version: 66.10
glider: 169
mission: 6
dive: 45
start: 4 27 112 2 20 41
data:
$ID,169
$MISSION,6
$DIVE,45
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,2
$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,-15269.444
$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,2035
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$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
$GPS1,270412,021127,2305.928,12153.683,30,2.2,49,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-69.0
$GPS2,270412,022016,2306.098,12153.864,15,2.2,34,-3.1
$SPEED_LIMITS,0.159,0.302
$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,71.5,220732,-13.6,-9.167
$D_GRID,4122
$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,-0.61,-219.0,0.0,0.0,0,114,0.00,0.00,-94.82,0.000,2,0.000,0.000,138,2551,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.61,-219.0,3.2,-7.4,17,148,6.72,2.50,-14.73,0.000,4,0.233,0.053,1841,1063,3874,0,0,0,0,0,0,25.67,26.02,26.33
$GC,247,-0.57,-219.0,51.8,-22.8,41,253,0.00,2.38,0.00,0.000,6,0.000,0.038,1830,2527,3874,0,0,0,0,0,0,28.83,26.10,28.83
$GC,438,-0.48,-219.0,112.8,-32.6,78,445,0.15,2.33,0.00,0.000,4,0.163,0.024,1887,1028,3875,0,0,0,0,0,0,26.08,26.25,28.83
$GC,524,-0.50,-219.0,128.0,-10.0,94,530,0.00,2.35,0.00,0.000,6,0.000,0.034,1876,2504,3875,0,0,0,0,0,0,28.83,26.26,28.83
$GC,715,-0.46,-219.0,160.0,-19.1,131,721,0.00,2.03,0.00,0.000,4,0.000,0.044,1865,3823,3876,0,0,0,0,0,0,28.83,26.31,28.83
$GC,760,-0.42,-219.0,168.7,-18.3,139,767,0.12,2.03,0.00,0.000,6,0.129,0.021,1903,2439,3876,0,0,0,0,0,0,26.23,26.39,28.83
$GC,951,-0.42,-219.0,188.5,-8.7,176,958,0.00,2.17,0.00,0.000,4,0.000,0.042,1893,3823,3875,0,0,0,0,0,0,28.83,26.36,28.83
$GC,971,-0.42,-219.0,190.3,-9.0,179,978,0.00,2.03,0.00,0.000,6,0.000,0.021,1893,2436,3876,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1169,-0.41,-219.0,209.3,-10.0,208,1178,0.00,2.12,0.00,0.000,4,0.000,0.042,1882,3813,3875,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1204,-0.41,-219.0,212.8,-9.9,211,1211,0.00,1.98,0.00,0.000,6,0.000,0.021,1882,2454,3876,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1512,-0.41,-219.0,241.4,-8.9,242,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2453,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1815,-0.41,-219.0,271.3,-8.8,272,1823,0.00,2.15,0.00,0.000,4,0.000,0.042,1872,3825,3875,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1867,-0.42,-219.0,275.9,-8.2,277,1875,0.00,1.98,0.00,0.000,6,0.000,0.021,1872,2460,3875,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2176,-0.42,-219.0,306.9,-9.4,308,2185,0.00,2.17,0.00,0.000,4,0.000,0.028,1872,1043,3874,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2208,-0.43,-219.0,309.8,-9.3,311,2217,0.00,2.40,0.00,0.000,6,0.000,0.036,1868,2547,3874,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2520,-0.43,-219.0,340.0,-9.7,342,2528,0.00,1.95,0.00,0.000,4,0.000,0.046,1858,3821,3873,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2575,-0.45,-219.0,344.6,-8.7,347,2582,0.10,1.98,0.00,0.000,6,0.116,0.024,1894,2466,3872,0,0,0,0,0,0,26.50,26.60,28.83
$GC,2883,-0.47,-219.0,362.7,-5.5,378,2891,0.00,2.15,0.00,0.000,4,0.000,0.027,1894,1043,3871,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2905,-0.50,-219.0,363.8,-5.2,380,2913,0.00,2.35,0.00,0.000,6,0.000,0.033,1894,2542,3870,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3215,-0.57,-219.0,387.7,-9.2,411,3219,0.12,1.92,0.00,0.000,4,0.110,0.041,1836,3825,3869,0,0,0,0,0,0,26.57,26.55,28.83
