version: 66.10
glider: 169
mission: 6
dive: 187
start: 5 29 112 5 57 31
data:
$ID,169
$MISSION,6
$DIVE,187
$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,-15694.993
$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
$GPS1,290512,054907,2148.874,12337.729,38,1.1,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.3
$GPS2,290512,055704,2148.817,12337.802,14,5.3,33,-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,284.2,264094,-12.5,-7.857
$D_GRID,4630
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.40,0.000,2,0.000,0.000,116,2539,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-194.6,4.3,-11.4,14,130,7.85,2.50,-10.68,0.000,4,0.224,0.031,2101,1016,3774,0,0,0,0,0,0,25.28,26.12,26.47
$GC,278,-0.54,-194.6,61.4,-16.5,47,285,0.00,2.50,0.00,0.000,6,0.000,0.031,2089,2516,3775,0,0,0,0,0,0,28.83,26.13,28.83
$GC,471,-0.43,-194.6,119.7,-35.4,84,478,0.15,2.42,0.00,0.000,4,0.184,0.021,2143,1030,3775,0,0,0,0,0,0,25.89,26.27,28.83
$GC,536,-0.42,-194.6,133.5,-13.1,96,543,0.00,2.40,0.00,0.000,6,0.000,0.031,2130,2488,3775,0,0,0,0,0,0,28.83,26.24,28.83
$GC,728,-0.37,-194.6,164.5,-16.1,133,735,0.00,2.03,0.00,0.000,4,0.000,0.038,2120,3842,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,753,-0.33,-194.6,168.6,-15.6,137,761,0.15,2.08,0.00,0.000,6,0.130,0.018,2168,2401,3776,0,0,0,0,0,0,26.08,26.41,28.83
$GC,947,-0.33,-194.6,190.1,-9.8,174,953,0.00,2.28,0.00,0.000,4,0.000,0.039,2158,3832,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,981,-0.33,-194.6,193.4,-9.7,180,988,0.00,2.00,0.00,0.000,6,0.000,0.018,2158,2423,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1179,-0.33,-194.6,211.5,-9.2,206,1188,0.00,2.17,0.00,0.000,4,0.000,0.023,2158,1038,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1222,-0.34,-194.6,215.0,-8.1,210,1231,0.00,2.38,0.00,0.000,6,0.000,0.029,2149,2494,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1532,-0.33,-194.6,245.7,-9.5,241,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2493,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1833,-0.33,-194.6,272.4,-8.5,271,1841,0.00,2.35,0.00,0.000,4,0.000,0.025,2149,1036,3775,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1857,-0.33,-194.6,274.2,-8.2,273,1865,0.00,2.40,0.00,0.000,6,0.000,0.031,2147,2492,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2165,-0.33,-194.6,295.4,-7.3,304,2168,0.00,2.03,0.00,0.000,4,0.000,0.041,2137,3833,3774,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2198,-0.34,-194.6,297.6,-7.0,307,2202,0.00,2.00,0.00,0.000,6,0.000,0.018,2137,2410,3774,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2510,-0.34,-194.6,324.1,-7.7,338,2519,0.00,2.15,0.00,0.000,4,0.000,0.024,2138,1032,3773,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2543,-0.35,-194.6,326.6,-7.6,341,2553,0.00,2.40,0.00,0.000,6,0.000,0.031,2131,2496,3772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2854,-0.34,-194.6,355.2,-9.5,372,2862,0.12,0.00,0.00,0.000,6,0.142,0.000,2170,2495,3771,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3163,-0.41,-194.6,376.6,-7.6,403,3172,0.00,2.00,0.00,0.000,4,0.000,0.040,2170,3826,3769,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3218,-0.47,-194.6,380.6,-7.4,408,3226,0.15,2.03,0.00,0.000,6,0.093,0.020,2109,2405,3769,0,0,0,0,0,0,26.36,26.55,28.83
