version: 66.10
glider: 169
mission: 6
dive: 55
start: 4 29 112 4 54 37
data:
$ID,169
$MISSION,6
$DIVE,55
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,2
$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,-15282.028
$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,2035
$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,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
$GPS1,290412,044637,2315.966,12219.077,26,1.4,26,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-67.8
$GPS2,290412,045414,2316.014,12219.063,11,1.2,11,-3.1
$SPEED_LIMITS,0.159,0.302
$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,71.9,174285,-13.6,-9.167
$D_GRID,5030
$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,-0.61,-219.0,0.0,0.0,0,99,0.00,0.00,-78.45,0.000,2,0.000,0.000,117,2421,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.61,-219.0,3.8,-10.1,14,127,6.68,2.28,-10.52,0.000,4,0.226,0.048,1815,3829,3873,0,0,0,0,0,0,25.69,26.04,26.35
$GC,211,-0.54,-219.0,49.2,-28.3,34,219,0.15,2.05,0.00,0.000,6,0.142,0.023,1857,2457,3875,0,0,0,0,0,0,25.96,26.15,28.83
$GC,404,-0.47,-219.0,101.5,-29.0,71,411,0.00,2.22,0.00,0.000,4,0.000,0.024,1860,1034,3876,0,0,0,0,0,0,28.83,26.25,28.83
$GC,490,-0.45,-219.0,119.3,-16.2,87,497,0.12,2.42,0.00,0.000,6,0.125,0.034,1889,2525,3876,0,0,0,0,0,0,26.17,26.26,28.83
$GC,681,-0.41,-219.0,152.9,-18.3,124,688,0.00,2.33,0.00,0.000,4,0.000,0.026,1890,1043,3876,0,0,0,0,0,0,28.83,26.34,28.83
$GC,736,-0.41,-219.0,161.1,-11.9,134,742,0.00,2.33,0.00,0.000,6,0.000,0.032,1879,2501,3877,0,0,0,0,0,0,28.83,26.34,28.83
$GC,926,-0.38,-219.0,192.4,-16.7,171,934,0.12,2.25,0.00,0.000,4,0.152,0.024,1928,1042,3876,0,0,0,0,0,0,26.27,26.41,28.83
$GC,978,-0.42,-219.0,198.2,-7.7,180,985,0.00,2.30,0.00,0.000,6,0.000,0.033,1926,2485,3877,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1173,-0.49,-219.0,215.2,-10.0,201,1182,0.12,2.00,0.00,0.000,4,0.077,0.037,1827,3817,3877,0,0,0,0,0,0,26.52,26.42,28.83
$GC,1195,-0.55,-219.0,217.3,-9.8,203,1204,0.00,2.12,0.00,0.000,6,0.000,0.021,1826,2361,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1505,-0.50,-219.0,282.0,-20.6,234,1515,0.12,2.00,0.00,0.000,4,0.148,0.025,1873,1041,3877,0,0,0,0,0,0,26.36,26.49,28.83
$GC,1611,-0.52,-219.0,294.6,-9.0,244,1619,0.00,2.20,0.00,0.000,6,0.000,0.033,1865,2436,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1918,-0.50,-219.0,334.7,-13.2,275,1922,0.00,2.12,0.00,0.000,4,0.000,0.042,1854,3829,3876,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1964,-0.49,-219.0,339.8,-12.4,279,1970,0.00,2.15,0.00,0.000,6,0.000,0.021,1854,2370,3877,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2270,-0.47,-219.0,378.2,-12.1,310,2279,0.00,2.00,0.00,0.000,4,0.000,0.027,1854,1039,3877,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2314,-0.47,-219.0,382.8,-11.2,314,2322,0.10,2.22,0.00,0.000,6,0.137,0.034,1882,2455,3877,0,0,0,0,0,0,26.44,26.53,28.83
$GC,2623,-0.48,-219.0,407.4,-7.2,345,2626,0.00,2.08,0.00,0.000,4,0.000,0.043,1872,3821,3876,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2678,-0.50,-219.0,411.0,-7.0,350,2684,0.00,2.10,0.00,0.000,6,0.000,0.021,1872,2382,3876,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2986,-0.50,-219.0,435.2,-8.2,381,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2381,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3297,-0.51,-219.0,460.7,-8.5,412,3306,0.00,2.25,0.00,0.000,4,0.000,0.043,1862,3812,3873,