version: 66.10
glider: 169
mission: 6
dive: 291
start: 6 21 112 14 39 21
data:
$ID,169
$MISSION,6
$DIVE,291
$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,-15905.756
$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
$GPS1,210612,142837,2326.506,12207.480,36,1.0,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-68.8
$GPS2,210612,143856,2326.751,12207.139,14,1.2,14,-3.2
$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,124.9,187728,-13.8,-8.684
$D_GRID,4230
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-80.62,0.000,2,0.000,0.000,117,2344,2803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.2,-8.1,14,141,7.93,2.33,-19.33,0.000,4,0.223,0.039,2090,945,3775,0,0,0,0,0,0,24.96,26.04,26.48
$GC,155,-0.46,-194.6,20.7,-37.8,22,162,0.17,2.53,0.00,0.000,6,0.156,0.032,2125,2434,3776,0,0,0,0,0,0,25.63,26.01,28.83
$GC,347,-0.41,-194.6,67.4,-16.7,59,354,0.00,2.15,0.00,0.000,4,0.000,0.040,2115,3844,3775,0,0,0,0,0,0,28.83,26.08,28.83
$GC,377,-0.37,-194.6,72.2,-16.0,64,386,0.12,2.12,0.00,0.000,6,0.116,0.019,2154,2392,3775,0,0,0,0,0,0,26.05,26.28,28.83
$GC,571,-0.36,-194.6,94.9,-11.4,101,577,0.00,2.33,0.00,0.000,4,0.000,0.024,2155,946,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,612,-0.38,-194.6,98.8,-8.1,108,620,0.00,2.53,0.00,0.000,6,0.000,0.030,2153,2457,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,805,-0.38,-194.6,117.7,-9.9,145,811,0.00,2.08,0.00,0.000,4,0.000,0.040,2143,3829,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,834,-0.38,-194.6,120.7,-10.8,150,841,0.00,2.05,0.00,0.000,6,0.000,0.018,2143,2405,3775,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1027,-0.43,-194.6,136.0,-5.7,187,1033,0.00,2.25,0.00,0.000,4,0.000,0.038,2141,3828,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1048,-0.49,-194.6,137.2,-5.7,190,1054,0.00,1.83,0.00,0.000,6,0.000,0.017,2141,2482,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1240,-0.58,-194.6,151.5,-8.6,227,1247,0.12,0.00,0.00,0.000,6,0.118,0.000,2086,2483,3776,0,0,0,0,0,0,26.40,28.83,28.83
$GC,1432,-0.56,-194.6,169.2,-9.8,264,1439,0.00,2.03,0.00,0.000,4,0.000,0.038,2076,3829,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1514,-0.56,-194.6,177.3,-10.1,279,1520,0.00,1.88,0.00,0.000,6,0.000,0.018,2076,2468,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1704,-0.53,-194.6,202.8,-13.4,316,1711,0.00,2.50,0.00,0.000,4,0.000,0.026,2076,952,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1765,-0.54,-194.6,210.0,-9.7,327,1773,0.12,2.72,0.00,0.000,6,0.125,0.031,2105,2533,3775,0,0,0,0,0,0,26.15,26.32,28.83
$GC,2079,-0.53,-194.6,243.8,-11.1,388,2086,0.00,2.67,0.00,0.000,4,0.000,0.024,2106,947,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2120,-0.56,-194.6,248.1,-9.2,395,2127,0.00,2.70,0.00,0.000,6,0.000,0.031,2099,2518,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2432,-0.55,-194.6,278.5,-9.8,456,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2517,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-0.55,-194.6,307.8,-8.7,517,2750,0.00,2.62,0.00,0.000,4,0.000,0.025,2099,948,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2826,-0.57,-194.6,314.5,-8.4,532,2832,0.00,2.67,0.00,0.000,6,0.000,0.032,2099,2507,3773,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3138,-0.57,-194.6,342.8,-9.4,593,3145,0.00,1.95,0.00,0.000,4,0.000,0.041,2089,3826,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3168,-0.58,-194.6,345.6,-9.6,598,3176,0.00,1.95,0.00,0