version: 66.10
glider: 169
mission: 6
dive: 93
start: 5 6 112 20 33 4
data:
$ID,169
$MISSION,6
$DIVE,93
$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,-15396.141
$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
$GPS1,060512,201936,2331.038,12339.065,31,0.9,31,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.6
$GPS2,060512,203238,2331.377,12339.046,13,1.1,13,-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,86.4,43818,-13.6,-9.167
$D_GRID,3184
$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,-219.0,0.0,0.0,0,115,0.00,0.00,-95.82,0.000,2,0.000,0.000,116,2535,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.61,-219.0,3.5,-7.6,17,147,7.80,2.05,-12.00,0.000,4,0.234,0.050,2058,3827,3875,0,0,1,0,0,0,25.58,25.86,26.40
$GC,212,-0.50,-219.0,48.5,-39.5,33,222,0.15,2.03,0.00,0.000,6,0.179,0.020,2107,2440,3876,0,0,0,0,0,0,25.84,26.20,28.83
$GC,416,-0.44,-219.0,100.9,-23.4,70,422,0.00,2.17,0.00,0.000,4,0.000,0.024,2117,1037,3877,0,0,0,0,0,0,28.83,26.27,28.83
$GC,465,-0.43,-219.0,111.0,-15.5,79,472,0.10,2.45,0.00,0.000,6,0.152,0.032,2133,2536,3877,0,0,0,0,0,0,26.13,26.27,28.83
$GC,661,-0.39,-219.0,144.1,-18.3,116,668,0.00,1.95,0.00,0.000,4,0.000,0.041,2124,3823,3877,0,0,0,0,0,0,28.83,26.31,28.83
$GC,677,-0.35,-219.0,146.7,-17.8,118,683,0.00,2.00,0.00,0.000,6,0.000,0.020,2133,2449,3877,0,0,0,0,0,0,28.83,26.41,28.83
$GC,874,-0.32,-219.0,178.4,-14.7,155,881,0.12,2.17,0.00,0.000,4,0.149,0.023,2179,1025,3877,0,0,0,0,0,0,26.26,26.40,28.83
$GC,911,-0.35,-219.0,182.6,-8.7,161,920,0.00,2.42,0.00,0.000,6,0.000,0.030,2179,2534,3877,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1104,-0.43,-219.0,199.0,-10.4,198,1111,0.12,0.00,0.00,0.000,6,0.111,0.000,2128,2534,3877,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1299,-0.51,-219.0,218.6,-9.9,218,1303,0.00,1.98,0.00,0.000,4,0.000,0.039,2128,3830,3877,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1354,-0.59,-219.0,224.0,-10.6,223,1362,0.12,2.00,0.00,0.000,6,0.097,0.018,2073,2424,3877,0,0,0,0,0,0,26.42,26.53,28.83
$GC,1662,-0.60,-219.0,250.9,-8.0,254,1666,0.00,2.17,0.00,0.000,4,0.000,0.037,2064,3825,3876,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1745,-0.58,-219.0,260.6,-13.2,262,1757,0.00,1.92,0.00,0.000,6,0.000,0.020,2068,2485,3876,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2057,-0.52,-219.0,328.0,-22.2,293,2066,0.12,2.25,0.00,0.000,4,0.157,0.025,2117,1038,3876,0,0,0,0,0,0,26.35,26.52,28.83
$GC,2155,-0.54,-219.0,340.7,-9.4,302,2164,0.00,2.40,0.00,0.000,6,0.000,0.031,2111,2542,3875,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2462,-0.53,-219.0,381.5,-13.8,333,2471,0.00,2.33,0.00,0.000,4,0.000,0.025,2112,1048,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2548,-0.55,-219.0,390.7,-9.6,341,2556,0.00,2.35,0.00,0.000,6,0.000,0.031,2111,2519,3874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2857,-0.54,-219.0,422.4,-9.7,372,2866,0.00,2.30,0.00,0.000,4,0.000,0.026,2111,1038,3872,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2901,-0.55,-219.0,426.7,-9.8,376,2910,0.00,2.30,0.00,0.000,6,0.000,0.032,2111,2489,3872,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3211,-0.55,-219.0,456.5,-9.6,407,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2488,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-0.55,-219.0,483.4,-7.8,437,3520,0.00,2.22,0.00,0.000,4,0.000,0.027,2111,1046,3869,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3547,-0.56,-