version: 66.10
glider: 169
mission: 6
dive: 81
start: 5 4 112 8 36 56
data:
$ID,169
$MISSION,6
$DIVE,81
$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,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,2
$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,9
$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,-15381.041
$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,2275
$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
$GPS1,040512,082854,2315.847,12303.883,24,1.2,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-74.4
$GPS2,040512,083632,2315.856,12303.851,14,1.9,14,-3.2
$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,102.1,107270,-13.6,-9.167
$D_GRID,4545
$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,15,begin dive
$GC,18,-0.61,-219.0,0.0,0.0,0,101,0.00,0.00,-80.55,0.000,2,0.000,0.000,120,2414,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.61,-219.0,3.5,-9.2,14,131,7.60,2.20,-10.05,0.000,4,0.226,0.039,2082,1030,3874,0,0,0,0,0,0,25.55,26.07,26.37
$GC,268,-0.58,-219.0,56.5,-14.5,44,275,0.00,2.45,0.00,0.000,6,0.000,0.036,2070,2518,3875,0,0,0,0,0,0,28.83,26.13,28.83
$GC,464,-0.49,-219.0,109.1,-29.7,81,474,0.12,2.35,0.00,0.000,4,0.187,0.024,2117,1033,3876,0,0,0,0,0,0,26.01,26.25,28.83
$GC,534,-0.48,-219.0,124.7,-15.3,93,543,0.00,2.40,0.00,0.000,6,0.000,0.036,2105,2499,3877,0,0,0,0,0,0,28.83,26.25,28.83
$GC,733,-0.44,-219.0,163.0,-19.9,130,740,0.00,2.30,0.00,0.000,4,0.000,0.028,2115,1039,3877,0,0,0,0,0,0,28.83,26.33,28.83
$GC,826,-0.45,-219.0,175.9,-10.0,147,833,0.00,2.28,0.00,0.000,6,0.000,0.033,2106,2448,3877,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1018,-0.41,-219.0,205.6,-17.2,181,1020,0.12,0.00,0.00,0.000,6,0.155,0.000,2141,2447,3877,0,0,0,0,0,0,26.27,28.83,28.83
$GC,1318,-0.41,-219.0,239.1,-10.1,211,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2447,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.41,-219.0,267.2,-8.5,241,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2447,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.42,-219.0,292.1,-7.2,272,1940,0.00,2.10,0.00,0.000,4,0.000,0.043,2131,3819,3877,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1976,-0.45,-219.0,295.1,-6.4,276,1983,0.00,2.12,0.00,0.000,6,0.000,0.020,2131,2359,3877,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2284,-0.45,-219.0,318.3,-8.5,307,2293,0.00,2.30,0.00,0.000,4,0.000,0.041,2121,3814,3877,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2310,-0.46,-219.0,320.3,-8.6,309,2319,0.00,2.12,0.00,0.000,6,0.000,0.021,2121,2359,3877,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2616,-0.46,-219.0,351.4,-10.2,340,2625,0.00,2.03,0.00,0.000,4,0.000,0.025,2121,1036,3876,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2652,-0.46,-219.0,354.6,-9.9,343,2659,0.00,2.20,0.00,0.000,6,0.000,0.031,2113,2434,3876,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2961,-0.45,-219.0,385.0,-10.1,374,2969,0.00,2.12,0.00,0.000,4,0.000,0.041,2102,3824,3876,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3005,-0.45,-219.0,389.3,-9.8,378,3012,0.00,2.15,0.00,0.000,6,0.000,0.020,2102,2358,3876,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3313,-0.44,-219.0,425.1,-11.9,409,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2357,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.43,-219.0,460.5,-10.4,439,3624,0.12,2.33,0.00,0.000,4,0.136,0.040,2134,3815,3873,0,0,0,0,0,0,26.46,26.50,28.83
