version: 66.10
glider: 169
mission: 6
dive: 364
start: 7 6 112 0 53 1
data:
$ID,169
$MISSION,6
$DIVE,364
$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,330
$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,-9
$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,-16000.741
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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
$GPS1,060712,004154,2348.594,12356.301,38,1.1,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.5
$GPS2,060712,005236,2348.696,12356.227,12,1.3,17,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,187.3,256948,-15.7,-10.000
$D_GRID,2973
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.63,-194.6,0.0,0.0,0,95,0.00,0.00,-75.10,0.000,2,0.000,0.000,115,2465,3052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.63,-194.6,3.1,-6.6,13,130,7.70,2.60,-14.25,0.000,4,0.216,0.034,2049,1000,3775,0,0,0,0,0,0,24.83,26.10,26.53
$GC,175,-0.57,-194.6,26.4,-21.5,26,181,0.00,2.67,0.00,0.000,6,0.000,0.031,2036,2489,3776,0,0,0,0,0,0,28.83,26.04,28.83
$GC,367,-0.50,-194.6,74.0,-22.2,63,375,0.15,2.58,0.00,0.000,4,0.162,0.019,2094,1000,3777,0,0,0,0,0,0,25.98,26.22,28.83
$GC,394,-0.46,-194.6,78.5,-17.1,67,402,0.00,2.62,0.00,0.000,6,0.000,0.031,2081,2479,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,588,-0.43,-194.6,103.7,-13.9,104,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2478,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-0.40,-194.6,129.7,-13.7,141,786,0.12,2.58,0.00,0.000,4,0.149,0.022,2130,1010,3777,0,0,0,0,0,0,26.24,26.28,28.83
$GC,829,-0.44,-194.6,134.8,-7.8,150,836,0.00,2.53,0.00,0.000,6,0.000,0.029,2120,2455,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1022,-0.47,-194.6,152.0,-9.1,187,1030,0.00,2.50,0.00,0.000,4,0.000,0.022,2120,993,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1108,-0.50,-194.6,159.6,-8.7,203,1116,0.00,2.80,0.00,0.000,6,0.000,0.028,2110,2559,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1302,-0.53,-194.6,174.4,-7.0,240,1309,0.00,1.80,0.00,0.000,4,0.000,0.041,2102,3831,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1359,-0.55,-194.6,178.8,-7.9,250,1365,0.00,2.12,0.00,0.000,6,0.000,0.018,2104,2340,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1550,-0.55,-194.6,196.1,-9.6,287,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2340,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-0.55,-194.6,213.3,-9.2,324,1749,0.00,2.38,0.00,0.000,4,0.000,0.038,2094,3842,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1788,-0.57,-194.6,217.5,-8.9,332,1795,0.00,2.10,0.00,0.000,6,0.000,0.018,2094,2365,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2101,-0.56,-194.6,250.6,-11.2,393,2108,0.00,2.25,0.00,0.000,4,0.000,0.023,2094,1004,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2125,-0.56,-194.6,253.3,-11.3,397,2131,0.00,2.50,0.00,0.000,6,0.000,0.028,2085,2442,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2437,-0.55,-194.6,288.6,-11.5,458,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2440,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2748,-0.55,-194.6,322.9,-10.2,519,2756,0.00,2.45,0.00,0.000,4,0.000,0.024,2085,1009,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2790,-0.57,-194.6,327.0,-9.2,526,2797,0.00,2.50,0.00,0.000,6,0.000,0.029,2076,2445,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3103,-0.56,-194.6,360.5,-11.1,587,3111,0.00,2.10,0.00,0.000,4,0.000,0.040,2065,3838,3772,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3134,-0.56,-194.6,364.1,-11.3,592,3141,0.00,2.08,0.00,0.000,6,0.000,0.019,2065,2383,3772,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3447,-0.54,-194.6,400.7,-11.1,653,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2382,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3759,-0.54,-194.6,431.8,-9.4,714,3766,0.00,2.30,0.00,0.000,4,0.000,0.040,2054,3836,3769,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3798,-0.54,-194.6,435.7,-9.4,721,3805,0.00,2.05,0.00,0.000,6,0.000,0.019,2054,2388,3769,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4111,-0.52,-194.6,470.3,-12.4,782,4118,0.00,2.33,0.00,0.000,4,0.000,0.024,2054,994,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4131,-0.51,-194.6,472.5,-11.7,785,4138,0.12,2.55,0.00,0.000,6,0.125,0.031,2083,2452,3767,0,0,0,0,0,0,26.08,26.25,28.83
$GC,4447,-0.52,-194.6,499.6,-7.7,846,4454,0.00,2.47,0.00,0.000,4,0.000,0.024,2083,997,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4473,-0.54,-194.6,501.4,-6.8,849,4482,0.00,2.50,0.00,0.000,6,0.000,0.029,2074,2446,3765,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4782,-0.54,-194.6,524.6,-7.9,880,4791,0.00,2.08,0.00,0.000,4,0.000,0.041,2063,3835,3762,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4838,-0.54,-194.6,529.0,-8.6,885,4844,0.00,2.08,0.00,0.000,6,0.000,0.021,2064,2387,3762,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5145,-0.54,-194.6,556.1,-8.7,916,5153,0.00,2.25,0.00,0.000,4,0.000,0.040,2052,3821,3760,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5178,-0.54,-194.6,559.0,-8.7,919,5182,0.00,2.03,0.00,0.000,6,0.000,0.019,2052,2398,3760,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5490,-0.53,-194.6,590.8,-11.2,950,5499,0.00,2.33,0.00,0.000,4,0.000,0.024,2052,1003,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5533,-0.53,-194.6,595.3,-10.6,954,5543,0.08,2.50,0.00,0.000,6,0.097,0.031,2075,2455,3757,0,0,0,0,0,0,26.03,26.26,28.83
