version: 66.10
glider: 169
mission: 6
dive: 299
start: 6 23 112 7 17 4
data:
$ID,169
$MISSION,6
$DIVE,299
$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,320
$T_MISSION,360
$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,-15917.919
$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,2425
$C_ROLL_CLIMB,2520
$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
$GPS1,230612,070701,2337.651,12215.592,41,1.8,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-71.1
$GPS2,230612,071638,2338.170,12215.525,13,1.2,13,-3.2
$SPEED_LIMITS,0.179,0.299
$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,130.8,169935,-16.1,-10.312
$D_GRID,3449
$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,-0.64,-194.6,0.0,0.0,0,110,0.00,0.00,-90.28,0.000,2,0.000,0.000,117,2449,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.64,-194.6,4.1,-10.9,16,139,7.90,2.20,-9.45,0.000,4,0.225,0.047,2051,3830,3776,0,0,0,0,0,0,24.91,26.01,26.46
$GC,178,-0.58,-194.6,30.3,-26.1,27,185,0.00,2.15,0.00,0.000,6,0.000,0.020,2061,2395,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,369,-0.51,-194.6,85.0,-25.6,64,376,0.15,0.00,0.00,0.000,6,0.173,0.000,2105,2395,3777,0,0,0,0,0,0,25.88,28.83,28.83
$GC,561,-0.49,-194.6,115.0,-10.9,101,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2395,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,751,-0.48,-194.6,139.3,-12.4,138,759,0.00,2.33,0.00,0.000,4,0.000,0.041,2094,3834,3778,0,0,0,0,0,0,28.83,26.16,28.83
$GC,792,-0.48,-194.6,144.5,-12.6,145,799,0.00,2.08,0.00,0.000,6,0.000,0.019,2094,2409,3778,0,0,0,0,0,0,28.83,26.40,28.83
$GC,983,-0.47,-194.6,166.6,-11.5,182,991,0.00,2.25,0.00,0.000,4,0.000,0.039,2083,3824,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1026,-0.48,-194.6,170.8,-10.3,189,1033,0.12,1.98,0.00,0.000,6,0.123,0.018,2122,2427,3778,0,0,0,0,0,0,26.17,26.43,28.83
$GC,1218,-0.49,-194.6,187.7,-9.0,226,1225,0.00,2.40,0.00,0.000,4,0.000,0.024,2122,955,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1260,-0.54,-194.6,191.3,-8.3,233,1267,0.00,2.58,0.00,0.000,6,0.000,0.028,2118,2488,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1453,-0.59,-194.6,205.5,-6.8,270,1461,0.00,2.53,0.00,0.000,4,0.000,0.021,2118,945,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1692,-0.68,-194.6,224.5,-7.9,316,1700,0.17,2.83,0.00,0.000,6,0.071,0.028,2042,2588,3778,0,0,0,0,0,0,26.27,26.33,28.83
$GC,2007,-0.65,-194.6,269.0,-15.5,377,2014,0.00,1.80,0.00,0.000,4,0.000,0.039,2033,3836,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2062,-0.65,-194.6,277.7,-12.1,387,2069,0.00,1.90,0.00,0.000,6,0.000,0.018,2039,2475,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2373,-0.61,-194.6,322.4,-14.0,448,2381,0.12,2.53,0.00,0.000,4,0.144,0.023,2089,944,3776,0,0,0,0,0,0,26.29,26.34,28.83
$GC,2450,-0.65,-194.6,330.1,-8.5,462,2458,0.00,2.70,0.00,0.000,6,0.000,0.031,2085,2523,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2764,-0.65,-194.6,360.9,-9.4,523,2770,0.00,1.95,0.00,0.000,4,0.000,0.041,2076,3832,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2806,-0.66,-194.6,364.7,-9.7,530,2814,0.00,1.95,0.00,0.000,6,0.000,0.018,2077,2450,3773,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3120,-0.66,-194.6,396.2,-9.9,591,3127,0.00,2.45,0.00,0.000,4,0.000,0.024,2077,945,3772,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3160,-0.68,-194.6,400.1,-8.5,598,3168,0.00,2.67,0.00,0.000,6,0.000,0.031,2066,2516