$GC,3312,-0.64,-219.0,396.0,-8.1,420,3319,0.00,1.98,0.00,0.000,6,0.000,0.022,1844,2470,3868,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3618,-0.72,-219.0,422.3,-8.3,451,3627,0.12,2.10,0.00,0.000,4,0.116,0.041,1788,3826,3866,0,0,0,0,0,0,26.58,26.57,28.83
$GC,3651,-0.78,-219.0,424.9,-8.2,454,3659,0.00,1.95,0.00,0.000,6,0.000,0.021,1788,2466,3866,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3961,-0.74,-219.0,470.6,-17.1,485,3969,0.00,2.15,0.00,0.000,4,0.000,0.027,1788,1035,3864,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4035,-0.72,-219.0,481.7,-13.5,492,4043,0.00,2.40,-0.08,0.000,6,0.000,0.036,1776,2553,3885,0,0,0,0,0,0,28.83,26.58,25.98
$GC,4343,-0.67,-219.0,535.5,-18.1,523,4352,0.12,2.33,0.00,0.000,4,0.147,0.027,1826,1050,3885,0,0,0,0,0,0,26.49,26.60,28.83
$GC,4377,-0.63,-219.0,540.4,-15.6,526,4385,0.00,2.38,0.00,0.000,6,0.000,0.037,1825,2546,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4685,-0.62,-219.0,573.3,-11.0,557,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2546,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4988,-0.61,-219.0,608.3,-11.8,584,4993,0.00,2.33,0.00,0.000,4,0.000,0.030,1825,1049,3880,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5029,-0.61,-219.0,612.9,-11.7,586,5034,0.00,2.42,0.00,0.000,6,0.000,0.041,1825,2552,3880,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5342,-0.60,-219.0,648.0,-10.9,602,5347,0.00,1.92,0.00,0.000,4,0.000,0.049,1815,3822,3878,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5384,-0.60,-219.0,652.2,-10.7,604,5387,0.00,1.98,0.00,0.000,6,0.000,0.024,1815,2474,3878,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5704,-0.59,-219.0,687.2,-10.6,620,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2474,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.58,-219.0,719.1,-10.7,635,6004,0.12,0.00,0.00,0.000,6,0.126,0.000,1857,2473,3874,0,0,0,0,0,0,26.55,28.83,28.83
$GC,6303,-0.60,-219.0,738.0,-5.7,650,6308,0.00,2.12,0.00,0.000,4,0.000,0.048,1847,3809,3871,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6342,-0.62,-219.0,740.2,-5.5,652,6348,0.00,1.95,0.00,0.000,6,0.000,0.024,1846,2481,3871,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6663,-0.70,-219.0,762.7,-8.6,668,6664,0.12,0.00,0.00,0.000,6,0.123,0.000,1802,2480,3869,0,0,0,0,0,0,26.56,28.83,28.83
$GC,6963,-0.75,-219.0,785.0,-7.6,683,6968,0.00,2.08,0.00,0.000,4,0.000,0.049,1802,3812,3867,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7042,-0.79,-219.0,791.2,-7.7,687,7048,0.00,1.95,0.00,0.000,6,0.000,0.024,1802,2473,3866,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7363,-0.81,-219.0,818.7,-8.8,703,7369,0.00,2.10,0.00,0.000,4,0.000,0.048,1799,3814,3865,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7410,-0.82,-219.0,822.3,-9.0,705,7414,0.00,1.70,0.00,0.000,6,0.000,0.024,1800,2597,3863,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7723,-0.81,-219.0,859.9,-11.7,721,7728,0.00,2.42,0.00,0.000,4,0.000,0.033,1799,1055,3863,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7809,-0.81,-219.0,868.2,-10.4,725,7814,0.00,2.65,0.00,0.000,6,0.000,0.041,1799,2661,3862,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8117,-0.79,-219.0,902.8,-10.9,740,8123,0.00,2.58,0.00,0.000,4,0.000,0.031,1799,1047,3861,