version: 66.10
glider: 169
mission: 6
dive: 183
start: 5 28 112 7 34 40
data:
$ID,169
$MISSION,6
$DIVE,183
$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,-15689.674
$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
$GPS1,280512,072637,2142.538,12340.990,36,1.2,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.2
$GPS2,280512,073413,2142.555,12341.031,14,1.6,14,-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,322.0,274951,-12.5,-7.857
$D_GRID,4847
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-194.6,0.0,0.0,0,116,0.00,0.00,-97.28,0.000,2,0.000,0.000,118,2410,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.55,-194.6,4.1,-10.2,17,147,7.82,2.30,-11.40,0.000,4,0.225,0.048,2076,3833,3775,0,0,1,0,0,0,25.32,25.63,26.47
$GC,261,-0.48,-194.6,60.1,-25.8,43,268,0.15,2.00,0.00,0.000,6,0.147,0.021,2120,2465,3775,0,0,0,0,0,0,25.86,26.20,28.83
$GC,453,-0.40,-194.6,115.3,-26.5,80,461,0.00,2.30,0.00,0.000,4,0.000,0.023,2128,1036,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,525,-0.42,-194.6,126.8,-8.9,93,531,0.00,2.42,0.00,0.000,6,0.000,0.033,2117,2497,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,716,-0.37,-194.6,159.3,-18.3,130,723,0.12,2.00,0.00,0.000,4,0.160,0.040,2146,3824,3775,0,0,0,0,0,0,26.16,26.24,28.83
$GC,747,-0.33,-194.6,164.3,-15.8,135,754,0.00,2.05,0.00,0.000,6,0.000,0.021,2146,2427,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,938,-0.31,-194.6,188.1,-11.8,172,946,0.00,2.20,0.00,0.000,4,0.000,0.024,2147,1043,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,999,-0.33,-194.6,194.2,-8.3,183,1006,0.00,2.35,0.00,0.000,6,0.000,0.029,2137,2482,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1192,-0.31,-194.6,217.3,-13.2,207,1201,0.12,2.00,0.00,0.000,4,0.144,0.040,2171,3826,3776,0,0,0,0,0,0,26.29,26.30,28.83
$GC,1218,-0.29,-194.6,220.1,-12.3,209,1224,0.00,2.08,0.00,0.000,6,0.000,0.020,2171,2406,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1526,-0.32,-194.6,235.1,-4.4,240,1529,0.00,2.22,0.00,0.000,4,0.000,0.039,2162,3824,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1558,-0.35,-194.6,236.7,-4.9,243,1562,0.00,2.05,0.00,0.000,6,0.000,0.020,2162,2399,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1871,-0.43,-194.6,266.0,-10.0,274,1879,0.00,2.22,0.00,0.000,4,0.000,0.037,2162,3833,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1925,-0.49,-194.6,271.2,-10.2,279,1933,0.15,2.03,0.00,0.000,6,0.096,0.018,2110,2404,3775,0,0,0,0,0,0,26.34,26.54,28.83
$GC,2235,-0.55,-194.6,295.1,-7.9,310,2239,0.00,2.22,0.00,0.000,4,0.000,0.038,2110,3837,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2331,-0.62,-194.6,303.8,-9.5,319,2339,0.10,1.98,0.00,0.000,6,0.089,0.018,2010,2430,3773,0,0,0,0,0,0,26.44,26.55,28.83
$GC,2638,-0.53,-194.6,374.8,-23.3,350,2648,0.28,2.20,0.00,0.000,4,0.139,0.025,2109,1047,3772,0,0,0,0,0,0,26.00,26.43,28.83
$GC,2733,-0.55,-194.6,385.4,-7.1,359,2741,0.00,2.33,0.00,0.000,6,0.000,0.031,2099,2488,3772,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3042,-0.53,-194.6,420.6,-12.6,390,3051,0.00,1.98,0.00,0.000,4,0.000,0.041,2089,3818,3770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3064,-0.51,-194.6,423.5,-12.3,392,3068,0.00,2.03,0.00,0.000,6,0.000,0.019,2089,2415,3770,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3376,-0.49,-194.6,459.2,-9.5,423,3385,0.00,2.17,0.00,0.000,4,0.000,0.040,2080,3831,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3420,-0.48,-194.6,463.1,-9.2,427,3428,0.12,2.03,0.00,0.000,6,0.116,0.020,2121,2419,3768,0,0,0,0,0,0,26.29,26.52,28.83
