version: 66.10
glider: 169
mission: 6
dive: 182
start: 5 28 112 2 28 21
data:
$ID,169
$MISSION,6
$DIVE,182
$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,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,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,-15686.925
$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
$GPS1,280512,022402,2141.522,12342.883,11,1.6,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.6
$GPS2,280512,022756,2141.502,12342.928,14,1.6,14,-2.9
$SPEED_LIMITS,0.136,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,306.5,278723,-12.5,-7.857
$D_GRID,4921
$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,-194.6,0.0,0.0,0,116,0.00,0.00,-96.10,0.000,2,0.000,0.000,136,2499,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.55,-194.6,3.8,-8.8,15,146,7.90,2.42,-11.55,0.000,4,0.230,0.034,2101,1016,3775,0,0,0,0,0,0,25.27,26.26,26.60
$GC,286,-0.49,-194.6,57.8,-23.1,46,293,0.00,2.50,0.00,0.000,6,0.000,0.033,2088,2520,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,480,-0.39,-194.6,118.9,-29.7,83,488,0.17,2.40,0.00,0.000,4,0.174,0.019,2150,1028,3775,0,0,0,0,0,0,25.93,26.35,28.83
$GC,530,-0.39,-194.6,130.1,-12.8,92,538,0.00,2.38,0.00,0.000,6,0.000,0.032,2140,2481,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,723,-0.35,-194.6,158.5,-16.5,129,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2480,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,913,-0.31,-194.6,188.8,-15.4,166,921,0.12,0.00,0.00,0.000,6,0.148,0.000,2182,2480,3774,0,0,0,0,0,0,26.29,28.83,28.83
$GC,1109,-0.33,-194.6,205.1,-6.8,196,1117,0.00,2.30,0.00,0.000,4,0.000,0.024,2182,1040,3774,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1135,-0.36,-194.6,206.8,-6.6,198,1143,0.00,2.33,0.00,0.000,6,0.000,0.030,2182,2468,3774,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1442,-0.44,-194.6,232.9,-9.3,229,1451,0.12,2.03,0.00,0.000,4,0.101,0.037,2119,3828,3772,0,0,0,0,0,0,26.51,26.37,28.83
$GC,1610,-0.49,-194.6,246.7,-6.9,245,1617,0.00,2.03,0.00,0.000,6,0.000,0.020,2119,2408,3771,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1918,-0.57,-194.6,269.3,-7.3,276,1926,0.00,2.20,0.00,0.000,4,0.000,0.039,2118,3817,3769,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2060,-0.64,-194.6,281.4,-8.8,290,2070,0.15,1.98,0.00,0.000,6,0.105,0.018,2065,2421,3768,0,0,0,0,0,0,26.32,26.57,28.83
$GC,2370,-0.58,-194.6,329.1,-18.5,321,2379,0.00,2.15,0.00,0.000,4,0.000,0.039,2054,3818,3766,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2415,-0.53,-194.6,337.1,-18.5,325,2422,0.15,1.95,0.00,0.000,6,0.129,0.020,2099,2443,3766,0,0,0,0,0,0,26.21,26.53,28.83
$GC,2722,-0.50,-194.6,377.6,-12.2,356,2733,0.00,2.22,-0.10,0.000,4,0.000,0.035,2101,1042,3784,0,0,0,0,0,0,28.83,26.44,26.08
$GC,2789,-0.51,-194.6,383.7,-8.6,362,2796,0.00,2.40,0.00,0.000,6,0.000,0.032,2098,2506,3784,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3097,-0.48,-194.6,420.5,-12.9,393,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2505,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.47,-194.6,452.3,-8.6,423,3409,0.00,2.35,0.00,0.000,4,0.000,0.024,2099,1039,3779,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3432,-0.46,-194.6,455.2,-8.1,426,3441,0.00,2.40,0.00,0.000,6,0.000,0.033,2099,2510,3779,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3743,-0.45,-194.6,482.8,-9.5,457,3745,0.10,0.00,0.00,0.000,6,0.147,0.000,2129,2509,3776,0,0,0,0,0,0,26.49,28.83,28.83
