version: 66.10
glider: 169
mission: 6
dive: 211
start: 6 3 112 17 1 53
data:
$ID,169
$MISSION,6
$DIVE,211
$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,380
$T_MISSION,420
$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,-15725.957
$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
$GPS1,030612,165337,2207.293,12311.478,37,1.1,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-63.7
$GPS2,030612,170128,2207.350,12311.549,10,2.3,29,-2.9
$SPEED_LIMITS,0.150,0.281
$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,268.3,208085,-13.8,-8.684
$D_GRID,5537
$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,-0.58,-194.6,0.0,0.0,0,113,0.00,0.00,-93.15,0.000,2,0.000,0.000,113,2511,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.58,-194.6,3.7,-10.2,16,144,7.93,2.08,-13.48,0.000,4,0.220,0.053,2067,3840,3775,0,0,1,0,0,0,25.19,25.42,26.45
$GC,171,-0.43,-194.6,31.1,-52.7,25,179,0.22,2.00,0.00,0.000,6,0.168,0.023,2136,2474,3775,0,0,0,0,0,0,25.58,26.10,28.83
$GC,364,-0.34,-194.6,87.5,-25.7,62,371,0.00,2.33,0.00,0.000,4,0.000,0.023,2144,1038,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,469,-0.33,-194.6,106.7,-13.4,82,476,0.12,2.45,0.00,0.000,6,0.141,0.032,2168,2491,3775,0,0,0,0,0,0,25.98,26.17,28.83
$GC,661,-0.30,-194.6,138.1,-15.6,119,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2490,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,853,-0.29,-194.6,161.4,-9.6,156,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2490,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1044,-0.29,-194.6,181.0,-9.2,193,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2490,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1235,-0.30,-194.6,196.2,-7.0,230,1241,0.00,2.38,0.00,0.000,4,0.000,0.023,2168,1029,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1271,-0.34,-194.6,198.8,-6.8,236,1278,0.00,2.38,0.00,0.000,6,0.000,0.029,2161,2476,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1464,-0.42,-194.6,211.3,-7.4,256,1472,0.00,2.03,0.00,0.000,4,0.000,0.037,2160,3836,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1669,-0.49,-194.6,230.1,-9.5,276,1673,0.15,2.03,0.00,0.000,6,0.095,0.018,2109,2410,3775,0,0,0,0,0,0,26.32,26.50,28.83
$GC,1982,-0.53,-194.6,254.2,-7.1,307,1992,0.00,2.15,0.00,0.000,4,0.000,0.023,2109,1033,3775,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2009,-0.57,-194.6,255.9,-7.1,309,2016,0.00,2.22,0.00,0.000,6,0.000,0.028,2102,2420,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2316,-0.54,-194.6,291.7,-12.9,340,2319,0.00,2.17,0.00,0.000,4,0.000,0.041,2091,3831,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2338,-0.52,-194.6,294.4,-12.1,342,2347,0.00,2.17,0.00,0.000,6,0.000,0.019,2091,2342,3773,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2648,-0.49,-194.6,335.1,-13.3,373,2656,0.00,2.05,0.00,0.000,4,0.000,0.023,2092,1020,3772,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2701,-0.49,-194.6,340.6,-10.3,378,2711,0.08,2.20,0.00,0.000,6,0.096,0.031,2121,2392,3772,0,0,0,0,0,0,26.20,26.36,28.83