219.0,485.9,-7.8,440,3554,0.00,2.28,0.00,0.000,6,0.000,0.033,2105,2481,3868,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3855,-0.56,-219.0,512.2,-8.0,471,3865,0.00,2.03,0.00,0.000,4,0.000,0.044,2096,3810,3867,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3889,-0.56,-219.0,514.6,-7.5,474,3897,0.00,2.05,0.00,0.000,6,0.000,0.021,2096,2406,3866,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4199,-0.56,-219.0,538.3,-8.3,505,4202,0.00,2.10,0.00,0.000,4,0.000,0.028,2096,1041,3864,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4265,-0.58,-219.0,543.5,-8.4,511,4274,0.00,2.25,0.00,0.000,6,0.000,0.033,2088,2467,3863,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4572,-0.57,-219.0,577.0,-11.5,542,4581,0.00,2.10,0.00,0.000,4,0.000,0.044,2078,3823,3862,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4604,-0.57,-219.0,580.7,-11.3,545,4613,0.00,2.10,0.00,0.000,6,0.000,0.021,2078,2395,3862,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4927,-0.56,-219.0,616.4,-10.9,570,4931,0.00,2.08,0.00,0.000,4,0.000,0.027,2078,1041,3861,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4972,-0.55,-219.0,621.1,-10.7,572,4976,0.00,2.25,0.00,0.000,6,0.000,0.033,2069,2460,3860,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5286,-0.54,-219.0,658.8,-12.1,588,5288,0.12,0.00,0.00,0.000,6,0.144,0.000,2106,2459,3857,0,0,0,0,0,0,26.45,28.83,28.83
$GC,5586,-0.55,-219.0,681.3,-6.7,603,5591,0.00,2.05,0.00,0.000,4,0.000,0.043,2096,3814,3855,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5614,-0.56,-219.0,682.6,-6.7,604,5618,0.00,2.08,0.00,0.000,6,0.000,0.021,2096,2391,3855,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5922,-0.57,-219.0,703.3,-6.6,619,5927,0.00,2.25,0.00,0.000,4,0.000,0.043,2086,3817,3852,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5950,-0.58,-219.0,704.6,-6.7,620,5953,0.00,2.08,0.00,0.000,6,0.000,0.022,2087,2398,3852,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6256,-0.58,-219.0,731.1,-8.6,635,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2397,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6557,-0.58,-219.0,755.5,-7.9,650,6563,0.00,2.33,0.00,0.000,4,0.000,0.044,2077,3827,3848,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6599,-0.58,-219.0,758.9,-8.1,652,6605,0.00,2.05,0.00,0.000,6,0.000,0.021,2077,2417,3847,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6920,-0.58,-219.0,789.0,-9.4,668,6925,0.00,2.10,0.00,0.000,4,0.000,0.028,2077,1039,3846,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6951,-0.58,-219.0,790.9,-9.4,669,6958,0.00,2.33,0.00,0.000,6,0.000,0.035,2069,2487,3845,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7259,-0.58,-219.0,820.5,-9.0,685,7263,0.00,2.08,0.00,0.000,4,0.000,0.047,2059,3816,3843,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7284,-0.57,-219.0,822.6,-8.9,686,7289,0.10,2.08,0.00,0.000,6,0.138,0.025,2089,2412,3843,0,0,0,0,0,0,26.36,26.55,28.83
