version: 66.10
glider: 169
mission: 6
dive: 47
start: 4 27 112 12 7 31
data:
$ID,169
$MISSION,6
$DIVE,47
$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,-15271.961
$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
$GPS1,270412,115937,2309.567,12158.478,34,1.0,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-70.2
$GPS2,270412,120708,2309.527,12158.526,14,1.1,14,-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,72.3,211072,-13.6,-9.167
$D_GRID,3951
$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,18,-0.61,-219.0,0.0,0.0,0,120,0.00,0.00,-99.18,0.000,2,0.000,0.000,129,2531,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.61,-219.0,4.1,-11.7,18,148,6.68,2.42,-11.30,0.000,4,0.228,0.050,1843,1056,3872,0,0,0,0,0,0,25.67,26.01,26.32
$GC,251,-0.58,-219.0,60.7,-21.0,42,258,0.00,2.38,0.00,0.000,6,0.000,0.035,1830,2525,3873,0,0,0,0,0,0,28.83,26.10,28.83
$GC,443,-0.49,-219.0,114.5,-30.7,79,451,0.12,2.33,0.00,0.000,4,0.166,0.024,1879,1029,3873,0,0,0,0,0,0,26.09,26.24,28.83
$GC,529,-0.50,-219.0,131.0,-11.3,95,536,0.00,2.40,0.00,0.000,6,0.000,0.034,1869,2517,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,720,-0.45,-219.0,162.9,-18.8,132,727,0.00,2.03,0.00,0.000,4,0.000,0.043,1859,3832,3874,0,0,0,0,0,0,28.83,26.31,28.83
$GC,741,-0.41,-219.0,166.5,-17.7,135,748,0.15,2.08,0.00,0.000,6,0.132,0.021,1905,2413,3874,0,0,0,0,0,0,26.19,26.39,28.83
$GC,932,-0.41,-219.0,189.4,-10.1,172,938,0.00,2.10,0.00,0.000,4,0.000,0.025,1905,1025,3874,0,0,0,0,0,0,28.83,26.39,28.83
$GC,962,-0.43,-219.0,192.4,-10.1,177,968,0.00,2.35,0.00,0.000,6,0.000,0.032,1905,2513,3874,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1154,-0.44,-219.0,209.2,-8.8,204,1163,0.00,1.98,0.00,0.000,4,0.000,0.041,1896,3815,3874,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1206,-0.47,-219.0,213.8,-8.1,209,1216,0.00,2.03,0.00,0.000,6,0.000,0.021,1895,2431,3874,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1518,-0.48,-219.0,241.1,-8.7,240,1526,0.00,2.17,0.00,0.000,4,0.000,0.041,1886,3818,3874,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1550,-0.49,-219.0,244.0,-8.8,243,1558,0.00,2.00,0.00,0.000,6,0.000,0.021,1886,2444,3873,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1860,-0.49,-219.0,275.1,-9.1,274,1863,0.00,2.17,0.00,0.000,4,0.000,0.042,1877,3821,3874,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1895,-0.50,-219.0,277.9,-8.9,277,1901,0.00,1.95,0.00,0.000,6,0.000,0.021,1877,2460,3873,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2201,-0.50,-219.0,308.6,-10.5,308,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2459,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2504,-0.51,-219.0,332.5,-6.9,338,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2459,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,-0.52,-219.0,356.6,-7.7,369,2822,0.00,2.17,0.00,0.000,4,0.000,0.044,1868,3820,3871,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2849,-0.53,-219.0,359.3,-8.0,372,2855,0.00,1.95,0.00,0.000,6,0.000,0.024,1868,2462,3871,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3156,-0.53,-219.0,386.1,-8.8,403,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2462,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,-0.54,-219.0,411.0,-8.2,433,3467,0.00,2.10,0.00,0.000,4,0.000,0.044,1859,3815,3869,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3492,-0.55,-219.0,413.8,-8.3,436,3499,0.00,1.92,0.00,0.000,6,0.000,0.023,1859,2479,3868,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3802,-0.55,-219.0,440.7,-8.1,467,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2478,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4112,-0.56,-219.0,466.0,-8.8,498,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2478,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4424,-0.57,-219.0,492.3,-8.2,529,4430,0.00,0.00,-0.08,0.000,6,0.000,0.000,1859,2478,3889,0,0,0,0,0,0,28.83,28.83,26.20
$GC,4730,-0.57,-219.0,515.8,-7.2,560,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2478,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.59,-219.0,538.2,-7.1,590,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2478,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5342,-0.60,-219.0,559.9,-6.9,621,5351,0.00,2.10,0.00,0.000,4,0.000,0.045,1852,3812,3885,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5374,-0.61,-219.0,562.3,-6.9,624,5383,0.00,1.95,0.00,0.000,6,0.000,0.022,1851,2468,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5686,-0.62,-219.0,586.1,-7.8,655,5694,0.00,2.10,0.00,0.000,4,0.000,0.046,1843,3816,3883,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5729,-0.64,-219.0,589.7,-8.4,659,5737,0.00,1.90,0.00,0.000,6,0.000,0.022,1843,2491,3883,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6047,-0.64,-219.0,619.4,-9.5,681,6053,0.00,2.28,0.00,0.000,4,0.000,0.031,1843,1035,3881,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6088,-0.65,-219.0,623.1,-9.4,683,6093,0.00,2.42,0.00,0.000,6,0.000,0.037,1839,2554,3880,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6407,-0.65,-219.0,652.7,-9.3,699