version: 66.10
glider: 169
mission: 6
dive: 305
start: 6 24 112 13 18 51
data:
$ID,169
$MISSION,6
$DIVE,305
$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,-15925.472
$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
$GPS1,240612,130831,2345.540,12225.699,42,1.1,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.5
$GPS2,240612,131825,2345.786,12225.704,12,1.7,17,-3.3
$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,135.3,151475,-16.1,-10.312
$D_GRID,2958
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-86.38,0.000,2,0.000,0.000,113,2370,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.64,-194.6,3.2,-7.4,15,141,7.93,2.30,-15.40,0.000,4,0.225,0.048,2047,3842,3774,0,0,0,0,0,0,25.01,26.03,26.51
$GC,176,-0.54,-194.6,30.0,-37.9,26,183,0.15,2.15,0.00,0.000,6,0.164,0.021,2097,2388,3775,0,0,0,0,0,0,25.73,26.17,28.83
$GC,368,-0.49,-194.6,81.2,-21.4,63,374,0.00,2.30,0.00,0.000,4,0.000,0.022,2098,945,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,423,-0.49,-194.6,89.4,-11.4,73,431,0.00,2.50,0.00,0.000,6,0.000,0.032,2087,2446,3775,0,0,0,0,0,0,28.83,26.19,28.83
$GC,617,-0.45,-194.6,123.7,-18.3,110,625,0.12,2.10,0.00,0.000,4,0.162,0.038,2116,3828,3775,0,0,0,0,0,0,26.15,26.20,28.83
$GC,664,-0.47,-194.6,130.8,-11.3,118,671,0.00,2.08,0.00,0.000,6,0.000,0.018,2116,2388,3775,0,0,0,0,0,0,28.83,26.42,28.83
$GC,855,-0.46,-194.6,153.8,-11.8,155,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2387,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.46,-194.6,175.5,-9.6,192,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2387,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.47,-194.6,193.9,-9.4,229,1245,0.00,2.28,0.00,0.000,4,0.000,0.038,2105,3828,3775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1264,-0.48,-194.6,196.3,-9.2,233,1271,0.00,2.03,0.00,0.000,6,0.000,0.018,2105,2403,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1458,-0.49,-194.6,216.6,-11.5,270,1465,0.00,2.33,0.00,0.000,4,0.000,0.024,2105,953,3775,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1485,-0.51,-194.6,219.8,-11.6,274,1492,0.00,2.58,0.00,0.000,6,0.000,0.029,2099,2478,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1797,-0.51,-194.6,253.7,-9.0,335,1804,0.00,2.53,0.00,0.000,4,0.000,0.024,2099,957,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1838,-0.55,-194.6,257.1,-7.7,342,1845,0.00,2.55,0.00,0.000,6,0.000,0.031,2099,2466,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2151,-0.56,-194.6,280.9,-7.1,403,2158,0.00,2.05,0.00,0.000,4,0.000,0.040,2089,3837,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2187,-0.58,-194.6,283.5,-7.4,409,2194,0.00,2.08,0.00,0.000,6,0.000,0.018,2089,2400,3775,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2499,-0.58,-194.6,311.6,-9.5,470,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2400,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-0.59,-194.6,339.7,-8.3,531,2817,0.00,2.35,0.00,0.000,4,0.000,0.025,2089,944,3771,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2841,-0.62,-194.6,342.4,-8.4,536,2848,0.00,2.58,0.00,0.000,6,0.000,0.031,2085,2470,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3157,-0.63,-194.6,370.7,-8.6,597,3165,0.00,2.05,0.00,0.000,4,0.000,0.041,2076,3823,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3198,-0.65,-194.6,374.6,-8.4,604,3205,0.00,2.05,0.00,0.000,6,0.000,0.019,2076,2408,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3511,-0.65,-194.6,403.9,-10.0,665,3518,0.00,2.35,0.00,0.000,4,0.000,0.024,2076,952,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3538,-0.66,-194.6,406.5,-9.9,669,3546,0.00,2.58,0.00,0.000,6,0.000,0.031,2066,2473,3765,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3852,-0.66,-194.6,440.9,-11.0,730,3859,0.00,2.53,-0.08,0.000,4,0.000,0.034,2067,962,3789,0,0,0,0,0,0,28.83,26.34,25.52
$GC,3883,-0.67,-194.6,444.3,-10.4,735,3890,0.00,2.53,0.00,0.000,6,0.000,0.032,2057,2453,3789,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4196,-0.67,-194.6,478.9,-10.3,796,4202,0.00,2.10,0.00,0.000,4,0.000,0.041,2046,3833,3788,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4220,-0.66,-194.6,481.6,-10.3,800,4227,0.00,2.12,0.00,0.000,6,0.000,0.020,2046,2390,3787,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4538,-0.64,-194.6,516.0,-11.1,848,4546,0.00,2.28,0.00,0.000,4,0.000,0.026,2046,964,3785,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4611,-0.66,-194.6,523.1,-8.9,855,4620,0.00,2.42,0.00,0.000,6,0.000,0.032,2036,2428,3784,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4920,-0.64,-194.6,560.0,-12.6,886,4930,0.10,2.15,0.00,0.000,4,0.167,0.041,2052,3820,3781,0,0,0,0,0,0,26.38,26.20,28.83