$GC,3010,-0.49,-194.6,364.2,-7.9,409,3019,0.00,2.25,0.00,0.000,4,0.000,0.041,2109,3839,3770,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3073,-0.51,-194.6,369.0,-7.3,415,3083,0.00,2.22,0.00,0.000,6,0.000,0.019,2110,2322,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3382,-0.51,-194.6,393.8,-8.0,446,3391,0.00,2.40,0.00,0.000,4,0.000,0.040,2099,3823,3767,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3437,-0.52,-194.6,398.1,-8.6,451,3445,0.00,2.17,0.00,0.000,6,0.000,0.020,2099,2345,3766,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3744,-0.51,-194.6,427.8,-9.6,482,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2345,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,-0.50,-194.6,455.1,-8.1,512,4058,0.00,2.40,-0.10,0.000,4,0.000,0.053,2089,3820,3784,0,0,0,0,0,0,28.83,26.27,26.03
$GC,4084,-0.50,-194.6,458.2,-8.3,515,4092,0.00,2.17,0.00,0.000,6,0.000,0.019,2089,2346,3784,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4391,-0.49,-194.6,487.6,-8.9,546,4400,0.00,2.35,0.00,0.000,4,0.000,0.042,2079,3815,3781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4435,-0.49,-194.6,491.4,-9.0,550,4443,0.12,2.15,0.00,0.000,6,0.116,0.019,2121,2355,3780,0,0,0,0,0,0,26.25,26.48,28.83
$GC,4744,-0.51,-194.6,509.5,-7.7,581,4753,0.00,2.35,0.00,0.000,4,0.000,0.044,2110,3831,3778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4769,-0.52,-194.6,510.6,-5.7,583,4777,0.00,2.12,0.00,0.000,6,0.000,0.020,2110,2369,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5077,-0.53,-194.6,531.0,-6.4,614,5085,0.00,2.33,0.00,0.000,4,0.000,0.044,2102,3818,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5099,-0.54,-194.6,532.3,-5.6,616,5108,0.00,2.08,0.00,0.000,6,0.000,0.019,2102,2388,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5408,-0.54,-194.6,558.3,-8.4,647,5418,0.00,2.28,0.00,0.000,4,0.000,0.044,2093,3823,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5452,-0.55,-194.6,561.8,-8.4,651,5461,0.00,2.08,0.00,0.000,6,0.000,0.020,2093,2397,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5761,-0.55,-194.6,589.8,-9.5,682,5765,0.00,2.15,0.00,0.000,4,0.000,0.026,2093,1028,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5813,-0.57,-194.6,594.6,-8.7,687,5823,0.00,2.33,0.00,0.000,6,0.000,0.034,2088,2447,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6134,-0.56,-194.6,625.7,-9.9,706,6138,0.00,2.12,0.00,0.000,4,0.000,0.045,2077,3830,3768,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6185,-0.56,-194.6,630.0,-9.8,708,6189,0.00,2.12,0.00,0.000,6,0.000,0.022,2077,2394,3767,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6492,-0.55,-194.6,661.9,-10.0,723,6496,0.00,2.12,0.00,0.000,4,0.000,0.026,2077,1030,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6516,-0.54,-194.6,664.1,-9.8,724,6522,0.08,2.33,0.00,0.000,6,0.096,0.034,2104,2448,3765,0,0,0,0,0,0,26.09,26.25,28.83
$GC,6838,-0.55,-194.6,687.5,-7.1,740,6843,0.00,2.12,0.00,0.000,4,0.000,0.045,2095,3819,3763,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6891,-0.57,-194.6,690.4,-7.0,742,6898,0.00,2.08,0.00,0.000,6,0.000,0.021,2095,2401,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7197,-0.57,-194.6,716.0,-8.2,758,7203,0.00,2.28,0.00,0.000,4,0.000,0.046,2086,3829,3760,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7239,-0.57,-194.6,719.3,-8.2,760,7244,0.00,2.08,0.00,0.000,6,0.000,0.023,2085,2421,3760,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7559,-0.57,-194.6,747.5,-8.8,776,7565,0.00,2.20,0.00,0.000,4,0.000,0.028,2085,1040,3758,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7597,-0.57,-194.6,751.1,-8.8,778,7603,0.00,2.40,0.00,0.000,6,0.000,0.035,2085,2473,3758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7918,-0.57,-194.6,778.5,-8.5,794,7924,0.00,2.10,0.00,0.000,4,0.000,0.048,2075,3828,3756,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