version: 66.10
glider: 169
mission: 6
dive: 214
start: 6 4 112 9 21 30
data:
$ID,169
$MISSION,6
$DIVE,214
$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,-15729.733
$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
$GPS1,040612,091236,2211.410,12307.383,24,1.6,24,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.9
$GPS2,040612,092107,2211.538,12307.507,34,1.1,34,-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,257.0,198266,-13.8,-8.684
$D_GRID,5213
$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,-93.32,0.000,2,0.000,0.000,116,2482,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.58,-194.6,4.1,-11.0,16,143,7.93,2.08,-11.05,0.000,4,0.223,0.042,2071,3851,3777,0,0,1,0,0,0,25.25,25.48,26.46
$GC,191,-0.47,-194.6,44.5,-45.9,29,198,0.15,2.03,0.00,0.000,6,0.161,0.025,2118,2479,3777,0,0,0,0,0,0,25.77,26.13,28.83
$GC,384,-0.38,-194.6,102.8,-29.8,66,391,0.12,2.38,0.00,0.000,4,0.182,0.023,2164,1028,3777,0,0,0,0,0,0,25.97,26.21,28.83
$GC,449,-0.40,-194.6,115.3,-10.6,78,456,0.00,2.47,0.00,0.000,6,0.000,0.031,2153,2499,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,641,-0.36,-194.6,145.2,-17.5,115,649,0.00,2.40,0.00,0.000,4,0.000,0.024,2156,1041,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,681,-0.36,-194.6,151.2,-12.8,122,688,0.00,2.42,0.00,0.000,6,0.000,0.030,2147,2490,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,874,-0.34,-194.6,176.2,-11.0,159,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2488,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.34,-194.6,196.5,-9.8,196,1073,0.00,2.38,0.00,0.000,4,0.000,0.023,2148,1027,3778,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1095,-0.34,-194.6,199.3,-9.2,201,1102,0.00,2.42,0.00,0.000,6,0.000,0.033,2147,2474,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1290,-0.34,-194.6,216.2,-9.1,221,1299,0.00,2.05,0.00,0.000,4,0.000,0.044,2137,3828,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1333,-0.36,-194.6,219.5,-8.0,225,1342,0.00,2.00,0.00,0.000,6,0.000,0.018,2138,2398,3778,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1643,-0.37,-194.6,246.4,-8.9,256,1646,0.00,2.22,0.00,0.000,4,0.000,0.040,2128,3825,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1675,-0.38,-194.6,249.3,-9.0,259,1679,0.00,2.00,0.00,0.000,6,0.000,0.018,2129,2410,3778,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1987,-0.38,-194.6,274.7,-7.2,290,1996,0.00,2.17,0.00,0.000,4,0.000,0.023,2128,1034,3777,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2013,-0.39,-194.6,276.2,-7.2,292,2020,0.00,2.40,0.00,0.000,6,0.000,0.030,2125,2493,3777,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2319,-0.39,-194.6,304.4,-9.3,323,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2492,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,-0.40,-194.6,330.1,-8.7,353,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2492,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-0.41,-194.6,356.0,-7.9,384,2940,0.00,2.38,0.00,0.000,4,0.000,0.025,2125,1037,3771,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2965,-0.43,-194.6,358.5,-7.6,387,2975,0.00,2.40,0.00,0.000,6,0.000,0.032,2125,2480,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3276,-0.44,-194.6,382.5,-8.4,418,3284,0.00,2.03,0.00,0.000,4,0.000,0.044,2116,3823,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3299,-0.46,-194.6,384.5,-8.2,420,3303,0.00,2.05,0.00,0.000,6,0.000,0.021,2116,2405,3768,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3612,-0.47,-194.6,411.9,-8.4,451,3621,0.00,2.17,0.00,0.000,4,0.000,0.025,2116,1029,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3656,-0.49,-194.6,415.3,-7.9,455,3666,0.00,2.38,0.00,0.000,6,0.000,0.031,2112,2464,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3965,-0.50,-194.6,440.7,-8.3,486,3976,0.00,2.08,-0.08,0.000,4,0.000,0.054,2102,3822,3789,0,0,0,0,0,0,28.83,26.28,25.56
