,0.00,2.20,0.00,0.000,4,0.000,0.048,1809,3817,3846,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7571,-0.58,-219.0,886.5,-10.5,710,7579,0.12,2.05,0.00,0.000,6,0.119,0.026,1849,2435,3846,0,0,0,0,0,0,26.44,26.61,28.83
$GC,7881,-0.59,-219.0,911.3,-7.3,726,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2434,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8179,-0.60,-219.0,932.8,-7.0,741,8184,0.00,2.20,0.00,0.000,4,0.000,0.047,1838,3817,3843,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8212,-0.61,-219.0,934.2,-6.9,742,8219,0.00,2.03,0.00,0.000,6,0.000,0.024,1838,2438,3842,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8520,-0.62,-219.0,958.3,-7.4,758,8526,0.00,2.15,0.00,0.000,4,0.000,0.049,1829,3812,3841,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8559,-0.63,-219.0,961.2,-7.3,760,8564,0.00,2.03,0.00,0.000,6,0.000,0.024,1829,2449,3840,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8881,-0.63,-219.0,984.8,-7.4,776,8886,0.00,2.15,0.00,0.000,4,0.000,0.030,1829,1048,3839,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8913,-0.63,-219.0,986.2,-7.3,777,8919,0.00,2.35,0.00,0.000,6,0.000,0.038,1828,2527,3839,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,8957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8963,-0.20,0.0,990.6,-7.2,780,9185,0.38,0.00,215.52,1.118,4,0.096,0.000,1966,2526,2972,0,0,0,0,0,0,26.36,28.83,23.96
$STATE,9186,end apogee,CONTROL_FINISHED_OK
$STATE,9186,begin climb
$GC,9189,0.61,219.0,997.1,0.0,791,9427,0.73,2.15,229.57,1.104,4,0.041,0.046,2243,3817,2085,0,0,0,0,0,0,24.87,24.82,23.79
$GC,9645,0.53,219.0,896.5,26.2,814,9650,0.17,2.05,0.00,0.000,6,0.190,0.026,2210,2491,2044,0,0,0,0,0,0,25.37,25.59,28.83
$GC,9951,0.47,219.0,831.5,20.2,829,9957,0.00,2.25,0.00,0.000,4,0.000,0.033,2222,1081,2040,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10005,0.42,219.0,823.8,19.8,831,10012,0.17,2.47,0.00,0.000,6,0.151,0.038,2173,2578,2037,0,0,0,0,0,0,25.78,25.96,28.83
$GC,10312,0.39,219.0,773.0,15.8,847,10317,0.00,1.92,0.00,0.000,4,0.000,0.048,2173,3823,2037,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10484,0.35,219.0,745.2,17.4,855,10492,0.12,1.85,0.00,0.000,6,0.170,0.025,2150,2560,2036,0,0,0,0,0,0,25.99,26.22,28.83
$GC,10792,0.33,219.0,702.2,12.6,871,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2559,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11092,0.32,219.0,665.5,11.9,886,11098,0.00,1.98,0.00,0.000,4,0.000,0.048,2150,3825,2035,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11151,0.30,219.0,657.4,13.2,889,11157,0.00,1.85,0.00,0.000,6,0.000,0.024,2159,2568,2035,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11472,0.28,219.0,613.0,14.2,905,11478,0.12,1.90,0.00,0.000,4,0.164,0.044,2120,3811,2035,0,0,0,0,0,0,26.19,26.32,28.83
$GC,11542,0.27,219.0,605.4,12.9,908,11545,0.00,1.77,0.00,0.000,6,0.000,0.021,2129,2579,2034,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11853,0.29,237.7,574.3,8.6,937,11876,0.00,2.42,17.77,0.783,4,0.000,0.031,2141,1075,2007,0,0,0,0,0,0,28.83,26.13,25.51
$GC,11935,0.39,302.0,568.2,7.4,944,12009,0.00,2.55,61.25,0.970,6,0.000,0.036,2141,2609,1746,0,0,0,0,1,0,28.83,26.17,24.31
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$STATE,16623,end climb,SURFACE_DEPTH_REACHED
$STATE,16623,begin surface coast
$FINISH,-0.1,1.023048
$STATE,16634,end surface coast,CONTROL_FINISHED_OK
$STATE,16634,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.72
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$XPDR_PINGS,0
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$10V_AH,10.3,5.675
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.850,169.950,716.050,0.000,0.000,26.832,40.540,256.160,0.000,0.000,33.957,3615.903,9141.275,821.469,3180.777,406.315,0.000,2381.352,0.000,2681.105,0.000,0.542,0.000
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$MEM,324680
$DATA_FILE_SIZE,96970,1551
$CAP_FILE_SIZE,194566,0
$CFSIZE,260165632,216961024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,280412,183507,2315.834,12214.655,29,1.0,29,-3.1