version: 66.10
glider: 169
mission: 6
dive: 303
start: 6 24 112 3 21 28
data:
$ID,169
$MISSION,6
$DIVE,303
$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,320
$T_MISSION,360
$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,-15922.956
$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
$GPS1,240612,031137,2343.375,12222.062,33,0.9,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-69.5
$GPS2,240612,032102,2343.726,12222.243,14,1.1,14,-3.2
$SPEED_LIMITS,0.179,0.299
$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,134.0,157565,-16.1,-10.312
$D_GRID,3114
$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,-0.64,-194.6,0.0,0.0,0,116,0.00,0.00,-96.25,0.000,2,0.000,0.000,108,2380,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.64,-194.6,4.1,-10.9,17,145,7.80,2.33,-11.32,0.000,4,0.220,0.050,2046,3839,3774,0,0,0,0,0,0,24.98,25.98,26.48
$GC,220,-0.59,-194.6,40.5,-24.0,35,228,0.00,2.15,0.00,0.000,6,0.000,0.021,2057,2400,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,414,-0.53,-194.6,100.0,-22.0,72,421,0.12,0.00,0.00,0.000,6,0.173,0.000,2095,2399,3775,0,0,0,0,0,0,26.01,28.83,28.83
$GC,604,-0.51,-194.6,131.1,-14.8,109,611,0.00,2.30,0.00,0.000,4,0.000,0.040,2084,3838,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,639,-0.51,-194.6,135.9,-13.8,115,647,0.00,2.15,0.00,0.000,6,0.000,0.019,2085,2378,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,831,-0.49,-194.6,161.7,-12.6,152,839,0.10,2.28,0.00,0.000,4,0.151,0.023,2118,949,3776,0,0,0,0,0,0,26.36,26.32,28.83
$GC,868,-0.52,-194.6,165.6,-9.2,158,875,0.00,2.50,0.00,0.000,6,0.000,0.030,2112,2442,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1060,-0.52,-194.6,182.4,-8.4,195,1067,0.00,2.12,0.00,0.000,4,0.000,0.040,2102,3838,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1086,-0.53,-194.6,184.5,-8.5,199,1094,0.00,2.12,0.00,0.000,6,0.000,0.018,2102,2379,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1278,-0.53,-194.6,201.8,-9.1,236,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2379,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-0.54,-194.6,231.1,-9.9,297,1597,0.00,2.35,0.00,0.000,4,0.000,0.039,2092,3826,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1660,-0.57,-194.6,237.9,-9.3,310,1667,0.00,2.10,0.00,0.000,6,0.000,0.018,2092,2386,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1972,-0.57,-194.6,269.2,-8.8,371,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2385,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.58,-194.6,298.1,-8.8,432,2293,0.00,2.33,0.00,0.000,4,0.000,0.040,2081,3828,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2313,-0.59,-194.6,300.3,-8.7,436,2320,0.00,2.10,0.00,0.000,6,0.000,0.018,2082,2394,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2626,-0.59,-194.6,330.1,-9.4,497,2632,0.00,2.33,0.00,0.000,4,0.000,0.040,2072,3836,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2650,-0.59,-194.6,332.6,-9.7,501,2656,0.00,2.08,0.00,0.000,6,0.000,0.018,2072,2409,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2962,-0.59,-194.6,363.5,-10.5,562,2969,0.00,2.35,0.00,0.000,4,0.000,0.025,2071,951,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3002,-0.61,-194.6,367.3,-9.2,569,3009,0.00,2.55,0.00,0.000,6,0.000,0.031,2062,2472,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3315,-0.60,-194.6,400.6,-11.2,630,3321,0.00,2.10,0.00,0.000,4,0.000,0.041,2051,3833,3767,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3364,-0.61,-194.6,406.1,-10.5,639,3372,0.00,2.08,0.00,0.000,6,0.000,0.018,2051,2413,3766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3677,-0.59,-194.6,441.7,-12.0,700,3685,0.10,2.35,0.00,0.000,4,0.145,0.023,2083,940,3764,0,0,0,0,0,0,26.43,26.35,28.83
