version: 66.10
glider: 169
mission: 6
dive: 158
start: 5 22 112 8 1 12
data:
$ID,169
$MISSION,6
$DIVE,158
$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,420
$T_MISSION,460
$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,175
$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,1
$N_NOCOMM,1
$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,-15537.597
$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,49
$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
$GPS1,220512,075236,2209.475,12404.055,33,1.3,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-71.3
$GPS2,220512,080049,2209.327,12403.916,11,1.9,17,-3.0
$SPEED_LIMITS,0.136,0.256
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,172.8,73146,-13.5,-7.857
$D_GRID,5083
$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,-0.55,-170.3,0.0,0.0,0,111,0.00,0.00,-91.62,0.000,2,0.000,0.000,117,2531,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.55,-170.3,3.5,-8.3,16,141,7.82,2.45,-10.43,0.000,4,0.223,0.038,2104,1046,3675,0,0,0,0,0,0,25.27,26.00,26.36
$GC,285,-0.51,-170.3,56.3,-18.7,48,292,0.00,2.45,0.00,0.000,6,0.000,0.034,2091,2520,3676,0,0,0,0,0,0,28.83,26.05,28.83
$GC,478,-0.43,-170.3,102.8,-22.6,85,485,0.12,2.40,0.00,0.000,4,0.170,0.024,2140,1034,3677,0,0,0,0,0,0,26.00,26.19,28.83
$GC,549,-0.43,-170.3,114.0,-10.4,98,556,0.00,2.35,0.00,0.000,6,0.000,0.033,2129,2467,3677,0,0,0,0,0,0,28.83,26.17,28.83
$GC,740,-0.39,-170.3,143.1,-16.9,135,748,0.00,2.08,0.00,0.000,4,0.000,0.041,2118,3831,3677,0,0,0,0,0,0,28.83,26.19,28.83
$GC,765,-0.35,-170.3,147.2,-16.6,139,773,0.12,2.05,0.00,0.000,6,0.142,0.021,2159,2418,3677,0,0,0,0,0,0,26.05,26.35,28.83
$GC,959,-0.34,-170.3,169.9,-10.1,176,966,0.00,2.15,0.00,0.000,4,0.000,0.025,2161,1037,3678,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1006,-0.37,-170.3,173.8,-7.7,184,1013,0.00,2.30,0.00,0.000,6,0.000,0.031,2156,2465,3678,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1196,-0.36,-170.3,191.7,-10.5,221,1203,0.00,2.10,0.00,0.000,4,0.000,0.041,2146,3828,3678,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1261,-0.39,-170.3,197.8,-8.2,233,1267,0.00,2.10,0.00,0.000,6,0.000,0.020,2146,2402,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1451,-0.38,-170.3,216.1,-9.8,254,1459,0.00,2.12,0.00,0.000,4,0.000,0.024,2146,1021,3677,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1495,-0.39,-170.3,219.6,-8.6,258,1502,0.00,2.30,0.00,0.000,6,0.000,0.030,2138,2468,3677,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1803,-0.38,-170.3,247.8,-8.9,289,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2467,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-0.37,-170.3,273.1,-8.4,319,2115,0.00,2.22,0.00,0.000,4,0.000,0.024,2139,1042,3677,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2148,-0.37,-170.3,276.4,-7.4,323,2158,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2451,3676,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2459,-0.37,-170.3,296.6,-6.4,354,2467,0.00,2.10,0.00,0.000,4,0.000,0.041,2127,3828,3675,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2493,-0.37,-170.3,298.8,-7.0,357,2500,0.00,2.08,0.00,0.000,6,0.000,0.019,2127,2390,3675,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2803,-0.36,-170.3,324.3,-8.1,388,2812,0.00,2.08,0.00,0.000,4,0.000,0.024,2126,1034,3673,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2847,-0.36,-170.3,327.7,-7.5,392,2855,0.12,2.28,0.00,0.000,6,0.123,0.031,2160,2455,3673,0,0,0,0,0,0,26.23,26.39,28.83
