version: 66.10
glider: 169
mission: 6
dive: 384
start: 7 10 112 13 34 1
data:
$ID,169
$MISSION,6
$DIVE,384
$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,330
$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,-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,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,-16027.421
$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,2250
$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,2480
$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
$GPS1,100712,132236,2317.238,12356.167,28,1.1,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.7
$GPS2,100712,133335,2317.024,12356.243,16,0.9,32,-3.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,169.6,198315,-15.7,-10.000
$D_GRID,5033
$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,-0.63,-194.6,0.0,0.0,0,94,0.00,0.00,-74.53,0.000,2,0.000,0.000,116,2486,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.63,-194.6,3.3,-7.9,13,129,8.18,0.00,-16.95,0.000,6,0.233,0.000,2036,2486,3775,0,0,0,0,0,0,24.76,28.83,26.55
$GC,313,-0.55,-194.6,69.7,-23.7,54,321,0.12,2.58,0.00,0.000,4,0.180,0.022,2086,969,3776,0,0,0,0,0,0,25.98,26.17,28.83
$GC,365,-0.55,-194.6,78.2,-11.3,63,373,0.00,2.58,0.00,0.000,6,0.000,0.031,2074,2462,3776,0,0,0,0,0,0,28.83,26.12,28.83
$GC,558,-0.52,-194.6,102.7,-11.9,100,566,0.00,2.03,0.00,0.000,4,0.000,0.040,2064,3833,3776,0,0,0,0,0,0,28.83,26.12,28.83
$GC,609,-0.52,-194.6,109.0,-11.3,109,615,0.00,1.95,0.00,0.000,6,0.000,0.018,2069,2434,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,801,-0.49,-194.6,133.9,-12.7,146,808,0.00,2.40,0.00,0.000,4,0.000,0.022,2069,974,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,876,-0.49,-194.6,142.4,-10.6,160,884,0.12,2.58,0.00,0.000,6,0.126,0.029,2097,2477,3777,0,0,0,0,0,0,26.06,26.24,28.83
$GC,1069,-0.48,-194.6,162.2,-10.2,197,1076,0.00,1.98,0.00,0.000,4,0.000,0.037,2087,3838,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1103,-0.49,-194.6,165.9,-10.6,203,1111,0.00,1.95,0.00,0.000,6,0.000,0.017,2088,2416,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1296,-0.49,-194.6,187.0,-10.8,240,1304,0.00,2.38,0.00,0.000,4,0.000,0.021,2088,966,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1333,-0.50,-194.6,190.8,-9.7,246,1340,0.00,2.62,0.00,0.000,6,0.000,0.028,2077,2494,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1527,-0.49,-194.6,211.7,-10.3,283,1535,0.00,2.58,0.00,0.000,4,0.000,0.022,2078,972,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1553,-0.49,-194.6,214.2,-9.7,287,1561,0.00,2.60,0.00,0.000,6,0.000,0.029,2066,2476,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1866,-0.47,-194.6,247.6,-11.2,348,1874,0.10,1.98,0.00,0.000,4,0.164,0.037,2083,3837,3777,0,0,0,0,0,0,26.37,26.20,28.83
$GC,1903,-0.49,-194.6,251.3,-9.4,354,1910,0.00,2.00,0.00,0.000,6,0.000,0.018,2083,2401,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2217,-0.49,-194.6,281.7,-9.6,415,2224,0.00,2.20,0.00,0.000,4,0.000,0.038,2073,3844,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2252,-0.49,-194.6,285.4,-10.0,421,2259,0.00,1.95,0.00,0.000,6,0.000,0.018,2073,2430,3774,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2566,-0.48,-194.6,315.9,-9.5,482,2573,0.00,2.40,0.00,0.000,4,0.000,0.024,2073,979,3773,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2606,-0.50,-194.6,319.8,-9.0,489,2612,0.00,2.65,0.00,0.000,6,0.000,0.030,2061,2499,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2918,-0.48,-194.6,354.4,-11.9,550,2925,0.12,0.00,0.00,0.000,6,0.147,0.000,2103,2497,3771,0,0,0,0,0,0,26.27,28.83,28.83