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3350,-0.52,-219.0,465.6,-9.0,417,3358,0.00,2.08,0.00,0.000,6,0.000,0.023,1862,2400,3872,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3659,-0.52,-219.0,496.4,-10.3,448,3667,0.00,2.10,0.00,0.000,4,0.000,0.029,1863,1036,3870,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3711,-0.53,-219.0,501.3,-9.5,453,3720,0.00,2.25,0.00,0.000,6,0.000,0.034,1862,2463,3870,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4020,-0.53,-219.0,531.5,-9.6,484,4029,0.00,2.10,0.00,0.000,4,0.000,0.046,1852,3824,3868,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4083,-0.55,-219.0,537.0,-8.7,490,4091,0.00,2.10,0.00,0.000,6,0.000,0.023,1852,2394,3868,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4393,-0.54,-219.0,565.5,-8.7,521,4401,0.00,2.05,0.00,0.000,4,0.000,0.029,1852,1046,3865,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4427,-0.54,-219.0,568.3,-8.7,524,4434,0.00,2.22,0.00,0.000,6,0.000,0.037,1848,2456,3865,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4737,-0.53,-219.0,596.1,-9.0,555,4745,0.00,2.08,0.00,0.000,4,0.000,0.046,1838,3816,3862,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4786,-0.53,-219.0,600.3,-9.5,559,4790,0.00,2.10,0.00,0.000,6,0.000,0.025,1838,2403,3862,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5095,-0.53,-219.0,631.7,-9.9,574,5101,0.00,2.22,0.00,0.000,4,0.000,0.047,1828,3814,3862,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5128,-0.52,-219.0,633.7,-9.9,575,5135,0.12,2.08,0.00,0.000,6,0.116,0.025,1869,2409,3862,0,0,0,0,0,0,26.46,26.62,28.83
$GC,5434,-0.53,-219.0,658.7,-7.8,591,5440,0.00,2.08,0.00,0.000,4,0.000,0.029,1869,1050,3860,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5456,-0.54,-219.0,660.3,-7.9,592,5460,0.00,2.25,0.00,0.000,6,0.000,0.036,1868,2471,3860,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5770,-0.55,-219.0,686.8,-8.7,608,5775,0.00,2.05,0.00,0.000,4,0.000,0.047,1859,3815,3858,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5809,-0.57,-219.0,690.3,-8.7,610,5814,0.00,2.08,0.00,0.000,6,0.000,0.024,1858,2407,3857,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6130,-0.58,-219.0,720.8,-9.0,626,6135,0.00,2.25,0.00,0.000,4,0.000,0.047,1850,3821,3855,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6152,-0.59,-219.0,722.6,-9.1,627,6156,0.00,2.10,0.00,0.000,6,0.000,0.024,1850,2404,3855,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6465,-0.59,-219.0,749.8,-7.8,643,6470,0.00,2.22,0.00,0.000,4,0.000,0.047,1840,3816,3853,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6486,-0.59,-219.0,751.3,-7.7,644,6490,0.00,2.10,0.00,0.000,6,0.000,0.024,1840,2413,3852,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6799,-0.59,-219.0,777.6,-8.7,660,6803,0.00,2.25,0.00,0.000,4,0.000,0.047,1831,3827,3850,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6834,-0.59,-219.0,779.6,-8.8,661,6841,0.00,2.08,0.00,0.000,6,0.000,0.024,1831,2420,3850,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7141,-0.58,-219.0,810.2,-9.6,677,7146,0.00,2.12,0.00,0.000,4,0.000,0.030,1831,1046,3849,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7174,-0.58,-219.0,812.1,-9.6,678,7180,0.00,2.30,0.00,0.000,6,0.000,0.037,1826,2491,3849,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7482,-0.57,-219.0,843.2,-9.3,694,7487,0.00,2.03,0.00,0.000,4,0.000,0.049,1816,3818,3847,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7503,-0.56,-219.0,845.2,-9.4,695,7508,0.12,2.08,0.00,0.000,6,0.122,0.025,1855,2420,3847,0,0,0,0,0,0,26.41,26.60,28.83
