version: 66.10
glider: 169
mission: 6
dive: 186
start: 5 29 112 0 19 51
data:
$ID,169
$MISSION,6
$DIVE,186
$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,200
$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,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,-15693.638
$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
$GPS1,290512,001154,2147.688,12339.235,39,1.2,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.6
$GPS2,290512,001925,2147.711,12339.350,14,1.9,14,-2.9
$SPEED_LIMITS,0.136,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,289.5,267415,-12.5,-7.857
$D_GRID,4708
$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,-194.6,0.0,0.0,0,94,0.00,0.00,-74.12,0.000,2,0.000,0.000,109,2409,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.55,-194.6,3.3,-7.4,13,125,7.88,2.33,-13.27,0.000,4,0.223,0.049,2080,3837,3775,0,0,1,0,0,0,25.27,25.60,26.44
$GC,244,-0.48,-194.6,59.1,-27.0,40,252,0.12,2.00,0.00,0.000,6,0.159,0.022,2120,2470,3776,0,0,0,0,0,0,25.84,26.17,28.83
$GC,438,-0.40,-194.6,112.8,-24.1,77,445,0.00,2.33,0.00,0.000,4,0.000,0.028,2129,1049,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,507,-0.39,-194.6,126.4,-13.4,90,515,0.12,2.47,0.00,0.000,6,0.130,0.032,2155,2519,3777,0,0,0,0,0,0,26.03,26.20,28.83
$GC,702,-0.36,-194.6,151.8,-13.1,127,709,0.00,2.42,0.00,0.000,4,0.000,0.023,2157,1029,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,757,-0.38,-194.6,157.8,-8.7,137,764,0.00,2.45,0.00,0.000,6,0.000,0.031,2153,2504,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,948,-0.36,-194.6,178.6,-10.0,174,955,0.00,2.00,0.00,0.000,4,0.000,0.039,2143,3829,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1003,-0.37,-194.6,184.2,-9.0,184,1012,0.00,2.00,0.00,0.000,6,0.000,0.019,2144,2447,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1197,-0.35,-194.6,204.6,-10.4,217,1200,0.00,2.22,0.00,0.000,4,0.000,0.024,2144,1043,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1260,-0.37,-194.6,209.8,-7.1,223,1268,0.00,2.40,0.00,0.000,6,0.000,0.029,2134,2507,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1569,-0.35,-194.6,245.1,-11.9,254,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2506,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.33,-194.6,278.0,-11.7,284,1882,0.12,2.35,0.00,0.000,4,0.151,0.022,2178,1046,3777,0,0,0,0,0,0,26.32,26.40,28.83
$GC,1905,-0.34,-194.6,281.3,-9.8,287,1914,0.00,2.38,0.00,0.000,6,0.000,0.030,2178,2499,3777,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2215,-0.41,-194.6,308.0,-8.4,318,2225,0.12,1.98,0.00,0.000,4,0.104,0.037,2118,3822,3776,0,0,0,0,0,0,26.52,26.34,28.83
$GC,2259,-0.48,-194.6,311.6,-8.0,322,2263,0.00,1.98,0.00,0.000,6,0.000,0.018,2127,2423,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2572,-0.56,-194.6,332.6,-6.5,353,2580,0.00,2.17,0.00,0.000,4,0.000,0.038,2127,3831,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2677,-0.63,-194.6,341.3,-8.8,363,2686,0.15,1.95,0.00,0.000,6,0.077,0.019,2066,2450,3773,0,0,0,0,0,0,26.27,26.54,28.83
$GC,2986,-0.62,-194.6,367.5,-8.6,394,2989,0.00,2.25,0.00,0.000,4,0.000,0.025,2066,1048,3772,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3129,-0.60,-194.6,382.2,-9.9,408,3138,0.00,2.53,0.00,0.000,6,0.000,0.032,2054,2557,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3438,-0.54,-194.6,433.1,-17.8,439,3447,0.12,2.50,0.00,0.000,4,0.155,0.024,2106,1040,3770,0,0,0,0,0,0,26.31,26.41,28.83