$GC,3233,-0.55,-194.6,378.7,-6.2,611,3240,0.00,1.95,0.00,0.000,4,0.000,0.041,2099,3839,3769,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3417,-0.64,-194.6,393.8,-9.0,646,3424,0.20,1.98,0.00,0.000,6,0.089,0.018,2031,2414,3767,0,0,0,0,0,0,26.20,26.45,28.83
$GC,3731,-0.62,-194.6,431.2,-12.7,707,3738,0.00,2.17,0.00,0.000,4,0.000,0.040,2022,3844,3766,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3827,-0.61,-194.6,442.3,-11.0,725,3836,0.12,1.98,0.00,0.000,6,0.130,0.018,2060,2426,3765,0,0,0,0,0,0,26.13,26.44,28.83
$GC,4143,-0.60,-194.6,468.4,-7.8,786,4151,0.00,2.45,-0.08,0.000,4,0.000,0.035,2060,964,3791,0,0,0,0,0,0,28.83,26.26,25.44
$GC,4179,-0.62,-194.6,471.5,-7.8,792,4186,0.00,2.62,0.00,0.000,6,0.000,0.030,2048,2487,3791,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4499,-0.61,-194.6,502.5,-10.2,852,4507,0.00,1.95,0.00,0.000,4,0.000,0.041,2039,3830,3789,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4521,-0.60,-194.6,504.8,-10.3,854,4529,0.00,1.95,0.00,0.000,6,0.000,0.018,2039,2439,3789,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4830,-0.58,-194.6,537.9,-10.3,885,4840,0.00,2.40,0.00,0.000,4,0.000,0.025,2039,975,3787,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4894,-0.59,-194.6,544.3,-9.6,891,4902,0.00,2.58,0.00,0.000,6,0.000,0.031,2029,2476,3787,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5204,-0.57,-194.6,576.8,-10.9,922,5213,0.12,2.00,0.00,0.000,4,0.145,0.040,2063,3825,3784,0,0,0,0,0,0,26.25,26.12,28.83
$GC,5239,-0.57,-194.6,580.0,-9.6,925,5247,0.00,1.98,0.00,0.000,6,0.000,0.018,2063,2420,3784,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5547,-0.60,-194.6,602.6,-7.1,956,5556,0.00,2.38,0.00,0.000,4,0.000,0.024,2063,970,3782,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5570,-0.62,-194.6,604.3,-6.9,958,5579,0.00,2.90,0.00,0.000,6,0.000,0.032,2059,2612,3782,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5880,-0.65,-194.6,625.7,-6.3,989,5889,0.00,2.80,0.00,0.000,4,0.000,0.024,2060,973,3780,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5966,-0.68,-194.6,632.1,-7.4,997,5974,0.00,2.55,0.00,0.000,6,0.000,0.032,2056,2463,3779,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6274,-0.70,-194.6,654.1,-6.9,1028,6283,0.00,2.05,0.00,0.000,4,0.000,0.043,2046,3825,3776,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6369,-0.70,-194.6,661.5,-8.1,1037,6372,0.00,1.77,0.00,0.000,6,0.000,0.020,2046,2517,3775,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6681,-0.69,-194.6,691.0,-9.7,1068,6689,0.00,2.58,0.00,0.000,4,0.000,0.026,2046,990,3773,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6787,-0.70,-194.6,700.6,-9.0,1078,6794,0.00,2.78,0.00,0.000,6,0.000,0.033,2034,2547,3773,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7093,-0.69,-194.6,734.4,-11.5,1109,7102,0.00,2.67,0.00,0.000,4,0.000,0.027,2035,994,3771,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7161,-0.71,-194.6,741.3,-10.1,1115,7168,0.00,2.72,0.00,0.000,6,0.000,0.034,2023,2527,3771,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7468,-0.69,-194.6,776.9,-11.4,1146,7471,0.00,1.95,0.00,0.000,4,0.000,0.047,2014,3851,3768,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7491,-0.67,-194.6,779.5,-11.3,1148,7500,0.00,1.92,0.00,0.000,6,0.000,0.021,2014,2474,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7800,-0.64,-194.6,813.5,-10.9,1179,7808,0.00,2.47,0.00,0.000,4,0.000,0.026,2016,975,3766,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7874,-0.65,-194.6,820.4,-9.1,1186,7883,0.08,2.65,0.00,0.000,6,0.104,0.034,2038,2508,3766,0,0,0,0,0,0,25.87,26.08,28.83
