version: 66.10
glider: 169
mission: 6
dive: 167
start: 5 24 112 12 48 7
data:
$ID,169
$MISSION,6
$DIVE,167
$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,-15548.921
$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
$GPS1,240512,123931,2138.274,12400.903,41,1.0,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.9
$GPS2,240512,124744,2138.104,12400.744,13,1.7,13,-2.9
$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,184.3,15062,-13.5,-7.857
$D_GRID,5471
$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,-170.3,0.0,0.0,0,99,0.00,0.00,-79.50,0.000,2,0.000,0.000,117,2434,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-170.3,4.0,-9.8,14,129,7.78,2.25,-9.30,0.000,4,0.222,0.033,2100,1014,3680,0,0,0,0,0,0,25.29,26.06,26.39
$GC,314,-0.50,-170.3,74.3,-19.0,54,321,0.00,2.50,0.00,0.000,6,0.000,0.032,2087,2522,3681,0,0,0,0,0,0,28.83,26.09,28.83
$GC,506,-0.42,-170.3,127.5,-25.6,91,513,0.15,2.45,0.00,0.000,4,0.165,0.025,2144,1034,3682,0,0,0,0,0,0,25.94,26.19,28.83
$GC,598,-0.43,-170.3,141.7,-9.6,108,605,0.00,2.40,0.00,0.000,6,0.000,0.032,2133,2493,3682,0,0,0,0,0,0,28.83,26.19,28.83
$GC,788,-0.40,-170.3,166.4,-11.6,145,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2492,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.37,-170.3,189.5,-11.9,182,987,0.00,2.33,0.00,0.000,4,0.000,0.024,2136,1034,3682,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1049,-0.39,-170.3,196.2,-8.4,195,1056,0.00,2.33,0.00,0.000,6,0.000,0.032,2126,2460,3682,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1247,-0.36,-170.3,218.8,-12.9,218,1254,0.12,0.00,0.00,0.000,6,0.148,0.000,2167,2459,3682,0,0,0,0,0,0,26.25,28.83,28.83
$GC,1556,-0.37,-170.3,242.4,-7.0,249,1566,0.00,2.05,0.00,0.000,4,0.000,0.041,2157,3814,3682,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1583,-0.39,-170.3,244.1,-6.9,251,1589,0.00,2.05,0.00,0.000,6,0.000,0.018,2157,2393,3682,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1890,-0.41,-170.3,266.7,-7.1,282,1899,0.00,2.28,0.00,0.000,4,0.000,0.040,2148,3826,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1934,-0.43,-170.3,269.7,-7.0,286,1938,0.00,2.03,0.00,0.000,6,0.000,0.018,2148,2416,3681,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2246,-0.44,-170.3,293.7,-7.9,317,2255,0.00,2.15,0.00,0.000,4,0.000,0.024,2148,1020,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2290,-0.46,-170.3,296.8,-7.3,321,2300,0.00,2.38,0.00,0.000,6,0.000,0.030,2141,2488,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2598,-0.46,-170.3,322.3,-7.9,352,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2487,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.46,-170.3,348.5,-9.1,382,2910,0.00,2.33,0.00,0.000,4,0.000,0.024,2141,1035,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2937,-0.47,-170.3,351.7,-9.3,385,2946,0.00,2.35,0.00,0.000,6,0.000,0.031,2138,2480,3676,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3243,-0.47,-170.3,377.3,-7.7,416,3253,0.00,2.05,0.00,0.000,4,0.000,0.042,2127,3831,3674,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3276,-0.48,-170.3,379.6,-7.5,419,3280,0.00,2.08,0.00,0.000,6,0.000,0.021,2128,2415,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3588,-0.48,-170.3,405.6,-9.4,450,3597,0.00,2.12,0.00,0.000,4,0.000,0.025,2128,1037,3673,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3623,-0.49,-170.3,408.7,-9.6,453,3631,0.00,2.35,0.00,0.000,6,0.000,0.031,2125,2486,3672,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3930,-0.49,-170.3,438.3,-8.2,484,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2485,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.49,-170.3,459.0,-6.7,514,4241,0.00,2.30,0.00,0.000,4,0.000,0.024,2125,1036,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4278,-0.50,-170.3,462.0,-6.8,518,4285,0.00,2.33,0.00,0.000,6,0.000,0.032,2125,2468,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4584,-0.51,-170.3,485.2,-8.0,549,4594,0.00,2.10,0.00,0.000,4,0.000,0.043,2114,3825,3667,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4648,-0.53,-170.3,490.6,-8.3,555,4657,0.00,2.03,0.00,0.000,6,0.000,0.019,2115,2408,3666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4959,-0.53,-170.3,518.9,-8.7,586,4968,0.00,2.12,0.00,0.000,4,0.000,0.025,2115,1035,3664,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5002,-0.54,-170.3,522.6,-8.7,590,5010,0.00,2.30,0.00,0.000,6,0.000,0.033,2110,2470,3664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5311,-0.54,-170.3,549.3,-8.2,621,5321,0.00,2.08,0.00,0.000,4,0.000,0.041,2100,3834,3662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5343,-0.54,-170.3,552.0,-8.0,624,5352,0.00,2.08,0.00,0.000,6,0.000,0.019,2100,2404,3662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5654,-0.53,-170.3,580.8,-9.2,655,5658,0.00,2.12,0.00,0.000,4,0.000,0.027,2100,1026,3660,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5696,-0.53,-170.3,584.6,-9.2,659,5705,0.00,2.33,0.00,0.000,6,0.000,0.034,2099,2462,3659,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6019,-0.52,-170.3,612.0,-8.1,684,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2461,