version: 66.10
glider: 169
mission: 6
dive: 383
start: 7 10 112 8 7 40
data:
$ID,169
$MISSION,6
$DIVE,383
$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,-16026.066
$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,2450
$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
$GPS1,100712,075623,2319.115,12356.297,24,1.0,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.2
$GPS2,100712,080715,2318.887,12356.425,11,2.7,30,-3.3
$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,173.6,201752,-15.7,-10.000
$D_GRID,4682
$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,17,-0.63,-194.6,0.0,0.0,0,100,0.00,0.00,-80.53,0.000,2,0.000,0.000,116,2469,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-194.6,3.7,-8.8,14,136,7.93,2.10,-15.77,0.000,4,0.224,0.056,2027,3828,3776,0,0,0,0,0,0,24.77,25.96,26.55
$GC,211,-0.57,-194.6,38.3,-25.1,33,220,0.12,2.05,0.00,0.000,6,0.155,0.019,2067,2413,3777,0,0,0,0,0,0,25.86,26.23,28.83
$GC,405,-0.53,-194.6,73.6,-13.9,70,412,0.00,2.38,0.00,0.000,4,0.000,0.024,2072,980,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,506,-0.53,-194.6,85.7,-11.0,89,514,0.00,2.53,0.00,0.000,6,0.000,0.030,2059,2448,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,700,-0.50,-194.6,111.5,-14.0,126,707,0.00,2.10,0.00,0.000,4,0.000,0.037,2048,3841,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,745,-0.48,-194.6,117.8,-13.2,134,753,0.15,2.15,0.00,0.000,6,0.133,0.018,2093,2364,3777,0,0,0,0,0,0,26.02,26.40,28.83
$GC,938,-0.48,-194.6,138.2,-10.5,171,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2364,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1127,-0.48,-194.6,156.8,-9.0,208,1136,0.00,2.33,0.00,0.000,4,0.000,0.038,2081,3841,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1160,-0.48,-194.6,159.8,-9.7,213,1168,0.00,2.12,0.00,0.000,6,0.000,0.018,2082,2376,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1352,-0.47,-194.6,178.0,-9.7,250,1359,0.00,2.28,0.00,0.000,4,0.000,0.023,2081,974,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1379,-0.48,-194.6,180.4,-9.4,254,1386,0.00,2.50,0.00,0.000,6,0.000,0.029,2070,2441,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1570,-0.46,-194.6,200.9,-11.1,291,1576,0.00,2.12,0.00,0.000,4,0.000,0.039,2059,3843,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1610,-0.46,-194.6,205.2,-10.5,298,1618,0.12,2.10,0.00,0.000,6,0.131,0.018,2097,2379,3777,0,0,0,0,0,0,26.13,26.44,28.83
$GC,1925,-0.46,-194.6,231.8,-8.3,359,1932,0.00,2.35,0.00,0.000,4,0.000,0.039,2085,3839,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1986,-0.48,-194.6,237.3,-9.3,370,1993,0.00,2.03,0.00,0.000,6,0.000,0.018,2085,2410,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2299,-0.48,-194.6,268.5,-10.7,431,2305,0.00,2.38,0.00,0.000,4,0.000,0.024,2085,975,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2348,-0.49,-194.6,273.7,-10.1,440,2356,0.00,2.55,0.00,0.000,6,0.000,0.030,2085,2464,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2663,-0.52,-194.6,303.7,-9.6,501,2670,0.00,2.10,0.00,0.000,4,0.000,0.040,2081,3844,3773,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2696,-0.55,-194.6,306.7,-9.9,506,2702,0.00,1.83,0.00,0.000,6,0.000,0.018,2081,2483,3773,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3007,-0.58,-194.6,334.0,-7.5,567,3014,0.00,2.55,0.00,0.000,4,0.000,0.023,2081,971,3771,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3043,-0.62,-194.6,337.0,-8.1,573,3050,0.00,3.05,0.00,0.000,6,0.000,0.029,2069,2680,3771,