$GC,3699,-0.59,-194.6,444.2,-11.6,703,3707,0.00,2.60,-0.10,0.000,6,0.000,0.031,2075,2483,3786,0,0,0,0,0,0,28.83,26.28,25.72
$GC,4017,-0.59,-194.6,474.6,-9.7,764,4024,0.00,2.08,0.00,0.000,4,0.000,0.042,2065,3838,3784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4063,-0.61,-194.6,479.3,-8.5,772,4070,0.00,2.10,0.00,0.000,6,0.000,0.020,2065,2409,3783,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4376,-0.61,-194.6,508.9,-9.3,824,4385,0.00,2.33,0.00,0.000,4,0.000,0.041,2053,3831,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4401,-0.61,-194.6,511.0,-9.1,826,4408,0.00,2.00,0.00,0.000,6,0.000,0.019,2053,2429,3780,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4709,-0.61,-194.6,542.0,-10.0,857,4718,0.00,2.38,0.00,0.000,4,0.000,0.025,2054,952,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4743,-0.61,-194.6,545.2,-10.4,860,4750,0.12,2.60,0.00,0.000,6,0.123,0.031,2084,2495,3778,0,0,0,0,0,0,26.10,26.25,28.83
$GC,5051,-0.62,-194.6,569.0,-7.8,891,5055,0.00,2.05,0.00,0.000,4,0.000,0.044,2074,3828,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5084,-0.64,-194.6,571.6,-8.1,894,5088,0.00,2.05,0.00,0.000,6,0.000,0.020,2074,2424,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5396,-0.65,-194.6,598.7,-8.6,925,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2423,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5698,-0.66,-194.6,624.6,-8.4,955,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2423,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,-0.69,-194.6,647.1,-6.9,986,6017,0.00,2.28,0.00,0.000,4,0.000,0.044,2066,3819,3768,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6051,-0.73,-194.6,650.4,-7.5,990,6059,0.00,2.03,0.00,0.000,6,0.000,0.021,2066,2432,3768,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6361,-0.76,-194.6,672.9,-7.1,1021,6370,0.10,2.22,0.00,0.000,4,0.087,0.042,1987,3831,3765,0,0,0,0,0,0,26.57,26.13,28.83
$GC,6404,-0.75,-194.6,677.2,-10.3,1025,6413,0.15,1.77,0.00,0.000,6,0.136,0.020,2036,2532,3765,0,0,0,0,0,0,26.03,26.44,28.83
$GC,6714,-0.73,-194.6,709.4,-9.8,1056,6723,0.00,2.60,0.00,0.000,4,0.000,0.025,2039,953,3764,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6812,-0.75,-194.6,717.4,-8.3,1065,6819,0.00,2.85,0.00,0.000,6,0.000,0.033,2026,2592,3763,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7118,-0.73,-194.6,749.0,-10.6,1096,7127,0.00,2.78,0.00,0.000,4,0.000,0.027,2027,962,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7235,-0.74,-194.6,759.6,-9.0,1107,7244,0.00,2.72,0.00,0.000,6,0.000,0.034,2016,2549,3761,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7542,-0.72,-194.6,795.8,-12.1,1138,7551,0.00,2.67,0.00,0.000,4,0.000,0.025,2016,961,3759,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7579,-0.71,-194.6,799.6,-12.2,1141,7587,0.15,2.75,0.00,0.000,6,0.122,0.035,2054,2544,3759,0,0,0,0,0,0,25.94,26.13,28.83