$GC,4043,-0.46,-194.6,502.5,-6.8,487,4052,0.00,2.38,0.00,0.000,4,0.000,0.026,2130,1046,3774,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4076,-0.49,-194.6,504.7,-6.9,490,4085,0.00,2.38,0.00,0.000,6,0.000,0.033,2125,2490,3773,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4386,-0.56,-194.6,528.0,-8.0,521,4395,0.00,2.03,0.00,0.000,4,0.000,0.043,2125,3824,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4503,-0.63,-194.6,538.3,-9.4,532,4511,0.17,2.00,0.00,0.000,6,0.094,0.020,2059,2425,3769,0,0,0,0,0,0,26.30,26.53,28.83
$GC,4812,-0.64,-194.6,563.7,-8.5,563,4820,0.00,2.17,0.00,0.000,4,0.000,0.027,2059,1043,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4836,-0.64,-194.6,565.7,-8.6,565,4842,0.00,2.60,0.00,0.000,6,0.000,0.034,2047,2582,3766,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5156,-0.60,-194.6,611.9,-14.8,593,5162,0.12,2.55,0.00,0.000,4,0.141,0.026,2095,1043,3763,0,0,0,0,0,0,26.34,26.37,28.83
$GC,5209,-0.58,-194.6,616.8,-13.7,595,5215,0.00,2.58,0.00,0.000,6,0.000,0.034,2090,2560,3763,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5515,-0.57,-194.6,645.1,-8.6,611,5520,0.00,2.50,0.00,0.000,4,0.000,0.026,2090,1039,3759,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5575,-0.57,-194.6,649.8,-8.0,614,5581,0.00,2.53,0.00,0.000,6,0.000,0.035,2085,2542,3759,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5895,-0.56,-194.6,678.2,-9.4,630,5901,0.00,2.45,0.00,0.000,4,0.000,0.027,2085,1037,3757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5923,-0.55,-194.6,680.2,-9.6,631,5927,0.00,2.50,0.00,0.000,6,0.000,0.034,2085,2534,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6231,-0.55,-194.6,709.9,-9.4,646,6236,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1046,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6269,-0.55,-194.6,713.8,-9.6,648,6275,0.00,2.47,0.00,0.000,6,0.000,0.036,2085,2518,3754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6591,-0.54,-194.6,742.9,-9.1,664,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2516,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,-0.54,-194.6,768.9,-8.2,679,6896,0.00,2.40,0.00,0.000,4,0.000,0.028,2085,1046,3749,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6938,-0.54,-194.6,771.9,-7.7,681,6942,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2517,3749,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7246,-0.54,-194.6,794.1,-6.8,696,7252,0.00,2.40,0.00,0.000,4,0.000,0.028,2086,1045,3746,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7278,-0.54,-194.6,795.4,-6.8,697,7285,0.00,2.42,0.00,0.000,6,0.000,0.036,2085,2503,3746,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7586,-0.54,-194.6,818.6,-7.6,713,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2502,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7886,-0.54,-194.6,842.2,-7.6,728,7891,0.00,2.38,0.00,0.000,4,0.000,0.028,2085,1051,3742,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7918,-0.54,-194.6,843.7,-7.5,729,7925,0.00,2.42,0.00,0.000,6,0.000,0.037,2085,2493,3742,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8228,-0.54,-194.6,866.4,-7.0,745,8233,0.00,2.08,0.00,0.000,4,0.000,0.048,2076,3826,3740,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8256,-0.54,-194.6,868.0,-7.1,746,8265,0.00,2.08,0.00,0.000,6,0.000,0.023,2076,2419,3740,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8567,-0.53,-194.6,894.6,-9.0,762,8571,0.00,2.17,0.00,0.000,4,0.000,0.028,2076,1047,3739,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8592,-0.53,-194.6,896.7,-9.1,763,8597,0.12,2.42,0.00,0.000,6,0.112,0.035,2112,2498,3738,0,0,0,0,0,0,26.09,26.20,28.83