$GC,3638,-0.43,-219.0,462.6,-9.5,441,3649,0.00,2.12,0.00,0.000,6,0.000,0.020,2135,2362,3873,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3951,-0.46,-219.0,478.0,-4.9,472,3961,0.00,2.33,0.00,0.000,4,0.000,0.041,2132,3816,3873,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3985,-0.50,-219.0,479.8,-4.8,475,3994,0.00,2.10,0.00,0.000,6,0.000,0.019,2132,2361,3872,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4295,-0.58,-219.0,504.7,-9.8,506,4297,0.12,0.00,0.00,0.000,6,0.101,0.000,2080,2361,3871,0,0,0,0,0,0,26.59,28.83,28.83
$GC,4596,-0.66,-219.0,532.2,-9.0,536,4604,0.00,2.35,0.00,0.000,4,0.000,0.043,2080,3821,3869,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4639,-0.74,-219.0,536.0,-8.7,540,4648,0.10,2.08,0.00,0.000,6,0.076,0.020,2035,2370,3869,0,0,0,0,0,0,26.46,26.64,28.83
$GC,4948,-0.70,-219.0,575.9,-15.0,571,4957,0.00,2.30,0.00,0.000,4,0.000,0.042,2024,3822,3867,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5065,-0.68,-219.0,591.4,-13.2,582,5072,0.00,2.10,0.00,0.000,6,0.000,0.022,2024,2390,3867,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5375,-0.64,-219.0,636.7,-15.6,601,5381,0.12,2.10,0.00,0.000,4,0.149,0.026,2076,1034,3866,0,0,0,0,0,0,26.39,26.54,28.83
$GC,5467,-0.64,-219.0,645.0,-9.9,605,5474,0.00,2.22,0.00,0.000,6,0.000,0.033,2066,2440,3864,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5777,-0.63,-219.0,676.5,-10.1,621,5781,0.00,2.12,0.00,0.000,4,0.000,0.044,2055,3819,3863,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5807,-0.62,-219.0,679.0,-10.2,622,5811,0.00,2.15,0.00,0.000,6,0.000,0.021,2055,2368,3863,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6115,-0.60,-219.0,714.5,-11.5,637,6121,0.00,2.33,0.00,0.000,4,0.000,0.044,2044,3822,3862,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6142,-0.58,-219.0,716.8,-11.7,638,6147,0.15,2.15,0.00,0.000,6,0.125,0.022,2091,2366,3860,0,0,0,0,0,0,26.33,26.59,28.83
$GC,6452,-0.59,-219.0,742.6,-7.4,653,6458,0.00,2.33,0.00,0.000,4,0.000,0.044,2080,3828,3859,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6485,-0.59,-219.0,744.1,-7.3,654,6492,0.00,2.15,0.00,0.000,6,0.000,0.021,2080,2365,3858,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6793,-0.59,-219.0,769.3,-8.1,670,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2365,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,-0.59,-219.0,794.2,-8.5,685,7097,0.00,2.33,0.00,0.000,4,0.000,0.045,2071,3817,3855,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7132,-0.60,-219.0,797.7,-8.8,687,7137,0.00,2.10,0.00,0.000,6,0.000,0.023,2071,2384,3854,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7451,-0.60,-219.0,830.1,-10.1,703,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2383,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,-0.60,-219.0,861.2,-10.3,718,7759,0.00,2.30,0.00,0.000,4,0.000,0.044,2060,3823,3850,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7799,-0.60,-219.0,865.3,-10.1,720,7803,0.00,2.12,0.00,0.000,6,0.000,0.022,2060,2390,3850,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8107,-0.59,-219.0,898.5,-10.3,735,8111,0.00,2.08,0.00,0.000,4,0.000,0.028,2060,1041,3848,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8137,-0.59,-219.0,900.6,-10.1,736,8142,0.12,2.28,0.00,0.000,6,0.124,0.034,2092,2463,3848,0,0,0,0,0,0,26.34,26.46,28.83
