version: 66.10
glider: 169
mission: 6
dive: 286
start: 6 20 112 10 32 13
data:
$ID,169
$MISSION,6
$DIVE,286
$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,-15899.087
$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,48
$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
$GPS1,200612,102756,2322.305,12201.070,8,1.5,8,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.5
$GPS2,200612,103150,2322.451,12201.111,11,1.7,11,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,123.3,199567,-13.8,-8.684
$D_GRID,4569
$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,18,-0.58,-194.6,0.0,0.0,0,109,0.00,0.00,-88.40,0.000,2,0.000,0.000,132,2412,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.58,-194.6,3.1,-6.8,15,144,7.95,2.33,-18.33,0.000,4,0.229,0.045,2067,3844,3775,0,0,0,0,0,0,25.05,26.20,26.67
$GC,214,-0.47,-194.6,43.6,-39.7,33,222,0.15,2.10,0.00,0.000,6,0.157,0.021,2117,2418,3774,0,0,0,0,0,0,25.91,26.32,28.83
$GC,407,-0.43,-194.6,83.2,-16.3,70,415,0.00,2.30,0.00,0.000,4,0.000,0.023,2124,986,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,452,-0.43,-194.6,89.8,-12.1,78,460,0.00,2.47,0.00,0.000,6,0.000,0.028,2112,2471,3775,0,0,0,0,0,0,28.83,26.31,28.83
$GC,645,-0.41,-194.6,113.6,-10.9,115,652,0.10,2.05,0.00,0.000,4,0.159,0.038,2130,3835,3774,0,0,0,0,0,0,26.39,26.27,28.83
$GC,691,-0.42,-194.6,118.2,-8.7,123,698,0.00,2.05,0.00,0.000,6,0.000,0.017,2130,2408,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,884,-0.42,-194.6,134.3,-9.6,160,891,0.00,2.25,0.00,0.000,4,0.000,0.037,2119,3828,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,925,-0.44,-194.6,137.8,-8.3,167,932,0.00,1.98,0.00,0.000,6,0.000,0.017,2120,2431,3774,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1117,-0.43,-194.6,155.6,-8.9,204,1123,0.00,2.35,0.00,0.000,4,0.000,0.025,2120,980,3774,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1152,-0.45,-194.6,158.6,-8.2,210,1160,0.00,2.55,0.00,0.000,6,0.000,0.030,2112,2496,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1345,-0.43,-194.6,178.7,-11.0,247,1352,0.00,2.53,0.00,0.000,4,0.000,0.024,2112,981,3774,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1375,-0.44,-194.6,181.7,-10.0,252,1381,0.00,2.53,0.00,0.000,6,0.000,0.030,2111,2480,3774,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1568,-0.44,-194.6,199.9,-9.8,289,1575,0.00,2.00,0.00,0.000,4,0.000,0.038,2101,3830,3772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1614,-0.45,-194.6,204.2,-8.6,297,1620,0.00,2.03,0.00,0.000,6,0.000,0.017,2101,2413,3772,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1925,-0.45,-194.6,235.8,-9.7,358,1933,0.00,2.30,0.00,0.000,4,0.000,0.023,2101,965,3770,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1958,-0.46,-194.6,238.9,-10.1,363,1964,0.00,2.58,0.00,0.000,6,0.000,0.029,2099,2493,3769,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2270,-0.45,-194.6,271.8,-10.9,424,2277,0.12,2.03,0.00,0.000,4,0.142,0.037,2133,3842,3767,0,0,0,0,0,0,26.37,26.32,28.83
$GC,2313,-0.49,-194.6,275.4,-6.3,431,2319,0.00,2.03,0.00,0.000,6,0.000,0.018,2133,2410,3767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2626,-0.59,-194.6,301.8,-8.7,492,2633,0.12,2.28,0.00,0.000,4,0.099,0.037,2064,3831,3763,0,0,0,0,0,0,26.54,26.32,28.83
$GC,2663,-0.62,-194.6,305.1,-8.6,498,2670,0.00,1.98,-0.12,0.000,6,0.000,0.018,2064,2439,3787,0,0,0,0,0,0,28.83,26.53,26.00