$GC,3527,-0.49,-194.6,397.3,-5.3,439,3536,0.00,2.22,0.00,0.000,4,0.000,0.042,2104,3818,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3612,-0.50,-194.6,402.4,-6.7,447,3619,0.00,1.75,0.00,0.000,6,0.000,0.018,2104,2533,3766,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3920,-0.48,-194.6,430.2,-9.7,478,3929,0.00,2.40,0.00,0.000,4,0.000,0.024,2104,1035,3765,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4004,-0.50,-194.6,437.9,-8.5,486,4014,0.00,2.62,0.00,0.000,6,0.000,0.033,2093,2584,3764,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4313,-0.48,-194.6,470.5,-10.6,517,4322,0.00,2.58,-0.10,0.000,4,0.000,0.034,2093,1039,3784,0,0,0,0,0,0,28.83,26.40,26.04
$GC,4377,-0.49,-194.6,476.2,-8.3,523,4386,0.08,2.58,0.00,0.000,6,0.097,0.032,2119,2565,3784,0,0,0,0,0,0,26.17,26.36,28.83
$GC,4686,-0.49,-194.6,498.9,-7.0,554,4696,0.00,2.50,0.00,0.000,4,0.000,0.024,2119,1032,3782,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4741,-0.52,-194.6,502.4,-6.2,559,4749,0.00,2.53,0.00,0.000,6,0.000,0.032,2111,2542,3782,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5050,-0.56,-194.6,520.4,-5.7,590,5054,0.00,1.92,0.00,0.000,4,0.000,0.042,2110,3837,3780,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5285,-0.63,-194.6,538.8,-9.1,613,5295,0.12,2.03,0.00,0.000,6,0.092,0.020,2070,2424,3777,0,0,0,0,0,0,26.21,26.51,28.83
$GC,5594,-0.64,-194.6,565.0,-8.9,644,5602,0.00,2.22,0.00,0.000,4,0.000,0.041,2059,3829,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5679,-0.62,-194.6,573.4,-10.5,652,5686,0.00,1.77,0.00,0.000,6,0.000,0.022,2060,2545,3774,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5998,-0.59,-194.6,613.5,-12.5,679,6004,0.00,2.45,0.00,0.000,4,0.000,0.028,2060,1047,3772,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6111,-0.58,-194.6,623.8,-9.6,684,6118,0.12,2.62,0.00,0.000,6,0.125,0.034,2090,2578,3771,0,0,0,0,0,0,26.14,26.29,28.83
$GC,6417,-0.57,-194.6,650.8,-8.4,700,6423,0.00,2.55,0.00,0.000,4,0.000,0.026,2090,1047,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6480,-0.57,-194.6,655.4,-7.9,703,6485,0.00,2.55,0.00,0.000,6,0.000,0.035,2085,2553,3769,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6800,-0.56,-194.6,683.5,-9.2,719,6806,0.00,2.50,0.00,0.000,4,0.000,0.028,2086,1040,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6841,-0.56,-194.6,687.3,-9.2,721,6845,0.00,2.55,0.00,0.000,6,0.000,0.035,2085,2547,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7156,-0.55,-194.6,717.1,-9.4,737,7162,0.00,2.47,0.00,0.000,4,0.000,0.026,2085,1044,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7203,-0.55,-194.6,720.7,-8.9,739,7207,0.00,2.53,0.00,0.000,6,0.000,0.037,2085,2534,3764,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7512,-0.54,-194.6,747.3,-8.3,754,7517,0.00,2.45,0.00,0.000,4,0.000,0.026,2086,1038,3761,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7558,-0.54,-194.6,750.6,-8.4,756,7562,0.00,2.50,0.00,0.000,6,0.000,0.036,2085,2520,3761,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7866,-0.54,-194.6,776.5,-8.5,771,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2519,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,-0.53,-194.6,802.7,-9.0,786,8172,0.00,2.40,0.00,0.000,4,0.000,0.027,2085,1049,3758,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8220,-0.53,-194.6,806.4,-9.2,788,8226,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