version: 66.10
glider: 169
mission: 6
dive: 92
start: 5 6 112 15 44 45
data:
$ID,169
$MISSION,6
$DIVE,92
$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,-15394.882
$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
$GPS1,060512,153607,2328.927,12336.007,30,1.2,30,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.9
$GPS2,060512,154421,2329.040,12335.979,14,2.5,33,-3.3
$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,88.0,50449,-13.6,-9.167
$D_GRID,3535
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.61,-219.0,0.0,0.0,0,119,0.00,0.00,-96.80,0.000,2,0.000,0.000,122,2463,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.61,-219.0,4.2,-11.6,17,150,7.82,2.33,-9.55,0.000,4,0.235,0.041,2082,1038,3874,0,0,0,0,0,0,25.56,26.10,26.41
$GC,199,-0.51,-219.0,43.2,-36.2,30,206,0.12,2.45,0.00,0.000,6,0.164,0.036,2103,2519,3876,0,0,0,0,0,0,25.90,26.11,28.83
$GC,400,-0.43,-219.0,101.0,-25.9,67,407,0.10,2.40,0.00,0.000,4,0.199,0.027,2138,1036,3876,0,0,0,0,0,0,26.10,26.25,28.83
$GC,458,-0.43,-219.0,112.8,-15.2,77,464,0.00,2.40,0.00,0.000,6,0.000,0.035,2127,2495,3877,0,0,0,0,0,0,28.83,26.25,28.83
$GC,656,-0.38,-219.0,149.2,-20.3,114,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2494,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.34,-219.0,186.2,-16.2,151,859,0.12,2.30,0.00,0.000,4,0.157,0.024,2178,1039,3877,0,0,0,0,0,0,26.25,26.39,28.83
$GC,910,-0.39,-219.0,191.5,-4.7,161,916,0.00,2.35,0.00,0.000,6,0.000,0.031,2178,2496,3877,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1106,-0.47,-219.0,206.7,-9.3,192,1116,0.15,1.98,0.00,0.000,4,0.093,0.037,2111,3821,3877,0,0,0,0,0,0,26.44,26.40,28.83
$GC,1182,-0.55,-219.0,213.6,-9.3,199,1189,0.00,2.03,0.00,0.000,6,0.000,0.021,2121,2423,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1490,-0.63,-219.0,240.4,-9.1,230,1499,0.12,2.10,0.00,0.000,4,0.145,0.025,2088,1047,3877,0,0,0,0,0,0,26.36,26.48,28.83
$GC,1525,-0.70,-219.0,243.4,-8.8,233,1533,0.12,2.33,0.00,0.000,6,0.078,0.030,2015,2505,3877,0,0,0,0,0,0,26.46,26.48,28.83
$GC,1833,-0.61,-219.0,325.9,-31.0,264,1842,0.17,2.30,0.00,0.000,4,0.163,0.028,2081,1042,3877,0,0,0,0,0,0,26.22,26.49,28.83
$GC,1869,-0.53,-219.0,334.7,-28.2,267,1876,0.12,2.33,0.00,0.000,6,0.144,0.034,2106,2484,3877,0,0,0,0,0,0,26.32,26.48,28.83
$GC,2176,-0.52,-219.0,377.3,-12.0,298,2188,0.00,2.05,0.00,0.000,4,0.000,0.042,2096,3823,3876,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2201,-0.51,-219.0,380.1,-11.7,300,2210,0.00,2.08,0.00,0.000,6,0.000,0.022,2098,2415,3876,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2512,-0.49,-219.0,416.5,-10.8,331,2521,0.00,2.10,0.00,0.000,4,0.000,0.028,2098,1045,3875,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2587,-0.50,-219.0,423.6,-8.4,338,2596,0.00,2.28,0.00,0.000,6,0.000,0.032,2089,2474,3875,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2895,-0.48,-219.0,459.3,-12.5,369,2896,0.10,0.00,0.00,0.000,6,0.167,0.000,2117,2473,3873,0,0,0,0,0,0,26.48,28.83,28.83