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3357,-0.63,-194.6,359.9,-6.6,634,3364,0.00,2.97,0.00,0.000,4,0.000,0.023,2069,965,3769,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3383,-0.65,-194.6,361.9,-7.5,638,3390,0.00,2.75,0.00,0.000,6,0.000,0.031,2058,2524,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3697,-0.63,-194.6,391.7,-9.9,699,3703,0.00,1.90,0.00,0.000,4,0.000,0.040,2048,3828,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3793,-0.63,-194.6,401.4,-10.3,717,3800,0.00,1.90,0.00,0.000,6,0.000,0.018,2048,2451,3767,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4107,-0.61,-194.6,434.2,-10.5,778,4114,0.00,2.47,0.00,0.000,4,0.000,0.024,2048,971,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4167,-0.62,-194.6,440.5,-9.2,789,4175,0.00,2.67,0.00,0.000,6,0.000,0.030,2037,2501,3764,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4482,-0.59,-194.6,473.7,-10.3,850,4489,0.00,0.00,-0.10,0.000,6,0.000,0.000,2036,2500,3784,0,0,0,0,0,0,28.83,28.83,25.96
$GC,4794,-0.57,-194.6,506.4,-10.7,905,4803,0.00,2.58,0.00,0.000,4,0.000,0.025,2037,987,3783,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4869,-0.58,-194.6,513.9,-9.8,912,4877,0.12,2.60,0.00,0.000,6,0.132,0.031,2068,2484,3783,0,0,0,0,0,0,26.03,26.21,28.83
$GC,5177,-0.59,-194.6,541.4,-8.8,943,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2482,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5481,-0.59,-194.6,566.7,-8.2,973,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2482,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5788,-0.59,-194.6,590.5,-7.7,1004,5796,0.00,2.55,0.00,0.000,4,0.000,0.024,2068,973,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5813,-0.60,-194.6,592.5,-7.8,1006,5819,0.00,2.60,0.00,0.000,6,0.000,0.031,2059,2480,3776,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6120,-0.60,-194.6,618.6,-8.6,1037,6129,0.00,2.08,0.00,0.000,4,0.000,0.043,2048,3837,3773,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6154,-0.60,-194.6,621.6,-8.6,1040,6163,0.00,2.05,0.00,0.000,6,0.000,0.020,2048,2422,3773,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6466,-0.60,-194.6,649.5,-9.1,1071,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2422,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6778,-0.59,-194.6,678.4,-9.1,1102,6786,0.00,2.20,0.00,0.000,4,0.000,0.042,2038,3822,3769,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6802,-0.59,-194.6,680.8,-9.2,1104,6809,0.00,1.98,0.00,0.000,6,0.000,0.019,2038,2429,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7111,-0.58,-194.6,710.9,-9.9,1135,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2428,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.57,-194.6,740.2,-8.6,1166,7431,0.00,2.20,0.00,0.000,4,0.000,0.042,2027,3822,3764,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7464,-0.57,-194.6,744.4,-9.5,1170,7473,0.10,1.98,0.00,0.000,6,0.099,0.019,2068,2430,3764,0,0,0,0,0,0,26.09,26.39,28.83
$GC,7774,-0.58,-194.6,766.3,-7.0,1201,7784,0.00,2.40,0.00,0.000,4,0.000,0.024,2067,983,3762,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7809,-0.60,-194.6,768.6,-6.8,1204,7818,0.00,2.58,0.00,0.000,6,0.000,0.031,2059,2488,3762,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8119,-0.61,-194.6,790.5,-7.1,1235,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2486,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,-0.61,-194.6,813.2,-7.6,1266,8441,0.00,2.03,0.00,0.000,4,0.000,0.044,2049,3826,3757,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