$GC,2978,-0.59,-194.6,343.7,-12.2,559,2985,0.00,2.38,0.00,0.000,4,0.000,0.024,2064,984,3785,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3044,-0.60,-194.6,350.9,-9.1,571,3051,0.00,2.60,0.00,0.000,6,0.000,0.030,2052,2507,3785,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3357,-0.57,-194.6,391.5,-13.4,632,3364,0.12,2.55,0.00,0.000,4,0.148,0.022,2096,975,3783,0,0,0,0,0,0,26.32,26.39,28.83
$GC,3399,-0.59,-194.6,395.9,-8.1,639,3407,0.00,2.60,0.00,0.000,6,0.000,0.031,2086,2504,3782,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3711,-0.59,-194.6,423.4,-8.5,700,3718,0.00,2.03,0.00,0.000,4,0.000,0.041,2076,3827,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3737,-0.59,-194.6,425.6,-8.5,704,3743,0.00,2.03,0.00,0.000,6,0.000,0.019,2076,2428,3779,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4050,-0.58,-194.6,453.8,-9.2,765,4056,0.00,2.35,0.00,0.000,4,0.000,0.024,2076,981,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4094,-0.59,-194.6,458.1,-9.1,773,4101,0.00,2.60,0.00,0.000,6,0.000,0.031,2066,2503,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4406,-0.58,-194.6,492.3,-11.6,834,4413,0.00,2.55,0.00,0.000,4,0.000,0.026,2066,981,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4436,-0.58,-194.6,495.6,-11.4,839,4444,0.10,2.60,0.00,0.000,6,0.135,0.032,2090,2496,3773,0,0,0,0,0,0,26.17,26.30,28.83
$GC,4747,-0.58,-194.6,524.9,-9.4,874,4756,0.00,2.03,0.00,0.000,4,0.000,0.042,2080,3825,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4779,-0.59,-194.6,527.8,-9.3,877,4783,0.00,2.03,0.00,0.000,6,0.000,0.019,2080,2423,3770,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5091,-0.59,-194.6,555.5,-8.9,908,5100,0.00,2.33,0.00,0.000,4,0.000,0.026,2080,993,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5116,-0.59,-194.6,557.4,-8.5,910,5123,0.00,2.58,0.00,0.000,6,0.000,0.033,2069,2502,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5423,-0.58,-194.6,585.5,-9.2,941,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2500,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5726,-0.57,-194.6,613.1,-9.3,971,5737,0.00,2.53,0.00,0.000,4,0.000,0.026,2070,979,3762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5783,-0.58,-194.6,617.9,-8.4,976,5790,0.00,2.58,0.00,0.000,6,0.000,0.033,2059,2495,3761,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6091,-0.56,-194.6,648.2,-10.4,1007,6101,0.12,2.00,0.00,0.000,4,0.142,0.043,2093,3821,3759,0,0,0,0,0,0,26.31,26.17,28.83
$GC,6124,-0.56,-194.6,651.0,-8.7,1010,6133,0.00,2.05,0.00,0.000,6,0.000,0.021,2093,2423,3759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6436,-0.57,-194.6,672.2,-7.1,1041,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2423,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6747,-0.59,-194.6,694.8,-7.4,1072,6756,0.00,2.25,0.00,0.000,4,0.000,0.044,2084,3831,3754,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6803,-0.61,-194.6,698.7,-7.0,1077,6809,0.00,2.03,0.00,0.000,6,0.000,0.020,2084,2426,3754,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7110,-0.64,-194.6,721.1,-6.9,1108,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2426,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,-0.67,-194.6,741.3,-6.9,1138,7422,0.00,2.22,0.00,0.000,4,0.000,0.044,2077,3821,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7518,-0.69,-194.6,748