$GC,3195,-0.49,-219.0,483.5,-7.2,399,3206,0.00,2.22,0.00,0.000,4,0.000,0.028,2117,1044,3871,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3243,-0.51,-219.0,486.8,-7.5,403,3252,0.00,2.25,0.00,0.000,6,0.000,0.033,2112,2461,3871,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3551,-0.51,-219.0,511.3,-8.6,434,3559,0.00,2.10,0.00,0.000,4,0.000,0.045,2102,3816,3869,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3597,-0.53,-219.0,514.9,-8.4,438,3604,0.00,2.10,0.00,0.000,6,0.000,0.024,2102,2395,3868,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3904,-0.53,-219.0,540.4,-7.6,469,3912,0.00,2.28,0.00,0.000,4,0.000,0.044,2093,3820,3866,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3950,-0.54,-219.0,543.7,-7.7,473,3957,0.00,2.05,0.00,0.000,6,0.000,0.021,2093,2401,3866,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4256,-0.54,-219.0,568.5,-8.7,504,4265,0.00,2.10,0.00,0.000,4,0.000,0.028,2093,1043,3863,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4303,-0.55,-219.0,572.2,-8.7,508,4310,0.00,2.25,0.00,0.000,6,0.000,0.034,2085,2463,3863,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4612,-0.54,-219.0,605.2,-11.0,537,4618,0.00,2.05,0.00,0.000,4,0.000,0.047,2075,3815,3862,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4645,-0.53,-219.0,607.7,-11.0,538,4654,0.00,2.10,0.00,0.000,6,0.000,0.024,2075,2393,3861,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4951,-0.52,-219.0,645.8,-11.8,554,4955,0.10,2.08,0.00,0.000,4,0.148,0.027,2110,1041,3860,0,0,0,0,0,0,26.52,26.53,28.83
$GC,4982,-0.51,-219.0,648.2,-11.5,555,4986,0.00,2.28,0.00,0.000,6,0.000,0.034,2105,2462,3859,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5290,-0.52,-219.0,672.1,-7.7,570,5296,0.00,2.10,0.00,0.000,4,0.000,0.047,2095,3818,3857,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5337,-0.53,-219.0,675.1,-7.6,572,5341,0.00,2.08,0.00,0.000,6,0.000,0.022,2095,2401,3857,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5645,-0.54,-219.0,700.5,-8.1,587,5651,0.00,2.10,0.00,0.000,4,0.000,0.031,2096,1041,3855,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5673,-0.55,-219.0,702.1,-8.0,588,5678,0.00,2.30,0.00,0.000,6,0.000,0.036,2088,2470,3854,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5980,-0.55,-219.0,726.0,-7.5,603,5984,0.00,2.08,0.00,0.000,4,0.000,0.047,2078,3826,3852,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6027,-0.56,-219.0,729.1,-7.3,605,6031,0.00,2.08,0.00,0.000,6,0.000,0.023,2077,2406,3852,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6339,-0.56,-219.0,754.6,-8.5,621,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2406,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,-0.56,-219.0,782.7,-10.1,636,6646,0.00,2.25,0.00,0.000,4,0.000,0.047,2068,3811,3848,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6662,-0.56,-219.0,784.6,-10.1,637,6666,0.00,2.08,0.00,0.000,6,0.000,0.024,2068,2413,3848,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6975,-0.55,-219.0,818.8,-10.1,653,6977,0.10,0.00,0.00,0.000,6,0.143,0.000,2097,2413,3846,0,0,0,0,0,0,26.52,28.83,28.83
$GC,7275,-0.56,-219.0,839.6,-6.6,668,7281,0.00,2.22,0.00,0.000,4,0.000,0.047,2087,3810,3845,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7303,-0.57,-219.0,841.0,-6.8,669,7307,0.00,2.05,0.00,0.000,6,0.000,0.022,2086,2410,3844,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7612,-0.58,-219.0,866.7,-8.3,684,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2409,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7910,-0.59,-219.0,891.3,-7.9,699,7916,0.00,2.25,0.00,0.000,4,0.000,0.046,2077,3814,3841,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