version: 66.10
glider: 169
mission: 6
dive: 154
start: 5 21 112 8 20 56
data:
$ID,169
$MISSION,6
$DIVE,154
$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,-15532.563
$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
$GPS1,210512,080655,2222.676,12405.672,39,1.2,39,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.9
$GPS2,210512,082031,2222.496,12405.532,11,1.6,16,-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,182.9,97689,-13.5,-7.857
$D_GRID,4995
$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,-0.55,-170.3,0.0,0.0,0,99,0.00,0.00,-78.57,0.000,2,0.000,0.000,116,2455,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-170.3,3.0,-6.3,14,129,7.80,2.33,-12.60,0.000,4,0.223,0.036,2102,1035,3676,0,0,0,0,0,0,25.34,26.04,26.39
$GC,238,-0.49,-170.3,42.1,-19.6,39,244,0.00,2.45,0.00,0.000,6,0.000,0.032,2090,2520,3678,0,0,0,0,0,0,28.83,26.06,28.83
$GC,429,-0.41,-170.3,93.5,-23.9,76,436,0.15,0.00,0.00,0.000,6,0.165,0.000,2134,2520,3678,0,0,0,0,0,0,25.93,28.83,28.83
$GC,621,-0.36,-170.3,129.7,-19.4,113,628,0.00,2.38,0.00,0.000,4,0.000,0.024,2146,1034,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,701,-0.37,-170.3,141.1,-10.2,128,708,0.00,2.38,0.00,0.000,6,0.000,0.031,2135,2499,3679,0,0,0,0,0,0,28.83,26.25,28.83
$GC,893,-0.34,-170.3,167.5,-14.3,165,900,0.10,0.00,0.00,0.000,6,0.162,0.000,2162,2499,3679,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1084,-0.33,-170.3,187.1,-10.2,202,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2499,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-0.33,-170.3,205.3,-9.2,234,1286,0.00,2.30,0.00,0.000,4,0.000,0.025,2162,1040,3679,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1329,-0.35,-170.3,209.9,-8.0,239,1338,0.00,2.30,0.00,0.000,6,0.000,0.030,2155,2477,3679,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1640,-0.35,-170.3,239.8,-8.9,270,1648,0.00,2.10,0.00,0.000,4,0.000,0.041,2145,3830,3678,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1684,-0.35,-170.3,243.3,-8.3,274,1691,0.00,2.08,0.00,0.000,6,0.000,0.019,2145,2402,3678,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1992,-0.35,-170.3,271.0,-8.5,305,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2402,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.35,-170.3,295.8,-7.9,335,2301,0.00,2.30,0.00,0.000,4,0.000,0.041,2135,3824,3675,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2336,-0.35,-170.3,299.1,-7.8,339,2340,0.00,2.05,0.00,0.000,6,0.000,0.018,2134,2414,3675,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2648,-0.35,-170.3,326.3,-8.7,370,2657,0.00,2.12,0.00,0.000,4,0.000,0.023,2135,1038,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2714,-0.36,-170.3,331.8,-8.4,376,2723,0.10,2.35,0.00,0.000,6,0.138,0.031,2158,2494,3673,0,0,0,0,0,0,26.26,26.40,28.83
$GC,3021,-0.38,-170.3,352.5,-6.0,407,3025,0.00,2.05,0.00,0.000,4,0.000,0.041,2149,3828,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3047,-0.39,-170.3,353.8,-6.0,409,3056,0.00,2.08,0.00,0.000,6,0.000,0.018,2149,2395,3671,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3354,-0.40,-170.3,373.3,-6.6,440,3363,0.00,2.28,0.00,0.000,4,0.000,0.039,2139,3811,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3380,-0.41,-170.3,374.9,-7.0,442,3386,0.00,2.03,0.00,0.000,6,0.000,0.018,2139,2413,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3686,-0.41,-170.3,400.7,-8.6,473,3690,0.00,2.25,0.00,0.000,4,0.000,0.040,2129,3822,3666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3718,-0.42,-170.3,403.4,-8.6,476,3722,0.00,2.03,0.00,0.000,6,0.000,0.018,2130,2421,3666,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4030,-0.42,-170.3,430.2,-7.8,507,4038,0.00,2.15,0.00,0.000,4,0.000,0.024,2130,1034,3665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4072,-0.43,-170.3,433.5,-8.0,511,4081,0.00,2.35,0.00,0.000,6,0.000,0.031,2123,2503,3665,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4382,-0.42,-170.3,458.8,-8.2,542,4391,0.00,2.33,-0.10,0.000,4,0.000,0.037,2122,1043,3684,0,0,0,0,0,0,28.83,26.42,26.05
$GC,4428,-0.43,-170.3,462.4,-8.3,546,4435,0.00,2.33,0.00,0.000,6,0.000,0.032,2113,2485,3684,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4736,-0.42,-170.3,489.3,-8.2,577,4746,0.00,2.08,0.00,0.000,4,0.000,0.041,2103,3833,3683,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4810,-0.43,-170.3,495.0,-7.5,584,4819,0.08,2.05,0.00,0.000,6,0.105,0.022,2134,2417,3683,0,0,0,0,0,0,26.29,26.51,28.83