$GC,7819,-0.57,-219.0,866.9,-6.6,711,7824,0.00,2.20,0.00,0.000,4,0.000,0.049,1845,3808,3845,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7851,-0.58,-219.0,868.3,-6.7,712,7857,0.00,2.03,0.00,0.000,6,0.000,0.023,1845,2431,3845,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8159,-0.59,-219.0,892.5,-7.7,728,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2431,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8458,-0.59,-219.0,916.5,-8.0,743,8464,0.00,2.20,0.00,0.000,4,0.000,0.049,1837,3816,3843,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8486,-0.60,-219.0,918.0,-8.1,744,8489,0.00,2.05,0.00,0.000,6,0.000,0.025,1837,2440,3843,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8794,-0.60,-219.0,945.6,-8.9,759,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2439,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,-0.60,-219.0,971.8,-8.4,774,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2439,3840,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9331,begin apogee
$GC,9337,-0.20,0.0,991.3,-7.7,786,9553,0.35,0.10,208.55,1.147,4,0.090,0.077,1966,2480,2973,0,0,0,0,0,0,26.38,24.65,23.94
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9556,0.61,219.0,999.0,0.0,797,9793,0.70,2.28,227.85,1.116,4,0.044,0.045,2242,3823,2085,0,0,0,0,0,0,24.86,24.82,23.75
$GC,9836,0.52,219.0,944.4,27.4,811,9843,0.17,2.08,0.00,0.000,6,0.183,0.023,2210,2494,2051,0,0,0,0,0,0,24.79,24.97,28.83
$GC,10159,0.47,219.0,877.2,20.0,827,10164,0.00,2.10,0.00,0.000,4,0.000,0.043,2211,3814,2044,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10257,0.41,219.0,855.4,21.8,832,10263,0.15,2.00,0.00,0.000,6,0.148,0.023,2172,2512,2042,0,0,0,0,0,0,25.67,25.91,28.83
$GC,10580,0.39,219.0,805.6,15.0,848,10583,0.00,2.08,0.00,0.000,4,0.000,0.046,2172,3816,2040,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10674,0.36,219.0,791.9,16.4,852,10683,0.12,1.92,0.00,0.000,6,0.157,0.024,2148,2527,2039,0,0,0,0,0,0,25.95,26.14,28.83
$GC,10982,0.34,219.0,753.4,11.1,868,10986,0.00,2.05,0.00,0.000,4,0.000,0.044,2148,3824,2039,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11017,0.33,219.0,750.5,11.4,869,11024,0.00,1.92,0.00,0.000,6,0.000,0.024,2156,2548,2039,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11324,0.31,219.0,713.7,11.3,885,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2546,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11625,0.29,219.0,680.0,11.0,900,11630,0.00,1.95,0.00,0.000,4,0.000,0.045,2157,3817,2038,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11697,0.27,219.0,672.5,12.2,903,11705,0.15,1.88,0.00,0.000,6,0.145,0.023,2124,2550,2037,0,0,0,0,0,0,26.14,26.37,28.83
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$STATE,17197,end climb,SURFACE_DEPTH_REACHED
$STATE,17197,begin surface coast
$FINISH,0.1,1.023020
$STATE,17219,end surface coast,CONTROL_FINISHED_OK
$STATE,17219,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.33
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$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.3,6.035
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$FG_AHR_10Vo,0.000
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$MEM,324648
$DATA_FILE_SIZE,96922,1557
$CAP_FILE_SIZE,199651,0
$CFSIZE,260165632,216641536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
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