version: 66.10
glider: 169
mission: 6
dive: 288
start: 6 20 112 21 44 21
data:
$ID,169
$MISSION,6
$DIVE,288
$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,-15901.697
$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,2425
$C_ROLL_CLIMB,2520
$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,48
$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
$GPS1,200612,213307,2323.630,12204.074,29,1.6,29,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.2
$GPS2,200612,214355,2323.951,12204.163,16,2.0,33,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,121.8,193864,-13.8,-8.684
$D_GRID,4773
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-82.50,0.000,2,0.000,0.000,116,2451,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.58,-194.6,3.9,-10.4,14,131,8.10,2.22,-11.50,0.000,4,0.230,0.044,2070,3840,3775,0,0,0,0,0,0,24.96,26.03,26.48
$GC,236,-0.53,-194.6,50.0,-21.5,38,242,0.00,2.15,0.00,0.000,6,0.000,0.021,2073,2400,3775,0,0,0,0,0,0,28.83,26.19,28.83
$GC,428,-0.46,-194.6,96.2,-21.5,75,435,0.15,2.33,0.00,0.000,4,0.145,0.022,2133,956,3775,0,0,0,0,0,0,26.03,26.22,28.83
$GC,464,-0.46,-194.6,102.2,-13.4,81,472,0.00,2.53,0.00,0.000,6,0.000,0.030,2124,2458,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,658,-0.45,-194.6,122.6,-10.5,118,664,0.00,2.10,0.00,0.000,4,0.000,0.039,2114,3843,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,698,-0.46,-194.6,126.6,-9.5,125,706,0.00,2.10,0.00,0.000,6,0.000,0.020,2114,2403,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,891,-0.45,-194.6,146.7,-10.1,162,897,0.00,2.33,0.00,0.000,4,0.000,0.024,2114,951,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,931,-0.47,-194.6,150.8,-9.2,169,939,0.00,2.50,0.00,0.000,6,0.000,0.031,2107,2440,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1124,-0.46,-194.6,171.0,-10.1,206,1130,0.00,2.12,0.00,0.000,4,0.000,0.039,2097,3843,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1164,-0.46,-194.6,175.3,-10.0,213,1171,0.00,2.10,0.00,0.000,6,0.000,0.020,2097,2402,3777,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1355,-0.44,-194.6,195.8,-11.1,250,1363,0.12,2.33,0.00,0.000,4,0.129,0.024,2143,962,3776,0,0,0,0,0,0,26.33,26.32,28.83
$GC,1383,-0.45,-194.6,198.1,-8.7,254,1389,0.00,2.53,0.00,0.000,6,0.000,0.030,2143,2464,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1576,-0.53,-194.6,211.2,-7.3,291,1584,0.12,2.08,0.00,0.000,4,0.122,0.037,2094,3830,3776,0,0,0,0,0,0,26.36,26.25,28.83
$GC,1709,-0.59,-194.6,220.8,-7.5,316,1716,0.00,2.05,0.00,0.000,6,0.000,0.018,2101,2405,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2027,-0.67,-194.6,240.4,-6.9,377,2035,0.12,2.33,0.00,0.000,4,0.107,0.023,2051,939,3776,0,0,0,0,0,0,26.47,26.36,28.83
$GC,2063,-0.72,-194.6,243.3,-7.3,383,2070,0.00,2.60,0.00,0.000,6,0.000,0.030,2048,2484,3775,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2376,-0.67,-194.6,283.8,-13.7,444,2383,0.00,2.55,0.00,0.000,4,0.000,0.027,2049,946,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2461,-0.67,-194.6,294.2,-10.6,460,2468,0.00,2.50,0.00,0.000,6,0.000,0.033,2038,2439,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2775,-0.63,-194.6,340.3,-14.8,521,2783,0.12,2.15,0.00,0.000,4,0.151,0.041,2069,3829,3772,0,0,0,0,0,0,26.27,26.23,28.83