$GC,3156,-0.39,-170.3,343.8,-6.0,423,3160,0.00,2.12,0.00,0.000,4,0.000,0.041,2150,3836,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3198,-0.42,-170.3,346.4,-5.9,427,3209,0.00,2.08,0.00,0.000,6,0.000,0.021,2150,2392,3670,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3509,-0.47,-170.3,367.5,-7.2,458,3518,0.00,2.05,0.00,0.000,4,0.000,0.024,2151,1031,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3694,-0.55,-170.3,383.6,-9.4,476,3702,0.15,2.42,0.00,0.000,6,0.069,0.031,2070,2529,3668,0,0,0,0,0,0,26.39,26.38,28.83
$GC,4002,-0.51,-170.3,419.2,-14.6,507,4011,0.12,2.35,0.00,0.000,4,0.138,0.024,2124,1041,3665,0,0,0,0,0,0,26.36,26.41,28.83
$GC,4065,-0.53,-170.3,425.6,-8.1,513,4074,0.00,2.38,0.00,0.000,6,0.000,0.032,2114,2519,3666,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4375,-0.52,-170.3,453.5,-8.8,544,4377,0.00,0.00,-0.10,0.000,6,0.000,0.000,2114,2518,3686,0,0,0,0,0,0,28.83,28.83,26.04
$GC,4675,-0.52,-170.3,476.7,-7.6,574,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2518,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4976,-0.52,-170.3,499.2,-7.4,604,4985,0.00,2.33,0.00,0.000,4,0.000,0.027,2114,1048,3683,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5010,-0.53,-170.3,501.9,-7.6,607,5019,0.00,2.40,0.00,0.000,6,0.000,0.034,2111,2517,3683,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5318,-0.53,-170.3,528.5,-8.7,638,5328,0.00,2.35,0.00,0.000,4,0.000,0.025,2111,1038,3682,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5362,-0.53,-170.3,532.2,-8.9,642,5372,0.00,2.38,0.00,0.000,6,0.000,0.034,2102,2505,3681,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5671,-0.53,-170.3,560.7,-9.2,673,5680,0.00,2.03,0.00,0.000,4,0.000,0.044,2093,3821,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5695,-0.53,-170.3,562.7,-9.2,675,5702,0.00,2.03,0.00,0.000,6,0.000,0.020,2093,2436,3679,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6003,-0.52,-170.3,591.0,-8.7,706,6007,0.00,2.17,0.00,0.000,4,0.000,0.027,2093,1039,3677,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6038,-0.52,-170.3,593.8,-8.5,709,6045,0.00,2.38,0.00,0.000,6,0.000,0.034,2085,2501,3677,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6356,-0.50,-170.3,623.7,-10.0,729,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2500,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6655,-0.49,-170.3,653.7,-10.0,744,6662,0.10,2.30,0.00,0.000,4,0.154,0.026,2118,1043,3673,0,0,0,0,0,0,26.46,26.35,28.83
$GC,6717,-0.50,-170.3,658.8,-8.9,747,6722,0.00,2.35,0.00,0.000,6,0.000,0.034,2112,2483,3672,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7036,-0.50,-170.3,683.5,-7.7,763,7042,0.00,2.10,0.00,0.000,4,0.000,0.045,2102,3820,3670,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7100,-0.52,-170.3,688.0,-7.5,766,7105,0.00,2.03,0.00,0.000,6,0.000,0.021,2102,2428,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7416,-0.52,-170.3,712.3,-7.5,782,7421,0.00,2.15,0.00,0.000,4,0.000,0.028,2102,1037,3668,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7443,-0.52,-170.3,713.9,-7.6,783,7448,0.00,2.40,0.00,0.000,6,0.000,0.034,2099,2503,3668,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7751,-0.52,-170.3,738.2,-8.0,798,7757,0.00,2.33,0.00,0.000,4,0.000,0.028,2099,1041,3666,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7778,-0.52,-170.3,739.9,-8.0,799,7782,0.00,2.35,0.00,0.000,6,0.000,0.034,2099,2484,3666,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8085,-0.52,-170.3,765.7,-8.3,814,8091,0.00,2.08,0.00,0.000,4,0.000,0.046,2089,3829,3664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