version: 66.10
glider: 169
mission: 6
dive: 174
start: 5 26 112 5 59 30
data:
$ID,169
$MISSION,6
$DIVE,174
$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,200
$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,-15561.275
$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
$GPS1,260512,055036,2134.189,12350.531,24,1.8,24,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.5
$GPS2,260512,055906,2134.095,12350.369,35,1.0,35,-2.8
$SPEED_LIMITS,0.136,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,351.7,296870,-12.5,-7.857
$D_GRID,5284
$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,-0.55,-194.6,0.0,0.0,0,107,0.00,0.00,-87.15,0.000,2,0.000,0.000,123,2521,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.55,-194.6,3.7,-9.2,15,137,7.93,2.00,-11.93,0.000,4,0.229,0.047,2080,3837,3775,0,0,1,0,0,0,25.30,25.65,26.44
$GC,233,-0.48,-194.6,48.6,-27.3,37,241,0.10,2.00,0.00,0.000,6,0.164,0.021,2113,2466,3776,0,0,0,0,0,0,25.90,26.16,28.83
$GC,426,-0.39,-194.6,104.3,-30.2,74,435,0.12,2.30,0.00,0.000,4,0.181,0.021,2160,1033,3776,0,0,0,0,0,0,25.98,26.22,28.83
$GC,462,-0.35,-194.6,112.4,-18.5,80,469,0.00,2.53,0.00,0.000,6,0.000,0.032,2148,2542,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,654,-0.32,-194.6,142.0,-14.9,117,661,0.00,2.45,0.00,0.000,4,0.000,0.023,2148,1040,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,709,-0.34,-194.6,148.8,-9.6,127,716,0.00,2.40,0.00,0.000,6,0.000,0.031,2140,2508,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,900,-0.31,-194.6,172.8,-13.5,164,908,0.12,1.98,0.00,0.000,4,0.148,0.037,2173,3830,3777,0,0,0,0,0,0,26.24,26.25,28.83
$GC,952,-0.35,-194.6,177.5,-6.3,173,959,0.00,2.00,0.00,0.000,6,0.000,0.019,2173,2437,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1146,-0.40,-194.6,193.0,-9.0,210,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2437,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1336,-0.48,-194.6,210.0,-8.6,236,1345,0.12,2.12,0.00,0.000,4,0.107,0.037,2117,3822,3777,0,0,0,0,0,0,26.44,26.30,28.83
$GC,1422,-0.55,-194.6,217.2,-8.4,244,1429,0.00,1.95,0.00,0.000,6,0.000,0.018,2119,2433,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1729,-0.59,-194.6,238.3,-6.7,275,1738,0.10,2.17,0.00,0.000,4,0.108,0.020,2055,1028,3777,0,0,0,0,0,0,26.57,26.44,28.83
$GC,1783,-0.57,-194.6,243.2,-9.9,280,1793,0.12,2.62,0.00,0.000,6,0.095,0.031,2094,2591,3777,0,0,0,0,0,0,26.16,26.37,28.83
$GC,2092,-0.53,-194.6,289.8,-16.3,311,2101,0.00,2.55,0.00,0.000,4,0.000,0.024,2094,1038,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2166,-0.51,-194.6,300.1,-12.8,318,2174,0.00,2.55,0.00,0.000,6,0.000,0.033,2085,2572,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2475,-0.47,-194.6,347.9,-15.3,349,2485,0.12,2.53,0.00,0.000,4,0.156,0.023,2128,1045,3774,0,0,0,0,0,0,26.31,26.42,28.83
$GC,2549,-0.49,-194.6,355.1,-7.9,356,2559,0.00,2.47,0.00,0.000,6,0.000,0.031,2125,2549,3774,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2858,-0.48,-194.6,382.3,-9.5,387,2867,0.00,2.45,0.00,0.000,4,0.000,0.024,2125,1036,3772,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2904,-0.49,-194.6,386.0,-9.1,391,2911,0.00,2.50,0.00,0.000,6,0.000,0.033,2125,2541,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3211,-0.49,-194.6,409.8,-6.9,422,3220,0.00,2.40,0.00,0.000,4,0.000,0.024,2125,1041,3769,