version: 66.10
glider: 169
mission: 6
dive: 289
start: 6 21 112 3 21 26
data:
$ID,169
$MISSION,6
$DIVE,289
$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,-15903.05
$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
$GPS1,210612,031031,2324.283,12205.304,37,1.6,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.4
$GPS2,210612,032101,2324.465,12205.169,15,1.4,32,-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,123.8,191977,-13.8,-8.684
$D_GRID,4793
$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,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,103,0.00,0.00,-82.95,0.000,2,0.000,0.000,110,2418,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-194.6,3.1,-7.2,14,138,8.18,2.30,-15.07,0.000,4,0.232,0.050,2066,3831,3774,0,0,0,0,0,0,25.01,26.00,26.48
$GC,167,-0.47,-194.6,27.9,-39.1,24,174,0.15,2.15,0.00,0.000,6,0.157,0.022,2117,2404,3775,0,0,0,0,0,0,25.72,26.11,28.83
$GC,360,-0.40,-194.6,79.7,-22.6,61,367,0.00,2.33,0.00,0.000,4,0.000,0.025,2128,947,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,441,-0.41,-194.6,91.8,-11.6,76,448,0.00,2.42,0.00,0.000,6,0.000,0.031,2117,2416,3775,0,0,0,0,0,0,28.83,26.16,28.83
$GC,633,-0.37,-194.6,120.9,-15.6,113,641,0.12,2.20,0.00,0.000,4,0.151,0.037,2146,3842,3775,0,0,0,0,0,0,26.17,26.15,28.83
$GC,687,-0.40,-194.6,126.3,-7.5,122,694,0.00,2.20,0.00,0.000,6,0.000,0.019,2147,2356,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,878,-0.40,-194.6,144.3,-9.7,159,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2356,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.41,-194.6,162.4,-9.9,196,1075,0.00,2.38,0.00,0.000,4,0.000,0.039,2135,3829,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1098,-0.43,-194.6,165.1,-9.2,201,1106,0.00,2.10,0.00,0.000,6,0.000,0.018,2135,2390,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1292,-0.43,-194.6,181.2,-7.1,238,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2390,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1484,-0.45,-194.6,194.6,-7.0,275,1491,0.00,2.28,0.00,0.000,4,0.000,0.038,2127,3825,3775,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1505,-0.46,-194.6,196.1,-7.0,278,1512,0.00,2.05,0.00,0.000,6,0.000,0.018,2127,2407,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1697,-0.47,-194.6,211.3,-7.8,315,1704,0.00,2.33,0.00,0.000,4,0.000,0.025,2127,960,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1732,-0.50,-194.6,214.0,-7.4,321,1741,0.00,2.55,0.00,0.000,6,0.000,0.029,2125,2476,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2047,-0.54,-194.6,236.9,-7.2,382,2054,0.00,2.47,0.00,0.000,4,0.000,0.022,2126,949,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2068,-0.58,-194.6,238.5,-7.4,385,2076,0.12,2.70,0.00,0.000,6,0.080,0.026,2066,2542,3775,0,0,0,0,0,0,26.32,26.36,28.83
$GC,2384,-0.60,-194.6,266.5,-9.3,446,2391,0.00,1.92,0.00,0.000,4,0.000,0.041,2060,3836,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2420,-0.59,-194.6,270.0,-10.2,452,2427,0.00,2.15,0.00,0.000,6,0.000,0.019,2060,2378,3773,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2732,-0.56,-194.6,309.5,-13.2,513,2740,0.12,2.28,0.00,0.000,4,0.136,0.023,2104,947,3773,0,0,0,0,0,0,26.34,26.37,28.83
$GC,2768,-0.58,-194.6,313.4,-9.6,519,2775,0.00,2.42,0.00,0.000,6,0.000,0.030,2099,2428,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3080,-0.58,-194.6,341.4,-8.2,580,3087,0.00,2.17,0.00,0.000,4,0.000,0.042,2089,3824,3771,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3156,-0.59,-194.6,347.6,-8.2,594,3163,0.00,2.10,0.00,0.000,6,0.000,0.019,2089,2390,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3468,-0.58,-194.6,376.0,-9.6,655,3475,0.00,2.33,0.00,0.000,4,0.000,0.041,2078,3835,3768,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3503,-0.59,-194.6,379.5,-10.3,661,3511,0.00,2.10,0.00,0.000,6,0.000,0.019,2079,2406,3768,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3818,-0.57,-194.6,416.2,-12.5,722,3824,0.00,2.33,0.00,0.000,4,0.000,0.026,2079,951,3765,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3863,-0.59,-194.6,421.5,-10.4,730,3870,0.00,2.55,0.00,0.000,6,0.000,0.032,2069,2471,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4175,-0.58,-194.6,460.5,-12.4,791,4183,0.00,2.12,-0.10,0.000,4,0.000,0.054,2058,3838,3785,0,0,0,0,0,0,28.83,26.21,25.98
$GC,4210,-0.57,-194.6,464.6,-11.5,797,4219,0.10,2.10,0.00,0.000,6,0.122,0.019,2091,2408,3784,0,0,0,0,0,0,26.27,26.46,28.83
