version: 66.10
glider: 169
mission: 6
dive: 51
start: 4 28 112 8 39 19
data:
$ID,169
$MISSION,6
$DIVE,51
$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,-15276.991
$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
$GPS1,280412,083101,2314.223,12209.144,42,0.9,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-70.8
$GPS2,280412,083856,2314.088,12209.077,15,1.6,15,-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,72.8,191370,-13.6,-9.167
$D_GRID,4339
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.61,-219.0,0.0,0.0,0,106,0.00,0.00,-83.90,0.000,2,0.000,0.000,122,2437,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.61,-219.0,3.4,-8.8,15,135,6.70,2.25,-12.25,0.000,4,0.229,0.041,1840,1036,3874,0,0,0,0,0,0,25.65,26.04,26.33
$GC,178,-0.55,-219.0,30.0,-25.0,27,185,0.10,2.38,0.00,0.000,6,0.171,0.034,1853,2524,3876,0,0,0,0,0,0,25.91,26.06,28.83
$GC,370,-0.47,-219.0,88.8,-29.2,64,378,0.12,2.33,0.00,0.000,4,0.191,0.027,1900,1048,3876,0,0,0,0,0,0,26.01,26.20,28.83
$GC,503,-0.47,-219.0,107.1,-12.1,89,509,0.00,2.28,0.00,0.000,6,0.000,0.037,1888,2470,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,693,-0.44,-219.0,136.4,-15.4,126,699,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2469,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.41,-219.0,167.6,-16.6,163,889,0.00,2.10,0.00,0.000,4,0.000,0.047,1876,3816,3887,0,0,0,0,0,0,28.83,26.34,28.83
$GC,927,-0.40,-219.0,175.1,-16.1,171,933,0.00,2.10,0.00,0.000,6,0.000,0.023,1876,2410,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1118,-0.38,-219.0,203.7,-15.2,206,1128,0.12,2.08,0.00,0.000,4,0.133,0.024,1926,1035,3886,0,0,0,0,0,0,26.34,26.44,28.83
$GC,1141,-0.37,-219.0,206.9,-14.5,208,1150,0.00,2.30,0.00,0.000,6,0.000,0.034,1922,2481,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1453,-0.39,-219.0,230.4,-7.3,239,1461,0.00,2.03,0.00,0.000,4,0.000,0.042,1913,3815,3886,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1487,-0.41,-219.0,232.8,-7.1,242,1494,0.00,2.08,0.00,0.000,6,0.000,0.021,1913,2392,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1795,-0.43,-219.0,256.0,-7.1,273,1804,0.00,2.25,0.00,0.000,4,0.000,0.043,1908,3818,3886,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1837,-0.47,-219.0,258.9,-6.6,277,1846,0.00,2.05,0.00,0.000,6,0.000,0.021,1908,2404,3886,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2148,-0.49,-219.0,279.5,-6.7,308,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,2404,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.51,-219.0,300.2,-6.9,338,2460,0.12,2.22,0.00,0.000,4,0.074,0.042,1786,3816,3884,0,0,0,0,0,0,26.63,26.53,28.83
$GC,2507,-0.47,-219.0,307.9,-16.1,343,2514,0.30,2.03,0.00,0.000,6,0.118,0.024,1884,2437,3884,0,0,0,0,0,0,26.37,26.60,28.83
$GC,2813,-0.47,-219.0,339.1,-8.9,374,2822,0.00,2.12,0.00,0.000,4,0.000,0.026,1884,1039,3883,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2836,-0.48,-219.0,341.1,-8.7,376,2844,0.00,2.30,0.00,0.000,6,0.000,0.034,1880,2503,3883,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3145,-0.49,-219.0,369.5,-9.4,407,3149,0.00,2.00,0.00,0.000,4,0.000,0.044,1870,3823,3882,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3200,-0.51,-219.0,374.3,-9.3,412,3207,0.00,2.03,0.00,0.000,6,0.000,0.021,1871,2422,3882,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3509,-0.52,-219.0,403.2,-8.5,443,3517,0.00,2.20,0.00,0.000,4,0.000,0.044,1862,3812,3881,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3544,-0.52,-219.0,406.2,-9.1,446,3551,0.00,2.00,0.00,0.000,6,0.000,0.021,1862,2437,3881,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3851,-0.52,-219.0,433.0,-8.3,477,3859,0.00,2.20,0.00,0.000,4,0.000,0.043,1852,3823,3880,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3886,-0.52,-219.0,435.8,-8.8,480,3893,0.00,1.98,0.00,0.000,6,0.000,0.021,1852,2453,3880,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4192,-0.52,-219.0,466.0,-10.4,511,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2451,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.52,-219.0,495.3,-8.9,541,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2451,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4804,-0.52,-219.0,521.9,-8.4,572,4813,0.00,2.22,0.00,0.000,4,0.000,0.044,1842,3823,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4846,-0.52,-219.0,525.7,-8.6,576,4850,0.00,1.98,0.00,0.000,6,0.000,0.022,1842,2461,3873,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5158,-0.52,-219.0,554.8,-8.7,607,5167,0.00,2.20,0.00,0.000,4,0.000,0.047,1833,3818,3871,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5190,-0.52,-219.0,557.7,-9.3,610,5199,0.10,2.00,0.00,0.000,6,0.122,0.024,1867,2465,3871,0,0,0,0,0,0,26.51,26.65,28.83
