version: 66.10
glider: 169
mission: 6
dive: 53
start: 4 28 112 18 45 32
data:
$ID,169
$MISSION,6
$DIVE,53
$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,-15279.509
$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
$GPS1,280412,183507,2315.834,12214.655,29,1.0,29,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-71.9
$GPS2,280412,184507,2315.846,12214.574,12,1.6,12,-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,72.7,181506,-13.6,-9.167
$D_GRID,4933
$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,17,-0.61,-219.0,0.0,0.0,0,109,0.00,0.00,-88.72,0.000,2,0.000,0.000,121,2440,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.61,-219.0,3.7,-10.4,16,137,6.65,2.30,-9.25,0.000,4,0.226,0.053,1819,3825,3874,0,0,0,0,0,0,25.66,26.03,26.34
$GC,236,-0.55,-219.0,49.7,-25.2,39,244,0.12,2.05,0.00,0.000,6,0.158,0.022,1858,2449,3876,0,0,0,0,0,0,25.95,26.17,28.83
$GC,428,-0.49,-219.0,98.3,-25.4,76,435,0.00,2.17,0.00,0.000,4,0.000,0.024,1861,1040,3876,0,0,0,0,0,0,28.83,26.26,28.83
$GC,524,-0.50,-219.0,115.7,-12.4,94,531,0.00,2.38,0.00,0.000,6,0.000,0.035,1851,2516,3876,0,0,0,0,0,0,28.83,26.26,28.83
$GC,715,-0.44,-219.0,157.4,-24.2,131,721,0.12,0.00,0.00,0.000,6,0.158,0.000,1891,2515,3876,0,0,0,0,0,0,26.20,28.83,28.83
$GC,905,-0.42,-219.0,188.6,-14.5,168,912,0.00,2.30,0.00,0.000,4,0.000,0.027,1891,1038,3876,0,0,0,0,0,0,28.83,26.40,28.83
$GC,960,-0.44,-219.0,195.1,-9.4,178,967,0.00,2.35,0.00,0.000,6,0.000,0.033,1881,2513,3876,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1152,-0.42,-219.0,218.8,-13.7,201,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2512,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1461,-0.41,-219.0,259.8,-12.8,232,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2512,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1773,-0.40,-219.0,298.2,-11.8,263,1783,0.00,2.25,0.00,0.000,4,0.000,0.026,1881,1048,3876,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1816,-0.41,-219.0,302.7,-9.9,267,1825,0.00,2.33,0.00,0.000,6,0.000,0.034,1878,2499,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2127,-0.40,-219.0,332.4,-9.9,298,2136,0.00,2.00,0.00,0.000,4,0.000,0.043,1868,3816,3875,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2162,-0.40,-219.0,335.6,-9.5,301,2169,0.12,2.05,0.00,0.000,6,0.114,0.022,1909,2411,3876,0,0,0,0,0,0,26.45,26.59,28.83
$GC,2470,-0.42,-219.0,354.3,-5.0,332,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2411,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2773,-0.45,-219.0,368.1,-4.9,362,2782,0.00,2.25,0.00,0.000,4,0.000,0.041,1901,3816,3875,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2805,-0.48,-219.0,369.9,-5.5,365,2814,0.00,2.05,0.00,0.000,6,0.000,0.022,1900,2413,3875,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3115,-0.57,-219.0,397.6,-10.2,396,3124,0.12,2.17,0.00,0.000,4,0.110,0.039,1843,3815,3873,0,0,0,0,0,0,26.58,26.58,28.83
$GC,3158,-0.65,-219.0,401.6,-9.5,400,3167,0.00,2.00,0.00,0.000,6,0.000,0.020,1853,2415,3872,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3468,-0.68,-219.0,423.4,-6.4,431,3478,0.12,2.20,0.00,0.000,4,0.076,0.040,1723,3814,3871,0,0,0,0,0,0,26.67,26.58,28.83
$GC,3494,-0.68,-219.0,425.7,-7.8,433,3501,0.20,1.75,0.00,0.000,6,0.133,0.022,1814,2578,3870,0,0,0,0,0,0,26.34,26.64,28.83