$GC,4526,-0.57,-194.6,492.7,-8.1,858,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2408,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4835,-0.57,-194.6,514.7,-6.5,898,4844,0.00,2.33,0.00,0.000,4,0.000,0.043,2081,3838,3780,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4888,-0.58,-194.6,518.3,-7.0,903,4896,0.00,2.05,0.00,0.000,6,0.000,0.020,2082,2417,3780,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5198,-0.58,-194.6,542.8,-8.3,934,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2417,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.58,-194.6,568.7,-9.1,964,5509,0.00,2.22,0.00,0.000,4,0.000,0.043,2072,3820,3775,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5544,-0.59,-194.6,572.5,-8.7,968,5551,0.00,2.03,0.00,0.000,6,0.000,0.021,2072,2425,3775,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5853,-0.59,-194.6,603.4,-10.3,999,5861,0.00,2.35,0.00,0.000,4,0.000,0.025,2072,965,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5875,-0.59,-194.6,605.7,-9.9,1001,5886,0.00,2.60,0.00,0.000,6,0.000,0.034,2064,2492,3773,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6186,-0.57,-194.6,639.0,-10.9,1032,6190,0.00,2.05,0.00,0.000,4,0.000,0.045,2053,3828,3772,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6223,-0.57,-194.6,642.6,-11.1,1035,6230,0.12,2.03,0.00,0.000,6,0.113,0.021,2096,2439,3771,0,0,0,0,0,0,26.19,26.42,28.83
$GC,6529,-0.58,-194.6,667.8,-7.9,1066,6533,0.00,2.25,0.00,0.000,4,0.000,0.046,2086,3821,3769,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6552,-0.59,-194.6,669.6,-7.7,1068,6561,0.00,2.00,0.00,0.000,6,0.000,0.022,2086,2446,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6862,-0.60,-194.6,694.0,-7.4,1099,6870,0.00,2.42,0.00,0.000,4,0.000,0.027,2086,954,3766,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6885,-0.61,-194.6,695.6,-7.5,1101,6894,0.00,2.65,0.00,0.000,6,0.000,0.034,2085,2510,3766,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7194,-0.62,-194.6,717.5,-6.8,1132,7197,0.00,2.03,0.00,0.000,4,0.000,0.046,2076,3834,3764,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7217,-0.63,-194.6,719.2,-7.1,1134,7226,0.00,2.00,0.00,0.000,6,0.000,0.021,2077,2448,3764,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7526,-0.63,-194.6,743.2,-8.1,1165,7535,0.00,2.42,0.00,0.000,4,0.000,0.028,2077,959,3762,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7563,-0.64,-194.6,745.7,-8.2,1168,7569,0.00,2.65,0.00,0.000,6,0.000,0.034,2070,2507,3762,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7869,-0.64,-194.6,770.8,-7.9,1199,7877,0.00,2.03,0.00,0.000,4,0.000,0.047,2060,3824,3760,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7894,-0.64,-194.6,772.4,-7.6,1201,7901,0.00,2.03,0.00,0.000,6,0.000,0.021,2060,2442,3760,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8201,-0.64,-194.6,798.8,-8.3,1232,8209,0.00,2.40,0.00,0.000,4,0.000,0.028,2060,971,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8243,-0.64,-194.6,802.2,-8.1,1236,8252,0.00,2.60,0.00,0.000,6,0.000,0.035,2052,2493,3759,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8552,-0.63,-194.6,830.5,-9.9,1267,8561,0.00,2.08,0.00,0.000,4,0.000,0.047,2043,3824,3757,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8585,-0.62,-194.6,833.6,-10.0,1270,8594,0.08,2.00,0.00,0.000,6,0.093,0.021,2075,2442,3757,0,0,0,0,0,0,26.14,26.38,28.83
$GC,8896,-0.62,-194.6,859.1,-8.3,1301,8905,0.00,2.40,0.00,0.000,4,0.000,0.027,2075,969,3756,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8940,-0.63,-194.6,862.7,-8.2,1305,8950,0.00,2.60,0.00,0.000,6,0.000,0.034,2069,2492,3756,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9248,-0.63,-194.6,888.5,-8.2,1336,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2491,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9551,-0.63,-194.6,912.1,-7.7,1366,9560,0.00,2.53,0.00,0.000,4,0.000,0.028,2070,954,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9587,-0.64,-194.6,914.7,-7.8,1369,9594,0.00,2.62,0.00,0.000,6,0.000,0.035,2061,2491,3753,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9894,-0.64,-194.6,940.8,-8.6,1400,9903,0.00,2.05,0.00,0.000,4,0.000,0.047,2051,3828,3752,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9925,-0.64,-194.6,943.7,-8.8,1403,9934,0.00,2.08,0.00,0.000,6,0.000,0.021,2051,2432,3751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10236,-0.64,-194.6,973.6,-9.7,1434,10245,0.00,2.40,0.00,0.000,4,0.000,0.028,2051,957,3750,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10281,-0.64,-194.6,977.5,-9.4,1438,10288,0.00,2.60,0.00,0.000,6,0.000,0.036,2044,2483,3750,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10407,begin apogee
$GC,10413,-0.20,0.0,990.4,-10.2,1451,10618,0.47,0.10,197.20,1.125,4,0.096,0.073,2210,2478,2971,0,0,0,0,0,0,25.76,24.68,23.44
$STATE,10619,end apogee,CONTROL_FINISHED_OK
$STATE,10620,begin climb
$GC,10622,0.58,194.6,1000.0,0.0,1472,10848,0.62,2.50,214.20,1.062,4,0.037,0.027,2472,1060,2174,0,0,0,0,0,0,24.93,24.94,23.13
$GC,10896,0.54,194.6,971.6,14.9,1499,10903,0.00,2.75,0.00,0.000,6,0.000,0.040,2472,2532,2153,0,0,0,0,0,0,28.83,25.06,28.83
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$STATE,19613,end climb,SURFACE_DEPTH_REACHED
$STATE,19613,begin surface coast
$FINISH,0.2,1.021651
$STATE,19625,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,37.467
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,170015,2766
$CAP_FILE_SIZE,270391,0
$CFSIZE,260165632,189128704
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