version: 66.10
glider: 169
mission: 6
dive: 86
start: 5 5 112 9 16 26
data:
$ID,169
$MISSION,6
$DIVE,86
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,390
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-15387.333
$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,2275
$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
$GPS1,050512,090801,2320.783,12316.967,39,1.3,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-74.8
$GPS2,050512,091602,2320.876,12316.861,16,1.2,16,-3.2
$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,98.3,84164,-13.6,-9.167
$D_GRID,3450
$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,17,-0.61,-219.0,0.0,0.0,0,105,0.00,0.00,-85.53,0.000,2,0.000,0.000,117,2534,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.61,-219.0,3.2,-7.7,15,137,7.88,2.45,-12.40,0.000,4,0.237,0.036,2084,1021,3875,0,0,0,0,0,0,25.57,26.08,26.36
$GC,192,-0.52,-219.0,41.4,-33.5,29,200,0.12,2.47,0.00,0.000,6,0.181,0.034,2103,2524,3877,0,0,0,0,0,0,25.85,26.08,28.83
$GC,391,-0.46,-219.0,88.3,-20.6,66,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2523,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,592,-0.40,-219.0,133.8,-21.3,103,600,0.12,2.35,0.00,0.000,4,0.174,0.026,2150,1040,3877,0,0,0,0,0,0,26.11,26.29,28.83
$GC,690,-0.44,-219.0,146.1,-7.5,121,697,0.00,2.30,0.00,0.000,6,0.000,0.031,2140,2470,3878,0,0,0,0,0,0,28.83,26.32,28.83
$GC,887,-0.42,-219.0,170.6,-13.6,158,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2470,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1079,-0.41,-219.0,195.3,-12.1,195,1088,0.00,2.22,0.00,0.000,4,0.000,0.024,2140,1039,3878,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1116,-0.42,-219.0,199.2,-10.4,201,1123,0.00,2.28,0.00,0.000,6,0.000,0.031,2138,2461,3878,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1311,-0.41,-219.0,221.4,-13.3,221,1320,0.00,2.10,0.00,0.000,4,0.000,0.041,2127,3826,3878,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1345,-0.40,-219.0,225.7,-13.5,224,1353,0.00,2.12,0.00,0.000,6,0.000,0.019,2127,2382,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1654,-0.39,-219.0,264.8,-13.2,255,1664,0.00,2.28,0.00,0.000,4,0.000,0.041,2116,3819,3877,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1697,-0.39,-219.0,270.4,-12.6,259,1709,0.12,2.10,0.00,0.000,6,0.115,0.019,2157,2389,3878,0,0,0,0,0,0,26.37,26.54,28.83
$GC,2008,-0.41,-219.0,292.2,-6.5,290,2017,0.00,2.25,0.00,0.000,4,0.000,0.040,2147,3814,3877,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2040,-0.44,-219.0,294.3,-6.7,293,2049,0.00,2.05,0.00,0.000,6,0.000,0.021,2148,2403,3877,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2352,-0.46,-219.0,312.6,-5.3,324,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2404,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-0.49,-219.0,329.3,-5.7,355,2671,0.00,2.22,0.00,0.000,4,0.000,0.041,2142,3813,3877,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2699,-0.52,-219.0,331.1,-5.3,358,2706,0.10,2.05,0.00,0.000,6,0.096,0.021,2080,2407,3877,0,0,0,0,0,0,26.51,26.60,28.83
$GC,3007,-0.48,-219.0,377.6,-16.1,389,3017,0.12,2.10,0.00,0.000,4,0.151,0.025,2124,1040,3876,0,0,0,0,0,0,26.41,26.55,28.83
$GC,3084,-0.51,-219.0,385.2,-7.2,396,3093,0.00,2.28,0.00,0.000,6,0.000,0.031,2115,2482,3875,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3391,-0.51,-219.0,413.1,-9.3,427,3395,0.00,2.05,0.00,0.000,4,0.000,0.041,2104,3834,3874,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3412,-0.51,-219.0,415.2,-9.8,429,3423,0.00,2.12,0.00,0.000,6,0.000,0.020,2104,2393,3873,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3725,-0.51,-219.0,448.5,-10.7,460,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2392,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.51,-219.0,478.6,-8.7,491,4043,0.00,2.05,0.00,0.000,4,0.000,0.025,2105,1039,3872,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4068,-0.52,-219.0,481.5,-8.7,494,4076,0.00,2.28,0.00,0.000,6,0.000,0.031,2099,2475,3872,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4376,-0.52,-219.0,511.6,-10.1,525,4387,0.00,2.10,0.00,0.000,4,0.000,0.042,2089,3834,3869,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4410,-0.52,-219.0,515.1,-10.3,528,4419,0.00,2.12,0.00,0.000,6,0.000,0.020,2089,2392,3870,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4720,-0.51,-219.0,545.3,-9.5,559,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2392,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.51,-219.0,574.3,-9.6,589,5034,0.00,2.33,0.00,0.000,4,0.000,0.043,2079,3823,3866,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5049,-0.51,-219.0,576.7,-8.8,591,5058,0.08,2.08,0.00,0.000,6,0.094,0.021,2112,2390,3866,0,0,0,0,0,0,26.44,26.62,28.83