$GC,8446,-0.61,-219.0,919.9,-5.4,751,8451,0.00,2.10,0.00,0.000,4,0.000,0.048,2081,3821,3846,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8485,-0.63,-219.0,922.1,-5.6,753,8490,0.00,2.10,0.00,0.000,6,0.000,0.024,2082,2395,3846,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8806,-0.63,-219.0,941.4,-6.3,769,8811,0.00,2.25,0.00,0.000,4,0.000,0.047,2071,3814,3845,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8827,-0.64,-219.0,942.7,-6.4,770,8831,0.00,2.08,0.00,0.000,6,0.000,0.023,2071,2407,3844,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9141,-0.64,-219.0,965.7,-7.1,786,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2406,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9440,-0.64,-219.0,986.9,-7.0,801,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2406,3842,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9497,begin apogee
$GC,9503,-0.20,0.0,991.1,-7.1,804,9722,0.40,0.08,208.15,1.099,4,0.099,0.090,2212,2477,2966,0,0,0,0,0,0,26.24,24.69,24.03
$STATE,9723,end apogee,CONTROL_FINISHED_OK
$STATE,9723,begin climb
$GC,9726,0.61,219.0,998.8,0.0,815,9963,0.68,2.25,227.80,1.072,4,0.034,0.044,2494,3823,2082,0,0,0,0,0,0,24.97,24.91,23.72
$GC,9986,0.50,219.0,946.8,29.8,828,9993,0.25,2.10,0.00,0.000,6,0.194,0.024,2441,2502,2054,0,0,0,0,0,0,24.60,24.80,28.83
$GC,10309,0.44,219.0,875.2,21.3,844,10314,0.00,2.10,0.00,0.000,4,0.000,0.045,2441,3814,2044,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10416,0.38,219.0,852.8,22.1,849,10421,0.20,1.98,0.00,0.000,6,0.177,0.024,2398,2517,2043,0,0,0,0,0,0,25.60,25.91,28.83
$GC,10727,0.35,219.0,805.6,14.4,864,10732,0.00,2.08,0.00,0.000,4,0.000,0.047,2397,3820,2041,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10788,0.32,219.0,795.7,15.4,867,10792,0.00,1.95,0.00,0.000,6,0.000,0.024,2407,2523,2040,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11108,0.29,219.0,745.7,15.7,883,11115,0.12,2.00,0.00,0.000,4,0.182,0.042,2370,3812,2040,0,0,0,0,0,0,25.98,26.15,28.83
$GC,11136,0.25,219.0,742.2,15.9,884,11140,0.00,1.88,0.00,0.000,6,0.000,0.021,2379,2531,2040,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11445,0.24,219.0,702.8,11.8,899,11450,0.00,1.98,0.00,0.000,4,0.000,0.047,2380,3811,2039,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11492,0.23,219.0,697.7,12.1,901,11496,0.15,1.85,0.00,0.000,6,0.153,0.023,2346,2542,2039,0,0,0,0,0,0,26.03,26.30,28.83
$GC,11801,0.29,260.9,671.1,8.0,916,11850,0.00,2.47,38.03,0.905,4,0.000,0.034,2358,1069,1912,0,0,0,0,1,0,28.83,25.69,24.86
$GC,11867,0.34,293.7,668.0,8.2,918,11933,0.00,2.55,55.65,0.815,6,0.000,0.034,2358,2575,1780,0,0,0,0,1,0,28.83,25.75,24.37
$GC,12234,0.38,312.5,636.0,8.6,937,12276,0.12,2.58,36.30,0.838,4,0.073,0.030,2456,1082,1699,0,0,1,0,0,0,25.98,25.40,24.72
$GC,12317,0.36,312.5,623.6,15.5,941,12324,0.17,2.53,0.00,0.000,6,0.119,0.037,2396,2561,1684,0,0,0,0,0,0,25.44,25.56,28.83
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$STATE,17211,end climb,SURFACE_DEPTH_REACHED
$STATE,17211,begin surface coast
$FINISH,-0.3,1.022494
$STATE,17255,end surface coast,CONTROL_FINISHED_OK
$STATE,17257,begin surface
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$TCM_TEMP,23.60
$XPDR_PINGS,0
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$10V_AH,10.3,8.913
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$FG_AHR_10Vo,0.000
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$MEM,330344
$DATA_FILE_SIZE,96932,1540
$CAP_FILE_SIZE,196005,0
$CFSIZE,260165632,214175744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.317,308.2,1
$GPS,040512,132655,2316.678,12306.634,38,1.5,38,-3.2