version: 66.10
glider: 169
mission: 6
dive: 189
start: 5 29 112 17 24 16
data:
$ID,169
$MISSION,6
$DIVE,189
$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,-15697.604
$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
$GPS1,290512,171606,2151.195,12334.681,41,0.9,46,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.1
$GPS2,290512,172350,2151.150,12334.775,14,1.3,14,-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,264.6,257440,-12.5,-7.857
$D_GRID,4709
$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,-194.6,0.0,0.0,0,90,0.00,0.00,-70.57,0.000,2,0.000,0.000,116,2537,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.55,-194.6,3.3,-7.2,12,127,7.80,2.45,-15.88,0.000,4,0.222,0.031,2100,1020,3775,0,0,1,0,0,0,25.30,25.62,26.46
$GC,306,-0.50,-194.6,65.4,-23.2,52,313,0.00,2.50,0.00,0.000,6,0.000,0.035,2087,2511,3776,0,0,0,0,0,0,28.83,26.13,28.83
$GC,499,-0.40,-194.6,123.9,-29.5,89,506,0.17,2.03,0.00,0.000,4,0.177,0.037,2128,3833,3775,0,0,0,0,0,0,25.86,26.19,28.83
$GC,534,-0.33,-194.6,133.2,-23.6,95,542,0.00,2.00,0.00,0.000,6,0.000,0.018,2137,2440,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,727,-0.30,-194.6,164.0,-14.6,132,734,0.12,2.17,0.00,0.000,4,0.145,0.037,2169,3823,3776,0,0,0,0,0,0,26.22,26.24,28.83
$GC,757,-0.28,-194.6,168.0,-12.6,137,764,0.00,1.95,0.00,0.000,6,0.000,0.019,2169,2456,3777,0,0,0,0,0,0,28.83,26.43,28.83
$GC,950,-0.28,-194.6,185.3,-8.3,174,956,0.00,2.25,0.00,0.000,4,0.000,0.023,2169,1040,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,986,-0.31,-194.6,187.8,-6.8,180,993,0.00,2.47,0.00,0.000,6,0.000,0.029,2164,2534,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1179,-0.38,-194.6,201.8,-8.1,215,1188,0.00,1.92,0.00,0.000,4,0.000,0.036,2164,3838,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1225,-0.46,-194.6,205.7,-8.9,219,1232,0.12,1.90,0.00,0.000,6,0.070,0.018,2070,2430,3776,0,0,0,0,0,0,26.44,26.55,28.83
$GC,1532,-0.39,-194.6,256.8,-20.1,250,1542,0.22,2.20,0.00,0.000,4,0.135,0.037,2131,3853,3776,0,0,0,0,0,0,26.07,26.34,28.83
$GC,1559,-0.34,-194.6,261.1,-19.1,252,1566,0.10,1.95,0.00,0.000,6,0.126,0.020,2163,2468,3777,0,0,0,0,0,0,26.30,26.50,28.83
$GC,1865,-0.36,-194.6,284.7,-6.8,283,1874,0.00,2.28,0.00,0.000,4,0.000,0.025,2163,1041,3776,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1909,-0.40,-194.6,287.8,-7.0,287,1918,0.00,2.42,0.00,0.000,6,0.000,0.028,2163,2535,3776,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2219,-0.47,-194.6,316.0,-9.5,318,2228,0.12,1.88,0.00,0.000,4,0.109,0.036,2104,3825,3775,0,0,0,0,0,0,26.49,26.36,28.83
$GC,2304,-0.54,-194.6,324.2,-10.0,326,2312,0.00,1.92,0.00,0.000,6,0.000,0.019,2113,2454,3774,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2612,-0.61,-194.6,349.4,-7.8,357,2622,0.12,2.10,0.00,0.000,4,0.112,0.036,2053,3827,3772,0,0,0,0,0,0,26.48,26.36,28.83
$GC,2650,-0.66,-194.6,352.0,-7.9,360,2656,0.00,1.92,0.00,0.000,6,0.000,0.020,2054,2449,3772,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2956,-0.61,-194.6,399.1,-15.9,391,2966,0.00,2.22,0.00,0.000,4,0.000,0.024,2056,1041,3771,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3039,-0.60,-194.6,409.5,-10.2,399,3049,0.08,2.45,0.00,0.000,6,0.102,0.034,2080,2522,3771,0,0,0,0,0,0,26.20,26.36,28.83
$GC,3349,-0.57,-194.6,449.1,-13.0,430,3358,0.00,2.38,0.00,0.000,4,0.000,0.024,2081,1039,3768,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3391,-0.55,-194.6,454.1,-12.1,434,3400,0.00,2.42,0.00,0.000,6,0.000,0.032,2070,2512,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3702,-0.52,-194.6,496.6,-14.0,465,3711,0.12,2.35,0.00,0.000,4,0.144,0.024,2114,1046,3766,0,0,0,0,0,0,26.34,26.42,28.83