$GC,7886,-0.71,-194.6,828.8,-9.7,1172,7895,0.00,2.62,0.00,0.000,4,0.000,0.024,2054,964,3757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7931,-0.73,-194.6,832.8,-9.4,1176,7939,0.00,2.70,0.00,0.000,6,0.000,0.036,2043,2530,3758,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8238,-0.73,-194.6,865.2,-10.3,1207,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2528,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8543,-0.73,-194.6,896.4,-10.3,1237,8551,0.00,2.62,0.00,0.000,4,0.000,0.026,2043,958,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8588,-0.75,-194.6,901.0,-10.0,1241,8594,0.00,2.70,0.00,0.000,6,0.000,0.035,2033,2524,3754,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8895,-0.74,-194.6,934.2,-10.4,1272,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2523,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9196,-0.73,-194.6,964.2,-10.0,1302,9207,0.00,2.60,0.00,0.000,4,0.000,0.025,2033,965,3751,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9264,-0.75,-194.6,970.0,-8.4,1308,9270,0.00,2.67,0.00,0.000,6,0.000,0.037,2029,2511,3751,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9473,-0.20,0.0,990.8,-10.3,1329,9672,0.52,0.00,193.32,1.100,4,0.107,0.000,2207,2509,2977,0,0,0,0,0,0,25.66,28.83,23.43
$STATE,9673,end apogee,CONTROL_FINISHED_OK
$STATE,9673,begin climb
$GC,9675,0.64,194.6,998.1,0.0,1349,9901,0.70,2.60,211.10,1.115,4,0.037,0.025,2491,1062,2170,0,0,0,0,0,0,24.96,24.96,23.03
$GC,10007,0.61,194.6,954.5,17.1,1382,10014,0.00,2.70,0.00,0.000,6,0.000,0.040,2491,2532,2149,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10314,0.54,194.6,887.2,22.5,1413,10324,0.12,1.92,0.00,0.000,4,0.182,0.044,2455,3821,2145,0,0,0,0,0,0,25.77,25.95,28.83
$GC,10468,0.48,194.6,853.8,21.5,1428,10477,0.12,1.88,0.00,0.000,6,0.189,0.021,2433,2517,2144,0,0,0,0,0,0,25.74,26.16,28.83
$GC,10777,0.45,194.6,801.7,15.9,1459,10786,0.00,2.00,0.00,0.000,4,0.000,0.042,2434,3830,2142,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10843,0.40,194.6,790.6,17.6,1465,10851,0.15,1.85,0.00,0.000,6,0.176,0.022,2405,2528,2141,0,0,0,0,0,0,25.76,26.25,28.83
$GC,11150,0.39,194.6,749.4,12.9,1496,11154,0.00,2.00,0.00,0.000,4,0.000,0.044,2405,3832,2141,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11206,0.36,194.6,741.4,15.4,1501,11213,0.00,1.83,0.00,0.000,6,0.000,0.022,2415,2537,2141,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11513,0.34,194.6,698.8,13.3,1532,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2536,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11815,0.33,194.6,660.6,12.2,1562,11824,0.12,1.95,0.00,0.000,4,0.171,0.042,2375,3822,2140,0,0,0,0,0,0,26.06,26.09,28.83
$GC,11857,0.32,194.6,655.4,11.6,1566,11861,0.00,1.83,0.00,0.000,6,0.000,0.021,2384,2534,2140,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12169,0.38,240.5,627.1,8.7,1597,12240,0.00,2.67,63.12,0.822,4,0.000,0.029,2398,1069,1991,0,0,0,0,0,0,28.83,25.53,24.22
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$STATE,16791,end climb,SURFACE_DEPTH_REACHED
$STATE,16791,begin surface coast
$FINISH,0.3,1.021482
$STATE,16813,end surface coast,CONTROL_FINISHED_OK
$STATE,16816,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.13
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,9.9,39.648
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,146882,2379
$CAP_FILE_SIZE,234976,0
$CFSIZE,260165632,187224064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.232,351.0,1
$GPS,240612,080407,2344.388,12223.882,38,1.3,38,-3.2