,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3475,-0.67,-194.6,431.5,-10.3,659,3482,0.00,2.62,0.00,0.000,4,0.000,0.025,2066,947,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3515,-0.69,-194.6,435.4,-8.8,666,3523,0.00,2.65,0.00,0.000,6,0.000,0.033,2055,2500,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3829,-0.67,-194.6,469.1,-11.4,727,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2499,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.66,-194.6,506.2,-12.2,784,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2498,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4448,-0.65,-194.6,544.1,-13.0,814,4457,0.00,2.58,0.00,0.000,4,0.000,0.027,2056,964,3761,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4473,-0.64,-194.6,547.3,-12.6,816,4480,0.00,2.62,0.00,0.000,6,0.000,0.035,2045,2498,3761,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4781,-0.62,-194.6,588.6,-13.5,847,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2497,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.61,-194.6,626.7,-12.2,877,5093,0.12,2.03,0.00,0.000,4,0.148,0.043,2078,3820,3757,0,0,0,0,0,0,26.25,26.14,28.83
$GC,5108,-0.60,-194.6,629.4,-11.1,879,5112,0.00,2.00,0.00,0.000,6,0.000,0.019,2078,2434,3756,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5420,-0.61,-194.6,653.9,-7.0,910,5430,0.00,2.40,0.00,0.000,4,0.000,0.026,2078,963,3754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5455,-0.63,-194.6,656.0,-6.8,913,5463,0.00,2.60,0.00,0.000,6,0.000,0.033,2068,2493,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5763,-0.63,-194.6,678.7,-7.2,944,5772,0.00,2.05,0.00,0.000,4,0.000,0.046,2057,3831,3751,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5799,-0.63,-194.6,681.0,-7.5,947,5805,0.00,2.03,0.00,0.000,6,0.000,0.021,2057,2435,3750,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6105,-0.63,-194.6,705.0,-7.6,978,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2434,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-0.63,-194.6,728.6,-7.6,1008,6416,0.00,2.42,0.00,0.000,4,0.000,0.028,2057,956,3746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6430,-0.63,-194.6,730.6,-7.6,1010,6441,0.00,2.62,0.00,0.000,6,0.000,0.034,2046,2491,3747,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6743,-0.62,-194.6,759.5,-10.1,1041,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2490,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7052,-0.61,-194.6,791.4,-10.0,1072,7062,0.10,2.55,0.00,0.000,4,0.155,0.026,2078,970,3743,0,0,0,0,0,0,26.38,26.20,28.83
$GC,7096,-0.63,-194.6,795.4,-9.0,1076,7105,0.00,2.60,0.00,0.000,6,0.000,0.035,2069,2488,3743,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7407,-0.64,-194.6,820.7,-8.1,1107,7415,0.00,2.03,0.00,0.000,4,0.000,0.047,2058,3818,3741,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7443,-0.65,-194.6,823.5,-8.1,1110,7451,0.00,2.05,0.00,0.000,6,0.000,0.021,2058,2423,3740,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7749,-0.65,-194.6,851.4,-9.3,1141,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2423,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8052,-0.65,-194.6,879.8,-9.5,1171,8061,0.00,2.25,0.00,0.000,4,0.000,0.044,2047,3829,3738,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8084,-0.66,-194.6,883.1,-9.5,1174,8094,0.00,2.05,0.00,0.000,6,0.000,0.021,2047,2427,3738,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8393,-0.66