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8197,-0.79,-219.0,910.5,-9.4,744,8203,0.00,2.60,0.00,0.000,6,0.000,0.041,1800,2625,3861,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8517,-0.77,-219.0,942.2,-10.1,760,8523,0.00,2.47,0.00,0.000,4,0.000,0.030,1799,1053,3860,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8577,-0.77,-219.0,947.7,-9.5,763,8583,0.00,2.55,0.00,0.000,6,0.000,0.041,1799,2609,3860,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8899,-0.76,-219.0,980.9,-10.9,779,8904,0.00,2.50,0.00,0.000,4,0.000,0.031,1799,1040,3859,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8945,-0.75,-219.0,985.1,-10.8,781,8950,0.00,2.55,0.00,0.000,6,0.000,0.041,1799,2601,3858,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,8990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8990,begin apogee
$GC,8996,-0.20,0.0,990.7,-10.1,783,9313,0.47,0.10,304.77,0.949,4,0.094,0.057,1970,2549,2972,0,0,0,0,0,0,26.40,24.67,24.07
$STATE,9316,end apogee,CONTROL_FINISHED_OK
$STATE,9316,begin climb
$GC,9318,0.61,219.0,1006.8,0.0,799,9561,0.65,2.45,234.18,1.092,4,0.026,0.029,2271,1064,2085,0,0,0,0,0,0,24.98,24.93,23.80
$GC,9632,0.54,219.0,957.6,22.6,815,9637,0.20,2.50,0.00,0.000,6,0.164,0.040,2213,2542,2050,0,0,0,0,0,0,24.99,25.13,28.83
$GC,9952,0.46,219.0,883.5,23.1,831,9958,0.00,2.38,0.00,0.000,4,0.000,0.034,2224,1077,2044,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10039,0.41,219.0,867.4,19.9,835,10049,0.20,2.45,0.00,0.000,6,0.156,0.041,2169,2554,2042,0,0,0,0,0,0,25.72,25.89,28.83
$GC,10351,0.36,219.0,812.5,17.1,851,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2554,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10653,0.32,219.0,764.6,15.5,866,10658,0.00,1.98,0.00,0.000,4,0.000,0.047,2169,3838,2040,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10726,0.27,219.0,754.3,16.5,869,10733,0.20,2.00,0.00,0.000,6,0.158,0.024,2124,2506,2039,0,0,0,0,0,0,26.02,26.26,28.83
$GC,11032,0.26,219.0,718.5,10.4,885,11037,0.00,2.22,0.00,0.000,4,0.000,0.034,2134,1080,2038,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11054,0.25,219.0,716.5,10.3,886,11059,0.00,2.40,0.00,0.000,6,0.000,0.037,2134,2557,2038,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11367,0.23,219.0,680.8,11.1,902,11373,0.00,1.95,0.00,0.000,4,0.000,0.047,2135,3816,2037,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11420,0.22,219.0,675.9,11.5,904,11428,0.15,1.95,0.00,0.000,6,0.152,0.024,2103,2509,2037,0,0,0,0,0,0,26.16,26.39,28.83
$GC,11730,0.26,251.9,648.6,8.2,920,11774,0.00,2.30,33.67,0.840,4,0.000,0.034,2115,1076,1949,0,0,0,0,1,0,28.83,25.84,24.99
$GC,11807,0.34,302.3,642.8,7.7,924,11869,0.00,2.45,51.22,0.969,6,0.000,0.037,2114,2557,1745,0,0,0,0,1,0,28.83,25.89,24.22
$GC,12178,0.40,345.0,612.8,8.0,943,12259,0.12,2.53,63.60,0.828,4,0.074,0.034,2216,1076,1569,0,0,1,0,1,0,25.98,25.09,24.30
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$STATE,16710,end climb,SURFACE_DEPTH_REACHED
$STATE,16710,begin surface coast
$FINISH,0.5,1.021805
$STATE,16726,end surface coast,CONTROL_FINISHED_OK
$STATE,16726,begin surface
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$10V_AH,10.3,4.823
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,93567,1492
$CAP_FILE_SIZE,196723,0
$CFSIZE,260165632,217694208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,4,0
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