$GC,5842,-0.54,-194.6,624.1,-8.7,985,5851,0.00,2.05,0.00,0.000,4,0.000,0.041,2064,3833,3754,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5866,-0.55,-194.6,626.1,-8.3,987,5875,0.00,2.03,0.00,0.000,6,0.000,0.019,2065,2397,3754,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6175,-0.55,-194.6,653.4,-8.6,1018,6184,0.00,2.30,0.00,0.000,4,0.000,0.026,2065,1005,3752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6191,-0.55,-194.6,654.2,-8.6,1019,6199,0.00,2.58,0.00,0.000,6,0.000,0.033,2054,2467,3752,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6497,-0.54,-194.6,685.2,-11.0,1050,6506,0.00,2.03,0.00,0.000,4,0.000,0.043,2044,3828,3749,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6520,-0.53,-194.6,687.6,-10.6,1052,6529,0.08,2.03,0.00,0.000,6,0.094,0.021,2077,2403,3749,0,0,0,0,0,0,26.15,26.39,28.83
$GC,6830,-0.54,-194.6,716.9,-9.3,1083,6833,0.00,2.22,0.00,0.000,4,0.000,0.044,2066,3830,3747,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6854,-0.54,-194.6,719.1,-9.3,1085,6861,0.00,2.00,0.00,0.000,6,0.000,0.020,2066,2412,3746,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7162,-0.54,-194.6,749.9,-9.4,1116,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2413,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,-0.54,-194.6,774.4,-7.6,1146,7473,0.00,2.22,0.00,0.000,4,0.000,0.043,2055,3824,3742,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7499,-0.55,-194.6,777.1,-8.0,1149,7506,0.00,1.98,0.00,0.000,6,0.000,0.021,2055,2424,3741,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7808,-0.55,-194.6,804.8,-9.6,1180,7817,0.00,2.15,0.00,0.000,4,0.000,0.044,2045,3818,3739,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7831,-0.55,-194.6,806.9,-9.2,1182,7840,0.00,1.95,0.00,0.000,6,0.000,0.021,2045,2442,3739,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8140,-0.54,-194.6,837.5,-10.0,1213,8149,0.00,2.42,0.00,0.000,4,0.000,0.026,2045,1012,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8193,-0.56,-194.6,842.1,-9.2,1218,8203,0.08,2.60,0.00,0.000,6,0.097,0.034,2069,2481,3737,0,0,0,0,0,0,25.91,26.09,28.83
$GC,8504,-0.57,-194.6,866.0,-7.8,1249,8512,0.00,2.00,0.00,0.000,4,0.000,0.045,2059,3830,3735,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8526,-0.58,-194.6,868.1,-8.3,1251,8536,0.00,1.98,0.00,0.000,6,0.000,0.021,2060,2430,3735,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8837,-0.58,-194.6,894.1,-8.4,1282,8845,0.00,2.40,0.00,0.000,4,0.000,0.028,2059,1016,3733,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8861,-0.59,-194.6,896.1,-8.3,1284,8868,0.00,2.60,0.00,0.000,6,0.000,0.034,2049,2480,3733,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9169,-0.59,-194.6,923.9,-8.9,1315,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2478,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-0.59,-194.6,951.1,-9.1,1345,9482,0.00,2.55,0.00,0.000,4,0.000,0.028,2049,1019,3730,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9517,-0.60,-194.6,955.1,-8.8,1349,9524,0.00,2.58,0.00,0.000,6,0.000,0.035,2039,2476,3730,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9825,-0.59,-194.6,985.9,-10.1,1380,9834,0.00,2.05,0.00,0.000,4,0.000,0.045,2029,3826,3728,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9847,-0.58,-194.6,988.2,-10.4,1382,9857,0.12,2.03,0.00,0.000,6,0.119,0.022,2069,2419,3728,0,0,0,0,0,0,26.03,26.29,28.83
$STATE,9865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9865,begin apogee
$GC,9872,-0.20,0.0,990.1,-10.4,1384,10067,0.32,0.10,183.82,1.141,4,0.091,0.070,2184,2438,2967,0,0,0,0,0,0,25.96,24.85,23.46
$STATE,10068,end apogee,CONTROL_FINISHED_OK
$STATE,10068,begin climb
$GC,10072,0.63,194.6,999.2,0.0,1404,10280,0.73,2.28,200.35,1.108,4,0.052,0.043,2460,3836,2184,0,0,0,0,0,0,25.20,25.19,23.46
$GC,10393,0.57,194.6,950.8,19.8,1436,10398,0.12,2.03,0.00,0.000,6,0.185,0.024,2440,2460,2150,0,0,0,0,0,0,25.48,25.83,28.83
$GC,10706,0.54,194.6,902.4,15.6,1467,10715,0.00,2.50,0.00,0.000,4,0.000,0.031,2453,1036,2144,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10789,0.53,194.6,890.8,13.3,1475,10798,0.08,2.62,0.00,0.000,6,0.132,0.037,2425,2495,2140,0,0,0,0,0,0,25.82,26.04,28.83
$GC,11100,0.50,194.6,850.2,12.7,1506,11108,0.00,2.00,0.00,0.000,4,0.000,0.044,2425,3831,2140,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,18674,end climb,SURFACE_DEPTH_REACHED
$STATE,18674,begin surface coast
$FINISH,0.0,1.021735
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.99
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.0,48.421
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330332
$DATA_FILE_SIZE,166675,2657
$CAP_FILE_SIZE,270585,0
$CFSIZE,260165632,179249152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,347.1,1
$GPS,060712,060659,2346.828,12355.849,37,1.8,42,-3.4