$GC,3735,-0.50,-194.6,500.3,-12.0,468,3743,0.00,2.40,0.00,0.000,6,0.000,0.033,2112,2504,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4044,-0.50,-194.6,527.4,-8.6,499,4054,0.00,2.35,0.00,0.000,4,0.000,0.025,2112,1038,3764,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4078,-0.51,-194.6,530.3,-8.6,502,4087,0.00,2.40,0.00,0.000,6,0.000,0.034,2112,2496,3763,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4387,-0.51,-194.6,554.6,-7.6,533,4391,0.00,2.00,0.00,0.000,4,0.000,0.043,2102,3828,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4420,-0.52,-194.6,557.2,-8.0,536,4424,0.00,2.00,0.00,0.000,6,0.000,0.020,2102,2428,3760,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4732,-0.52,-194.6,582.1,-7.3,567,4741,0.00,2.20,0.00,0.000,4,0.000,0.026,2102,1042,3757,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4775,-0.53,-194.6,585.3,-7.8,571,4784,0.00,2.38,0.00,0.000,6,0.000,0.032,2099,2490,3757,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5097,-0.53,-194.6,609.1,-7.6,597,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2489,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5395,-0.53,-194.6,634.1,-8.5,612,5400,0.00,2.33,0.00,0.000,4,0.000,0.028,2099,1052,3753,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5423,-0.53,-194.6,635.7,-8.5,613,5432,0.00,2.40,0.00,0.000,6,0.000,0.036,2099,2492,3753,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5735,-0.53,-194.6,658.6,-6.7,629,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2491,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,-0.53,-194.6,680.6,-7.5,644,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2490,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6334,-0.53,-194.6,704.2,-7.7,659,6340,0.00,2.35,0.00,0.000,4,0.000,0.026,2099,1047,3745,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6363,-0.53,-194.6,705.7,-7.8,660,6373,0.00,2.40,0.00,0.000,6,0.000,0.037,2099,2478,3744,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6675,-0.53,-194.6,730.3,-7.9,676,6680,0.00,2.08,0.00,0.000,4,0.000,0.047,2090,3816,3742,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6708,-0.54,-194.6,731.9,-7.8,677,6715,0.00,2.05,0.00,0.000,6,0.000,0.021,2090,2418,3741,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7017,-0.54,-194.6,757.5,-7.8,693,7023,0.00,2.17,0.00,0.000,4,0.000,0.028,2090,1045,3740,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7045,-0.54,-194.6,759.1,-8.0,694,7054,0.00,2.42,0.00,0.000,6,0.000,0.036,2086,2493,3739,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7357,-0.54,-194.6,783.3,-7.2,710,7361,0.00,2.08,0.00,0.000,4,0.000,0.048,2076,3822,3738,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7381,-0.54,-194.6,785.0,-7.2,711,7385,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2423,3737,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7694,-0.53,-194.6,809.7,-8.1,727,7699,0.00,2.22,0.00,0.000,4,0.000,0.028,2076,1022,3736,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7717,-0.52,-194.6,811.4,-8.2,728,7722,0.12,2.42,0.00,0.000,6,0.118,0.035,2110,2489,3735,0,0,0,0,0,0,26.09,26.20,28.83
