version: 66.10
glider: 169
mission: 6
dive: 166
start: 5 24 112 7 4 45
data:
$ID,169
$MISSION,6
$DIVE,166
$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,420
$T_MISSION,460
$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,175
$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,1
$N_NOCOMM,1
$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,-15547.663
$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,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
$GPS1,240512,065601,2141.084,12400.356,39,1.1,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-76.4
$GPS2,240512,070421,2140.861,12400.313,16,1.8,16,-2.9
$SPEED_LIMITS,0.136,0.256
$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,170.6,20121,-13.5,-7.857
$D_GRID,5437
$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,-0.55,-170.3,0.0,0.0,0,88,0.00,0.00,-68.45,0.000,2,0.000,0.000,116,2531,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.55,-170.3,3.1,-6.1,12,118,7.80,2.50,-12.93,0.000,4,0.223,0.037,2102,1037,3676,0,0,1,0,0,0,25.34,25.69,26.41
$GC,273,-0.49,-170.3,65.0,-21.4,46,279,0.00,2.47,0.00,0.000,6,0.000,0.035,2090,2516,3678,0,0,0,0,0,0,28.83,26.08,28.83
$GC,464,-0.40,-170.3,113.3,-26.8,83,473,0.17,2.38,0.00,0.000,4,0.161,0.021,2153,1029,3679,0,0,0,0,0,0,25.89,26.24,28.83
$GC,588,-0.42,-170.3,131.2,-9.3,106,595,0.00,2.42,0.00,0.000,6,0.000,0.031,2144,2503,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,778,-0.39,-170.3,159.5,-15.4,143,786,0.00,2.00,0.00,0.000,4,0.000,0.041,2133,3825,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,810,-0.36,-170.3,164.2,-15.1,148,817,0.00,2.03,0.00,0.000,6,0.000,0.019,2134,2432,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1002,-0.33,-170.3,188.1,-12.5,185,1009,0.12,2.20,0.00,0.000,4,0.137,0.022,2181,1023,3680,0,0,0,0,0,0,26.28,26.36,28.83
$GC,1053,-0.38,-170.3,191.9,-5.3,194,1060,0.00,2.35,0.00,0.000,6,0.000,0.029,2180,2481,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1245,-0.46,-170.3,204.8,-8.1,225,1250,0.12,2.03,0.00,0.000,4,0.095,0.035,2121,3828,3680,0,0,0,0,0,0,26.46,26.31,28.83
$GC,1388,-0.54,-170.3,215.8,-7.9,239,1397,0.00,2.03,0.00,0.000,6,0.000,0.018,2122,2420,3680,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1699,-0.55,-170.3,237.1,-7.2,270,1702,0.00,2.20,0.00,0.000,4,0.000,0.038,2112,3834,3680,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1770,-0.55,-170.3,243.2,-8.8,277,1774,0.00,1.75,0.00,0.000,6,0.000,0.018,2112,2550,3679,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2082,-0.53,-170.3,283.5,-13.6,308,2091,0.00,2.40,0.00,0.000,4,0.000,0.024,2115,1033,3677,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2167,-0.53,-170.3,293.8,-11.3,316,2174,0.00,2.67,0.00,0.000,6,0.000,0.034,2107,2617,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2475,-0.51,-170.3,334.1,-11.7,347,2484,0.00,2.58,0.00,0.000,4,0.000,0.024,2111,1040,3676,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2600,-0.51,-170.3,345.5,-8.2,359,2608,0.00,2.55,0.00,0.000,6,0.000,0.032,2100,2571,3675,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2909,-0.48,-170.3,381.7,-12.3,390,2918,0.00,2.47,0.00,0.000,4,0.000,0.024,2104,1048,3674,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2985,-0.48,-170.3,389.1,-8.8,397,2991,0.00,2.47,0.00,0.000,6,0.000,0.031,2095,2552,3674,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3293,-0.46,-170.3,425.3,-13.0,428,3302,0.12,2.42,0.00,0.000,4,0.149,0.022,2138,1038,3672,0,0,0,0,0,0,26.34,26.42,28.83