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3275,-0.51,-194.6,413.7,-5.6,428,3285,0.00,2.42,0.00,0.000,6,0.000,0.032,2125,2518,3769,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3584,-0.51,-194.6,432.9,-6.3,459,3592,0.00,1.98,0.00,0.000,4,0.000,0.043,2116,3835,3766,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3617,-0.52,-194.6,434.9,-6.4,462,3625,0.00,1.98,0.00,0.000,6,0.000,0.018,2116,2442,3766,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3927,-0.52,-194.6,458.4,-8.0,493,3937,0.00,2.22,-0.08,0.000,4,0.000,0.037,2116,1047,3792,0,0,0,0,0,0,28.83,26.41,25.58
$GC,3961,-0.53,-194.6,461.1,-8.1,496,3970,0.00,2.38,0.00,0.000,6,0.000,0.032,2112,2509,3791,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4270,-0.53,-194.6,486.7,-8.7,527,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2509,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4574,-0.53,-194.6,511.1,-8.2,557,4582,0.00,2.35,0.00,0.000,4,0.000,0.026,2112,1047,3788,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4618,-0.54,-194.6,514.8,-8.0,561,4625,0.00,2.42,0.00,0.000,6,0.000,0.033,2111,2510,3788,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4926,-0.54,-194.6,538.9,-7.9,592,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2509,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5227,-0.54,-194.6,560.8,-7.2,622,5236,0.00,2.38,0.00,0.000,4,0.000,0.027,2112,1049,3783,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5261,-0.56,-194.6,563.3,-7.6,625,5270,0.00,2.40,0.00,0.000,6,0.000,0.035,2112,2503,3782,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5571,-0.56,-194.6,585.4,-7.6,656,5581,0.00,2.00,0.00,0.000,4,0.000,0.044,2102,3810,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5605,-0.57,-194.6,588.0,-7.5,659,5613,0.00,2.00,0.00,0.000,6,0.000,0.019,2102,2425,3780,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5914,-0.57,-194.6,613.2,-7.9,682,5919,0.00,2.17,0.00,0.000,4,0.000,0.025,2102,1038,3778,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5935,-0.57,-194.6,614.8,-7.9,683,5940,0.00,2.40,0.00,0.000,6,0.000,0.033,2099,2508,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6255,-0.57,-194.6,641.3,-8.7,699,6260,0.00,2.00,0.00,0.000,4,0.000,0.046,2090,3819,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6282,-0.57,-194.6,643.1,-8.8,700,6286,0.00,2.03,0.00,0.000,6,0.000,0.020,2090,2432,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6590,-0.57,-194.6,672.8,-9.4,715,6595,0.00,2.20,0.00,0.000,4,0.000,0.028,2090,1047,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6611,-0.57,-194.6,674.8,-9.4,716,6616,0.00,2.42,0.00,0.000,6,0.000,0.036,2086,2511,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6924,-0.56,-194.6,702.1,-7.9,732,6930,0.00,2.38,0.00,0.000,4,0.000,0.028,2086,1051,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6978,-0.56,-194.6,705.1,-7.6,734,6984,0.00,2.40,0.00,0.000,6,0.000,0.036,2085,2495,3771,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7285,-0.55,-194.6,726.8,-6.9,750,7290,0.00,2.03,0.00,0.000,4,0.000,0.047,2076,3825,3769,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7313,-0.54,-194.6,728.1,-6.9,751,7317,0.00,2.05,0.00,0.000,6,0.000,0.021,2076,2429,3767,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7620,-0.53,-194.6,755.4,-9.4,766,7625,0.00,2.20,0.00,0.000,4,0.000,0.028,2076,1045,3766,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7659,-0.52,-194.6,759.5,-9.9,768,7665,0.10,2.38,0.00,0.000,6,0.082,0.036,2113,2488,3765,0,0,0,0,0,0,26.07,26.22,28.83
