version: 66.10
glider: 169
mission: 6
dive: 243
start: 6 10 112 16 19 27
data:
$ID,169
$MISSION,6
$DIVE,243
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,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,-15768.008
$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,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,100612,160654,2234.829,12223.484,42,1.2,42,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-65.7
$GPS2,100612,161904,2235.003,12223.539,16,2.8,35,-3.0
$SPEED_LIMITS,0.150,0.281
$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,286.2,111678,-13.8,-8.684
$D_GRID,4879
$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,15,begin dive
$GC,17,-0.58,-194.6,0.0,0.0,0,96,0.00,0.00,-76.22,0.000,2,0.000,0.000,116,2462,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-194.6,3.9,-10.0,13,126,7.88,2.58,-12.62,0.000,4,0.220,0.041,2091,984,3775,0,0,0,0,0,0,25.13,26.08,26.50
$GC,180,-0.50,-194.6,35.4,-27.8,27,187,0.12,2.55,0.00,0.000,6,0.161,0.033,2111,2469,3777,0,0,0,0,0,0,25.80,26.07,28.83
$GC,373,-0.43,-194.6,87.0,-23.1,64,381,0.00,2.47,0.00,0.000,4,0.000,0.024,2122,979,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,454,-0.43,-194.6,98.7,-10.6,79,461,0.00,2.45,0.00,0.000,6,0.000,0.031,2111,2421,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,645,-0.38,-194.6,133.7,-20.9,116,652,0.12,0.00,0.00,0.000,6,0.160,0.000,2150,2420,3777,0,0,0,0,0,0,26.17,28.83,28.83
$GC,837,-0.37,-194.6,158.1,-11.3,153,844,0.00,2.15,0.00,0.000,4,0.000,0.039,2140,3839,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,866,-0.37,-194.6,161.2,-10.2,158,873,0.00,2.15,0.00,0.000,6,0.000,0.019,2140,2354,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1059,-0.36,-194.6,182.1,-10.5,195,1065,0.00,2.20,0.00,0.000,4,0.000,0.024,2140,975,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1105,-0.38,-194.6,186.6,-8.4,203,1112,0.00,2.40,0.00,0.000,6,0.000,0.029,2137,2413,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1296,-0.37,-194.6,205.6,-10.8,235,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2412,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.37,-194.6,235.6,-10.3,265,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2412,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1908,-0.37,-194.6,263.0,-9.1,296,1918,0.00,2.15,0.00,0.000,4,0.000,0.039,2127,3831,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1944,-0.38,-194.6,266.4,-9.5,299,1951,0.00,2.15,0.00,0.000,6,0.000,0.018,2127,2332,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2251,-0.38,-194.6,294.0,-8.1,330,2255,0.00,2.15,0.00,0.000,4,0.000,0.023,2127,985,3775,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2276,-0.39,-194.6,295.8,-8.4,332,2284,0.00,2.35,0.00,0.000,6,0.000,0.029,2125,2405,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2584,-0.40,-194.6,320.5,-7.0,363,2592,0.00,2.12,0.00,0.000,4,0.000,0.039,2115,3822,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2647,-0.42,-194.6,325.1,-7.2,369,2655,0.00,2.10,0.00,0.000,6,0.000,0.018,2115,2352,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2955,-0.42,-194.6,347.3,-6.5,400,2966,0.00,2.20,0.00,0.000,4,0.000,0.024,2115,982,3771,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2981,-0.43,-194.6,349.1,-7.2,402,2988,0.00,2.40,0.00,0.000,6,0.000,0.032,2112,2418,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3289,-0.43,-194.6,373.5,-8.6,433,3298,0.00,2.12,0.00,0.000,4,0.000,0.040,2102,3824,3769,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3332,-0.44,-194.6,376.9,-8.2,437,3341,0.00,2.12,0.00,0.000,6,0.000,0.019,2102,2354,3768,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3641,-0.44,-194.6,403.1,-9.0,468,3651,0.10,2.35,0.00,0.000,4,0.135,0.041,2122,3831,3766,0,0,0,0,0,0,26.49,26.28,28.83