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6317,-0.51,-170.3,634.8,-7.4,699,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2461,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,-0.50,-170.3,657.7,-7.8,714,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2461,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6916,-0.50,-170.3,682.3,-8.4,729,6922,0.00,2.28,0.00,0.000,4,0.000,0.026,2099,1037,3652,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6956,-0.50,-170.3,685.6,-8.3,731,6961,0.00,2.30,0.00,0.000,6,0.000,0.034,2099,2450,3652,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7277,-0.50,-170.3,710.2,-7.4,747,7282,0.00,2.12,0.00,0.000,4,0.000,0.044,2089,3814,3649,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7304,-0.50,-170.3,711.8,-7.4,748,7308,0.00,2.10,0.00,0.000,6,0.000,0.021,2089,2388,3649,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7611,-0.50,-170.3,738.6,-8.6,763,7617,0.00,2.33,0.00,0.000,4,0.000,0.043,2078,3826,3647,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7653,-0.49,-170.3,742.2,-8.7,765,7659,0.08,2.08,0.00,0.000,6,0.103,0.021,2111,2395,3647,0,0,0,0,0,0,26.19,26.46,28.83
$GC,7974,-0.50,-170.3,761.7,-5.3,781,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2394,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8273,-0.51,-170.3,775.9,-4.6,796,8278,0.00,2.33,0.00,0.000,4,0.000,0.044,2101,3826,3643,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8320,-0.52,-170.3,777.7,-4.7,798,8324,0.00,2.08,0.00,0.000,6,0.000,0.021,2101,2403,3643,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8634,-0.52,-170.3,795.1,-5.9,814,8639,0.00,2.12,0.00,0.000,4,0.000,0.028,2101,1047,3642,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8680,-0.53,-170.3,797.5,-5.9,816,8685,0.00,2.30,0.00,0.000,6,0.000,0.035,2099,2462,3642,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8987,-0.53,-170.3,817.3,-6.8,831,8993,0.00,2.15,0.00,0.000,4,0.000,0.047,2089,3818,3640,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9028,-0.53,-170.3,820.3,-7.1,833,9034,0.00,2.08,0.00,0.000,6,0.000,0.021,2089,2400,3639,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9348,-0.52,-170.3,845.2,-7.8,849,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2400,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9648,-0.52,-170.3,867.7,-7.0,864,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2399,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9947,-0.52,-170.3,888.2,-6.8,879,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2400,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10248,-0.52,-170.3,909.4,-7.6,894,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2400,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10548,-0.52,-170.3,935.2,-9.0,909,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2400,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10847,-0.52,-170.3,962.3,-9.0,924,10853,0.00,2.40,0.00,0.000,4,0.000,0.046,2080,3823,3633,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10895,-0.52,-170.3,966.1,-9.2,926,10899,0.00,2.10,0.00,0.000,6,0.000,0.021,2080,2401,3632,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11140,begin apogee
$GC,11147,-0.20,0.0,991.0,-9.8,938,11316,0.38,0.10,159.73,1.180,4,0.096,0.073,2211,2475,2972,0,0,0,0,0,0,25.91,24.72,23.81
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11321,0.55,170.3,998.7,0.0,946,11506,0.65,2.28,175.50,1.167,4,0.041,0.044,2468,3828,2280,0,0,0,0,0,0,24.97,24.92,23.37
$GC,11512,0.44,170.3,974.3,21.0,956,11517,0.22,2.12,0.00,0.000,6,0.180,0.021,2424,2500,2263,0,0,0,0,0,0,24.27,24.51,28.83
$GC,11822,0.39,170.3,918.8,17.3,971,11826,0.00,2.12,0.00,0.000,4,0.000,0.043,2424,3820,2248,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11955,0.34,170.3,894.1,20.4,977,11965,0.12,1.95,0.00,0.000,6,0.155,0.022,2393,2518,2246,0,0,0,0,0,0,25.51,25.93,28.83
$GC,12266,0.31,170.3,844.6,15.4,993,12271,0.00,2.33,0.00,0.000,4,0.000,0.029,2405,1077,2244,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12285,0.28,170.3,841.4,15.6,994,12291,0.10,2.45,0.00,0.000,6,0.118,0.032,2369,2548,2242,0,0,0,0,0,0,25.75,25.99,28.83
$GC,12607,0.26,170.3,802.8,10.8,1010,12611,0.00,1.95,0.00,0.000,4,0.000,0.045,2368,3819,2242,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12651,0.24,170.3,797.6,11.0,1012,12656,0.00,1.92,0.00,0.000,6,0.000,0.022,2378,2517,2242,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,20381,end climb,SURFACE_DEPTH_REACHED
$STATE,20381,begin surface coast
$FINISH,0.1,1.021625
$STATE,20403,end surface coast,CONTROL_FINISHED_OK
$STATE,20404,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,32.814
$10V_AH,10.2,20.287
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.850,192.525,634.225,0.000,0.000,25.223,43.851,260.533,0.000,0.000,14.418,4578.600,11491.916,790.002,3570.604,499.098,0.000,2531.768,0.000,3044.301,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330480
$DATA_FILE_SIZE,113596,1837
$CAP_FILE_SIZE,224963,0
$CFSIZE,260165632,204369920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.045,159.8,1
$GPS,240512,183037,2134.704,12401.079,40,0.8,40,-2.9