version: 66.10
glider: 169
mission: 6
dive: 256
start: 6 13 112 15 32 39
data:
$ID,169
$MISSION,6
$DIVE,256
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,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,-15786.521
$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,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,130612,152207,2252.159,12156.871,37,1.0,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.8
$GPS2,130612,153213,2252.358,12156.847,10,1.4,15,-3.0
$SPEED_LIMITS,0.150,0.281
$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,264.4,56790,-13.8,-8.684
$D_GRID,4443
$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,-0.58,-194.6,0.0,0.0,0,106,0.00,0.00,-86.22,0.000,2,0.000,0.000,116,2479,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.58,-194.6,3.6,-8.6,15,141,8.05,2.10,-14.25,0.000,4,0.226,0.054,2066,3825,3776,0,0,0,0,0,0,25.03,26.01,26.48
$GC,231,-0.53,-194.6,50.0,-20.3,37,239,0.12,2.05,0.00,0.000,6,0.145,0.019,2102,2409,3777,0,0,0,0,0,0,25.90,26.22,28.83
$GC,424,-0.46,-194.6,99.3,-23.6,74,432,0.00,2.33,0.00,0.000,4,0.000,0.024,2111,973,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,486,-0.48,-194.6,108.3,-10.8,85,492,0.00,2.53,0.00,0.000,6,0.000,0.030,2100,2465,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,675,-0.44,-194.6,139.1,-14.4,122,683,0.12,0.00,0.00,0.000,6,0.158,0.000,2140,2464,3778,0,0,0,0,0,0,26.15,28.83,28.83
$GC,869,-0.44,-194.6,159.9,-9.3,159,876,0.00,2.45,0.00,0.000,4,0.000,0.024,2140,980,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,898,-0.46,-194.6,162.4,-8.5,164,905,0.00,2.50,0.00,0.000,6,0.000,0.031,2138,2467,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1091,-0.46,-194.6,179.3,-8.8,201,1098,0.00,2.05,0.00,0.000,4,0.000,0.038,2128,3827,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1131,-0.50,-194.6,182.8,-8.3,208,1137,0.00,2.03,0.00,0.000,6,0.000,0.017,2128,2396,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1324,-0.50,-194.6,200.0,-9.8,245,1330,0.00,2.25,0.00,0.000,4,0.000,0.023,2128,984,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1363,-0.52,-194.6,203.7,-9.3,252,1370,0.00,2.50,0.00,0.000,6,0.000,0.030,2125,2476,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1674,-0.52,-194.6,233.4,-10.4,313,1681,0.00,2.05,0.00,0.000,4,0.000,0.039,2115,3837,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1720,-0.55,-194.6,238.0,-9.8,321,1727,0.00,2.05,0.00,0.000,6,0.000,0.017,2115,2396,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2032,-0.55,-194.6,270.2,-9.4,382,2040,0.00,2.28,0.00,0.000,4,0.000,0.022,2116,968,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2074,-0.59,-194.6,273.8,-7.7,389,2080,0.00,2.55,0.00,0.000,6,0.000,0.029,2112,2482,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2389,-0.62,-194.6,296.6,-6.2,450,2398,0.10,2.05,0.00,0.000,4,0.092,0.038,2016,3841,3773,0,0,0,0,0,0,26.61,26.29,28.83
$GC,2503,-0.57,-194.6,312.0,-15.7,471,2510,0.22,1.80,0.00,0.000,6,0.135,0.020,2092,2515,3773,0,0,0,0,0,0,25.98,26.52,28.83