$GC,3379,-0.49,-170.3,432.5,-6.7,436,3386,0.00,2.45,0.00,0.000,6,0.000,0.031,2134,2528,3672,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3687,-0.50,-170.3,450.5,-5.7,467,3695,0.00,2.38,0.00,0.000,4,0.000,0.024,2135,1040,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3730,-0.52,-170.3,453.2,-6.2,471,3739,0.00,2.40,0.00,0.000,6,0.000,0.032,2134,2513,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4039,-0.53,-170.3,474.3,-7.4,502,4048,0.00,1.98,0.00,0.000,4,0.000,0.041,2126,3828,3667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4083,-0.55,-170.3,477.4,-7.3,506,4086,0.00,1.98,0.00,0.000,6,0.000,0.020,2126,2452,3666,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4395,-0.56,-170.3,497.8,-5.7,537,4404,0.00,2.25,-0.10,0.000,4,0.000,0.037,2126,1038,3687,0,0,0,0,0,0,28.83,26.40,26.03
$GC,4441,-0.58,-170.3,500.4,-5.9,541,4448,0.12,2.42,0.00,0.000,6,0.075,0.031,2024,2519,3687,0,0,0,0,0,0,26.36,26.35,28.83
$GC,4748,-0.52,-170.3,549.6,-17.2,572,4757,0.22,2.35,0.00,0.000,4,0.142,0.024,2108,1044,3686,0,0,0,0,0,0,26.03,26.39,28.83
$GC,4803,-0.51,-170.3,555.5,-10.0,577,4810,0.00,2.42,0.00,0.000,6,0.000,0.033,2099,2516,3685,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5111,-0.51,-170.3,579.2,-6.7,608,5114,0.00,2.00,0.00,0.000,4,0.000,0.042,2089,3836,3683,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5146,-0.50,-170.3,581.6,-7.4,611,5153,0.00,2.03,0.00,0.000,6,0.000,0.020,2089,2436,3683,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5465,-0.49,-170.3,606.6,-8.2,639,5471,0.00,2.20,0.00,0.000,4,0.000,0.025,2092,1037,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5518,-0.48,-170.3,610.0,-8.0,641,5525,0.12,2.40,0.00,0.000,6,0.125,0.034,2127,2506,3680,0,0,0,0,0,0,26.16,26.31,28.83
$GC,5826,-0.50,-170.3,629.1,-5.8,657,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,-0.51,-170.3,645.9,-5.4,672,6130,0.00,2.35,0.00,0.000,4,0.000,0.026,2127,1038,3676,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6152,-0.53,-170.3,646.9,-5.5,673,6156,0.00,2.40,0.00,0.000,6,0.000,0.034,2125,2499,3676,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6462,-0.58,-170.3,664.8,-5.8,688,6468,0.12,2.33,0.00,0.000,4,0.080,0.024,2051,1037,3673,0,0,0,0,0,0,26.57,26.36,28.83
$GC,6525,-0.60,-170.3,670.0,-7.8,691,6532,0.15,2.55,0.00,0.000,6,0.122,0.035,2089,2565,3673,0,0,0,0,0,0,26.08,26.26,28.83
$GC,6844,-0.59,-170.3,698.5,-9.1,707,6849,0.00,2.47,0.00,0.000,4,0.000,0.028,2089,1038,3670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6911,-0.59,-170.3,703.9,-9.0,710,6915,0.00,2.55,0.00,0.000,6,0.000,0.037,2085,2555,3670,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7218,-0.58,-170.3,733.5,-9.5,725,7223,0.00,2.45,0.00,0.000,4,0.000,0.029,2086,1054,3668,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7247,-0.57,-170.3,735.4,-9.5,726,7257,0.00,2.50,0.00,0.000,6,0.000,0.038,2085,2544,3668,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7558,-0.56,-170.3,765.2,-9.3,742,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2543,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,-0.55,-170.3,791.8,-8.4,757,7863,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1051,3664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7938,-0.55,-170.3,798.3,-8.1,761,7943,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2530,3664,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8258,-0.55,-170.3,821.3,-7.0,777,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2529,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,-0.54,-170.3,842.8,-7.5,792,8566,0.00,2.40,0.00,0.000,4,0.000,0.028,2086,1049,3660,