$GC,2796,-0.59,-194.6,343.6,-14.5,524,2803,0.00,2.15,0.00,0.000,6,0.000,0.020,2069,2380,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3108,-0.57,-194.6,377.1,-10.7,585,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2380,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3422,-0.55,-194.6,410.4,-9.8,646,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2380,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3733,-0.53,-194.6,444.1,-10.9,707,3740,0.12,0.00,0.00,0.000,6,0.132,0.000,2114,2380,3765,0,0,0,0,0,0,26.34,28.83,28.83
$GC,4046,-0.55,-194.6,466.0,-7.1,768,4053,0.00,2.42,-0.10,0.000,4,0.000,0.053,2103,3835,3785,0,0,0,0,0,0,28.83,26.18,25.98
$GC,4106,-0.58,-194.6,470.3,-7.4,779,4113,0.00,2.15,0.00,0.000,6,0.000,0.020,2103,2377,3785,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4420,-0.62,-194.6,493.4,-7.7,840,4426,0.00,2.35,0.00,0.000,4,0.000,0.043,2099,3826,3782,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4491,-0.68,-194.6,499.1,-7.9,853,4499,0.12,1.85,0.00,0.000,6,0.088,0.020,2044,2473,3782,0,0,0,0,0,0,26.34,26.52,28.83
$GC,4808,-0.65,-194.6,533.1,-13.5,885,4816,0.00,2.47,0.00,0.000,4,0.000,0.027,2044,968,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4853,-0.63,-194.6,538.5,-13.1,889,4860,0.12,2.72,0.00,0.000,6,0.132,0.034,2072,2547,3780,0,0,0,0,0,0,26.05,26.22,28.83
$GC,5160,-0.62,-194.6,569.3,-10.1,920,5168,0.00,2.65,0.00,0.000,4,0.000,0.026,2072,957,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5205,-0.62,-194.6,573.3,-9.5,924,5211,0.00,2.70,0.00,0.000,6,0.000,0.034,2060,2536,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5512,-0.60,-194.6,604.5,-11.1,955,5521,0.00,2.62,0.00,0.000,4,0.000,0.029,2061,964,3775,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5564,-0.60,-194.6,609.4,-9.3,960,5573,0.00,2.62,0.00,0.000,6,0.000,0.037,2053,2508,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5874,-0.58,-194.6,644.8,-12.5,991,5876,0.12,0.00,0.00,0.000,6,0.142,0.000,2091,2507,3773,0,0,0,0,0,0,26.32,28.83,28.83
$GC,6175,-0.59,-194.6,670.3,-8.0,1021,6183,0.00,2.58,0.00,0.000,4,0.000,0.029,2091,964,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6200,-0.60,-194.6,672.2,-7.8,1023,6209,0.00,2.62,0.00,0.000,6,0.000,0.037,2086,2501,3770,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6508,-0.61,-194.6,697.7,-8.2,1054,6517,0.00,2.03,0.00,0.000,4,0.000,0.046,2077,3822,3768,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6531,-0.62,-194.6,699.6,-8.1,1056,6540,0.00,2.03,0.00,0.000,6,0.000,0.021,2077,2441,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6841,-0.62,-194.6,725.4,-8.7,1087,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2441,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7142,-0.62,-194.6,749.8,-8.0,1117,7151,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,3825,3765,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7167,-0.62,-194.6,751.7,-8.0,1119,7174,0.00,2.03,0.00,0.000,6,0.000,0.021,2067,2444,3764,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7474,-0.62,-194.6,776.9,-7.6,1150,7484,0.00,2.42,0.00,0.000,4,0.000,0.028,2067,969,3763,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7518,-0.63,-194.6,780.1,-7.6,1154,7528,0.00,2.60,0.00,0.000,6,0.000,0.036,2056,2495,3762,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7827,-0.62,-194.6,806.4,-9.0,1185,7836,0.00,2.05,0.00,0.000,4,0.000,0.047,2046,3822,3760,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7851,-0.61,-194.6,808.6,-9.6,1187,7856,0.10,2.08,0.00,0.000,6,0.127,0.023,2078,2432,3760,0,0,0,0,0,0,26.15,26.36,28.83