$GC,2819,-0.56,-194.6,344.4,-10.5,532,2826,0.00,2.55,0.00,0.000,4,0.000,0.024,2094,986,3771,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2890,-0.58,-194.6,351.5,-9.2,545,2897,0.00,2.75,0.00,0.000,6,0.000,0.031,2085,2562,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3203,-0.56,-194.6,386.8,-12.2,606,3211,0.00,2.67,0.00,0.000,4,0.000,0.024,2086,991,3768,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3264,-0.59,-194.6,393.7,-10.5,617,3271,0.00,2.70,0.00,0.000,6,0.000,0.033,2085,2540,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3576,-0.58,-194.6,427.3,-10.0,678,3584,0.00,2.62,0.00,0.000,4,0.000,0.024,2086,984,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3624,-0.60,-194.6,431.3,-8.3,686,3632,0.00,2.67,0.00,0.000,6,0.000,0.032,2085,2534,3766,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3937,-0.59,-194.6,461.7,-10.7,747,3944,0.00,0.00,-0.08,0.000,6,0.000,0.000,2085,2532,3790,0,0,0,0,0,0,28.83,28.83,25.52
$GC,4250,-0.59,-194.6,490.3,-8.1,808,4257,0.00,2.62,0.00,0.000,4,0.000,0.027,2086,984,3789,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4321,-0.61,-194.6,495.6,-7.4,821,4328,0.00,2.65,0.00,0.000,6,0.000,0.034,2085,2518,3788,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4637,-0.64,-194.6,517.5,-7.1,858,4647,0.00,1.92,0.00,0.000,4,0.000,0.044,2084,3824,3785,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4662,-0.69,-194.6,519.2,-7.0,860,4671,0.00,2.17,0.00,0.000,6,0.000,0.018,2084,2324,3785,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4972,-0.71,-194.6,542.6,-8.0,891,4982,0.12,2.40,0.00,0.000,4,0.074,0.041,1977,3830,3782,0,0,0,0,0,0,26.60,26.22,28.83
$GC,5056,-0.65,-194.6,555.6,-17.9,899,5060,0.25,1.92,0.00,0.000,6,0.140,0.021,2060,2482,3782,0,0,0,0,0,0,25.84,26.47,28.83
$GC,5368,-0.63,-194.6,596.0,-12.1,930,5378,0.00,2.45,0.00,0.000,4,0.000,0.025,2063,979,3780,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5431,-0.65,-194.6,602.4,-9.3,936,5440,0.00,2.65,0.00,0.000,6,0.000,0.033,2052,2523,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5742,-0.63,-194.6,640.0,-12.1,967,5751,0.00,2.58,0.00,0.000,4,0.000,0.026,2052,997,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5777,-0.61,-194.6,643.8,-11.9,970,5785,0.12,2.60,0.00,0.000,6,0.125,0.034,2083,2510,3777,0,0,0,0,0,0,26.09,26.24,28.83
$GC,6084,-0.61,-194.6,669.1,-7.5,1001,6093,0.00,2.53,0.00,0.000,4,0.000,0.026,2083,990,3775,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6109,-0.61,-194.6,670.9,-7.6,1003,6116,0.00,2.60,0.00,0.000,6,0.000,0.035,2082,2498,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6417,-0.61,-194.6,691.6,-7.1,1034,6426,0.00,2.00,0.00,0.000,4,0.000,0.046,2073,3833,3772,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6450,-0.62,-194.6,694.0,-7.3,1037,6458,0.00,2.00,0.00,0.000,6,0.000,0.020,2073,2430,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6761,-0.62,-194.6,719.2,-8.3,1068,6769,0.00,2.35,0.00,0.000,4,0.000,0.026,2073,993,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6782,-0.62,-194.6,721.1,-8.3,1070,6792,0.00,2.55,0.00,0.000,6,0.000,0.034,2070,2496,3770,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7092,-0.62,-194.6,747.0,-9.1,1101,7101,0.00,2.53,0.00,0.000,4,0.000,0.026,2070,991,3768,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7125,-0.62,-194.6,749.8,-8.8,1104,7133,0.00,2.58,0.00,0.000,6,0.000,0.036,2061,2489,3768,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7435,-0.61,-194.6,779.7,-9.7,1135,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2488,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7738,-0.60,-194.6,805.9,-7.7,1165,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2488,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,-0.59,-194.6,829.4,-8.0,1196,8057,0.00,2.50,0.00,0.000,4,0.000,0.027,2061,998,3763,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8092,-0.59,-194.6,833.2,-8.6,1200,8099,0.00,2.60,0.00,0.000,6,0.000,0.036,2056,2491,3762,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8402,-0.58,-194.6,859.0,-8.4,1231,8411,0.10,2.50,0.00,0.000,4,0.154,0.026,2085,988,3761,0,0,0,0,0,0,26.39,26.22,28.83