$GC,5120,-0.44,-170.3,515.1,-6.7,615,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2417,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.45,-170.3,534.9,-6.6,645,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2417,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5733,-0.46,-170.3,553.6,-6.1,676,5741,0.00,2.30,0.00,0.000,4,0.000,0.043,2124,3812,3677,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5756,-0.47,-170.3,555.1,-6.0,678,5760,0.00,2.05,0.00,0.000,6,0.000,0.019,2123,2413,3677,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6069,-0.48,-170.3,577.4,-7.2,709,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2412,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,-0.48,-170.3,597.7,-6.3,739,6380,0.00,2.10,0.00,0.000,4,0.000,0.024,2124,1040,3673,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6394,-0.49,-170.3,599.4,-6.1,741,6403,0.00,2.33,0.00,0.000,6,0.000,0.032,2118,2487,3673,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6715,-0.49,-170.3,618.6,-6.2,758,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2486,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7014,-0.50,-170.3,639.9,-7.8,773,7019,0.00,2.08,0.00,0.000,4,0.000,0.044,2108,3822,3669,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7047,-0.51,-170.3,641.4,-7.7,774,7054,0.00,2.05,0.00,0.000,6,0.000,0.020,2108,2424,3668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7355,-0.51,-170.3,666.9,-7.3,790,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2424,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7653,-0.51,-170.3,688.1,-7.1,805,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2423,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,-0.51,-170.3,711.4,-8.0,820,7959,0.00,2.25,0.00,0.000,4,0.000,0.046,2099,3810,3663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7976,-0.51,-170.3,712.8,-7.9,821,7979,0.00,2.03,0.00,0.000,6,0.000,0.022,2099,2434,3663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8294,-0.50,-170.3,739.1,-8.0,837,8299,0.00,2.17,0.00,0.000,4,0.000,0.026,2099,1034,3661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8316,-0.50,-170.3,740.7,-7.9,838,8320,0.00,2.40,0.00,0.000,6,0.000,0.034,2099,2498,3661,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8630,-0.50,-170.3,765.3,-7.9,854,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2497,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,-0.50,-170.3,790.4,-8.6,869,8934,0.00,2.30,0.00,0.000,4,0.000,0.026,2099,1043,3658,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8962,-0.50,-170.3,792.2,-8.7,870,8969,0.00,2.38,0.00,0.000,6,0.000,0.035,2098,2492,3658,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9269,-0.50,-170.3,817.8,-7.6,886,9275,0.00,2.08,0.00,0.000,4,0.000,0.046,2089,3815,3656,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9297,-0.50,-170.3,819.2,-7.4,887,9301,0.00,2.03,0.00,0.000,6,0.000,0.021,2089,2431,3655,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9606,-0.49,-170.3,843.9,-7.5,902,9611,0.00,2.15,0.00,0.000,4,0.000,0.026,2089,1049,3654,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9652,-0.49,-170.3,847.1,-7.8,904,9656,0.00,2.35,0.00,0.000,6,0.000,0.036,2086,2490,3654,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9960,-0.48,-170.3,872.0,-8.0,919,9966,0.12,2.05,0.00,0.000,4,0.142,0.044,2120,3812,3653,0,0,0,0,0,0,26.31,26.10,28.83
$GC,9987,-0.48,-170.3,873.5,-7.8,920,9991,0.00,2.05,0.00,0.000,6,0.000,0.021,2120,2423,3653,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10295,-0.50,-170.3,892.0,-6.0,935,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2422,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10596,-0.52,-170.3,909.7,-5.7,950,10601,0.00,2.28,0.00,0.000,4,0.000,0.046,2112,3813,3651,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10628,-0.54,-170.3,910.9,-5.8,951,10635,0.00,2.05,0.00,0.000,6,0.000,0.020,2112,2418,3650,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10936,-0.55,-170.3,931.7,-6.5,967,10941,0.00,2.12,0.00,0.000,4,0.000,0.026,2112,1041,3649,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10963,-0.56,-170.3,933.1,-6.6,968,10967,0.00,2.40,0.00,0.000,6,0.000,0.035,2112,2498,3650,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11270,-0.57,-170.3,954.2,-6.8,983,11274,0.00,2.08,0.00,0.000,4,0.000,0.047,2102,3818,3648,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11306,-0.58,-170.3,955.7,-6.8,984,11314,0.00,2.08,0.00,0.000,6,0.000,0.022,2102,2422,3648,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11613,-0.59,-170.3,979.9,-7.5,1000,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2422,3647,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11749,begin apogee
$GC,11756,-0.20,0.0,990.0,-7.1,1007,11933,0.30,0.10,164.98,1.177,4,0.094,0.072,2209,2478,2968,0,0,0,0,0,0,26.06,24.70,23.84
$STATE,11934,end apogee,CONTROL_FINISHED_OK
$STATE,11934,begin climb
$GC,11937,0.55,170.3,996.8,0.0,1016,12122,0.62,0.12,176.68,1.165,6,0.034,0.080,2466,2555,2282,0,0,0,0,0,0,24.95,24.94,23.39
$GC,12432,0.48,170.3,913.3,20.5,1041,12438,0.12,2.03,0.00,0.000,4,0.190,0.041,2428,3825,2249,0,0,0,0,0,0,25.46,25.67,28.83
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$STATE,21268,end climb,SURFACE_DEPTH_REACHED
$STATE,21268,begin surface coast
$FINISH,-0.1,1.008853
$STATE,21281,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,18.498
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$FG_AHR_10Vo,0.000
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$MEM,330452
$DATA_FILE_SIZE,120255,1947
$CAP_FILE_SIZE,243956,0
$CFSIZE,260165632,205869056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
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