version: 66.10
glider: 169
mission: 6
dive: 58
start: 4 29 112 19 30 1
data:
$ID,169
$MISSION,6
$DIVE,58
$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,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,-15352.005
$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
$GPS1,290412,192332,2315.626,12225.469,7,1.8,7,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-64.5
$GPS2,290412,192938,2315.562,12225.611,15,1.3,15,-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,70.3,164314,-13.6,-9.167
$D_GRID,5240
$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,-219.0,0.0,0.0,0,119,0.00,0.00,-99.60,0.000,2,0.000,0.000,127,2462,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.61,-219.0,3.6,-10.1,18,148,6.70,2.25,-12.98,0.000,4,0.233,0.034,1839,1009,3874,0,0,0,0,0,0,25.76,26.27,26.53
$GC,378,-0.44,-219.0,130.6,-51.6,67,385,0.25,2.42,0.00,0.000,6,0.231,0.033,1885,2531,3875,0,0,0,0,0,0,25.85,26.32,28.83
$GC,574,-0.28,-219.0,230.7,-48.6,99,585,0.20,2.33,0.00,0.000,4,0.230,0.031,1947,1052,3875,0,0,0,0,0,0,25.94,26.36,28.83
$GC,591,-0.11,-219.0,235.0,-49.3,100,598,0.22,2.25,0.00,0.000,6,0.205,0.030,1991,2478,3875,0,0,0,0,0,0,25.98,26.38,28.83
$GC,898,-0.01,-219.0,346.1,-30.2,131,907,0.12,2.05,0.00,0.000,4,0.198,0.034,2016,3830,3876,0,0,0,0,0,0,26.20,26.42,28.83
$GC,923,0.09,-219.0,352.6,-29.3,133,931,0.12,2.17,0.00,0.000,6,0.176,0.021,2058,2362,3875,0,0,0,0,0,0,26.20,26.48,28.83
$GC,1231,0.14,-219.0,417.3,-19.2,164,1239,0.00,2.03,0.00,0.000,4,0.000,0.028,2065,1035,3875,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1325,0.15,-219.0,431.0,-12.3,173,1332,0.00,2.15,0.00,0.000,6,0.000,0.034,2054,2417,3875,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1633,0.20,-219.0,483.2,-17.2,204,1642,0.12,2.15,0.00,0.000,4,0.169,0.041,2083,3817,3874,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1669,0.24,-219.0,488.4,-16.3,207,1676,0.00,2.20,0.00,0.000,6,0.000,0.024,2094,2348,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1975,0.25,-219.0,520.9,-10.0,238,1984,0.00,2.33,0.00,0.000,4,0.000,0.042,2082,3813,3871,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1997,0.27,-219.0,523.2,-10.1,240,2007,0.12,2.17,0.00,0.000,6,0.135,0.021,2120,2349,3871,0,0,0,0,0,0,26.37,26.58,28.83
$GC,2307,0.27,-219.0,547.9,-8.0,271,2316,0.00,2.33,0.00,0.000,4,0.000,0.043,2109,3813,3868,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2360,0.26,-219.0,552.4,-8.5,276,2364,0.00,2.15,0.00,0.000,6,0.000,0.023,2108,2365,3867,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2672,0.26,-219.0,578.5,-8.2,307,2681,0.00,2.03,0.00,0.000,4,0.000,0.029,2109,1038,3864,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2707,0.26,-219.0,580.9,-7.7,310,2714,0.00,2.17,0.00,0.000,6,0.000,0.034,2100,2431,3864,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3017,0.27,-219.0,608.0,-9.3,337,3022,0.00,2.12,0.00,0.000,4,0.000,0.044,2089,3813,3862,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3063,0.27,-219.0,611.8,-9.4,339,3067,0.10,2.15,0.00,0.000,6,0.138,0.023,2119,2370,3861,0,0,0,0,0,0,26.43,26.59,28.83
