version: 66.10
glider: 169
mission: 6
dive: 175
start: 5 26 112 11 35 11
data:
$ID,169
$MISSION,6
$DIVE,175
$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,-15562.533
$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
$GPS1,260512,112637,2136.052,12349.846,39,1.0,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.0
$GPS2,260512,113446,2136.004,12349.790,12,4.8,31,-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,318.9,294086,-12.5,-7.857
$D_GRID,5261
$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,-194.6,0.0,0.0,0,104,0.00,0.00,-85.22,0.000,2,0.000,0.000,133,2422,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.55,-194.6,3.5,-7.8,15,135,7.75,2.28,-12.57,0.000,4,0.223,0.037,2101,1027,3774,0,0,0,0,0,0,25.28,26.10,26.44
$GC,295,-0.54,-194.6,58.9,-13.9,50,303,0.00,2.47,0.00,0.000,6,0.000,0.032,2089,2516,3777,0,0,0,0,0,0,28.83,26.11,28.83
$GC,489,-0.45,-194.6,111.8,-26.8,87,496,0.12,1.98,0.00,0.000,4,0.165,0.037,2117,3825,3776,0,0,0,0,0,0,26.07,26.17,28.83
$GC,530,-0.40,-194.6,121.4,-21.5,94,538,0.00,2.05,0.00,0.000,6,0.000,0.021,2126,2429,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,724,-0.36,-194.6,154.1,-15.6,131,731,0.10,2.20,0.00,0.000,4,0.157,0.022,2165,1041,3778,0,0,0,0,0,0,26.31,26.32,28.83
$GC,775,-0.39,-194.6,159.2,-7.1,140,782,0.00,2.33,0.00,0.000,6,0.000,0.029,2154,2469,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,968,-0.46,-194.6,173.1,-6.4,177,975,0.00,2.03,0.00,0.000,4,0.000,0.039,2155,3826,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1119,-0.56,-194.6,185.9,-7.8,206,1127,0.20,2.00,0.00,0.000,6,0.075,0.018,2076,2413,3778,0,0,0,0,0,0,26.32,26.48,28.83
$GC,1317,-0.50,-194.6,207.5,-15.7,239,1327,0.12,2.20,0.00,0.000,4,0.146,0.036,2106,3841,3778,0,0,0,0,0,0,26.28,26.32,28.83
$GC,1352,-0.45,-194.6,212.9,-16.8,242,1360,0.00,2.00,0.00,0.000,6,0.000,0.018,2111,2440,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1661,-0.42,-194.6,252.4,-12.5,273,1670,0.00,2.22,0.00,0.000,4,0.000,0.025,2113,1037,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1736,-0.43,-194.6,260.3,-8.8,280,1745,0.10,2.40,0.00,0.000,6,0.132,0.032,2138,2493,3778,0,0,0,0,0,0,26.23,26.36,28.83
$GC,2043,-0.43,-194.6,287.2,-8.4,311,2052,0.00,2.00,0.00,0.000,4,0.000,0.040,2128,3825,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2075,-0.43,-194.6,289.7,-8.1,314,2079,0.00,2.03,0.00,0.000,6,0.000,0.018,2128,2413,3776,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2388,-0.43,-194.6,314.2,-7.7,345,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2412,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.43,-194.6,337.5,-7.4,375,2698,0.00,2.15,0.00,0.000,4,0.000,0.024,2128,1039,3773,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2714,-0.44,-194.6,339.4,-7.7,377,2721,0.00,2.35,0.00,0.000,6,0.000,0.030,2125,2492,3773,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3023,-0.44,-194.6,364.2,-8.1,408,3032,0.00,2.00,0.00,0.000,4,0.000,0.041,2116,3818,3770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3056,-0.45,-194.6,366.8,-8.0,411,3065,0.00,2.03,0.00,0.000,6,0.000,0.018,2116,2410,3770,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3366,-0.44,-194.6,393.6,-8.6,442,3369,0.00,2.12,0.00,0.000,4,0.000,0.024,2116,1040,3768,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3419,-0.45,-194.6,397.6,-7.6,447,3427,0.00,2.33,0.00,0.000,6,0.000,0.031,2112,2472,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3729,-0.44,-194.6,424.4,-9.5,478,3738,0.00,2.03,0.00,0.000,4,0.000,0.041,2102,3817,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3771,-0.44,-194.6,428.3,-9.1,482,3780,0.00,2.03,0.00,0.000,6,0.000,0.018,2102,2412,3765,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4083,-0.43,-194.6,455.3,-8.6,513,4091,0.12,0.00,-0.10,0.000,6,0.122,0.000,2142,2412,3785,0,0,0,0,0,0,26.46,28.83,25.84