$GC,8435,-0.59,-194.6,861.6,-7.6,1234,8445,0.00,2.55,0.00,0.000,6,0.000,0.037,2085,2482,3760,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8746,-0.61,-194.6,879.6,-5.7,1265,8755,0.00,2.05,0.00,0.000,4,0.000,0.047,2076,3824,3759,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8778,-0.63,-194.6,881.5,-5.7,1268,8782,0.00,2.03,0.00,0.000,6,0.000,0.020,2076,2414,3759,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9092,-0.63,-194.6,899.0,-5.4,1299,9101,0.00,2.33,0.00,0.000,4,0.000,0.027,2076,985,3758,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9135,-0.65,-194.6,901.5,-5.5,1303,9143,0.00,2.55,0.00,0.000,6,0.000,0.034,2069,2477,3758,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9445,-0.65,-194.6,921.2,-7.1,1334,9454,0.00,2.05,0.00,0.000,4,0.000,0.045,2059,3818,3756,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9499,-0.67,-194.6,924.9,-7.2,1339,9503,0.00,2.05,0.00,0.000,6,0.000,0.023,2059,2420,3756,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9812,-0.67,-194.6,951.2,-8.5,1370,9821,0.00,2.35,0.00,0.000,4,0.000,0.028,2059,981,3754,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9854,-0.68,-194.6,955.0,-8.7,1374,9865,0.00,2.55,0.00,0.000,6,0.000,0.036,2050,2472,3754,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10166,-0.67,-194.6,983.7,-9.1,1405,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2471,3753,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10233,begin apogee
$GC,10239,-0.20,0.0,990.3,-9.4,1412,10437,0.45,0.00,192.85,1.109,4,0.099,0.000,2206,2557,2978,0,0,0,0,0,0,25.79,28.83,23.60
$STATE,10438,end apogee,CONTROL_FINISHED_OK
$STATE,10438,begin climb
$GC,10441,0.58,194.6,998.6,0.0,1432,10659,0.68,1.98,206.15,1.073,4,0.042,0.046,2472,3826,2172,0,0,0,0,0,0,24.93,24.88,23.23
$GC,10794,0.50,194.6,933.8,23.8,1467,10803,0.15,1.92,0.00,0.000,6,0.190,0.024,2442,2526,2144,0,0,0,0,0,0,25.20,25.60,28.83
$GC,11105,0.45,194.6,878.0,17.8,1498,11114,0.00,2.53,0.00,0.000,4,0.000,0.030,2455,1088,2138,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11232,0.42,194.6,858.7,15.0,1510,11241,0.15,2.70,0.00,0.000,6,0.158,0.035,2414,2576,2136,0,0,0,0,0,0,25.71,26.02,28.83
$GC,11539,0.39,194.6,815.2,13.8,1541,11542,0.00,1.85,0.00,0.000,4,0.000,0.044,2414,3832,2136,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11633,0.35,194.6,800.8,15.6,1550,11642,0.12,1.83,0.00,0.000,6,0.174,0.022,2391,2536,2135,0,0,0,0,0,0,25.84,26.22,28.83
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$STATE,18815,end climb,SURFACE_DEPTH_REACHED
$STATE,18815,begin surface coast
$FINISH,-0.1,1.021043
$STATE,18856,end surface coast,CONTROL_FINISHED_OK
$STATE,18856,begin surface
$SM_CCo,18933,0.00,0.000,0,0,521,602.95
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.86
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.2,52.084
$10V_AH,10.0,31.959
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.375,206.950,802.625,0.000,0.000,31.288,22.175,364.675,0.000,0.000,18.285,6257.376,6988.172,1063.257,4573.041,604.987,0.000,3220.765,0.000,4010.407,0.000,0.543,0.000
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$MEM,324616
$DATA_FILE_SIZE,163696,2652
$CAP_FILE_SIZE,260431,0
$CFSIZE,260165632,194068480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.113,  1.6,1
$GPS,130612,204907,2253.080,12154.280,27,0.9,27,-3.0