.2,-6.7,1148,7524,0.00,1.75,0.00,0.000,6,0.000,0.021,2077,2539,3749,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7825,-0.69,-194.6,769.0,-6.3,1179,7834,0.00,2.62,0.00,0.000,4,0.000,0.027,2077,982,3748,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7898,-0.71,-194.6,773.5,-6.5,1186,7907,0.00,2.83,0.00,0.000,6,0.000,0.033,2066,2602,3747,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8208,-0.71,-194.6,796.6,-7.5,1217,8217,0.00,2.75,0.00,0.000,4,0.000,0.026,2066,997,3745,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8260,-0.72,-194.6,800.7,-7.9,1222,8269,0.00,2.78,0.00,0.000,6,0.000,0.034,2054,2570,3746,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8570,-0.71,-194.6,830.4,-9.9,1253,8579,0.00,2.70,0.00,0.000,4,0.000,0.026,2055,991,3743,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8632,-0.72,-194.6,836.4,-9.0,1259,8642,0.00,2.70,0.00,0.000,6,0.000,0.036,2043,2553,3744,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8942,-0.70,-194.6,869.8,-11.2,1290,8951,0.00,2.65,0.00,0.000,4,0.000,0.028,2043,997,3743,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9005,-0.70,-194.6,876.4,-10.2,1296,9013,0.00,2.70,0.00,0.000,6,0.000,0.037,2033,2540,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9315,-0.68,-194.6,912.4,-11.6,1327,9324,0.00,2.62,0.00,0.000,4,0.000,0.027,2033,988,3741,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9370,-0.67,-194.6,918.2,-11.0,1332,9377,0.12,2.67,0.00,0.000,6,0.133,0.035,2061,2532,3741,0,0,0,0,0,0,25.92,26.10,28.83
$GC,9677,-0.67,-194.6,944.8,-8.1,1363,9687,0.00,2.58,0.00,0.000,4,0.000,0.027,2061,992,3739,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9703,-0.67,-194.6,946.7,-8.0,1365,9710,0.00,2.65,0.00,0.000,6,0.000,0.035,2051,2520,3739,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10011,-0.66,-194.6,974.0,-8.7,1396,10020,0.00,2.55,0.00,0.000,4,0.000,0.027,2052,993,3738,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10067,-0.67,-194.6,978.3,-8.1,1401,10075,0.00,2.60,0.00,0.000,6,0.000,0.037,2041,2498,3739,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,10200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10201,begin apogee
$GC,10208,-0.20,0.0,991.1,-9.5,1415,10403,0.47,0.00,182.38,1.445,4,0.099,0.000,2205,2561,2979,0,0,0,0,1,0,25.75,28.83,22.77
$STATE,10404,end apogee,CONTROL_FINISHED_OK
$STATE,10404,begin climb
$GC,10407,0.58,194.6,998.2,0.0,1435,10718,0.70,2.00,298.85,0.925,4,0.043,0.045,2473,3819,2184,0,0,0,0,0,0,24.57,24.53,23.51
$GC,10937,0.50,194.6,906.0,22.8,1488,10947,0.17,1.90,0.00,0.000,6,0.186,0.023,2438,2523,2157,0,0,0,0,0,0,25.46,25.92,28.83
$GC,11247,0.45,194.6,855.8,15.5,1519,11255,0.00,2.45,0.00,0.000,4,0.000,0.028,2451,1086,2153,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11373,0.42,194.6,839.2,13.2,1531,11380,0.15,2.65,0.00,0.000,6,0.160,0.035,2410,2561,2152,0,0,0,0,0,0,25.76,26.08,28.83
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$STATE,19278,end climb,SURFACE_DEPTH_REACHED
$STATE,19278,begin surface coast
$FINISH,0.5,1.021735
$STATE,19294,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$MEM,324636
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$CFSIZE,260165632,189575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
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$GPS,200612,155606,2322.275,12202.591,35,1.7,35,-3.1