,-194.6,915.4,-10.6,1205,8402,0.00,2.42,0.00,0.000,4,0.000,0.027,2047,953,3737,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8416,-0.66,-194.6,917.7,-10.5,1207,8425,0.00,2.62,0.00,0.000,6,0.000,0.034,2038,2492,3736,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8727,-0.65,-194.6,952.3,-10.7,1238,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2491,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,-0.64,-194.6,983.8,-10.6,1268,9037,0.10,2.55,0.00,0.000,4,0.155,0.027,2068,968,3734,0,0,0,0,0,0,26.36,26.15,28.83
$GC,9075,-0.66,-194.6,987.4,-7.9,1272,9081,0.00,2.62,0.00,0.000,6,0.000,0.037,2059,2490,3734,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9107,begin apogee
$GC,9114,-0.20,0.0,990.2,-6.9,1276,9310,0.43,0.10,188.25,1.107,4,0.096,0.070,2208,2484,2970,0,0,0,0,0,0,25.82,24.70,23.43
$STATE,9311,end apogee,CONTROL_FINISHED_OK
$STATE,9311,begin climb
$GC,9315,0.64,194.6,996.4,0.0,1296,9531,0.70,0.12,208.48,1.115,6,0.036,0.080,2491,2545,2180,0,0,0,0,0,0,24.97,24.98,22.99
$GC,9830,0.58,194.6,900.9,20.9,1348,9839,0.00,1.95,0.00,0.000,4,0.000,0.042,2491,3829,2144,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9936,0.50,194.6,877.0,24.1,1358,9944,0.22,1.92,0.00,0.000,6,0.184,0.021,2442,2504,2142,0,0,0,0,0,0,25.48,26.07,28.83
$GC,10244,0.47,194.6,826.7,15.3,1389,10252,0.00,2.03,0.00,0.000,4,0.000,0.041,2442,3822,2141,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10299,0.42,194.6,817.6,17.5,1394,10309,0.15,1.88,0.00,0.000,6,0.174,0.021,2413,2514,2140,0,0,0,0,0,0,25.73,26.20,28.83
$GC,10607,0.41,194.6,778.6,11.9,1425,10616,0.00,2.50,0.00,0.000,4,0.000,0.030,2426,1055,2139,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10643,0.39,194.6,774.9,11.7,1428,10650,0.00,2.62,0.00,0.000,6,0.000,0.032,2425,2545,2137,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10950,0.37,194.6,735.1,12.6,1459,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2544,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11252,0.35,194.6,697.9,12.3,1489,11261,0.12,1.92,0.00,0.000,4,0.168,0.041,2387,3830,2137,0,0,0,0,0,0,26.06,26.10,28.83
$GC,11275,0.33,194.6,694.7,12.6,1491,11283,0.00,1.95,0.00,0.000,6,0.000,0.019,2396,2491,2137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11584,0.37,222.7,665.2,9.3,1522,11624,0.00,2.15,33.47,0.860,4,0.000,0.041,2396,3835,2064,0,0,0,0,0,0,28.83,25.79,24.41
$GC,11647,0.38,229.2,658.9,10.1,1528,11656,0.00,1.98,0.00,0.000,6,0.000,0.021,2407,2501,2049,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11958,0.41,254.7,628.4,9.4,1559,12011,0.00,2.53,47.03,0.829,4,0.000,0.028,2420,1066,1934,0,0,0,0,0,0,28.83,25.54,24.29
$GC,12034,0.44,274.4,620.9,9.6,1566,12064,0.00,2.65,23.70,0.877,6,0.000,0.033,2420,2533,1858,0,0,0,0,0,0,28.83,25.63,24.09
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$STATE,17427,end climb,SURFACE_DEPTH_REACHED
$STATE,17427,begin surface coast
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$STATE,17449,end surface coast,CONTROL_FINISHED_OK
$STATE,17449,begin surface
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$10V_AH,10.0,39.038
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$FG_AHR_10Vo,0.000
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$MEM,324552
$DATA_FILE_SIZE,156908,2495
$CAP_FILE_SIZE,243073,0
$CFSIZE,260165632,187760640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.280,348.0,1
$GPS,230612,121007,2339.340,12217.139,27,1.1,27,-3.2