$GC,3729,-0.49,-194.6,482.8,-6.0,458,3737,0.00,2.15,0.00,0.000,4,0.000,0.025,2121,1046,3765,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3751,-0.50,-194.6,484.3,-6.5,460,3759,0.00,2.35,0.00,0.000,6,0.000,0.031,2118,2489,3765,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4061,-0.51,-194.6,505.5,-7.4,491,4065,0.00,2.03,0.00,0.000,4,0.000,0.043,2107,3824,3763,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4086,-0.52,-194.6,507.2,-7.6,493,4094,0.00,2.03,0.00,0.000,6,0.000,0.019,2109,2419,3762,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4393,-0.52,-194.6,529.4,-6.2,524,4402,0.00,2.17,0.00,0.000,4,0.000,0.025,2109,1038,3760,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4425,-0.53,-194.6,531.4,-6.5,527,4434,0.00,2.35,0.00,0.000,6,0.000,0.032,2108,2490,3759,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4736,-0.53,-194.6,554.7,-8.9,558,4740,0.00,2.03,0.00,0.000,4,0.000,0.044,2099,3831,3757,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4770,-0.54,-194.6,557.8,-9.2,561,4778,0.00,2.03,0.00,0.000,6,0.000,0.021,2099,2429,3756,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5078,-0.54,-194.6,587.3,-8.7,592,5087,0.00,2.20,0.00,0.000,4,0.000,0.027,2099,1039,3755,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5111,-0.55,-194.6,589.9,-8.3,595,5119,0.00,2.38,0.00,0.000,6,0.000,0.033,2099,2494,3754,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5423,-0.55,-194.6,611.2,-6.8,618,5427,0.00,2.03,0.00,0.000,4,0.000,0.044,2090,3830,3752,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5448,-0.55,-194.6,612.9,-6.9,619,5452,0.00,2.05,0.00,0.000,6,0.000,0.021,2090,2422,3752,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5760,-0.55,-194.6,637.5,-8.1,635,5765,0.00,2.20,0.00,0.000,4,0.000,0.026,2090,1029,3749,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5792,-0.55,-194.6,639.3,-8.3,636,5799,0.00,2.42,0.00,0.000,6,0.000,0.034,2086,2499,3749,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6101,-0.54,-194.6,666.1,-8.8,652,6106,0.00,2.00,0.00,0.000,4,0.000,0.045,2076,3821,3746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6128,-0.53,-194.6,667.9,-8.7,653,6132,0.00,2.03,0.00,0.000,6,0.000,0.021,2076,2430,3747,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6436,-0.52,-194.6,699.9,-10.8,668,6442,0.10,2.20,0.00,0.000,4,0.135,0.028,2109,1051,3744,0,0,0,0,0,0,26.48,26.32,28.83
$GC,6476,-0.52,-194.6,703.5,-10.1,670,6481,0.00,2.40,0.00,0.000,6,0.000,0.034,2102,2510,3744,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6797,-0.53,-194.6,727.8,-7.3,686,6800,0.00,2.00,0.00,0.000,4,0.000,0.047,2094,3821,3742,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6820,-0.54,-194.6,729.5,-7.3,687,6825,0.00,2.03,0.00,0.000,6,0.000,0.021,2094,2425,3741,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7139,-0.54,-194.6,752.4,-6.8,703,7144,0.00,2.20,0.00,0.000,4,0.000,0.028,2094,1046,3739,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7181,-0.55,-194.6,755.2,-6.8,705,7186,0.00,2.40,0.00,0.000,6,0.000,0.035,2089,2501,3739