.000,6,0.000,0.019,2089,2437,3770,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3480,-0.58,-194.6,377.8,-10.0,659,3486,0.00,2.42,0.00,0.000,4,0.000,0.025,2089,947,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3530,-0.61,-194.6,382.5,-9.4,668,3537,0.00,2.65,0.00,0.000,6,0.000,0.031,2085,2499,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3843,-0.61,-194.6,412.3,-9.2,729,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2498,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4155,-0.61,-194.6,438.8,-7.9,790,4164,0.00,2.62,-0.10,0.000,4,0.000,0.034,2085,945,3784,0,0,0,0,0,0,28.83,26.33,25.99
$GC,4202,-0.64,-194.6,442.5,-7.3,798,4211,0.00,2.65,0.00,0.000,6,0.000,0.031,2085,2495,3784,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4520,-0.68,-194.6,463.3,-7.1,859,4527,0.00,2.03,0.00,0.000,4,0.000,0.044,2085,3823,3782,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4550,-0.73,-194.6,465.3,-6.2,864,4558,0.15,2.22,0.00,0.000,6,0.070,0.019,2009,2317,3782,0,0,0,0,0,0,26.37,26.49,28.83
$GC,4869,-0.68,-194.6,511.6,-16.1,919,4871,0.15,0.00,0.00,0.000,6,0.136,0.000,2054,2318,3780,0,0,0,0,0,0,26.27,28.83,28.83
$GC,5169,-0.66,-194.6,544.0,-10.3,949,5179,0.00,2.47,0.00,0.000,4,0.000,0.042,2042,3819,3777,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5232,-0.66,-194.6,550.3,-9.9,955,5241,0.00,2.22,0.00,0.000,6,0.000,0.021,2042,2340,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5542,-0.63,-194.6,587.2,-12.6,986,5552,0.00,2.42,0.00,0.000,4,0.000,0.041,2030,3827,3774,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5577,-0.60,-194.6,591.7,-13.2,989,5585,0.15,2.20,0.00,0.000,6,0.117,0.021,2078,2348,3773,0,0,0,0,0,0,26.11,26.41,28.83
$GC,5884,-0.60,-194.6,621.4,-9.3,1020,5893,0.00,2.40,0.00,0.000,4,0.000,0.043,2066,3838,3772,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5931,-0.61,-194.6,625.5,-9.6,1024,5938,0.00,2.17,0.00,0.000,6,0.000,0.021,2066,2367,3771,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6239,-0.60,-194.6,656.1,-9.4,1055,6247,0.00,2.33,0.00,0.000,4,0.000,0.044,2055,3818,3769,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6270,-0.60,-194.6,659.2,-9.7,1058,6280,0.00,2.15,0.00,0.000,6,0.000,0.021,2055,2377,3769,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6581,-0.59,-194.6,690.2,-9.3,1089,6589,0.00,2.30,0.00,0.000,4,0.000,0.043,2044,3823,3766,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6623,-0.58,-194.6,694.4,-10.2,1093,6632,0.15,2.12,0.00,0.000,6,0.110,0.021,2093,2385,3766,0,0,0,0,0,0,26.13,26.41,28.83
$GC,6933,-0.59,-194.6,714.8,-6.7,1124,6942,0.00,2.30,0.00,0.000,4,0.000,0.044,2086,3822,3764,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6968,-0.61,-194.6,716.9,-6.3,1127,6974,0.00,2.10,0.00,0.000,6,0.000,0.020,2086,2388,3764,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7275,-0.65,-194.6,737.3,-6.4,1158,7285,0.00,2.30,0.00,0.000,4,0.000,0.025,2086,944,3762,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7291,-0.69,-194.6,737.9,-6.6,1159,7298,0.10,2.75,0.00,0.000,6,0.090,0.031,2033,2549,3762,0,0,0,0,0,0,26.18,26.20,28.83