7943,-0.60,-219.0,892.8,-7.9,700,7952,0.00,2.05,0.00,0.000,6,0.000,0.022,2078,2410,3840,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8251,-0.60,-219.0,919.9,-8.5,716,8256,0.00,2.08,0.00,0.000,4,0.000,0.028,2077,1045,3839,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8278,-0.60,-219.0,921.7,-8.6,717,8282,0.00,2.35,0.00,0.000,6,0.000,0.035,2072,2501,3839,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8587,-0.60,-219.0,948.0,-7.9,732,8591,0.00,2.03,0.00,0.000,4,0.000,0.047,2061,3815,3837,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8630,-0.60,-219.0,951.5,-8.1,734,8636,0.00,2.05,0.00,0.000,6,0.000,0.024,2062,2433,3837,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8950,-0.60,-219.0,977.9,-8.2,750,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2431,3835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9107,begin apogee
$GC,9114,-0.20,0.0,991.1,-8.4,758,9332,0.43,0.10,210.62,1.137,4,0.101,0.075,2209,2484,2974,0,0,0,0,0,0,26.17,24.70,23.96
$STATE,9333,end apogee,CONTROL_FINISHED_OK
$STATE,9333,begin climb
$GC,9336,0.61,219.0,999.2,0.0,769,9569,0.68,2.28,222.55,1.138,4,0.038,0.047,2487,3816,2077,0,0,0,0,0,0,24.94,24.88,23.66
$GC,9644,0.52,219.0,938.3,28.3,784,9653,0.17,2.08,0.00,0.000,6,0.189,0.024,2451,2496,2047,0,0,0,0,0,0,24.92,25.15,28.83
$GC,9955,0.46,219.0,863.7,22.3,800,9960,0.00,2.12,0.00,0.000,4,0.000,0.044,2451,3821,2041,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10080,0.39,219.0,835.2,23.9,806,10086,0.20,1.98,0.00,0.000,6,0.176,0.024,2404,2515,2039,0,0,0,0,0,0,25.65,25.98,28.83
$GC,10396,0.36,219.0,785.7,14.7,822,10401,0.00,2.05,0.00,0.000,4,0.000,0.042,2404,3816,2038,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10427,0.32,219.0,782.6,14.8,823,10437,0.12,1.90,0.00,0.000,6,0.168,0.022,2381,2529,2037,0,0,0,0,0,0,25.91,26.16,28.83
$GC,10735,0.31,219.0,744.0,11.2,839,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2528,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11035,0.29,219.0,709.1,11.9,854,11038,0.00,2.05,0.00,0.000,4,0.000,0.044,2381,3822,2036,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11098,0.28,219.0,700.7,13.2,857,11103,0.00,1.95,0.00,0.000,6,0.000,0.024,2391,2524,2035,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11417,0.26,219.0,659.9,12.4,873,11423,0.00,2.30,0.00,0.000,4,0.000,0.032,2403,1085,2034,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11445,0.25,219.0,657.5,12.3,874,11450,0.15,2.42,0.00,0.000,6,0.129,0.035,2357,2565,2032,0,0,0,0,0,0,26.11,26.29,28.83
$GC,11754,0.25,219.0,626.9,10.3,889,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2564,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12054,0.29,240.0,598.6,8.6,904,12082,0.00,2.50,21.23,0.791,4,0.000,0.032,2369,1067,1995,0,0,0,0,0,0,28.83,26.09,25.47
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$STATE,16328,end climb,SURFACE_DEPTH_REACHED
$STATE,16328,begin surface coast
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$STATE,16355,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,10.250
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,93657,1467
$CAP_FILE_SIZE,190760,0
$CFSIZE,260165632,213037056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.259,308.3,1
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