$GC,5501,-0.54,-219.0,579.3,-7.2,641,5510,0.00,2.17,0.00,0.000,4,0.000,0.028,1866,1042,3869,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5526,-0.55,-219.0,581.0,-7.3,643,5533,0.00,2.38,0.00,0.000,6,0.000,0.034,1865,2542,3868,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5845,-0.56,-219.0,605.3,-7.8,672,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2541,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6143,-0.58,-219.0,628.0,-7.4,687,6148,0.00,2.33,0.00,0.000,4,0.000,0.028,1865,1040,3865,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6166,-0.59,-219.0,629.4,-7.3,688,6170,0.00,2.40,0.00,0.000,6,0.000,0.036,1865,2542,3865,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6481,-0.60,-219.0,651.8,-7.1,704,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2541,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6780,-0.62,-219.0,671.8,-6.7,719,6786,0.00,1.98,0.00,0.000,4,0.000,0.048,1856,3825,3860,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6822,-0.64,-219.0,674.4,-6.6,721,6826,0.00,2.00,0.00,0.000,6,0.000,0.023,1856,2458,3859,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7136,-0.65,-219.0,698.6,-8.2,737,7141,0.00,2.15,0.00,0.000,4,0.000,0.047,1847,3816,3858,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7168,-0.66,-219.0,700.1,-8.0,738,7174,0.00,1.98,0.00,0.000,6,0.000,0.023,1847,2461,3858,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7475,-0.67,-219.0,723.3,-7.0,754,7479,0.00,2.17,0.00,0.000,4,0.000,0.028,1847,1035,3857,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7500,-0.68,-219.0,724.8,-7.0,755,7504,0.00,2.40,0.00,0.000,6,0.000,0.037,1839,2539,3857,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7812,-0.68,-219.0,748.8,-8.0,771,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2538,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.68,-219.0,774.7,-9.2,786,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2538,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,-0.68,-219.0,803.3,-9.3,801,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2538,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,-0.68,-219.0,828.4,-7.8,816,8718,0.00,1.95,0.00,0.000,4,0.000,0.051,1831,3814,3850,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8735,-0.68,-219.0,830.0,-7.8,817,8739,0.00,1.98,0.00,0.000,6,0.000,0.025,1831,2469,3849,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9053,-0.68,-219.0,855.6,-8.2,833,9058,0.00,2.17,0.00,0.000,4,0.000,0.030,1830,1047,3848,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9072,-0.68,-219.0,857.3,-8.3,834,9078,0.00,2.40,0.00,0.000,6,0.000,0.040,1828,2536,3848,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9394,-0.68,-219.0,885.9,-9.3,850,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2536,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9692,-0.68,-219.0,912.7,-8.6,865,9698,0.00,1.98,0.00,0.000,4,0.000,0.053,1818,3814,3845,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9720,-0.68,-219.0,914.6,-8.8,866,9724,0.00,2.00,0.00,0.000,6,0.000,0.027,1818,2468,3845,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10028,-0.67,-219.0,945.8,-10.3,881,10032,0.00,2.20,0.00,0.000,4,0.000,0.033,1818,1048,3844,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10063,-0.67,-219.0,948.1,-10.2,882,10070,0.00,2.38,0.00,0.000,6,0.000,0.043,1815,2529,3844,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10370,-0.66,-219.0,980.3,-10.1,898,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2529,3843,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10467,begin apogee
$GC,10474,-0.20,0.0,990.6,-10.3,903,10694,0.43,0.00,214.85,1.135,4,0.096,0.000,1968,2528,2978,0,0,0,0,0,0,26.35,28.83,23.99
$STATE,10695,end apogee,CONTROL_FINISHED_OK
$STATE,10695,begin climb
$GC,10698,0.61,219.0,1000.9,0.0,914,10948,0.70,2.15,241.57,1.074,4,0.041,0.048,2244,3814,2086,0,0,0,0,0,0,24.84,24.79,23.87
$GC,11174,0.52,219.0,901.0,26.8,938,11182,0.20,2.05,0.00,0.000,6,0.190,0.026,2205,2491,2051,0,0,0,0,0,0,25.37,25.60,28.83
$GC,11482,0.47,219.0,837.9,18.9,954,11488,0.00,2.28,0.00,0.000,4,0.000,0.034,2217,1077,2047,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11549,0.43,219.0,827.5,17.7,957,11554,0.15,2.45,0.00,0.000,6,0.157,0.037,2176,2560,2045,0,0,0,0,0,0,25.79,25.96,28.83
$GC,11860,0.39,219.0,778.8,15.6,972,11866,0.00,1.98,0.00,0.000,4,0.000,0.047,2176,3821,2045,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12059,0.35,219.0,745.1,16.4,982,12065,0.12,1.92,0.00,0.000,6,0.172,0.027,2154,2545,2044,0,0,0,0,0,0,26.00,26.22,28.83
$GC,12381,0.33,219.0,705.2,10.7,998,12385,0.00,2.00,0.00,0.000,4,0.000,0.047,2153,3815,2043,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12416,0.31,219.0,702.0,11.6,999,12423,0.00,1.90,0.00,0.000,6,0.000,0.024,2162,2551,2043,0,0,0,0,0,0,28.83,26.31,28.83
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$STATE,18290,end climb,SURFACE_DEPTH_REACHED
$STATE,18290,begin surface coast
$FINISH,0.2,1.022973
$STATE,18322,end surface coast,CONTROL_FINISHED_OK
$STATE,18322,begin surface
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$HUMID,49.05
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,10.2,5.558
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324640
$DATA_FILE_SIZE,103657,1685
$CAP_FILE_SIZE,203278,0
$CFSIZE,260165632,217042944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280412,134707,2315.292,12212.104,42,1.3,42,-3.1