$GC,3523,-0.56,-194.6,442.3,-8.5,447,3530,0.00,2.53,0.00,0.000,6,0.000,0.032,2097,2552,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3831,-0.54,-194.6,477.1,-11.2,478,3841,0.00,2.47,0.00,0.000,4,0.000,0.025,2098,1041,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3884,-0.54,-194.6,481.9,-8.8,483,3893,0.00,2.47,0.00,0.000,6,0.000,0.033,2088,2532,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4194,-0.51,-194.6,510.9,-9.1,514,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2531,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,-0.49,-194.6,542.0,-11.0,544,4504,0.00,2.42,0.00,0.000,4,0.000,0.026,2087,1049,3763,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4538,-0.48,-194.6,546.6,-10.8,548,4548,0.08,2.45,0.00,0.000,6,0.093,0.035,2121,2517,3762,0,0,0,0,0,0,26.16,26.31,28.83
$GC,4848,-0.49,-194.6,568.9,-6.9,579,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2516,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,-0.50,-194.6,587.1,-5.7,609,5159,0.00,2.40,0.00,0.000,4,0.000,0.027,2121,1052,3757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5185,-0.52,-194.6,589.2,-6.1,612,5192,0.00,2.45,0.00,0.000,6,0.000,0.034,2118,2515,3756,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5495,-0.58,-194.6,610.1,-6.9,636,5500,0.00,1.98,0.00,0.000,4,0.000,0.045,2118,3826,3754,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5563,-0.64,-194.6,614.9,-7.6,639,5573,0.17,2.00,0.00,0.000,6,0.088,0.021,2055,2434,3753,0,0,0,0,0,0,26.29,26.50,28.83
$GC,5875,-0.61,-194.6,643.3,-11.1,655,5881,0.00,2.17,0.00,0.000,4,0.000,0.044,2045,3818,3751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6024,-0.60,-194.6,658.2,-10.0,662,6029,0.12,1.92,0.00,0.000,6,0.126,0.021,2083,2463,3750,0,0,0,0,0,0,26.19,26.46,28.83
$GC,6338,-0.58,-194.6,686.6,-8.4,678,6343,0.00,2.28,0.00,0.000,4,0.000,0.028,2083,1043,3748,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6401,-0.58,-194.6,691.2,-7.8,681,6407,0.00,2.47,0.00,0.000,6,0.000,0.035,2074,2518,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6717,-0.57,-194.6,719.5,-9.3,697,6722,0.00,2.00,0.00,0.000,4,0.000,0.047,2063,3823,3745,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6765,-0.55,-194.6,723.6,-9.9,699,6770,0.12,1.98,0.00,0.000,6,0.119,0.022,2103,2451,3744,0,0,0,0,0,0,26.20,26.46,28.83
$GC,7073,-0.55,-194.6,749.3,-8.5,714,7078,0.00,2.25,0.00,0.000,4,0.000,0.027,2103,1045,3743,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7115,-0.56,-194.6,752.8,-8.6,716,7119,0.00,2.45,0.00,0.000,6,0.000,0.034,2099,2513,3743,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7428,-0.56,-194.6,780.8,-9.2,732,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2511,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7727,-0.56,-194.6,806.4,-8.0,747,7733,0.00,2.40,0.00,0.000,4,0.000,0.027,2099,1045,3739,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7768,-0.57,-194.6,809.5,-7.8,749,7773,0.00,2.42,0.00,0.000,6,0.000,0.036,2099,2506,3738,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8089,-0.57,-194.6,830.9,-6.3,765,8093,0.00,2.03,0.00,0.000,4,0.000,0.047,2090,3827,3737,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8119,-0.58,-194.6,832.5,-6.3,766,8123,0.00,2.05,0.00,0.000,6,0.000,0.024,2090,2433,3737,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8426,-0.58,-194.6,855.3,-7.5,781,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2432,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,-0.58,-194.6,878.5,-7.6,796,8732,0.00,2.22,0.00,0.000,4,0.000,0.028,2090,1043