,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2553,3879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6707,-0.65,-219.0,680.4,-9.6,714,6713,0.00,2.38,0.00,0.000,4,0.000,0.030,1839,1046,3877,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6763,-0.66,-219.0,684.2,-9.4,716,6769,0.00,2.40,0.00,0.000,6,0.000,0.038,1839,2548,3877,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7068,-0.66,-219.0,712.3,-8.6,732,7073,0.00,1.98,0.00,0.000,4,0.000,0.050,1830,3826,3876,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7111,-0.66,-219.0,715.6,-8.4,734,7115,0.00,1.95,0.00,0.000,6,0.000,0.024,1830,2485,3875,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7423,-0.66,-219.0,741.7,-8.0,750,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2484,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,-0.66,-219.0,765.8,-7.9,765,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2484,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.66,-219.0,789.7,-7.8,780,8027,0.00,2.15,0.00,0.000,4,0.000,0.049,1821,3827,3871,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8048,-0.66,-219.0,791.6,-8.0,781,8052,0.00,1.95,0.00,0.000,6,0.000,0.024,1821,2492,3870,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8361,-0.66,-219.0,819.1,-8.9,797,8366,0.00,2.22,0.00,0.000,4,0.000,0.031,1822,1048,3868,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8385,-0.66,-219.0,821.0,-9.2,798,8391,0.00,2.42,0.00,0.000,6,0.000,0.038,1819,2555,3868,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8700,-0.65,-219.0,850.9,-9.4,814,8706,0.00,1.95,0.00,0.000,4,0.000,0.050,1809,3816,3867,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8741,-0.65,-219.0,854.6,-9.4,816,8744,0.00,1.92,0.00,0.000,6,0.000,0.025,1809,2496,3867,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9062,-0.64,-219.0,887.4,-10.6,832,9068,0.00,2.22,0.00,0.000,4,0.000,0.031,1809,1049,3865,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9090,-0.63,-219.0,889.6,-10.8,833,9095,0.00,2.40,0.00,0.000,6,0.000,0.039,1803,2555,3865,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9398,-0.62,-219.0,925.2,-11.6,848,9403,0.12,1.95,0.00,0.000,4,0.138,0.048,1840,3823,3865,0,0,0,0,0,0,26.49,26.50,28.83
$GC,9429,-0.61,-219.0,927.7,-11.2,849,9432,0.00,1.95,0.00,0.000,6,0.000,0.024,1840,2486,3864,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9738,-0.62,-219.0,951.1,-7.3,864,9744,0.00,2.08,0.00,0.000,4,0.000,0.050,1831,3808,3863,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9760,-0.63,-219.0,952.6,-7.4,865,9764,0.00,1.90,0.00,0.000,6,0.000,0.024,1831,2493,3862,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10078,-0.64,-219.0,978.5,-8.2,881,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2491,3861,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10234,begin apogee
$GC,10241,-0.20,0.0,991.1,-7.9,889,10477,0.38,0.08,225.70,1.107,4,0.087,0.041,1971,2484,2967,0,0,0,0,0,0,26.44,24.61,23.94
$STATE,10478,end apogee,CONTROL_FINISHED_OK
$STATE,10478,begin climb
$GC,10481,0.61,219.0,1001.2,0.0,901,10725,0.68,2.28,234.57,1.095,4,0.031,0.047,2263,3821,2085,0,0,0,0,0,0,24.94,24.85,23.75
$GC,10816,0.50,219.0,926.3,31.9,918,10821,0.30,2.10,0.00,0.000,6,0.192,0.026,2198,2492,2044,0,0,0,0,0,0,25.03,25.22,28.83
$GC,11132,0.44,219.0,855.6,21.0,934,11137,0.00,2.25,0.00,0.000,4,0.000,0.034,2210,1072,2038,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11211,0.40,219.0,840.6,18.4,938,11217,0.12,2.45,0.00,0.000,6,0.135,0.039,2167,2552,2036,0,0,0,0,0,0,25.73,25.89,28.83
$GC,11534,0.36,219.0,788.9,16.1,954,11539,0.00,1.98,0.00,0.000,4,0.000,0.047,2167,3821,2035,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11677,0.31,219.0,764.2,17.4,961,11684,0.15,1.92,0.00,0.000,6,0.163,0.027,2137,2535,2034,0,0,0,0,0,0,25.96,26.17,28.83
$GC,11994,0.29,219.0,722.9,12.6,977,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2534,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12293,0.27,219.0,686.3,12.2,992,12296,0.00,2.03,0.00,0.000,4,0.000,0.047,2136,3826,2034,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12323,0.25,219.0,683.3,12.5,993,12326,0.00,1.90,0.00,0.000,6,0.000,0.025,2146,2542,2033,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12631,0.22,219.0,643.9,12.5,1008,12637,0.12,2.28,0.00,0.000,4,0.169,0.032,2120,1082,2033,0,0,0,0,0,0,26.17,26.32,28.83
$GC,12693,0.22,219.0,638.2,10.1,1011,12697,0.00,2.42,0.00,0.000,6,0.000,0.037,2120,2572,2032,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,17858,end climb,SURFACE_DEPTH_REACHED
$STATE,17858,begin surface coast
$FINISH,0.1,1.021777
$STATE,17881,end surface coast,CONTROL_FINISHED_OK
$STATE,17881,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.48
$INTERNAL_PRESSURE,8.21676
$TCM_TEMP,23.60
$XPDR_PINGS,0
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$10V_AH,10.3,5.063
$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,324664
$DATA_FILE_SIZE,100189,1616
$CAP_FILE_SIZE,200273,0
$CFSIZE,260165632,217477120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,270412,170755,2311.105,12201.374,40,1.2,40,-3.1