$GC,8033,-0.54,-194.6,830.6,-5.9,744,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2487,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,-0.56,-194.6,846.7,-5.1,759,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2487,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,-0.57,-194.6,861.8,-4.9,774,8636,0.00,2.38,0.00,0.000,4,0.000,0.030,2111,1044,3730,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8652,-0.59,-194.6,862.8,-5.0,775,8657,0.00,2.42,0.00,0.000,6,0.000,0.037,2105,2485,3730,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8974,-0.67,-194.6,879.8,-6.1,791,8980,0.12,2.05,0.00,0.000,4,0.110,0.044,2052,3810,3729,0,0,0,0,0,0,26.42,26.10,28.83
$GC,9084,-0.73,-194.6,885.9,-5.7,796,9093,0.00,2.05,0.00,0.000,6,0.000,0.021,2054,2407,3727,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9396,-0.73,-194.6,906.7,-7.0,812,9401,0.00,2.17,0.00,0.000,4,0.000,0.028,2054,1039,3726,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9428,-0.74,-194.6,908.2,-7.1,813,9436,0.00,2.67,0.00,0.000,6,0.000,0.037,2041,2595,3726,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9735,-0.71,-194.6,943.5,-11.7,829,9741,0.00,2.60,0.00,0.000,4,0.000,0.028,2041,1043,3724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9823,-0.69,-194.6,952.3,-10.9,833,9827,0.00,2.62,0.00,0.000,6,0.000,0.038,2029,2564,3724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10130,-0.66,-194.6,989.2,-11.8,848,10137,0.12,2.53,0.00,0.000,4,0.155,0.027,2082,1050,3723,0,0,0,0,0,0,26.22,26.18,28.83
$STATE,10149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10149,begin apogee
$GC,10157,-0.20,0.0,991.3,-11.4,849,10352,0.38,0.00,188.52,1.151,4,0.086,0.000,2208,2538,2973,0,0,0,0,0,0,26.01,28.83,23.72
$STATE,10353,end apogee,CONTROL_FINISHED_OK
$STATE,10353,begin climb
$GC,10355,0.55,194.6,998.9,0.0,859,10572,0.62,2.08,208.40,1.131,4,0.041,0.046,2462,3825,2185,0,0,0,0,0,0,24.88,24.82,23.30
$GC,10636,0.46,194.6,951.8,24.1,873,10642,0.15,2.05,0.00,0.000,6,0.171,0.022,2428,2505,2149,0,0,0,0,0,0,24.67,25.02,28.83
$GC,10957,0.41,194.6,894.1,17.8,889,10962,0.00,2.08,0.00,0.000,4,0.000,0.044,2429,3812,2142,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11029,0.35,194.6,882.4,19.1,892,11037,0.17,1.90,0.00,0.000,6,0.171,0.023,2392,2513,2141,0,0,0,0,0,0,25.56,25.97,28.83
$GC,11336,0.32,194.6,839.7,12.2,908,11341,0.00,2.05,0.00,0.000,4,0.000,0.045,2392,3832,2139,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11369,0.29,194.6,837.1,12.3,909,11377,0.12,1.90,0.00,0.000,6,0.164,0.023,2369,2526,2139,0,0,0,0,0,0,25.79,26.11,28.83
$GC,11676,0.28,194.6,804.8,9.4,925,11681,0.00,2.42,0.00,0.000,4,0.000,0.032,2381,1076,2138,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,18993,end climb,SURFACE_DEPTH_REACHED
$STATE,18993,begin surface coast
$FINISH,0.0,1.021189
$STATE,19014,end surface coast,CONTROL_FINISHED_OK
$STATE,19015,begin surface
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$IRIDIUM_FIX,2143.45,12334.32,290512,111140
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.2,23.206
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.225,220.325,759.625,0.000,0.000,29.965,20.277,250.691,0.000,0.000,15.617,4249.998,10459.800,908.747,3403.623,495.033,0.000,2637.417,0.000,2922.828,0.000,0.544,0.000
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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,330476
$DATA_FILE_SIZE,106936,1689
$CAP_FILE_SIZE,230321,0
$CFSIZE,260165632,201814016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,4,0,0
$CURRENT,0.200, 69.8,1
$GPS,290512,224337,2151.670,12333.056,41,1.0,41,-2.9