,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7495,-0.55,-194.6,777.9,-7.4,721,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7794,-0.55,-194.6,800.7,-7.5,736,7799,0.00,2.35,0.00,0.000,4,0.000,0.028,2089,1047,3735,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7827,-0.55,-194.6,802.2,-7.6,737,7835,0.00,2.40,0.00,0.000,6,0.000,0.037,2086,2486,3735,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8133,-0.55,-194.6,827.7,-8.1,753,8139,0.00,2.10,0.00,0.000,4,0.000,0.048,2077,3819,3733,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8154,-0.55,-194.6,829.4,-8.1,754,8159,0.00,2.08,0.00,0.000,6,0.000,0.022,2077,2422,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8475,-0.55,-194.6,858.3,-9.2,770,8480,0.00,2.20,0.00,0.000,4,0.000,0.028,2077,1039,3731,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8521,-0.55,-194.6,861.8,-9.1,772,8525,0.00,2.40,0.00,0.000,6,0.000,0.036,2067,2489,3731,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8829,-0.54,-194.6,892.2,-9.4,787,8835,0.12,2.05,0.00,0.000,4,0.137,0.047,2102,3817,3729,0,0,0,0,0,0,26.30,26.09,28.83
$GC,8857,-0.53,-194.6,893.8,-9.1,788,8861,0.00,2.08,0.00,0.000,6,0.000,0.021,2102,2414,3730,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9165,-0.55,-194.6,911.7,-5.4,803,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2414,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9465,-0.56,-194.6,929.1,-6.2,818,9471,0.00,2.33,0.00,0.000,4,0.000,0.048,2098,3823,3727,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9492,-0.58,-194.6,930.3,-6.1,819,9496,0.00,2.08,0.00,0.000,6,0.000,0.022,2098,2422,3727,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9803,-0.63,-194.6,949.6,-6.5,834,9808,0.00,2.25,0.00,0.000,4,0.000,0.047,2098,3815,3726,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10036,-0.70,-194.6,967.7,-9.1,845,10044,0.17,1.98,0.00,0.000,6,0.099,0.023,2044,2456,3724,0,0,0,0,0,0,26.11,26.38,28.83
$STATE,10300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10300,begin apogee
$GC,10307,-0.20,0.0,990.3,-7.8,859,10505,0.45,0.08,191.35,1.135,4,0.086,0.037,2208,2485,2975,0,0,0,0,0,0,25.94,24.65,23.77
$STATE,10506,end apogee,CONTROL_FINISHED_OK
$STATE,10506,begin climb
$GC,10509,0.55,194.6,1000.6,0.0,869,10732,0.60,2.42,214.15,1.106,4,0.036,0.030,2462,1065,2185,0,0,0,0,0,0,24.88,24.87,23.35
$GC,10828,0.50,194.6,963.9,17.2,885,10833,0.00,2.62,0.00,0.000,6,0.000,0.041,2462,2534,2150,0,0,0,0,0,0,28.83,25.14,28.83
$GC,11137,0.42,194.6,894.7,22.3,900,11143,0.15,2.42,0.00,0.000,4,0.184,0.028,2431,1070,2146,0,0,0,0,0,0,25.56,25.87,28.83
$GC,11190,0.36,194.6,886.7,21.0,902,11199,0.15,2.55,0.00,0.000,6,0.146,0.036,2389,2555,2144,0,0,0,0,0,0,25.65,25.89,28.83
$GC,11496,0.33,194.6,842.9,12.9,918,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2553,2143,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19944,end climb,SURFACE_DEPTH_REACHED
$STATE,19944,begin surface coast
$FINISH,0.1,1.021436
$STATE,19982,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,10.2,22.409
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330480
$DATA_FILE_SIZE,113634,1791
$CAP_FILE_SIZE,238664,0
$CFSIZE,260165632,202506240
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.147,117.4,1
$GPS,280512,130955,2144.907,12340.751,69,1.0,69,-2.9