$GC,7982,-0.54,-194.6,781.9,-6.8,784,7988,0.00,2.03,0.00,0.000,4,0.000,0.047,2103,3814,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8021,-0.56,-194.6,784.8,-6.9,786,8025,0.00,2.05,0.00,0.000,6,0.000,0.021,2103,2421,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8344,-0.59,-194.6,808.2,-7.0,802,8350,0.00,2.17,0.00,0.000,4,0.000,0.027,2103,1042,3762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8371,-0.63,-194.6,809.6,-7.0,803,8376,0.00,2.58,0.00,0.000,6,0.000,0.032,2103,2577,3761,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8680,-0.68,-194.6,829.9,-6.0,818,8686,0.12,2.53,0.00,0.000,4,0.080,0.025,2031,1042,3760,0,0,0,0,0,0,26.55,26.28,28.83
$GC,8742,-0.70,-194.6,834.5,-7.2,821,8747,0.00,2.75,0.00,0.000,6,0.000,0.039,2019,2632,3759,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9061,-0.65,-194.6,873.3,-12.5,837,9067,0.12,2.67,0.00,0.000,4,0.149,0.027,2076,1045,3757,0,0,0,0,0,0,26.27,26.22,28.83
$GC,9183,-0.66,-194.6,882.7,-7.0,843,9188,0.00,2.62,0.00,0.000,6,0.000,0.037,2064,2580,3757,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9502,-0.65,-194.6,911.6,-9.7,859,9507,0.00,2.55,0.00,0.000,4,0.000,0.028,2066,1051,3756,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9566,-0.64,-194.6,917.4,-9.8,862,9572,0.00,2.58,0.00,0.000,6,0.000,0.037,2056,2564,3755,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9882,-0.62,-194.6,953.3,-11.4,878,9887,0.00,2.53,0.00,0.000,4,0.000,0.030,2062,1044,3754,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9962,-0.62,-194.6,961.9,-10.6,882,9967,0.00,2.50,0.00,0.000,6,0.000,0.038,2052,2533,3754,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10219,begin apogee
$GC,10224,-0.20,0.0,991.5,-11.3,895,10422,0.45,0.00,187.12,1.172,4,0.100,0.000,2207,2531,2967,0,0,0,0,0,0,25.79,28.83,23.80
$STATE,10423,end apogee,CONTROL_FINISHED_OK
$STATE,10423,begin climb
$GC,10426,0.55,194.6,1000.6,0.0,905,10633,0.62,2.10,198.50,1.161,4,0.041,0.046,2462,3818,2182,0,0,0,0,0,0,24.94,24.89,23.37
$GC,10862,0.47,194.6,914.7,25.3,927,10868,0.17,1.98,0.00,0.000,6,0.187,0.024,2428,2503,2150,0,0,0,0,0,0,25.27,25.68,28.83
$GC,11184,0.41,194.6,854.4,18.8,943,11190,0.00,2.38,0.00,0.000,4,0.000,0.030,2440,1074,2146,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11276,0.37,194.6,841.1,16.2,947,11283,0.17,2.55,0.00,0.000,6,0.148,0.037,2391,2555,2143,0,0,0,0,0,0,25.67,25.96,28.83
$GC,11584,0.34,194.6,796.2,13.6,963,11589,0.00,1.95,0.00,0.000,4,0.000,0.046,2391,3829,2143,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11645,0.30,194.6,787.2,14.6,966,11649,0.00,1.90,0.00,0.000,6,0.000,0.024,2401,2527,2142,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,19444,end climb,SURFACE_DEPTH_REACHED
$STATE,19444,begin surface coast
$FINISH,0.1,1.021292
$STATE,19482,end surface coast,CONTROL_FINISHED_OK
$STATE,19482,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.1,21.259
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330476
$DATA_FILE_SIZE,116976,1831
$CAP_FILE_SIZE,234429,0
$CFSIZE,260165632,203513856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.063,193.2,1
$GPS,260512,112637,2136.052,12349.846,39,1.0,39,-2.8