$GC,5359,-0.52,-219.0,597.8,-7.3,622,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2391,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5678,-0.54,-219.0,619.8,-6.3,640,5684,0.00,2.33,0.00,0.000,4,0.000,0.043,2102,3812,3862,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5733,-0.56,-219.0,622.3,-6.2,642,5742,0.00,2.05,0.00,0.000,6,0.000,0.022,2102,2408,3861,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6039,-0.57,-219.0,642.9,-6.6,658,6045,0.00,2.28,0.00,0.000,4,0.000,0.044,2094,3820,3860,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6061,-0.58,-219.0,644.3,-6.7,659,6065,0.00,2.05,0.00,0.000,6,0.000,0.020,2094,2416,3860,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6375,-0.58,-219.0,668.3,-7.8,675,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2415,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6675,-0.59,-219.0,692.4,-8.1,690,6681,0.00,2.25,0.00,0.000,4,0.000,0.044,2084,3819,3856,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6703,-0.59,-219.0,694.0,-8.0,691,6707,0.00,2.03,0.00,0.000,6,0.000,0.021,2084,2425,3855,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7010,-0.59,-219.0,720.2,-8.2,706,7016,0.00,2.12,0.00,0.000,4,0.000,0.028,2084,1041,3853,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7042,-0.59,-219.0,721.8,-8.2,707,7051,0.00,2.35,0.00,0.000,6,0.000,0.036,2075,2509,3852,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7350,-0.59,-219.0,749.6,-8.6,723,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2508,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7650,-0.59,-219.0,774.5,-8.4,738,7655,0.00,2.30,0.00,0.000,4,0.000,0.029,2075,1040,3849,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7692,-0.59,-219.0,778.0,-8.5,740,7697,0.00,2.35,0.00,0.000,6,0.000,0.037,2066,2494,3848,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8008,-0.58,-219.0,809.3,-10.6,756,8013,0.00,2.03,0.00,0.000,4,0.000,0.046,2055,3814,3847,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8046,-0.57,-219.0,813.7,-10.5,758,8052,0.12,2.08,0.00,0.000,6,0.123,0.024,2095,2427,3846,0,0,0,0,0,0,26.34,26.56,28.83
$GC,8368,-0.59,-219.0,839.4,-7.8,774,8374,0.00,2.22,0.00,0.000,4,0.000,0.047,2084,3821,3845,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8401,-0.60,-219.0,841.1,-7.7,775,8410,0.00,2.05,0.00,0.000,6,0.000,0.021,2084,2427,3844,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8707,-0.60,-219.0,867.6,-8.3,791,8713,0.00,2.10,0.00,0.000,4,0.000,0.029,2084,1047,3843,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8736,-0.61,-219.0,869.2,-8.3,792,8747,0.00,2.35,0.00,0.000,6,0.000,0.036,2076,2509,3843,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9047,-0.61,-219.0,896.1,-8.2,808,9052,0.00,2.05,0.00,0.000,4,0.000,0.048,2066,3821,3841,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9080,-0.61,-219.0,897.7,-8.3,809,9088,0.00,2.05,0.00,0.000,6,0.000,0.022,2066,2434,3841,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9388,-0.61,-219.0,924.4,-8.2,825,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2434,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9687,-0.61,-219.0,949.2,-8.5,840,9692,0.00,2.25,0.00,0.000,4,0.000,0.047,2056,3814,3838,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9715,-0.61,-219.0,951.0,-8.5,841,9718,0.00,2.05,0.00,0.000,6,0.000,0.024,2056,2444,3838,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10023,-0.60,-219.0,979.4,-8.9,856,10029,0.00,2.15,0.00,0.000,4,0.000,0.031,2056,1042,3837,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10071,-0.59,-219.0,983.0,-8.9,858,10076,0.12,2.38,0.00,0.000,6,0.130,0.039,2083,2509,3837,0,0,0,0,0,0,26.27,26.40,28.83
$STATE,10175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10175,begin apogee
$GC,10181,-0.20,0.0,991.2,-6.8,863,10399,0.35,0.00,207.70,1.150,4,0.099,0.000,2209,2508,2967,0,0,0,0,0,0,26.25,28.83,23.94
$STATE,10400,end apogee,CONTROL_FINISHED_OK
$STATE,10400,begin climb
$GC,10402,0.61,219.0,998.8,0.0,874,10641,0.68,2.20,226.25,1.132,4,0.040,0.045,2483,3813,2074,0,0,0,0,0,0,24.92,24.87,23.62
$GC,10869,0.52,219.0,892.2,28.2,897,10874,0.17,2.05,0.00,0.000,6,0.190,0.024,2450,2491,2043,0,0,0,0,0,0,25.31,25.60,28.83
$GC,11184,0.46,219.0,824.4,21.1,913,11189,0.00,2.28,0.00,0.000,4,0.000,0.031,2462,1076,2038,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11216,0.41,219.0,820.2,21.2,914,11224,0.20,2.50,0.00,0.000,6,0.155,0.037,2405,2566,2036,0,0,0,0,0,0,25.72,25.95,28.83
$GC,11525,0.38,219.0,770.8,14.6,930,11530,0.00,1.95,0.00,0.000,4,0.000,0.046,2405,3815,2036,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11607,0.34,219.0,757.9,16.1,934,11611,0.00,1.90,0.00,0.000,6,0.000,0.024,2415,2542,2035,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11921,0.31,219.0,707.2,16.7,950,11927,0.12,1.98,0.00,0.000,4,0.187,0.044,2377,3808,2035,0,0,0,0,0,0,26.00,26.17,28.83
$GC,11961,0.28,219.0,700.7,16.4,952,11966,0.00,1.85,0.00,0.000,6,0.000,0.023,2386,2551,2035,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,17103,end climb,SURFACE_DEPTH_REACHED
$STATE,17104,begin surface coast
$FINISH,-0.5,0.997847
$STATE,17137,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,9.513
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$FG_AHR_10Vo,0.000
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$MEM,330384
$DATA_FILE_SIZE,93721,1519
$CAP_FILE_SIZE,196192,0
$CFSIZE,260165632,213663744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.237,310.5,1
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