$GC,4391,-0.52,-194.6,473.6,-7.1,544,4400,0.00,2.25,0.00,0.000,4,0.000,0.041,2142,3825,3784,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4524,-0.59,-194.6,486.7,-10.5,557,4528,0.17,2.05,0.00,0.000,6,0.087,0.018,2075,2399,3783,0,0,0,0,0,0,26.34,26.54,28.83
$GC,4837,-0.61,-194.6,512.5,-7.7,588,4846,0.00,2.25,0.00,0.000,4,0.000,0.041,2071,3823,3781,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4860,-0.63,-194.6,514.4,-7.6,590,4870,0.00,2.20,0.00,0.000,6,0.000,0.019,2071,2320,3781,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5171,-0.60,-194.6,545.6,-9.9,621,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2320,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.58,-194.6,577.8,-10.4,652,5491,0.00,2.45,0.00,0.000,4,0.000,0.041,2059,3830,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5506,-0.55,-194.6,580.4,-10.3,654,5514,0.12,2.22,0.00,0.000,6,0.128,0.021,2098,2330,3776,0,0,0,0,0,0,26.20,26.48,28.83
$GC,5824,-0.55,-194.6,606.2,-7.6,682,5829,0.00,2.40,0.00,0.000,4,0.000,0.043,2088,3821,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5852,-0.55,-194.6,607.6,-7.4,683,5856,0.00,2.20,0.00,0.000,6,0.000,0.019,2088,2335,3773,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6162,-0.55,-194.6,632.8,-7.9,698,6168,0.00,2.40,0.00,0.000,4,0.000,0.043,2077,3818,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6203,-0.54,-194.6,636.0,-7.8,700,6208,0.00,2.17,0.00,0.000,6,0.000,0.019,2077,2348,3771,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6517,-0.53,-194.6,664.3,-9.7,716,6522,0.00,2.33,0.00,0.000,4,0.000,0.042,2066,3814,3769,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6577,-0.52,-194.6,670.1,-9.9,719,6584,0.12,2.12,0.00,0.000,6,0.119,0.021,2106,2373,3768,0,0,0,0,0,0,26.21,26.46,28.83
$GC,6899,-0.53,-194.6,696.4,-8.3,735,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2372,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7198,-0.53,-194.6,722.0,-8.3,750,7203,0.00,2.35,0.00,0.000,4,0.000,0.044,2098,3825,3764,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7239,-0.55,-194.6,725.2,-8.1,752,7243,0.00,2.12,0.00,0.000,6,0.000,0.020,2098,2380,3764,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7552,-0.55,-194.6,747.3,-6.0,768,7558,0.00,2.30,0.00,0.000,4,0.000,0.044,2090,3821,3762,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7593,-0.55,-194.6,749.6,-5.8,770,7598,0.00,2.08,0.00,0.000,6,0.000,0.020,2090,2398,3761,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7912,-0.55,-194.6,769.5,-6.3,786,7917,0.00,2.12,0.00,0.000,4,0.000,0.026,2090,1046,3760,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7945,-0.55,-194.6,770.9,-6.4,787,7953,0.00,2.33,0.00,0.000,6,0.000,0.034,2086,2459,3760,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8252,-0.55,-194.6,795.1,-8.0,803,8257,0.00,2.10,0.00,0.000,4,0.000,0.044,2076,3822,3758,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8300,-0.55,-194.6,798.5,-8.1,805,8304,0.00,2.10,0.00,0.000,6,0.000,0.021,2076,2397,3757,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8609,-0.54,-194.6,827.3,-9.4,820,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2396,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8908,-0.53,-194.6,854.8,-9.1,835,8913,0.00,2.30,0.00,0.000,4,0.000,0.046,2066,3815,3755,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8930,-0.52,-194.6,856.6,-9.0,836,8935,0.12,2.08,0.00,0.000,6,0.117,0.021,2106,2406,3754,0,0,0,0,0,0,26.17,26.44,28.83