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8627,-0.54,-170.3,847.5,-7.6,795,8631,0.00,2.45,0.00,0.000,6,0.000,0.037,2085,2524,3660,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8934,-0.54,-170.3,872.5,-8.1,810,8940,0.00,2.40,0.00,0.000,4,0.000,0.027,2086,1044,3659,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8975,-0.54,-170.3,876.0,-8.3,812,8980,0.00,2.42,0.00,0.000,6,0.000,0.036,2085,2509,3659,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9294,-0.54,-170.3,901.8,-7.9,828,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2507,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9595,-0.54,-170.3,926.2,-8.0,843,9601,0.00,2.38,0.00,0.000,4,0.000,0.028,2086,1041,3656,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9637,-0.54,-170.3,929.5,-8.1,845,9641,0.00,2.45,0.00,0.000,6,0.000,0.037,2085,2517,3656,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9950,-0.54,-170.3,954.7,-8.4,861,9955,0.00,2.03,0.00,0.000,4,0.000,0.049,2077,3822,3655,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9973,-0.54,-170.3,956.5,-8.4,862,9977,0.00,2.03,0.00,0.000,6,0.000,0.023,2077,2438,3654,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10285,-0.53,-170.3,986.2,-9.7,878,10289,0.00,2.22,0.00,0.000,4,0.000,0.031,2079,1047,3653,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10319,-0.53,-170.3,988.3,-9.6,879,10327,0.12,2.45,0.00,0.000,6,0.116,0.037,2112,2507,3653,0,0,0,0,0,0,25.98,26.09,28.83
$STATE,10344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10344,begin apogee
$GC,10351,-0.20,0.0,991.6,-9.0,881,10523,0.28,0.03,165.25,1.144,4,0.090,0.201,2215,2540,2979,0,0,0,0,0,0,26.12,24.65,23.84
$STATE,10524,end apogee,CONTROL_FINISHED_OK
$STATE,10524,begin climb
$GC,10526,0.55,170.3,999.3,0.0,889,10716,0.57,2.55,177.20,1.122,4,0.034,0.027,2465,1059,2277,0,0,0,0,0,0,24.96,24.95,23.46
$GC,10797,0.50,170.3,972.7,14.4,902,10805,0.00,2.60,0.00,0.000,6,0.000,0.037,2465,2535,2256,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11105,0.42,170.3,911.6,19.6,918,11111,0.15,2.42,0.00,0.000,4,0.181,0.028,2433,1077,2252,0,0,0,0,0,0,25.51,25.82,28.83
$GC,11207,0.39,170.3,897.1,13.0,923,11213,0.08,2.53,0.00,0.000,6,0.139,0.036,2407,2551,2249,0,0,0,0,0,0,25.65,25.87,28.83
$GC,11529,0.35,170.3,853.4,13.9,939,11534,0.00,1.95,0.00,0.000,4,0.000,0.044,2407,3822,2248,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11615,0.31,170.3,840.4,16.1,943,11620,0.15,1.90,0.00,0.000,6,0.171,0.022,2376,2525,2247,0,0,0,0,0,0,25.70,26.13,28.83
$GC,11925,0.29,170.3,800.3,12.7,958,11930,0.00,2.03,0.00,0.000,4,0.000,0.044,2377,3823,2246,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,19912,end climb,SURFACE_DEPTH_REACHED
$STATE,19912,begin surface coast
$FINISH,0.5,1.021608
$STATE,19938,end surface coast,CONTROL_FINISHED_OK
$STATE,19938,begin surface
$SM_CCo,20017,0.00,0.000,0,0,935,501.39
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$TT8_MAMPS,0.025466,0.025466
$HUMID,49.84
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.5,32.625
$10V_AH,10.2,20.152
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.250,236.875,679.700,0.000,0.000,26.990,24.354,281.361,0.000,0.000,16.828,4547.470,10897.132,860.891,3661.966,507.383,0.000,2654.781,0.000,3127.579,0.000,0.544,0.000
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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,330452
$DATA_FILE_SIZE,113740,1807
$CAP_FILE_SIZE,239185,0
$CFSIZE,260165632,204472320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.017,256.2,1
$GPS,240512,123931,2138.274,12400.903,41,1.0,41,-2.9