$GC,8182,-0.64,-194.6,847.7,-9.3,1217,8191,0.00,2.60,0.00,0.000,4,0.000,0.027,2039,983,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8209,-0.64,-194.6,849.9,-9.4,1219,8216,0.00,2.65,0.00,0.000,6,0.000,0.035,2030,2493,3763,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8515,-0.63,-194.6,884.1,-11.7,1250,8524,0.00,2.58,0.00,0.000,4,0.000,0.026,2030,972,3761,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8548,-0.63,-194.6,887.7,-11.4,1253,8558,0.00,2.60,0.00,0.000,6,0.000,0.036,2030,2474,3762,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8857,-0.62,-194.6,921.7,-10.2,1284,8866,0.00,2.08,0.00,0.000,4,0.000,0.047,2019,3830,3759,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8893,-0.61,-194.6,925.1,-10.5,1287,8901,0.12,2.00,0.00,0.000,6,0.122,0.021,2060,2429,3760,0,0,0,0,0,0,26.03,26.32,28.83
$GC,9200,-0.62,-194.6,946.2,-6.2,1318,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2428,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9503,-0.64,-194.6,964.3,-6.0,1348,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2428,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9811,-0.65,-194.6,984.7,-6.7,1379,9820,0.00,2.15,0.00,0.000,4,0.000,0.044,2049,3819,3755,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9845,-0.67,-194.6,987.1,-7.0,1382,9854,0.00,2.00,0.00,0.000,6,0.000,0.021,2049,2421,3754,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,9881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9881,begin apogee
$GC,9887,-0.20,0.0,990.2,-8.0,1386,10093,0.38,0.10,194.45,1.091,4,0.092,0.071,2181,2437,2967,0,0,0,0,0,0,25.86,24.83,23.38
$STATE,10094,end apogee,CONTROL_FINISHED_OK
$STATE,10094,begin climb
$GC,10097,0.63,194.6,1000.1,0.0,1407,10306,0.73,2.25,200.50,1.112,4,0.051,0.043,2456,3822,2184,0,0,0,0,0,0,25.20,25.18,23.39
$GC,10467,0.58,194.6,946.9,17.3,1444,10476,0.00,1.98,0.00,0.000,6,0.000,0.023,2467,2461,2149,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10778,0.52,194.6,898.9,15.5,1475,10787,0.15,2.45,0.00,0.000,4,0.182,0.029,2436,1026,2144,0,0,0,0,0,0,25.76,26.04,28.83
$GC,10871,0.52,194.6,888.0,10.4,1484,10880,0.00,2.60,0.00,0.000,6,0.000,0.034,2436,2498,2141,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11181,0.49,194.6,848.2,12.5,1515,11190,0.00,2.00,0.00,0.000,4,0.000,0.044,2436,3843,2142,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11335,0.44,194.6,825.5,14.5,1530,11345,0.17,1.88,0.00,0.000,6,0.158,0.021,2398,2503,2140,0,0,0,0,0,0,25.73,26.26,28.83
$GC,11646,0.47,224.2,796.2,9.0,1561,11685,0.00,2.65,30.30,1.002,4,0.000,0.031,2411,1030,2052,0,0,0,0,0,0,28.83,25.76,24.08
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$STATE,18988,end climb,SURFACE_DEPTH_REACHED
$STATE,18988,begin surface coast
$FINISH,0.4,1.020839
$STATE,19009,end surface coast,CONTROL_FINISHED_OK
$STATE,19012,begin surface
$SM_CCo,19090,0.00,0.000,0,0,891,512.19
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.15
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,81.827
$10V_AH,9.9,51.742
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.000,221.400,762.325,0.000,0.000,34.642,42.976,373.277,0.000,0.000,33.247,6428.269,6835.424,1019.761,4752.412,662.021,0.000,3233.757,0.000,4130.879,0.000,0.543,0.000
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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,330312
$DATA_FILE_SIZE,170142,2707
$CAP_FILE_SIZE,271802,0
$CFSIZE,260165632,176271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,314.0,1
$GPS,100712,185306,2315.710,12356.230,27,1.1,27,-3.3