$GC,3374,0.26,-219.0,634.5,-7.4,354,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2369,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3671,0.26,-219.0,660.0,-8.7,369,3676,0.00,2.30,0.00,0.000,4,0.000,0.044,2109,3818,3856,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3731,0.24,-219.0,664.9,-8.4,372,3736,0.00,2.15,0.00,0.000,6,0.000,0.025,2109,2376,3854,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4052,0.24,-219.0,692.5,-8.4,388,4057,0.00,2.30,0.00,0.000,4,0.000,0.045,2099,3818,3852,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4073,0.24,-219.0,694.4,-8.6,389,4077,0.00,2.12,0.00,0.000,6,0.000,0.024,2099,2378,3851,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4391,0.24,-219.0,724.2,-9.5,405,4396,0.00,2.28,0.00,0.000,4,0.000,0.045,2089,3812,3849,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4418,0.24,-219.0,726.1,-9.4,406,4422,0.00,2.12,0.00,0.000,6,0.000,0.024,2089,2387,3848,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4726,0.25,-219.0,757.4,-9.7,421,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2386,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5027,0.25,-219.0,787.0,-10.3,436,5032,0.00,2.25,0.00,0.000,4,0.000,0.049,2078,3812,3844,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5048,0.26,-219.0,788.9,-10.2,437,5053,0.12,2.10,0.00,0.000,6,0.131,0.026,2117,2395,3844,0,0,0,0,0,0,26.39,26.59,28.83
$GC,5364,0.25,-219.0,811.6,-7.2,453,5369,0.00,2.25,0.00,0.000,4,0.000,0.047,2106,3818,3842,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5403,0.23,-219.0,814.5,-7.2,455,5408,0.00,2.10,0.00,0.000,6,0.000,0.025,2106,2408,3842,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5724,0.23,-219.0,838.0,-7.2,471,5729,0.00,2.08,0.00,0.000,4,0.000,0.032,2106,1050,3839,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5746,0.22,-219.0,839.4,-7.2,472,5750,0.00,2.28,0.00,0.000,6,0.000,0.037,2099,2479,3839,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6058,0.22,-219.0,863.1,-7.6,488,6064,0.00,2.10,0.00,0.000,4,0.000,0.047,2088,3826,3836,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6101,0.21,-219.0,866.1,-7.5,490,6105,0.00,2.10,0.00,0.000,6,0.000,0.024,2089,2412,3836,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6414,0.21,-219.0,893.9,-9.0,506,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2411,3835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,0.21,-219.0,921.1,-8.6,521,6719,0.00,2.25,0.00,0.000,4,0.000,0.047,2078,3816,3834,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6757,0.21,-219.0,924.6,-8.7,523,6761,0.00,2.10,0.00,0.000,6,0.000,0.027,2078,2425,3833,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7069,0.22,-219.0,950.8,-8.4,539,7075,0.00,2.10,0.00,0.000,4,0.000,0.031,2078,1049,3831,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7103,0.22,-219.0,952.4,-8.3,540,7110,0.12,2.28,0.00,0.000,6,0.133,0.037,2106,2477,3831,0,0,0,0,0,0,26.35,26.48,28.83
$GC,7411,0.21,-219.0,972.4,-6.3,556,7416,0.00,2.10,0.00,0.000,4,0.000,0.050,2096,3818,3829,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7458,0.20,-219.0,974.8,-6.1,558,7462,0.00,2.10,0.00,0.000,6,0.000,0.026,2096,2420,3829,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,7662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7662,begin apogee
$GC,7668,-0.20,0.0,990.0,-7.4,568,7893,0.30,0.08,218.48,1.102,4,0.049,0.094,1949,2487,2978,0,0,0,0,0,0,26.58,24.63,23.95
$STATE,7894,end apogee,CONTROL_FINISHED_OK
$STATE,7894,begin climb
$GC,7897,0.61,219.0,1029.5,0.0,579,8200,1.08,2.25,290.35,1.004,4,0.183,0.045,2224,3817,2080,0,0,0,0,0,0,24.69,24.82,23.70