$GC,3802,-0.65,-219.0,470.3,-14.0,464,3810,0.00,1.90,0.00,0.000,4,0.000,0.045,1804,3820,3870,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3854,-0.63,-219.0,477.6,-14.0,469,3857,0.00,1.80,0.00,0.000,6,0.000,0.023,1804,2560,3870,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4165,-0.60,-219.0,524.8,-14.5,500,4175,0.12,2.35,0.00,0.000,4,0.134,0.026,1854,1038,3869,0,0,0,0,0,0,26.50,26.59,28.83
$GC,4283,-0.63,-219.0,534.5,-7.1,511,4289,0.00,2.47,0.00,0.000,6,0.000,0.034,1850,2586,3868,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4588,-0.63,-219.0,554.8,-6.8,542,4597,0.00,2.42,0.00,0.000,4,0.000,0.027,1850,1032,3866,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4612,-0.63,-219.0,556.3,-6.6,544,4619,0.00,2.45,0.00,0.000,6,0.000,0.034,1842,2576,3866,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4921,-0.62,-219.0,583.4,-9.4,575,4930,0.00,2.38,0.00,0.000,4,0.000,0.028,1842,1042,3862,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4965,-0.62,-219.0,587.4,-9.5,579,4972,0.00,2.42,0.00,0.000,6,0.000,0.037,1839,2564,3862,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5274,-0.61,-219.0,618.1,-9.7,601,5280,0.00,1.90,0.00,0.000,4,0.000,0.049,1829,3817,3861,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5303,-0.61,-219.0,620.1,-9.6,602,5311,0.00,1.90,0.00,0.000,6,0.000,0.024,1830,2504,3861,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5613,-0.60,-219.0,650.9,-9.5,618,5619,0.00,2.25,0.00,0.000,4,0.000,0.028,1830,1040,3859,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5653,-0.60,-219.0,654.3,-9.0,620,5658,0.00,2.45,0.00,0.000,6,0.000,0.037,1825,2570,3859,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5974,-0.59,-219.0,684.8,-9.5,636,5979,0.00,2.38,0.00,0.000,4,0.000,0.028,1826,1047,3857,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6033,-0.59,-219.0,690.1,-9.0,639,6038,0.00,2.42,0.00,0.000,6,0.000,0.040,1826,2549,3855,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6355,-0.58,-219.0,720.9,-10.2,655,6360,0.00,2.35,0.00,0.000,4,0.000,0.030,1826,1041,3854,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6387,-0.57,-219.0,723.0,-10.1,656,6394,0.00,2.40,0.00,0.000,6,0.000,0.041,1826,2536,3853,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6694,-0.56,-219.0,753.7,-9.6,672,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2535,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6995,-0.55,-219.0,782.5,-10.0,687,6999,0.10,2.00,0.00,0.000,4,0.152,0.049,1848,3822,3850,0,0,0,0,0,0,26.55,26.51,28.83
$GC,7030,-0.55,-219.0,784.7,-9.8,688,7037,0.00,2.00,0.00,0.000,6,0.000,0.025,1847,2466,3849,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7338,-0.56,-219.0,809.5,-7.6,704,7344,0.00,2.17,0.00,0.000,4,0.000,0.031,1847,1052,3847,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7378,-0.57,-219.0,812.4,-7.4,706,7383,0.00,2.38,0.00,0.000,6,0.000,0.037,1839,2537,3847,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7697,-0.57,-219.0,838.5,-8.0,722,7703,0.00,1.98,0.00,0.000,4,0.000,0.050,1830,3819,3845,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7738,-0.58,-219.0,841.7,-8.0,724,7744,0.00,2.00,0.00,0.000,6,0.000,0.026,1830,2469,3845,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8058,-0.58,-219.0,868.6,-8.0,740,8063,0.00,2.12,0.00,0.000,4,0.000,0.047,1820,3817,3843,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8080,-0.58,-219.0,870.2,-7.8,741,8083,0.00,1.98,0.00,0.000,6,0.000,0.024,1820,2477,3843,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8395,-0.57,-219.0,898.7,-9.2,757,8401,0.10,2.20,0.00,0.000,4,0.136,0.028,1853,1048,3842,0,0,0,0,0,0,26.56,26.55,28.83
