version: 66.10
glider: 169
mission: 6
dive: 106
start: 5 9 112 15 15 56
data:
$ID,169
$MISSION,6
$DIVE,106
$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,360
$T_MISSION,390
$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,9
$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,-15412.491
$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,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
$GPS1,090512,150807,2343.428,12355.582,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.2
$GPS2,090512,151532,2343.395,12355.457,11,1.4,11,-3.4
$SPEED_LIMITS,0.159,0.287
$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,147.3,247171,-14.5,-9.167
$D_GRID,3094
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.60,-194.6,0.0,0.0,0,107,0.00,0.00,-86.72,0.000,2,0.000,0.000,120,2534,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.60,-194.6,4.3,-11.9,15,131,7.78,2.42,-7.15,0.000,4,0.232,0.040,2086,1034,3776,0,0,0,0,0,0,25.56,26.10,26.41
$GC,299,-0.57,-194.6,65.1,-17.7,50,308,0.00,2.40,0.00,0.000,6,0.000,0.036,2073,2522,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,501,-0.48,-194.6,126.5,-30.7,87,508,0.15,2.30,0.00,0.000,4,0.184,0.022,2127,1027,3778,0,0,0,0,0,0,25.98,26.31,28.83
$GC,600,-0.49,-194.6,145.6,-10.8,105,607,0.00,2.30,0.00,0.000,6,0.000,0.031,2116,2474,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,796,-0.45,-194.6,182.1,-19.1,142,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2473,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.41,-194.6,217.3,-16.0,170,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2473,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.39,-194.6,264.6,-13.8,201,1313,0.12,0.00,0.00,0.000,6,0.156,0.000,2151,2473,3779,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1616,-0.40,-194.6,292.2,-8.4,232,1625,0.00,2.20,0.00,0.000,4,0.000,0.024,2151,1034,3779,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1642,-0.41,-194.6,294.4,-8.6,234,1649,0.00,2.25,0.00,0.000,6,0.000,0.031,2150,2469,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1950,-0.43,-194.6,319.0,-7.8,265,1959,0.00,2.05,0.00,0.000,4,0.000,0.043,2140,3825,3779,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1993,-0.46,-194.6,322.2,-7.3,269,2001,0.00,2.08,0.00,0.000,6,0.000,0.019,2140,2397,3778,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2304,-0.47,-194.6,345.9,-7.6,300,2313,0.00,2.28,0.00,0.000,4,0.000,0.041,2131,3829,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2348,-0.50,-194.6,349.0,-7.1,304,2357,0.00,2.05,0.00,0.000,6,0.000,0.019,2131,2411,3776,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2656,-0.50,-194.6,373.4,-7.7,335,2660,0.00,2.08,0.00,0.000,4,0.000,0.026,2131,1039,3775,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2723,-0.53,-194.6,377.9,-6.7,341,2729,0.00,2.25,0.00,0.000,6,0.000,0.032,2125,2476,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3030,-0.53,-194.6,405.3,-9.2,372,3039,0.00,2.03,0.00,0.000,4,0.000,0.041,2115,3821,3773,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3062,-0.53,-194.6,408.3,-9.2,375,3073,0.00,2.08,0.00,0.000,6,0.000,0.020,2115,2406,3773,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3372,-0.53,-194.6,438.4,-8.9,406,3381,0.00,2.08,0.00,0.000,4,0.000,0.026,2116,1035,3772,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3397,-0.53,-194.6,440.4,-8.8,408,3404,0.00,2.28,0.00,0.000,6,0.000,0.031,2107,2484,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3705,-0.53,-194.6,468.7,-9.0,439,3717,0.00,2.00,0.00,0.000,4,0.000,0.041,2097,3816,3769,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3743,-0.53,-194.6,471.9,-9.3,442,3750,0.00,2.05,0.00,0.000,6,0.000,0.022,2097,2420,3769,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4050,-0.52,-194.6,502.5,-10.2,473,4059,0.00,2.10,0.00,0.000,4,0.000,0.025,2097,1035,3768,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4085,-0.52,-194.6,505.8,-10.3,476,4092,0.00,2.28,0.00,0.000,6,0.000,0.032,2087,2481,3768,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4394,-0.51,-194.6,540.5,-10.9,507,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2480,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.50,-194.6,574.0,-10.4,537,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2480,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.49,-194.6,603.9,-9.3,566,5011,0.00,2.22,0.00,0.000,4,0.000,0.027,2087,1042,3762,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5037,-0.48,-194.6,605.7,-9.1,567,5047,0.12,2.30,0.00,0.000,6,0.133,0.036,2125,2479,3762,0,0,0,0,0,0,26.32,26.46,28.83
