version: 66.10
glider: 169
mission: 6
dive: 149
start: 5 20 112 1 45 34
data:
$ID,169
$MISSION,6
$DIVE,149
$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,420
$T_MISSION,460
$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,175
$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,-15526.274
$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,49
$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
$GPS1,200512,013336,2239.307,12407.683,32,0.9,32,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.8
$GPS2,200512,014508,2239.060,12408.138,16,1.3,16,-3.1
$SPEED_LIMITS,0.136,0.256
$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,192.3,128666,-13.5,-7.857
$D_GRID,5764
$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,-0.55,-170.3,0.0,0.0,0,101,0.00,0.00,-81.00,0.000,2,0.000,0.000,116,2434,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.55,-170.3,3.0,-6.4,14,131,7.75,2.25,-11.90,0.000,4,0.220,0.044,2079,3835,3675,0,0,1,0,0,0,25.34,25.67,26.36
$GC,216,-0.43,-170.3,50.3,-38.7,34,224,0.17,2.03,0.00,0.000,6,0.154,0.024,2135,2470,3677,0,0,0,0,0,0,25.72,26.09,28.83
$GC,409,-0.37,-170.3,95.6,-20.6,71,416,0.00,2.33,0.00,0.000,4,0.000,0.028,2137,1047,3678,0,0,0,0,0,0,28.83,26.16,28.83
$GC,605,-0.37,-170.3,121.2,-10.1,109,613,0.00,2.35,0.00,0.000,6,0.000,0.031,2126,2467,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,798,-0.33,-170.3,150.0,-15.1,146,805,0.12,2.30,0.00,0.000,4,0.169,0.023,2175,1036,3679,0,0,0,0,0,0,26.10,26.30,28.83
$GC,845,-0.35,-170.3,155.3,-7.7,154,852,0.00,2.28,0.00,0.000,6,0.000,0.030,2165,2435,3679,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1036,-0.35,-170.3,169.7,-8.2,191,1042,0.00,2.15,0.00,0.000,4,0.000,0.042,2154,3823,3679,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1080,-0.37,-170.3,173.2,-7.1,199,1087,0.00,2.15,0.00,0.000,6,0.000,0.018,2154,2358,3679,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1271,-0.37,-170.3,190.2,-9.3,236,1278,0.00,2.35,0.00,0.000,4,0.000,0.039,2143,3829,3678,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1306,-0.37,-170.3,193.6,-9.8,242,1313,0.00,2.12,0.00,0.000,6,0.000,0.020,2143,2376,3678,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1499,-0.36,-170.3,213.1,-10.3,267,1508,0.00,2.08,0.00,0.000,4,0.000,0.024,2143,1038,3678,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1524,-0.36,-170.3,215.5,-9.9,269,1532,0.00,2.28,0.00,0.000,6,0.000,0.031,2135,2448,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1831,-0.34,-170.3,249.2,-12.3,300,1833,0.10,0.00,0.00,0.000,6,0.169,0.000,2162,2447,3678,0,0,0,0,0,0,26.39,28.83,28.83
$GC,2132,-0.35,-170.3,274.0,-7.4,330,2141,0.00,2.25,0.00,0.000,4,0.000,0.024,2162,1024,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2175,-0.37,-170.3,277.1,-7.1,334,2184,0.00,2.28,0.00,0.000,6,0.000,0.031,2155,2442,3677,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2484,-0.38,-170.3,299.4,-6.8,365,2488,0.00,2.10,0.00,0.000,4,0.000,0.041,2145,3826,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2549,-0.41,-170.3,303.5,-6.3,371,2556,0.00,2.10,0.00,0.000,6,0.000,0.019,2145,2373,3674,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2857,-0.41,-170.3,326.2,-7.2,402,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2372,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-0.41,-170.3,347.6,-6.9,432,3168,0.00,2.33,0.00,0.000,4,0.000,0.042,2135,3823,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3194,-0.42,-170.3,350.0,-7.0,435,3201,0.00,2.10,0.00,0.000,6,0.000,0.020,2135,2384,3670,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3503,-0.42,-170.3,374.6,-7.8,466,3511,0.00,2.08,0.00,0.000,4,0.000,0.024,2135,1035,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3537,-0.43,-170.3,377.1,-7.7,469,3545,0.00,2.30,0.00,0.000,6,0.000,0.031,2128,2456,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3846,-0.43,-170.3,403.0,-8.4,500,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2455,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4147,-0.43,-170.3,427.7,-7.9,530,4156,0.00,2.12,0.00,0.000,4,0.000,0.041,2117,3824,3666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4182,-0.43,-170.3,430.6,-8.0,533,4191,0.00,2.12,-0.10,0.000,6,0.000,0.019,2118,2374,3687,0,0,0,0,0,0,28.83,26.53,25.89
$GC,4490,-0.43,-170.3,458.1,-9.2,564,4498,0.00,2.08,0.00,0.000,4,0.000,0.025,2118,1040,3686,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4562,-0.45,-170.3,464.4,-8.1,571,4571,0.00,2.28,0.00,0.000,6,0.000,0.032,2110,2432,3686,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4873,-0.44,-170.3,492.9,-9.1,602,4881,0.00,2.15,0.00,0.000,4,0.000,0.041,2099,3819,3684,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4936,-0.44,-170.3,498.3,-8.4,608,4944,0.12,2.15,0.00,0.000,6,0.119,0.020,2139,2363,3684,0,0,0,0,0,0,26.27,26.51,28.83