8114,-0.52,-170.3,767.4,-8.4,815,8118,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2424,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8420,-0.52,-170.3,794.2,-8.4,830,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2423,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8720,-0.52,-170.3,818.4,-8.1,845,8726,0.00,2.25,0.00,0.000,4,0.000,0.045,2080,3819,3660,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8749,-0.52,-170.3,820.0,-8.1,846,8753,0.00,2.03,0.00,0.000,6,0.000,0.021,2080,2428,3659,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9056,-0.51,-170.3,847.5,-8.5,861,9062,0.10,2.20,0.00,0.000,4,0.135,0.026,2112,1033,3658,0,0,0,0,0,0,26.46,26.27,28.83
$GC,9088,-0.51,-170.3,849.1,-8.4,862,9096,0.00,2.38,0.00,0.000,6,0.000,0.035,2112,2488,3658,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9397,-0.52,-170.3,867.3,-5.4,878,9402,0.00,2.03,0.00,0.000,4,0.000,0.046,2102,3807,3657,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9424,-0.54,-170.3,868.5,-5.5,879,9428,0.00,2.03,0.00,0.000,6,0.000,0.021,2102,2419,3656,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9732,-0.54,-170.3,887.8,-6.3,894,9737,0.00,2.15,0.00,0.000,4,0.000,0.029,2102,1040,3655,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9764,-0.55,-170.3,889.0,-6.3,895,9771,0.00,2.38,0.00,0.000,6,0.000,0.036,2099,2486,3656,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10071,-0.55,-170.3,909.5,-6.5,911,10075,0.00,2.08,0.00,0.000,4,0.000,0.046,2089,3819,3654,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10102,-0.56,-170.3,911.0,-6.6,912,10111,0.00,2.03,0.00,0.000,6,0.000,0.021,2089,2424,3654,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10413,-0.56,-170.3,934.8,-7.7,928,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2425,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10716,-0.56,-170.3,959.3,-8.3,943,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2424,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11013,-0.56,-170.3,984.1,-8.4,958,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2424,3651,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11091,begin apogee
$GC,11097,-0.20,0.0,990.7,-8.2,962,11269,0.32,0.08,164.43,1.178,4,0.093,0.089,2207,2480,2978,0,0,0,0,0,0,26.02,24.68,23.82
$STATE,11270,end apogee,CONTROL_FINISHED_OK
$STATE,11270,begin climb
$GC,11272,0.55,170.3,997.6,0.0,970,11463,0.65,2.30,177.98,1.157,4,0.044,0.044,2464,3826,2271,0,0,0,0,0,0,24.92,24.88,23.39
$GC,11691,0.47,170.3,917.4,24.2,991,11697,0.17,2.03,0.00,0.000,6,0.187,0.022,2431,2499,2249,0,0,0,0,0,0,25.20,25.63,28.83
$GC,12014,0.42,170.3,862.8,16.1,1007,12019,0.00,2.35,0.00,0.000,4,0.000,0.030,2443,1079,2245,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,19849,end climb,SURFACE_DEPTH_REACHED
$STATE,19849,begin surface coast
$FINISH,-0.2,1.021517
$STATE,19876,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.09
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$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,10.2,19.043
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.375,208.375,635.650,0.000,0.000,30.439,42.420,262.147,0.000,0.000,17.888,4522.438,10921.567,821.776,3643.102,496.425,0.000,2604.191,0.000,3115.578,0.000,0.543,0.000
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$MEM,330476
$DATA_FILE_SIZE,113633,1807
$CAP_FILE_SIZE,231999,0
$CFSIZE,260165632,205422592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.024,331.8,1
$GPS,220512,133437,2206.658,12404.177,26,1.2,26,-3.0