$GC,8907,-0.55,-194.6,918.4,-6.6,779,8912,0.00,2.03,0.00,0.000,4,0.000,0.047,2103,3817,3737,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8939,-0.57,-194.6,919.8,-6.6,780,8946,0.00,2.05,0.00,0.000,6,0.000,0.022,2103,2412,3736,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9248,-0.64,-194.6,943.4,-8.2,796,9253,0.00,2.17,0.00,0.000,4,0.000,0.028,2113,1042,3735,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9266,-0.71,-194.6,945.0,-7.9,797,9273,0.15,2.38,0.00,0.000,6,0.060,0.035,2043,2474,3735,0,0,0,0,0,0,26.08,26.19,28.83
$GC,9590,-0.72,-194.6,970.1,-7.6,813,9595,0.00,2.08,0.00,0.000,4,0.000,0.046,2033,3819,3733,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9630,-0.72,-194.6,973.6,-8.0,815,9634,0.00,1.90,0.00,0.000,6,0.000,0.023,2042,2514,3733,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,9806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9806,begin apogee
$GC,9812,-0.20,0.0,991.9,-10.5,824,9996,0.47,0.00,172.02,1.411,4,0.099,0.000,2206,2513,2978,0,0,0,0,1,0,25.79,28.83,23.39
$STATE,9997,end apogee,CONTROL_FINISHED_OK
$STATE,9997,begin climb
$GC,9999,0.55,194.6,999.7,0.0,833,10208,0.62,2.20,191.65,1.444,4,0.035,0.044,2471,3828,2184,0,0,0,0,1,0,24.72,24.67,22.89
$GC,10334,0.45,194.6,944.6,25.0,850,10339,0.22,2.03,0.00,0.000,6,0.183,0.022,2424,2499,2192,0,0,0,0,0,0,24.97,25.36,28.83
$GC,10649,0.40,194.6,893.4,15.3,866,10653,0.00,2.10,0.00,0.000,4,0.000,0.044,2424,3829,2192,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10752,0.33,194.6,874.9,17.9,871,10758,0.15,1.95,0.00,0.000,6,0.155,0.023,2385,2513,2192,0,0,0,0,0,0,25.63,26.05,28.83
$GC,11075,0.30,194.6,837.0,11.3,887,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2512,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11371,0.27,194.6,801.3,12.5,902,11375,0.00,2.08,0.00,0.000,4,0.000,0.045,2386,3818,2190,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11407,0.23,194.6,798.3,12.9,903,11415,0.15,1.90,0.00,0.000,6,0.156,0.023,2354,2516,2190,0,0,0,0,0,0,25.85,26.22,28.83
$GC,11714,0.22,194.6,764.3,10.0,919,11719,0.00,2.38,0.00,0.000,4,0.000,0.033,2366,1067,2189,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11769,0.22,194.6,760.3,9.9,921,11775,0.00,2.53,0.00,0.000,6,0.000,0.037,2366,2546,2187,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12074,0.20,194.6,727.6,9.8,937,12077,0.00,1.98,0.00,0.000,4,0.000,0.046,2366,3823,2187,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12103,0.18,194.6,725.2,9.9,938,12108,0.15,1.92,0.00,0.000,6,0.151,0.022,2334,2502,2187,0,0,0,0,0,0,25.90,26.29,28.83
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$STATE,17724,end climb,SURFACE_DEPTH_REACHED
$STATE,17726,begin surface coast
$FINISH,-0.2,1.021504
$STATE,17752,end surface coast,CONTROL_FINISHED_OK
$STATE,17752,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.49
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$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.1,22.274
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330524
$DATA_FILE_SIZE,100253,1558
$CAP_FILE_SIZE,226893,0
$CFSIZE,260165632,202641408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$CURRENT,0.128,159.1,1
$GPS,280512,072637,2142.538,12340.990,36,1.2,36,-2.9