$GC,3677,-0.45,-194.6,405.8,-8.4,471,3684,0.00,2.10,0.00,0.000,6,0.000,0.018,2122,2361,3766,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3985,-0.46,-194.6,429.4,-7.2,502,3995,0.00,2.35,-0.10,0.000,4,0.000,0.051,2113,3830,3784,0,0,0,0,0,0,28.83,26.27,26.02
$GC,4021,-0.49,-194.6,431.7,-6.9,505,4028,0.00,2.08,0.00,0.000,6,0.000,0.018,2113,2372,3784,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4329,-0.52,-194.6,449.3,-5.6,536,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2372,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4631,-0.56,-194.6,467.6,-6.8,566,4640,0.00,2.30,0.00,0.000,4,0.000,0.041,2112,3830,3780,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4778,-0.64,-194.6,477.9,-7.8,580,4786,0.12,1.83,0.00,0.000,6,0.084,0.018,2037,2473,3778,0,0,0,0,0,0,26.41,26.56,28.83
$GC,5086,-0.60,-194.6,517.7,-15.4,611,5095,0.12,2.42,0.00,0.000,4,0.137,0.023,2082,985,3777,0,0,0,0,0,0,26.34,26.36,28.83
$GC,5159,-0.62,-194.6,525.5,-8.8,618,5169,0.00,2.65,0.00,0.000,6,0.000,0.032,2071,2535,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5469,-0.60,-194.6,559.1,-11.1,649,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2534,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5773,-0.59,-194.6,590.0,-9.6,679,5782,0.00,2.62,0.00,0.000,4,0.000,0.027,2071,986,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5838,-0.60,-194.6,595.6,-7.5,685,5845,0.00,2.67,0.00,0.000,6,0.000,0.033,2059,2538,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6155,-0.57,-194.6,628.2,-11.0,704,6161,0.10,2.60,0.00,0.000,4,0.158,0.023,2089,993,3769,0,0,0,0,0,0,26.42,26.33,28.83
$GC,6224,-0.57,-194.6,633.6,-9.6,707,6228,0.00,2.60,0.00,0.000,6,0.000,0.032,2086,2516,3769,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6530,-0.57,-194.6,663.9,-10.3,722,6536,0.00,2.53,0.00,0.000,4,0.000,0.024,2086,988,3766,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6553,-0.57,-194.6,666.0,-10.3,723,6558,0.00,2.58,0.00,0.000,6,0.000,0.034,2085,2507,3766,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6866,-0.57,-194.6,697.1,-9.4,739,6871,0.00,2.50,0.00,0.000,4,0.000,0.025,2086,983,3764,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6893,-0.57,-194.6,699.0,-9.3,740,6898,0.00,2.58,0.00,0.000,6,0.000,0.034,2085,2496,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7203,-0.57,-194.6,723.9,-7.5,755,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2495,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7501,-0.57,-194.6,745.3,-7.0,770,7506,0.00,2.47,0.00,0.000,4,0.000,0.025,2086,994,3760,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7529,-0.57,-194.6,746.8,-7.1,771,7533,0.00,2.55,0.00,0.000,6,0.000,0.034,2085,2492,3760,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7837,-0.57,-194.6,770.2,-7.6,786,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2491,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8137,-0.58,-194.6,791.0,-6.6,801,8142,0.00,2.47,0.00,0.000,4,0.000,0.026,2086,990,3756,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8186,-0.59,-194.6,793.6,-6.5,803,8195,0.00,2.55,0.00,0.000,6,0.000,0.036,2085,2487,3756,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8497,-0.59,-194.6,815.3,-7.0,819,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