$GC,9247,-0.54,-194.6,876.9,-6.1,852,9252,0.00,2.25,0.00,0.000,4,0.000,0.044,2099,3820,3753,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9278,-0.55,-194.6,878.2,-6.0,853,9285,0.00,2.05,0.00,0.000,6,0.000,0.020,2099,2408,3753,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9588,-0.56,-194.6,899.0,-6.5,869,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2408,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9886,-0.57,-194.6,918.3,-6.3,884,9891,0.00,2.22,0.00,0.000,4,0.000,0.044,2092,3810,3751,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9913,-0.59,-194.6,919.5,-6.3,885,9917,0.00,2.05,0.00,0.000,6,0.000,0.020,2092,2410,3750,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10222,-0.59,-194.6,938.4,-5.5,900,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2409,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,-0.60,-194.6,953.2,-4.3,915,10526,0.00,2.28,0.00,0.000,4,0.000,0.045,2084,3816,3748,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10569,-0.61,-194.6,955.1,-4.6,917,10573,0.00,2.03,0.00,0.000,6,0.000,0.020,2084,2428,3747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10881,-0.61,-194.6,974.3,-6.0,933,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2428,3746,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11139,begin apogee
$GC,11145,-0.20,0.0,990.8,-6.7,946,11342,0.35,0.05,186.80,1.167,4,0.086,0.044,2210,2484,2968,0,0,0,0,0,0,26.01,24.57,23.73
$STATE,11343,end apogee,CONTROL_FINISHED_OK
$STATE,11343,begin climb
$GC,11346,0.55,194.6,997.9,0.0,956,11555,0.65,2.25,201.23,1.151,4,0.039,0.043,2473,3828,2184,0,0,0,0,0,0,24.90,24.84,23.28
$GC,11782,0.46,194.6,912.2,24.1,977,11787,0.22,2.00,0.00,0.000,6,0.182,0.021,2425,2499,2148,0,0,0,0,0,0,25.18,25.63,28.83
$GC,12097,0.41,194.6,856.0,17.5,993,12102,0.00,2.38,0.00,0.000,4,0.000,0.028,2437,1052,2144,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12189,0.37,194.6,843.6,15.4,997,12197,0.15,2.55,0.00,0.000,6,0.147,0.035,2396,2552,2141,0,0,0,0,0,0,25.67,25.94,28.83
$GC,12496,0.33,194.6,796.7,15.1,1013,12501,0.00,1.95,0.00,0.000,4,0.000,0.044,2395,3829,2141,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,19742,end climb,SURFACE_DEPTH_REACHED
$STATE,19742,begin surface coast
$FINISH,-0.1,1.009863
$STATE,19770,end surface coast,CONTROL_FINISHED_OK
$STATE,19770,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.07
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$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,10.2,21.394
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.325,209.650,725.475,0.000,0.000,30.123,17.121,260.583,0.000,0.000,33.295,4510.089,10847.679,853.194,3589.114,495.610,0.000,2632.282,0.000,3071.381,0.000,0.544,0.000
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$MEM,330476
$DATA_FILE_SIZE,113844,1786
$CAP_FILE_SIZE,238074,0
$CFSIZE,260165632,203395072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.190,124.1,1
$GPS,260512,170706,2137.254,12349.185,40,0.9,40,-2.9