,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8748,-0.58,-194.6,880.0,-7.6,797,8752,0.00,2.45,0.00,0.000,6,0.000,0.035,2086,2505,3733,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9062,-0.58,-194.6,903.5,-7.1,813,9067,0.00,2.05,0.00,0.000,4,0.000,0.049,2076,3826,3732,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9083,-0.58,-194.6,904.9,-7.1,814,9087,0.00,2.03,0.00,0.000,6,0.000,0.024,2076,2445,3731,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9396,-0.57,-194.6,930.0,-8.3,830,9400,0.00,2.25,0.00,0.000,4,0.000,0.028,2076,1047,3730,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9432,-0.57,-194.6,932.0,-8.5,831,9439,0.00,2.45,0.00,0.000,6,0.000,0.035,2066,2504,3730,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9738,-0.55,-194.6,962.7,-9.9,847,9744,0.10,2.05,0.00,0.000,4,0.145,0.047,2087,3819,3729,0,0,0,0,0,0,26.43,26.00,28.83
$GC,9761,-0.54,-194.6,964.6,-9.8,848,9765,0.00,2.03,0.00,0.000,6,0.000,0.022,2087,2433,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10074,-0.54,-194.6,988.8,-7.6,864,10080,0.00,2.22,0.00,0.000,4,0.000,0.028,2087,1045,3728,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,10091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10091,begin apogee
$GC,10099,-0.20,0.0,990.2,-7.6,865,10293,0.35,0.00,188.82,1.153,4,0.086,0.000,2215,2535,2976,0,0,0,0,0,0,26.03,28.83,23.75
$STATE,10294,end apogee,CONTROL_FINISHED_OK
$STATE,10294,begin climb
$GC,10297,0.55,194.6,998.4,0.0,875,10517,0.60,2.58,210.62,1.123,4,0.035,0.028,2467,1062,2180,0,0,0,0,0,0,24.85,24.85,23.31
$GC,10577,0.50,194.6,964.6,17.0,889,10583,0.08,2.65,0.00,0.000,6,0.152,0.037,2443,2535,2151,0,0,0,0,0,0,24.74,24.93,28.83
$GC,10899,0.44,194.6,904.2,18.2,905,10904,0.00,2.47,0.00,0.000,4,0.000,0.031,2455,1069,2146,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10965,0.39,194.6,893.9,17.4,908,10970,0.20,2.60,0.00,0.000,6,0.152,0.039,2399,2550,2144,0,0,0,0,0,0,25.55,25.86,28.83
$GC,11275,0.36,194.6,850.6,13.3,923,11281,0.00,1.95,0.00,0.000,4,0.000,0.046,2399,3821,2143,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11363,0.32,194.6,838.2,15.2,927,11367,0.12,1.90,0.00,0.000,6,0.174,0.022,2377,2514,2142,0,0,0,0,0,0,25.78,26.15,28.83
$GC,11671,0.30,194.6,802.5,10.7,942,11677,0.00,2.05,0.00,0.000,4,0.000,0.045,2376,3822,2142,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11711,0.28,194.6,797.6,11.1,944,11716,0.00,1.90,0.00,0.000,6,0.000,0.023,2386,2518,2141,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12030,0.25,194.6,761.2,11.2,960,12036,0.00,2.40,0.00,0.000,4,0.000,0.031,2399,1068,2141,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,19591,end climb,SURFACE_DEPTH_REACHED
$STATE,19591,begin surface coast
$FINISH,-0.1,1.021286
$STATE,19613,end surface coast,CONTROL_FINISHED_OK
$STATE,19613,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.52
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.3,36.896
$10V_AH,10.2,22.805
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.825,203.625,743.700,0.000,0.000,26.917,28.043,239.737,0.000,0.000,15.088,4417.444,10853.775,858.147,3474.070,502.296,0.000,2582.497,0.000,2992.545,0.000,0.543,0.000
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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,330476
$DATA_FILE_SIZE,110093,1752
$CAP_FILE_SIZE,231652,0
$CFSIZE,260165632,202170368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.178, 89.8,1
$GPS,290512,054907,2148.874,12337.729,38,1.1,38,-2.9