$GC,5245,-0.46,-170.3,517.3,-6.3,639,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2362,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-0.47,-170.3,536.9,-6.5,669,5558,0.00,2.33,0.00,0.000,4,0.000,0.042,2128,3812,3679,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5584,-0.50,-170.3,539.2,-6.4,672,5591,0.00,2.12,0.00,0.000,6,0.000,0.019,2129,2360,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5893,-0.51,-170.3,560.3,-6.6,703,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2360,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6204,-0.53,-170.3,579.8,-5.6,734,6213,0.00,2.35,0.00,0.000,4,0.000,0.042,2122,3823,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6239,-0.55,-170.3,581.8,-5.8,737,6247,0.00,2.12,0.00,0.000,6,0.000,0.020,2122,2370,3675,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6547,-0.55,-170.3,600.1,-6.4,768,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2370,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6847,-0.56,-170.3,621.0,-7.4,783,6853,0.00,2.33,0.00,0.000,4,0.000,0.043,2113,3813,3672,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6875,-0.58,-170.3,622.5,-7.5,784,6878,0.00,2.10,0.00,0.000,6,0.000,0.020,2113,2378,3671,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7182,-0.58,-170.3,646.3,-7.2,799,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2377,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7483,-0.59,-170.3,667.6,-7.4,814,7488,0.00,2.30,0.00,0.000,4,0.000,0.042,2103,3815,3668,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7542,-0.60,-170.3,672.2,-7.6,817,7547,0.00,2.08,0.00,0.000,6,0.000,0.021,2103,2396,3667,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7862,-0.60,-170.3,698.5,-8.1,833,7867,0.00,2.12,0.00,0.000,4,0.000,0.026,2103,1033,3665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7909,-0.60,-170.3,701.8,-8.3,835,7914,0.00,2.33,0.00,0.000,6,0.000,0.033,2099,2459,3665,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8217,-0.60,-170.3,727.1,-7.8,850,8222,0.00,2.12,0.00,0.000,4,0.000,0.046,2089,3821,3663,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8270,-0.60,-170.3,730.3,-7.8,852,8277,0.00,2.10,0.00,0.000,6,0.000,0.021,2089,2396,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8577,-0.59,-170.3,755.9,-7.9,868,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2395,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8877,-0.59,-170.3,781.0,-8.7,883,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2395,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,-0.58,-170.3,806.4,-8.4,898,9182,0.00,2.33,0.00,0.000,4,0.000,0.046,2078,3808,3658,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9209,-0.58,-170.3,808.1,-8.5,899,9216,0.00,2.10,0.00,0.000,6,0.000,0.022,2079,2400,3657,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9517,-0.57,-170.3,836.6,-8.7,915,9521,0.00,2.12,0.00,0.000,4,0.000,0.028,2078,1047,3656,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9542,-0.56,-170.3,838.5,-8.6,916,9546,0.00,2.33,0.00,0.000,6,0.000,0.036,2068,2455,3656,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9855,-0.54,-170.3,866.7,-8.7,932,9856,0.10,0.00,0.00,0.000,6,0.149,0.000,2098,2454,3654,0,0,0,0,0,0,26.44,28.83,28.83
$GC,10156,-0.54,-170.3,884.9,-5.6,947,10161,0.00,2.15,0.00,0.000,4,0.000,0.046,2087,3821,3653,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10187,-0.54,-170.3,886.1,-5.7,948,10194,0.00,2.12,0.00,0.000,6,0.000,0.022,2087,2395,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10495,-0.54,-170.3,906.2,-6.5,964,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2395,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10796,-0.54,-170.3,926.8,-7.2,979,10801,0.00,2.35,0.00,0.000,4,0.000,0.047,2077,3814,3650,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10837,-0.54,-170.3,929.9,-7.5,981,10841,0.00,2.10,0.00,0.000,6,0.000,0.022,2077,2413,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11150,-0.53,-170.3,956.0,-8.4,997,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2412,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11450,-0.52,-170.3,980.1,-8.1,1012,11455,0.00,2.28,0.00,0.000,4,0.000,0.047,2066,3809,3648,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11478,-0.51,-170.3,981.8,-8.1,1013,11483,0.15,2.05,0.00,0.000,6,0.116,0.022,2115,2415,3648,0,0,0,0,0,0,26.06,26.38,28.83
$STATE,11602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11602,begin apogee
$GC,11608,-0.20,0.0,990.1,-5.4,1019,11780,0.25,0.08,163.88,1.173,4,0.093,0.090,2208,2477,2978,0,0,0,0,0,0,26.17,24.70,23.87
$STATE,11781,end apogee,CONTROL_FINISHED_OK
$STATE,11781,begin climb
$GC,11783,0.55,170.3,995.7,0.0,1027,11968,0.65,2.28,175.02,1.164,4,0.043,0.044,2466,3829,2283,0,0,0,0,0,0,24.95,24.90,23.46
$GC,12194,0.46,170.3,917.6,24.0,1047,12202,0.20,2.03,0.00,0.000,6,0.187,0.021,2425,2503,2250,0,0,0,0,0,0,25.19,25.64,28.83
$GC,12503,0.41,170.3,861.2,16.9,1063,12508,0.00,2.35,0.00,0.000,4,0.000,0.028,2437,1081,2245,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,21192,end climb,SURFACE_DEPTH_REACHED
$STATE,21192,begin surface coast
$FINISH,1.7,1.021342
$STATE,21198,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.99
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$TCM_TEMP,25.00
$XPDR_PINGS,4
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$10V_AH,10.1,17.779
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330456
$DATA_FILE_SIZE,123457,1980
$CAP_FILE_SIZE,245514,0
$CFSIZE,260165632,206479360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.035,210.9,1
$GPS,200512,074107,2235.981,12407.440,29,1.7,29,-3.1