8455,-0.62,-194.6,815.2,-7.4,1268,8458,0.00,2.03,0.00,0.000,6,0.000,0.020,2050,2428,3757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8767,-0.62,-194.6,841.7,-8.7,1299,8775,0.00,2.38,0.00,0.000,4,0.000,0.026,2049,986,3755,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8800,-0.63,-194.6,844.6,-9.0,1302,8808,0.00,2.55,0.00,0.000,6,0.000,0.034,2041,2472,3755,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9109,-0.63,-194.6,874.8,-9.8,1333,9118,0.00,2.10,0.00,0.000,4,0.000,0.044,2030,3840,3754,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9154,-0.63,-194.6,879.0,-10.2,1337,9161,0.00,2.00,0.00,0.000,6,0.000,0.021,2030,2430,3753,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9462,-0.62,-194.6,912.3,-10.9,1368,9471,0.00,2.40,0.00,0.000,4,0.000,0.027,2030,978,3752,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9497,-0.62,-194.6,915.9,-11.0,1371,9503,0.00,2.60,0.00,0.000,6,0.000,0.034,2021,2482,3751,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9805,-0.61,-194.6,952.6,-11.7,1402,9814,0.12,2.03,0.00,0.000,4,0.146,0.044,2054,3819,3750,0,0,0,0,0,0,26.19,25.90,28.83
$GC,9832,-0.60,-194.6,955.2,-11.2,1404,9839,0.00,2.00,0.00,0.000,6,0.000,0.020,2054,2427,3749,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10138,-0.61,-194.6,982.9,-8.6,1435,10146,0.00,2.20,0.00,0.000,4,0.000,0.045,2043,3829,3748,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10181,-0.63,-194.6,986.7,-8.8,1439,10190,0.00,2.00,0.00,0.000,6,0.000,0.020,2044,2430,3747,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,10217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10217,begin apogee
$GC,10223,-0.20,0.0,990.3,-9.2,1443,10420,0.40,0.10,188.05,1.123,4,0.093,0.073,2183,2443,2970,0,0,0,0,0,0,25.81,24.84,23.39
$STATE,10421,end apogee,CONTROL_FINISHED_OK
$STATE,10421,begin climb
$GC,10423,0.63,194.6,1000.8,0.0,1463,10632,0.70,2.25,200.05,1.102,4,0.049,0.042,2456,3833,2182,0,0,0,0,0,0,25.18,25.15,23.46
$GC,10741,0.58,194.6,957.4,18.1,1495,10750,0.00,2.03,0.00,0.000,6,0.000,0.020,2466,2457,2150,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11052,0.53,194.6,905.6,16.5,1526,11061,0.15,2.40,0.00,0.000,4,0.177,0.024,2435,1026,2144,0,0,0,0,0,0,25.77,26.06,28.83
$GC,11124,0.53,194.6,896.2,11.4,1533,11134,0.00,2.65,0.00,0.000,6,0.000,0.031,2435,2519,2142,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11434,0.50,194.6,852.5,14.1,1564,11443,0.00,1.95,0.00,0.000,4,0.000,0.042,2435,3835,2142,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11479,0.46,194.6,845.8,16.1,1568,11486,0.15,1.95,0.00,0.000,6,0.163,0.020,2404,2477,2141,0,0,0,0,0,0,25.78,26.25,28.83
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$STATE,18741,end climb,SURFACE_DEPTH_REACHED
$STATE,18741,begin surface coast
$FINISH,0.9,1.021166
$STATE,18762,end surface coast,CONTROL_FINISHED_OK
$STATE,18762,begin surface
$SM_CCo,18840,0.00,0.000,0,0,799,534.75
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.89
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.9,51.574
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.825,217.700,786.025,0.000,0.000,29.507,51.982,359.724,0.000,0.000,32.697,6335.530,6765.265,1023.565,4665.487,650.000,0.000,3217.601,0.000,4043.018,0.000,0.544,0.000
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$MEM,330340
$DATA_FILE_SIZE,166872,2670
$CAP_FILE_SIZE,267223,0
$CFSIZE,260165632,176427008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,305.4,1
$GPS,100712,132236,2317.238,12356.167,28,1.1,28,-3.3