$GC,7598,-0.70,-194.6,763.9,-8.5,1190,7608,0.00,1.90,0.00,0.000,4,0.000,0.044,2024,3840,3760,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7654,-0.69,-194.6,768.9,-9.6,1195,7661,0.00,2.12,0.00,0.000,6,0.000,0.021,2023,2405,3760,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7961,-0.66,-194.6,807.2,-12.7,1226,7963,0.12,0.00,0.00,0.000,6,0.135,0.000,2062,2405,3758,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8262,-0.66,-194.6,834.2,-8.6,1256,8270,0.00,2.25,0.00,0.000,4,0.000,0.047,2050,3823,3757,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8304,-0.66,-194.6,837.8,-8.7,1260,8313,0.00,2.08,0.00,0.000,6,0.000,0.021,2050,2408,3756,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8615,-0.65,-194.6,867.3,-9.5,1291,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2409,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8917,-0.63,-194.6,895.7,-9.5,1321,8925,0.00,2.28,0.00,0.000,4,0.000,0.046,2039,3827,3754,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8958,-0.63,-194.6,899.9,-9.6,1325,8968,0.10,2.10,0.00,0.000,6,0.127,0.021,2071,2413,3752,0,0,0,0,0,0,26.15,26.36,28.83
$GC,9269,-0.63,-194.6,922.1,-7.2,1356,9277,0.00,2.35,0.00,0.000,4,0.000,0.028,2071,959,3752,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9291,-0.64,-194.6,923.6,-6.8,1358,9300,0.00,2.55,0.00,0.000,6,0.000,0.034,2062,2467,3752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9600,-0.64,-194.6,946.8,-7.2,1389,9604,0.00,2.10,0.00,0.000,4,0.000,0.047,2051,3824,3750,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9632,-0.64,-194.6,949.1,-7.4,1392,9636,0.00,2.08,0.00,0.000,6,0.000,0.022,2051,2419,3750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9945,-0.64,-194.6,975.8,-9.2,1423,9953,0.00,2.38,0.00,0.000,4,0.000,0.028,2051,953,3749,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9966,-0.64,-194.6,977.8,-8.7,1425,9975,0.00,2.62,0.00,0.000,6,0.000,0.033,2041,2485,3748,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,10094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10094,begin apogee
$GC,10101,-0.20,0.0,990.5,-10.1,1438,10307,0.47,0.10,194.35,1.141,4,0.101,0.074,2205,2482,2965,0,0,0,0,0,0,25.73,24.68,23.44
$STATE,10308,end apogee,CONTROL_FINISHED_OK
$STATE,10308,begin climb
$GC,10310,0.58,194.6,999.3,0.0,1459,10536,0.62,2.53,212.68,1.082,4,0.037,0.027,2468,1056,2170,0,0,0,0,0,0,25.00,25.01,23.16
$GC,10550,0.54,194.6,975.3,15.1,1483,10559,0.00,2.78,0.00,0.000,6,0.000,0.040,2468,2527,2156,0,0,0,0,0,0,28.83,24.75,28.83
$GC,10860,0.48,194.6,917.0,19.2,1514,10870,0.12,2.55,0.00,0.000,4,0.185,0.028,2445,1074,2146,0,0,0,0,0,0,25.70,25.94,28.83
$GC,10947,0.45,194.6,904.3,13.9,1522,10955,0.00,2.65,0.00,0.000,6,0.000,0.036,2445,2543,2144,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11254,0.40,194.6,854.0,15.8,1553,11258,0.12,1.90,0.00,0.000,4,0.178,0.042,2408,3829,2143,0,0,0,0,0,0,25.89,26.04,28.83
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$STATE,19554,end climb,SURFACE_DEPTH_REACHED
$STATE,19554,begin surface coast
$FINISH,0.3,1.021962
$STATE,19570,end surface coast,CONTROL_FINISHED_OK
$STATE,19570,begin surface
$SM_CCo,19648,0.00,0.000,0,0,1088,463.62
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.40
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,23.70
$XPDR_PINGS,2
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$10V_AH,10.0,37.811
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.000,217.675,710.625,0.000,0.000,22.435,37.489,371.650,0.500,0.000,15.048,6667.098,7116.873,987.207,4811.843,630.829,0.000,3236.252,0.000,4213.046,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,173711,2811
$CAP_FILE_SIZE,276622,0
$CFSIZE,260165632,188817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.281,329.4,1
$GPS,210612,200755,2327.678,12208.256,38,1.7,38,-3.2