2486,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8797,-0.60,-194.6,839.3,-8.6,834,8802,0.00,2.47,0.00,0.000,4,0.000,0.028,2086,994,3753,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8820,-0.61,-194.6,841.1,-8.7,835,8826,0.00,2.55,0.00,0.000,6,0.000,0.037,2086,2480,3753,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9138,-0.62,-194.6,867.6,-7.8,851,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2479,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9438,-0.63,-194.6,890.8,-7.3,866,9444,0.00,2.45,0.00,0.000,4,0.000,0.026,2086,981,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9470,-0.64,-194.6,892.3,-7.3,867,9477,0.00,2.55,0.00,0.000,6,0.000,0.037,2086,2477,3749,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9778,-0.65,-194.6,912.0,-5.8,883,9783,0.00,2.10,0.00,0.000,4,0.000,0.047,2081,3828,3748,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9800,-0.66,-194.6,913.2,-5.6,884,9804,0.00,2.10,0.00,0.000,6,0.000,0.021,2081,2405,3747,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10113,-0.67,-194.6,933.3,-6.9,900,10118,0.00,2.30,0.00,0.000,4,0.000,0.028,2081,983,3747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10134,-0.68,-194.6,934.7,-7.0,901,10140,0.00,2.50,0.00,0.000,6,0.000,0.035,2076,2466,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10453,-0.68,-194.6,960.3,-8.4,917,10457,0.00,2.10,0.00,0.000,4,0.000,0.044,2066,3833,3745,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10488,-0.68,-194.6,962.2,-8.4,918,10496,0.00,2.10,0.00,0.000,6,0.000,0.021,2066,2402,3744,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10793,begin apogee
$GC,10800,-0.20,0.0,990.0,-8.0,934,10997,0.40,0.00,192.82,1.166,4,0.094,0.000,2206,2560,2978,0,0,0,0,0,0,25.88,28.83,23.49
$STATE,10998,end apogee,CONTROL_FINISHED_OK
$STATE,10998,begin climb
$GC,11002,0.58,194.6,997.1,0.0,944,11217,0.68,1.98,205.20,1.156,4,0.044,0.044,2468,3828,2180,0,0,0,0,0,0,24.85,24.79,23.04
$GC,11317,0.50,194.6,939.0,25.7,960,11322,0.15,1.95,0.00,0.000,6,0.184,0.023,2442,2523,2149,0,0,0,0,0,0,24.98,25.34,28.83
$GC,11628,0.45,194.6,875.8,19.4,975,11633,0.00,2.50,0.00,0.000,4,0.000,0.029,2455,1089,2143,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11762,0.42,194.6,856.4,15.2,981,11769,0.15,2.62,0.00,0.000,6,0.155,0.034,2415,2556,2139,0,0,0,0,0,0,25.71,26.01,28.83
$GC,12066,0.39,194.6,812.6,13.1,997,12072,0.00,1.90,0.00,0.000,4,0.000,0.044,2414,3837,2139,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12160,0.34,194.6,800.8,15.0,1001,12168,0.12,1.85,0.00,0.000,6,0.176,0.021,2392,2531,2138,0,0,0,0,0,0,25.82,26.22,28.83
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$STATE,19946,end climb,SURFACE_DEPTH_REACHED
$STATE,19946,begin surface coast
$FINISH,-0.2,1.021565
$STATE,19964,end surface coast,CONTROL_FINISHED_OK
$STATE,19964,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.90
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,25.00
$XPDR_PINGS,0
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$10V_AH,10.1,30.104
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.125,214.075,817.525,0.000,0.000,60.498,60.746,338.851,0.000,0.000,37.262,4550.409,10917.991,950.062,3780.312,531.841,0.000,2749.868,0.000,3108.443,0.000,0.544,0.000
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$MEM,324644
$DATA_FILE_SIZE,116870,1850
$CAP_FILE_SIZE,232328,0
$CFSIZE,260165632,195747840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,190.4,1
$GPS,100612,215455,2235.256,12220.830,57,1.5,57,-3.0