$GC,4995,-0.66,-194.6,568.2,-10.1,893,5005,0.00,2.10,0.00,0.000,6,0.000,0.020,2052,2390,3781,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5303,-0.65,-194.6,605.9,-12.6,924,5312,0.00,2.30,0.00,0.000,4,0.000,0.043,2041,3826,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5328,-0.65,-194.6,608.7,-12.7,926,5334,0.00,2.10,0.00,0.000,6,0.000,0.021,2041,2401,3778,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5635,-0.63,-194.6,649.5,-12.8,957,5645,0.00,2.33,0.00,0.000,4,0.000,0.026,2041,955,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5681,-0.63,-194.6,654.6,-12.1,961,5689,0.12,2.50,0.00,0.000,6,0.123,0.032,2072,2450,3776,0,0,0,0,0,0,26.09,26.24,28.83
$GC,5989,-0.64,-194.6,683.6,-8.8,992,5997,0.00,2.10,0.00,0.000,4,0.000,0.044,2061,3832,3773,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6031,-0.66,-194.6,687.5,-9.3,996,6039,0.00,2.10,0.00,0.000,6,0.000,0.020,2061,2403,3773,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6340,-0.66,-194.6,717.0,-9.5,1027,6349,0.00,2.28,0.00,0.000,4,0.000,0.044,2050,3827,3771,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6366,-0.66,-194.6,719.1,-9.2,1029,6373,0.00,2.10,0.00,0.000,6,0.000,0.020,2050,2399,3770,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6672,-0.66,-194.6,750.4,-9.8,1060,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2399,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6974,-0.66,-194.6,778.8,-9.2,1090,6983,0.00,2.30,0.00,0.000,4,0.000,0.044,2038,3830,3766,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6999,-0.66,-194.6,781.1,-9.3,1092,7007,0.00,2.10,0.00,0.000,6,0.000,0.020,2038,2403,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7307,-0.65,-194.6,812.0,-10.2,1123,7315,0.00,2.33,0.00,0.000,4,0.000,0.027,2039,955,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7360,-0.66,-194.6,817.1,-9.6,1128,7369,0.08,2.50,0.00,0.000,6,0.099,0.033,2062,2445,3764,0,0,0,0,0,0,26.00,26.19,28.83
$GC,7669,-0.67,-194.6,841.8,-7.9,1159,7677,0.00,2.12,0.00,0.000,4,0.000,0.045,2052,3831,3762,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7712,-0.69,-194.6,845.2,-8.0,1163,7720,0.00,2.10,0.00,0.000,6,0.000,0.020,2052,2402,3762,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8021,-0.69,-194.6,871.1,-8.3,1194,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2402,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,-0.69,-194.6,895.5,-8.3,1224,8332,0.00,2.30,0.00,0.000,4,0.000,0.044,2040,3827,3760,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8347,-0.69,-194.6,897.6,-8.2,1226,8354,0.00,2.12,0.00,0.000,6,0.000,0.021,2040,2403,3759,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8656,-0.69,-194.6,926.8,-10.1,1257,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2401,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,-0.69,-194.6,957.9,-10.3,1288,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2402,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,-0.69,-194.6,987.8,-9.8,1318,9277,0.00,2.38,0.00,0.000,4,0.000,0.044,2029,3833,3755,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,9288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9288,begin apogee
$GC,9296,-0.20,0.0,990.4,-9.7,1320,9501,0.50,0.10,194.62,1.110,4,0.091,0.053,2206,2538,2967,0,0,0,0,0,0,25.82,24.70,23.46
$STATE,9502,end apogee,CONTROL_FINISHED_OK
$STATE,9502,begin climb
$GC,9504,0.64,194.6,999.6,0.0,1341,9722,0.70,0.08,210.32,1.095,6,0.033,0.090,2497,2481,2181,0,0,0,0,0,0,25.05,25.11,23.27
$GC,10022,0.57,194.6,903.7,22.7,1393,10031,0.12,2.12,0.00,0.000,4,0.194,0.039,2459,3833,2145,0,0,0,0,0,0,25.70,25.92,28.83
$GC,10238,0.50,194.6,857.3,20.4,1414,10247,0.12,1.88,0.00,0.000,6,0.189,0.021,2438,2515,2143,0,0,0,0,0,0,25.75,26.16,28.83
$GC,10546,0.47,194.6,807.1,15.5,1445,10554,0.00,2.03,0.00,0.000,4,0.000,0.042,2439,3828,2141,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10570,0.43,194.6,803.4,16.4,1447,10577,0.12,1.85,0.00,0.000,6,0.184,0.020,2417,2515,2141,0,0,0,0,0,0,25.83,26.27,28.83
$GC,10877,0.40,194.6,759.1,14.0,1478,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2514,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11179,0.38,194.6,718.9,13.0,1508,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2514,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11492,0.36,194.6,680.0,12.1,1539,11501,0.00,2.00,0.00,0.000,4,0.000,0.042,2418,3822,2139,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11566,0.33,194.6,669.3,14.8,1546,11574,0.17,1.85,0.00,0.000,6,0.159,0.020,2378,2514,2138,0,0,0,0,0,0,25.81,26.34,28.83
$GC,11876,0.37,225.3,639.9,9.2,1577,11915,0.00,0.00,32.22,0.853,6,0.000,0.000,2379,2512,2059,0,0,0,0,1,0,28.83,28.83,24.08
$GC,12215,0.41,249.1,607.4,9.5,1611,12263,0.00,2.55,32.95,0.828,4,0.000,0.028,2391,1067,1959,0,0,0,0,1,0,28.83,25.71,24.08
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$STATE,17347,end climb,SURFACE_DEPTH_REACHED
$STATE,17347,begin surface coast
$FINISH,-0.0,1.021445
$STATE,17371,end surface coast,CONTROL_FINISHED_OK
$STATE,17372,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.0,39.960
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324552
$DATA_FILE_SIZE,156979,2521
$CAP_FILE_SIZE,245094,0
$CFSIZE,260165632,186933248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.319,347.4,1
$GPS,240612,181037,2347.140,12226.950,29,1.1,29,-3.3