$GC,8273,0.80,310.0,1014.1,6.6,598,8379,0.20,2.10,99.28,1.053,6,0.097,0.027,2290,2485,1714,0,0,0,0,0,0,25.06,25.15,23.81
$GC,8681,0.89,310.0,972.7,10.9,618,8687,0.00,2.15,0.00,0.000,4,0.000,0.046,2288,3817,1690,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8913,0.96,310.0,948.2,11.4,629,8921,0.15,2.03,0.00,0.000,6,0.075,0.026,2351,2484,1689,0,0,0,0,0,0,25.94,25.98,28.83
$GC,9221,1.04,310.0,910.1,12.4,645,9227,0.00,2.12,0.00,0.000,4,0.000,0.047,2342,3821,1687,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9253,1.13,310.0,907.4,12.5,646,9260,0.15,2.03,0.00,0.000,6,0.073,0.024,2409,2475,1687,0,0,0,0,0,0,26.11,26.15,28.83
$GC,9561,1.19,320.6,877.5,8.9,662,9579,0.00,2.22,8.27,0.995,4,0.000,0.048,2409,3822,1666,0,0,0,0,0,0,28.83,26.04,25.20
$GC,9626,1.22,320.6,871.3,9.5,665,9632,0.00,2.17,0.00,0.000,6,0.000,0.026,2421,2408,1661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9943,1.20,320.6,827.1,13.9,681,9949,0.00,2.28,0.00,0.000,4,0.000,0.045,2421,3824,1659,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10002,1.20,320.6,818.6,14.2,684,10008,0.00,2.12,0.00,0.000,6,0.000,0.026,2432,2437,1659,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10323,1.18,320.6,772.3,14.7,700,10328,0.00,2.17,0.00,0.000,4,0.000,0.046,2432,3818,1659,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10382,1.17,320.6,763.1,15.2,703,10387,0.12,2.08,0.00,0.000,6,0.164,0.027,2408,2457,1658,0,0,0,0,0,0,26.10,26.31,28.83
$GC,10704,1.17,320.6,723.9,11.9,719,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2456,1658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11004,1.17,320.6,687.8,12.1,734,11008,0.00,2.17,0.00,0.000,4,0.000,0.047,2408,3815,1658,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11049,1.17,320.6,682.5,12.3,736,11053,0.00,2.08,0.00,0.000,6,0.000,0.028,2419,2462,1657,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11362,1.16,320.6,644.0,11.7,752,11367,0.00,2.17,0.00,0.000,4,0.000,0.035,2430,1076,1657,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11384,1.16,320.6,641.6,11.7,753,11388,0.00,2.33,0.00,0.000,6,0.000,0.035,2431,2523,1656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11698,1.15,320.6,599.1,14.4,769,11707,0.00,2.03,0.00,0.000,4,0.000,0.048,2430,3815,1656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11763,1.15,320.6,589.8,14.6,775,11770,0.12,2.03,0.00,0.000,6,0.155,0.027,2405,2470,1656,0,0,0,0,0,0,26.22,26.42,28.83
$GC,12070,1.16,320.6,554.4,10.7,806,12079,0.00,2.15,0.00,0.000,4,0.000,0.035,2417,1081,1656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12107,1.18,320.6,551.1,10.5,809,12114,0.00,2.30,0.00,0.000,6,0.000,0.035,2417,2524,1655,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12412,1.18,320.6,517.3,10.7,840,12420,0.00,2.00,0.00,0.000,4,0.000,0.047,2416,3818,1655,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,17187,end climb,SURFACE_DEPTH_REACHED
$STATE,17187,begin surface coast
$FINISH,0.2,1.022566
$STATE,17208,end surface coast,CONTROL_FINISHED_OK
$STATE,17209,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.36
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,10.2,6.333
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324676
$DATA_FILE_SIZE,93676,1485
$CAP_FILE_SIZE,206801,0
$CFSIZE,260165632,216383488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300412,001907,2314.701,12227.429,33,1.0,33,-3.1