$GC,5346,-0.51,-194.6,624.4,-5.9,583,5351,0.00,2.05,0.00,0.000,4,0.000,0.045,2115,3821,3760,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5379,-0.53,-194.6,625.6,-5.8,584,5388,0.00,2.05,0.00,0.000,6,0.000,0.020,2115,2412,3759,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5685,-0.55,-194.6,649.1,-8.1,600,5691,0.00,2.10,0.00,0.000,4,0.000,0.028,2115,1037,3757,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5708,-0.57,-194.6,650.8,-8.1,601,5713,0.00,2.30,0.00,0.000,6,0.000,0.034,2112,2497,3757,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6023,-0.58,-194.6,678.1,-8.5,617,6026,0.00,2.03,0.00,0.000,4,0.000,0.046,2102,3818,3755,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6073,-0.60,-194.6,681.9,-8.7,619,6077,0.00,2.05,0.00,0.000,6,0.000,0.021,2102,2422,3754,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6381,-0.60,-194.6,707.9,-7.8,634,6385,0.00,2.22,0.00,0.000,4,0.000,0.044,2093,3825,3752,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6403,-0.61,-194.6,709.6,-7.8,635,6408,0.00,2.03,0.00,0.000,6,0.000,0.021,2093,2440,3751,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6724,-0.61,-194.6,736.6,-8.7,651,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2440,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7023,-0.61,-194.6,761.0,-7.9,666,7028,0.00,2.15,0.00,0.000,4,0.000,0.028,2093,1037,3748,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7045,-0.62,-194.6,762.6,-8.0,667,7050,0.00,2.35,0.00,0.000,6,0.000,0.035,2085,2518,3747,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7359,-0.62,-194.6,790.0,-8.6,683,7364,0.00,1.98,0.00,0.000,4,0.000,0.045,2076,3816,3746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7411,-0.62,-194.6,793.4,-8.6,685,7418,0.00,2.03,0.00,0.000,6,0.000,0.024,2075,2449,3745,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7721,-0.62,-194.6,822.6,-9.2,701,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2449,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8018,-0.62,-194.6,850.7,-9.4,716,8024,0.00,2.17,0.00,0.000,4,0.000,0.047,2066,3814,3741,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8062,-0.62,-194.6,854.6,-9.5,718,8066,0.00,2.03,0.00,0.000,6,0.000,0.024,2066,2453,3741,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8375,-0.61,-194.6,886.5,-9.9,734,8380,0.00,2.17,0.00,0.000,4,0.000,0.028,2066,1037,3740,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8417,-0.61,-194.6,890.4,-9.8,736,8421,0.00,2.40,0.00,0.000,6,0.000,0.036,2055,2528,3739,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8729,-0.60,-194.6,923.4,-10.6,752,8735,0.00,2.33,0.00,0.000,4,0.000,0.030,2056,1042,3738,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8792,-0.59,-194.6,929.6,-10.1,755,8798,0.10,2.33,0.00,0.000,6,0.094,0.037,2087,2504,3738,0,0,0,0,0,0,26.20,26.40,28.83
$GC,9113,-0.59,-194.6,954.6,-7.8,771,9118,0.00,2.00,0.00,0.000,4,0.000,0.047,2077,3812,3736,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9132,-0.59,-194.6,956.2,-7.9,772,9137,0.00,2.03,0.00,0.000,6,0.000,0.022,2077,2433,3735,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9451,-0.59,-194.6,983.2,-8.7,788,9457,0.00,2.15,0.00,0.000,4,0.000,0.030,2077,1029,3734,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9492,-0.59,-194.6,986.8,-8.7,790,9498,0.00,2.35,0.00,0.000,6,0.000,0.037,2068,2498,3734,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,9528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9529,begin apogee
$GC,9535,-0.20,0.0,990.1,-8.6,792,9722,0.40,0.10,178.85,1.169,4,0.110,0.074,2206,2471,2977,0,0,0,0,0,0,26.06,24.76,23.99
$STATE,9723,end apogee,CONTROL_FINISHED_OK
$STATE,9723,begin climb
$GC,9725,0.60,194.6,997.8,0.0,801,9929,0.68,0.12,195.77,1.159,6,0.032,0.079,2487,2555,2184,0,0,0,0,0,0,24.95,24.92,23.71
$GC,10228,0.52,194.6,897.6,24.0,827,10234,0.12,1.92,0.00,0.000,4,0.200,0.041,2451,3813,2147,0,0,0,0,0,0,25.50,25.75,28.83
$GC,10356,0.46,194.6,869.5,22.4,833,10360,0.15,1.98,0.00,0.000,6,0.187,0.023,2424,2507,2145,0,0,0,0,0,0,25.60,25.94,28.83
$GC,10665,0.42,194.6,816.1,16.4,848,10671,0.00,2.08,0.00,0.000,4,0.000,0.046,2424,3820,2142,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10766,0.37,194.6,797.8,18.2,853,10772,0.10,1.95,0.00,0.000,6,0.159,0.023,2401,2524,2141,0,0,0,0,0,0,25.84,26.16,28.83
$GC,11088,0.35,194.6,751.3,14.1,869,11094,0.00,2.03,0.00,0.000,4,0.000,0.044,2401,3823,2140,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11130,0.32,194.6,745.0,14.6,871,11134,0.12,1.95,0.00,0.000,6,0.163,0.024,2378,2515,2139,0,0,0,0,0,0,25.97,26.24,28.83
$GC,11446,0.31,194.6,708.5,11.2,887,11451,0.00,2.03,0.00,0.000,4,0.000,0.044,2378,3813,2139,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11485,0.30,194.6,703.4,11.6,889,11490,0.00,1.90,0.00,0.000,6,0.000,0.022,2388,2523,2139,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11804,0.29,194.6,663.3,12.5,905,11810,0.00,2.05,0.00,0.000,4,0.000,0.044,2388,3823,2138,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11846,0.28,194.6,657.6,13.5,907,11853,0.12,1.88,0.00,0.000,6,0.155,0.022,2359,2539,2138,0,0,0,0,0,0,26.06,26.36,28.83
$GC,12169,0.28,194.6,624.1,10.0,923,12174,0.00,2.33,0.00,0.000,4,0.000,0.031,2372,1061,2138,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,17643,end climb,SURFACE_DEPTH_REACHED
$STATE,17643,begin surface coast
$FINISH,0.0,1.022469
$STATE,17670,end surface coast,CONTROL_FINISHED_OK
$STATE,17670,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,10.3,11.996
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330336
$DATA_FILE_SIZE,100167,1580
$CAP_FILE_SIZE,201934,0
$CFSIZE,260165632,211525632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.289,339.0,1
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