$GC,8437,-0.58,-219.0,901.9,-8.4,759,8442,0.00,2.40,0.00,0.000,6,0.000,0.039,1852,2541,3841,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8752,-0.59,-219.0,922.1,-6.5,775,8758,0.00,1.95,0.00,0.000,4,0.000,0.050,1843,3825,3840,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8781,-0.61,-219.0,923.4,-6.5,776,8789,0.00,2.00,0.00,0.000,6,0.000,0.024,1843,2459,3839,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9092,-0.62,-219.0,945.9,-7.3,792,9096,0.00,2.17,0.00,0.000,4,0.000,0.030,1843,1045,3838,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9122,-0.63,-219.0,947.7,-7.3,793,9126,0.00,2.40,0.00,0.000,6,0.000,0.039,1839,2539,3838,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9431,-0.63,-219.0,970.8,-7.4,808,9436,0.00,1.95,0.00,0.000,4,0.000,0.050,1830,3816,3837,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9464,-0.64,-219.0,972.4,-7.4,809,9470,0.00,1.98,0.00,0.000,6,0.000,0.026,1830,2469,3836,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9667,begin apogee
$GC,9673,-0.20,0.0,990.3,-8.1,820,9894,0.38,0.12,214.77,1.121,4,0.093,0.064,1968,2470,2977,0,0,0,0,0,0,26.36,24.68,23.99
$STATE,9894,end apogee,CONTROL_FINISHED_OK
$STATE,9895,begin climb
$GC,9897,0.61,219.0,999.8,0.0,831,10145,0.70,2.28,239.15,1.080,4,0.033,0.045,2251,3820,2085,0,0,0,0,0,0,24.87,24.82,23.87
$GC,10268,0.52,219.0,918.5,28.6,850,10275,0.22,2.08,0.00,0.000,6,0.192,0.027,2205,2492,2053,0,0,0,0,0,0,25.15,25.35,28.83
$GC,10591,0.46,219.0,856.1,18.5,866,10594,0.00,2.15,0.00,0.000,4,0.000,0.045,2205,3827,2048,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10755,0.40,219.0,822.3,20.7,874,10759,0.17,2.00,0.00,0.000,6,0.168,0.027,2169,2526,2047,0,0,0,0,0,0,25.78,26.02,28.83
$GC,11075,0.37,219.0,773.7,14.5,890,11080,0.00,2.00,0.00,0.000,4,0.000,0.045,2169,3809,2045,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11176,0.33,219.0,757.4,16.6,895,11180,0.12,1.88,0.00,0.000,6,0.165,0.022,2146,2539,2045,0,0,0,0,0,0,25.99,26.22,28.83
$GC,11491,0.32,219.0,719.3,11.7,911,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2537,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11790,0.30,219.0,683.8,11.6,926,11795,0.00,2.00,0.00,0.000,4,0.000,0.045,2146,3824,2044,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11817,0.29,219.0,681.3,11.7,927,11821,0.00,1.90,0.00,0.000,6,0.000,0.021,2155,2526,2043,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12129,0.27,219.0,641.3,12.3,943,12131,0.12,0.00,0.00,0.000,6,0.164,0.000,2122,2525,2043,0,0,0,0,0,0,26.20,28.83,28.83
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$STATE,17121,end climb,SURFACE_DEPTH_REACHED
$STATE,17121,begin surface coast
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$STATE,17143,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.3,5.793
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,96841,1538
$CAP_FILE_SIZE,197284,0
$CFSIZE,260165632,216850432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0
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