$GC,7599,-0.58,-219.0,845.8,-7.5,702,7604,0.00,2.25,0.00,0.000,4,0.000,0.045,2079,3820,3841,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7640,-0.59,-219.0,849.1,-7.9,704,7646,0.00,2.08,0.00,0.000,6,0.000,0.022,2079,2411,3841,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7960,-0.59,-219.0,875.3,-7.9,720,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2411,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8259,-0.59,-219.0,894.9,-6.1,735,8264,0.00,2.28,0.00,0.000,4,0.000,0.045,2069,3817,3837,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8288,-0.59,-219.0,896.1,-6.1,736,8292,0.00,2.08,0.00,0.000,6,0.000,0.024,2069,2427,3836,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8595,-0.59,-219.0,918.4,-7.6,751,8598,0.00,2.17,0.00,0.000,4,0.000,0.031,2069,1041,3835,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8630,-0.59,-219.0,920.2,-7.7,752,8637,0.00,2.30,0.00,0.000,6,0.000,0.037,2060,2480,3834,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8939,-0.58,-219.0,948.8,-9.2,768,8945,0.00,2.08,0.00,0.000,4,0.000,0.047,2049,3817,3833,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8978,-0.57,-219.0,952.4,-9.2,770,8984,0.12,2.10,0.00,0.000,6,0.125,0.023,2089,2411,3833,0,0,0,0,0,0,26.31,26.53,28.83
$GC,9301,-0.59,-219.0,976.0,-7.6,786,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2410,3832,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9496,begin apogee
$GC,9502,-0.20,0.0,990.9,-7.3,796,9713,0.32,0.05,205.20,1.149,4,0.095,0.047,2206,2486,2977,0,0,0,0,0,0,26.28,24.65,23.99
$STATE,9714,end apogee,CONTROL_FINISHED_OK
$STATE,9714,begin climb
$GC,9716,0.61,219.0,999.7,0.0,806,9950,0.73,2.28,222.88,1.140,4,0.039,0.044,2491,3823,2079,0,0,0,0,0,0,24.91,24.86,23.70
$GC,10181,0.51,219.0,883.8,32.0,830,10187,0.22,2.05,0.00,0.000,6,0.193,0.024,2445,2500,2043,0,0,0,0,0,0,25.33,25.67,28.83
$GC,10503,0.45,219.0,810.2,22.8,846,10509,0.00,2.28,0.00,0.000,4,0.000,0.030,2456,1079,2038,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10603,0.41,219.0,791.7,17.2,851,10609,0.12,2.42,0.00,0.000,6,0.147,0.037,2415,2546,2036,0,0,0,0,0,0,25.79,26.03,28.83
$GC,10926,0.38,219.0,739.9,15.2,867,10931,0.00,1.98,0.00,0.000,4,0.000,0.044,2415,3842,2035,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11049,0.33,219.0,720.2,16.2,873,11054,0.15,1.98,0.00,0.000,6,0.169,0.024,2384,2527,2034,0,0,0,0,0,0,25.93,26.23,28.83
$GC,11366,0.32,219.0,683.2,11.7,889,11371,0.00,2.00,0.00,0.000,4,0.000,0.044,2384,3820,2034,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11392,0.30,219.0,680.5,11.9,890,11396,0.00,1.92,0.00,0.000,6,0.000,0.023,2394,2528,2034,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11702,0.28,219.0,642.3,11.9,905,11705,0.00,2.03,0.00,0.000,4,0.000,0.044,2394,3819,2034,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11737,0.26,219.0,639.2,12.2,906,11744,0.15,1.92,0.00,0.000,6,0.153,0.023,2362,2535,2033,0,0,0,0,0,0,26.06,26.35,28.83
$GC,12044,0.29,244.3,609.2,8.5,922,12083,0.00,2.40,26.05,0.728,4,0.000,0.033,2374,1064,1979,0,0,0,0,1,0,28.83,26.02,25.01
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$STATE,17069,end climb,SURFACE_DEPTH_REACHED
$STATE,17069,begin surface coast
$FINISH,0.2,1.022011
$STATE,17091,end surface coast,CONTROL_FINISHED_OK
$STATE,17091,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.56
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.7,19.023
$10V_AH,10.3,10.373
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.750,179.200,800.225,0.000,0.000,82.022,86.901,303.248,0.000,0.000,14.605,4078.325,9103.454,923.522,3371.787,443.844,0.000,2516.726,0.000,2702.145,0.000,0.542,0.000
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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,330364
$DATA_FILE_SIZE,96713,1540
$CAP_FILE_SIZE,203159,0
$CFSIZE,260165632,212914176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.361,317.1,1
$GPS,070512,012024,2334.296,12341.688,26,1.1,43,-3.3