2515,3758,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8525,-0.53,-194.6,833.2,-8.0,804,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2514,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8827,-0.53,-194.6,855.2,-7.0,819,8832,0.00,2.40,0.00,0.000,4,0.000,0.029,2086,1055,3754,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8865,-0.53,-194.6,857.9,-6.8,821,8871,0.00,2.45,0.00,0.000,6,0.000,0.038,2085,2505,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9186,-0.53,-194.6,878.7,-6.5,837,9192,0.00,2.03,0.00,0.000,4,0.000,0.051,2078,3809,3752,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9213,-0.53,-194.6,880.1,-6.6,838,9217,0.00,1.98,0.00,0.000,6,0.000,0.023,2078,2452,3753,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9522,-0.53,-194.6,902.5,-7.3,853,9527,0.00,2.25,0.00,0.000,4,0.000,0.029,2078,1050,3751,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9551,-0.53,-194.6,904.0,-7.2,854,9561,0.08,2.45,0.00,0.000,6,0.087,0.037,2107,2508,3751,0,0,0,0,0,0,25.99,26.13,28.83
$GC,9863,-0.54,-194.6,919.9,-4.6,870,9868,0.00,2.03,0.00,0.000,4,0.000,0.048,2098,3826,3749,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9903,-0.56,-194.6,922.0,-4.7,872,9908,0.00,2.00,0.00,0.000,6,0.000,0.021,2098,2438,3748,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10224,-0.60,-194.6,940.3,-5.8,888,10229,0.00,2.20,0.00,0.000,4,0.000,0.027,2098,1044,3748,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10385,-0.67,-194.6,951.7,-7.8,896,10391,0.08,2.62,0.00,0.000,6,0.107,0.036,2065,2575,3747,0,0,0,0,0,0,25.93,26.14,28.83
$GC,10707,-0.70,-194.6,973.9,-7.1,912,10710,0.00,1.85,0.00,0.000,4,0.000,0.047,2066,3821,3746,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10732,-0.74,-194.6,975.6,-7.1,913,10736,0.00,2.03,0.00,0.000,6,0.000,0.021,2066,2423,3745,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10921,begin apogee
$GC,10928,-0.20,0.0,990.1,-7.5,923,11131,0.38,0.05,197.57,1.141,4,0.071,0.045,2213,2485,2975,0,0,0,0,0,0,26.14,24.55,23.69
$STATE,11132,end apogee,CONTROL_FINISHED_OK
$STATE,11132,begin climb
$GC,11135,0.55,194.6,1000.8,0.0,933,11351,0.62,2.22,207.70,1.143,4,0.038,0.045,2470,3818,2183,0,0,0,0,0,0,24.85,24.79,23.27
$GC,11467,0.46,194.6,941.3,24.9,950,11472,0.20,2.03,0.00,0.000,6,0.183,0.023,2430,2498,2147,0,0,0,0,0,0,24.91,25.30,28.83
$GC,11783,0.41,194.6,885.5,16.9,966,11788,0.00,2.08,0.00,0.000,4,0.000,0.046,2430,3816,2142,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11884,0.35,194.6,865.6,20.1,971,11888,0.17,1.90,0.00,0.000,6,0.171,0.022,2393,2513,2141,0,0,0,0,0,0,25.58,26.02,28.83
$GC,12200,0.32,194.6,820.3,13.4,987,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2511,2139,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19732,end climb,SURFACE_DEPTH_REACHED
$STATE,19732,begin surface coast
$FINISH,0.2,1.021201
$STATE,19760,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.84
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$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,10.2,22.941
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330476
$DATA_FILE_SIZE,110152,1749
$CAP_FILE_SIZE,234914,0
$CFSIZE,260165632,202047488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$CURRENT,0.126, 82.4,1
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