$GC,8164,-0.61,-194.6,832.1,-7.7,1218,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2432,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8467,-0.62,-194.6,855.6,-7.5,1248,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2432,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8776,-0.63,-194.6,878.8,-7.4,1279,8785,0.00,2.28,0.00,0.000,4,0.000,0.046,2067,3818,3757,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8802,-0.64,-194.6,880.6,-7.1,1281,8809,0.00,2.05,0.00,0.000,6,0.000,0.023,2068,2434,3757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9108,-0.64,-194.6,906.2,-8.5,1312,9117,0.00,2.38,0.00,0.000,4,0.000,0.028,2068,974,3756,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9144,-0.65,-194.6,908.8,-8.4,1315,9150,0.00,2.60,0.00,0.000,6,0.000,0.035,2058,2494,3756,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9449,-0.65,-194.6,937.0,-9.3,1346,9453,0.00,2.08,0.00,0.000,4,0.000,0.047,2048,3833,3755,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9486,-0.65,-194.6,940.0,-9.5,1349,9493,0.00,2.08,0.00,0.000,6,0.000,0.022,2048,2436,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9792,-0.64,-194.6,972.2,-10.6,1380,9800,0.00,2.38,0.00,0.000,4,0.000,0.028,2048,967,3753,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9837,-0.64,-194.6,976.4,-10.2,1384,9845,0.10,2.62,0.00,0.000,6,0.137,0.036,2070,2498,3753,0,0,0,0,0,0,25.89,26.02,28.83
$STATE,10001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10001,begin apogee
$GC,10007,-0.20,0.0,990.2,-8.1,1401,10214,0.40,0.05,197.12,1.095,4,0.090,0.047,2213,2490,2968,0,0,0,0,0,0,25.89,24.51,23.46
$STATE,10215,end apogee,CONTROL_FINISHED_OK
$STATE,10215,begin climb
$GC,10217,0.58,194.6,999.3,0.0,1422,10444,0.62,2.53,216.68,1.073,4,0.037,0.028,2478,1064,2179,0,0,0,0,0,0,24.96,24.96,23.08
$GC,10532,0.54,194.6,961.4,16.9,1453,10539,0.00,2.70,0.00,0.000,6,0.000,0.039,2477,2531,2152,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10840,0.48,194.6,899.6,19.4,1484,10849,0.15,2.55,0.00,0.000,4,0.180,0.029,2446,1076,2147,0,0,0,0,0,0,25.65,25.96,28.83
$GC,10922,0.45,194.6,887.0,13.7,1492,10931,0.00,2.62,0.00,0.000,6,0.000,0.038,2446,2542,2146,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11232,0.41,194.6,837.8,16.1,1523,11242,0.12,1.95,0.00,0.000,4,0.174,0.042,2408,3826,2145,0,0,0,0,0,0,25.91,26.03,28.83
$GC,11329,0.37,194.6,823.8,14.4,1532,11336,0.00,1.88,0.00,0.000,6,0.000,0.022,2418,2524,2144,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11635,0.34,194.6,783.8,12.7,1563,11645,0.12,2.03,0.00,0.000,4,0.177,0.042,2379,3832,2144,0,0,0,0,0,0,25.97,26.06,28.83
$GC,11681,0.32,194.6,778.6,11.7,1567,11689,0.00,1.88,0.00,0.000,6,0.000,0.023,2389,2532,2143,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,19401,end climb,SURFACE_DEPTH_REACHED
$STATE,19401,begin surface coast
$FINISH,0.4,1.021807
$STATE,19428,end surface coast,CONTROL_FINISHED_OK
$STATE,19428,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.57
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,10.0,37.297
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324576
$DATA_FILE_SIZE,170014,2750
$CAP_FILE_SIZE,268115,0
$CFSIZE,260165632,189284352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.233,321.8,1
$GPS,210612,031031,2324.283,12205.304,37,1.6,37,-3.1