7961,-0.57,-194.6,782.0,-9.0,796,7965,0.00,2.08,0.00,0.000,6,0.000,0.023,2076,2423,3755,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8274,-0.57,-194.6,810.8,-9.1,812,8279,0.00,2.25,0.00,0.000,4,0.000,0.046,2065,3819,3753,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8307,-0.56,-194.6,812.6,-9.1,813,8314,0.00,2.05,0.00,0.000,6,0.000,0.021,2065,2424,3753,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8613,-0.55,-194.6,843.5,-9.3,829,8615,0.12,0.00,0.00,0.000,6,0.129,0.000,2106,2423,3752,0,0,0,0,0,0,26.37,28.83,28.83
$GC,8914,-0.56,-194.6,861.2,-5.3,844,8920,0.00,2.25,0.00,0.000,4,0.000,0.046,2094,3821,3751,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8954,-0.58,-194.6,863.9,-6.1,846,8960,0.00,2.03,0.00,0.000,6,0.000,0.021,2094,2436,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9274,-0.59,-194.6,883.0,-6.4,862,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2435,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,-0.60,-194.6,901.2,-6.2,877,9580,0.00,2.22,0.00,0.000,4,0.000,0.045,2085,3819,3747,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9613,-0.62,-194.6,903.7,-6.0,879,9619,0.00,2.03,0.00,0.000,6,0.000,0.021,2085,2436,3747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9934,-0.62,-194.6,923.3,-6.6,895,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2435,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10234,-0.63,-194.6,942.8,-6.7,910,10240,0.00,2.25,0.00,0.000,4,0.000,0.046,2077,3823,3744,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10262,-0.63,-194.6,944.1,-6.5,911,10265,0.00,2.03,0.00,0.000,6,0.000,0.021,2078,2439,3744,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10569,-0.63,-194.6,966.3,-7.3,926,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2439,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10868,-0.63,-194.6,988.1,-7.6,941,10874,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,3821,3743,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,10906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10906,begin apogee
$GC,10914,-0.20,0.0,991.3,-7.7,943,11109,0.40,0.15,182.00,1.378,4,0.087,0.073,2210,2547,2983,0,0,0,0,1,0,25.93,24.25,23.01
$STATE,11110,end apogee,CONTROL_FINISHED_OK
$STATE,11110,begin climb
$GC,11112,0.58,194.6,1000.3,0.0,953,11329,0.68,2.10,197.60,1.437,4,0.041,0.044,2476,3819,2184,0,0,0,0,1,0,24.51,24.45,22.59
$GC,11361,0.49,194.6,967.4,23.7,965,11365,0.20,2.08,0.00,0.000,6,0.183,0.021,2438,2504,2192,0,0,0,0,0,0,24.27,24.60,28.83
$GC,11671,0.43,194.6,909.7,17.2,980,11674,0.00,0.00,1.55,0.192,6,0.000,0.000,2439,2503,2183,0,0,0,0,0,0,28.83,28.83,25.41
$GC,11968,0.38,194.6,855.2,18.6,995,11974,0.12,2.05,0.00,0.000,4,0.190,0.042,2402,3819,2191,0,0,0,0,0,0,25.76,25.96,28.83
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$STATE,19587,end climb,SURFACE_DEPTH_REACHED
$STATE,19587,begin surface coast
$FINISH,1.8,1.021226
$STATE,19598,end surface coast,CONTROL_FINISHED_OK
$STATE,19598,begin surface
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$HUMID,48.66
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$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.1,26.058
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330400
$DATA_FILE_SIZE,113572,1797
$CAP_FILE_SIZE,228124,0
$CFSIZE,260165632,199303168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$CURRENT,0.149, 57.8,1
$GPS,030612,223100,2207.955,12309.938,36,1.0,42,-2.9