$GC,4020,-0.52,-194.6,445.0,-8.3,491,4030,0.00,2.05,0.00,0.000,6,0.000,0.019,2102,2397,3789,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4328,-0.52,-194.6,472.1,-9.3,522,4332,0.00,2.15,0.00,0.000,4,0.000,0.025,2102,1029,3788,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4353,-0.52,-194.6,474.2,-9.3,524,4360,0.00,2.38,0.00,0.000,6,0.000,0.031,2099,2464,3788,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4662,-0.52,-194.6,502.9,-9.3,555,4671,0.00,2.08,0.00,0.000,4,0.000,0.044,2089,3820,3784,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4694,-0.52,-194.6,506.1,-9.5,558,4703,0.00,2.08,0.00,0.000,6,0.000,0.020,2089,2399,3784,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5004,-0.52,-194.6,538.6,-10.7,589,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2399,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.52,-194.6,569.3,-9.7,619,5317,0.00,2.25,0.00,0.000,4,0.000,0.042,2080,3817,3779,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5361,-0.53,-194.6,574.7,-9.6,624,5370,0.00,2.03,0.00,0.000,6,0.000,0.020,2080,2415,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5683,-0.52,-194.6,608.7,-10.9,652,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2415,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.52,-194.6,640.7,-10.6,667,5987,0.00,2.20,0.00,0.000,4,0.000,0.043,2070,3821,3774,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6022,-0.52,-194.6,644.9,-10.4,669,6027,0.12,2.03,0.00,0.000,6,0.114,0.020,2111,2419,3774,0,0,0,0,0,0,26.23,26.47,28.83
$GC,6344,-0.54,-194.6,667.3,-6.3,685,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2419,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,-0.56,-194.6,685.0,-5.7,700,6646,0.00,2.22,0.00,0.000,4,0.000,0.044,2103,3821,3769,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6666,-0.58,-194.6,686.3,-5.6,701,6670,0.00,2.03,0.00,0.000,6,0.000,0.020,2103,2415,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6980,-0.60,-194.6,704.6,-6.1,717,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2415,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,-0.62,-194.6,723.7,-6.3,732,7283,0.00,2.28,0.00,0.000,4,0.000,0.044,2099,3822,3765,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7305,-0.64,-194.6,725.1,-6.3,733,7309,0.00,2.00,0.00,0.000,6,0.000,0.019,2099,2431,3765,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7618,-0.65,-194.6,745.7,-6.9,749,7624,0.10,2.22,0.00,0.000,4,0.089,0.024,2026,1046,3763,0,0,0,0,0,0,26.60,26.31,28.83
$GC,7638,-0.66,-194.6,747.7,-7.5,750,7643,0.12,2.42,0.00,0.000,6,0.096,0.034,2065,2503,3762,0,0,0,0,0,0,25.99,26.21,28.83
$GC,7960,-0.65,-194.6,783.4,-11.0,766,7965,0.00,2.40,0.00,0.000,4,0.000,0.028,2068,1052,3761,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7991,-0.64,-194.6,785.8,-11.0,767,7999,0.00,2.45,0.00,0.000,6,0.000,0.037,2059,2497,3761,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8300,-0.63,-194.6,821.3,-10.7,783,8305,0.00,2.38,0.00,0.000,4,0.000,0.026,2059,1046,3760,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8338,-0.62,-194.6,825.4,-10.4,785,8344,0.00,2.42,0.00,0.000,6,0.000,0.035,2049,2485,3760,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8659,-0.60,-194.6,860.5,-11.1,801,8660,0.10,0.00,0.00,0.000,6,0.158,0.000,2078,2484,3758,0,0,0,0,0,0,26.39,28.83,28.83
$GC,8961,-0.60,-194.6,885.7,-8.1,816,8967,0.00,2.38,0.00,0.000,4,0.000,0.028,2078,1041,3757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9013,-0.61,-194.6,889.0,-8.2,818,9020,0.00,2.45,0.00,0.000,6,0.000,0.037,2070,2485,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9321,-0.61,-194.6,916.3,-8.7,834,9326,0.00,2.08,0.00,0.000,4,0.000,0.048,2059,3822,3755,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9367,-0.61,-194.6,919.9,-8.7,836,9371,0.00,2.08,0.00,0.000,6,0.000,0.022,2059,2421,3755,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9675,-0.60,-194.6,949.1,-9.4,851,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2420,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9976,-0.60,-194.6,977.6,-9.5,866,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2420,3752,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10112,begin apogee
$GC,10118,-0.20,0.0,990.6,-9.1,873,10318,0.43,0.08,193.90,1.153,4,0.096,0.093,2208,2488,2978,0,0,0,0,0,0,25.86,24.60,23.65
$STATE,10319,end apogee,CONTROL_FINISHED_OK
$STATE,10319,begin climb
$GC,10322,0.58,194.6,998.3,0.0,883,10542,0.65,2.47,211.77,1.125,4,0.037,0.028,2475,1073,2185,0,0,0,0,0,0,24.83,24.82,23.15
$GC,10644,0.54,194.6,958.5,17.5,899,10651,0.00,2.62,0.00,0.000,6,0.000,0.037,2474,2534,2151,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10953,0.47,194.6,887.4,22.7,915,10959,0.15,2.47,0.00,0.000,4,0.177,0.028,2443,1078,2146,0,0,0,0,0,0,25.63,25.91,28.83
$GC,11012,0.42,194.6,876.9,18.5,918,11019,0.08,2.60,0.00,0.000,6,0.136,0.035,2417,2563,2145,0,0,0,0,0,0,25.71,25.94,28.83
$GC,11335,0.39,194.6,828.8,14.9,934,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2561,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11633,0.35,194.6,784.4,14.8,949,11639,0.00,1.92,0.00,0.000,4,0.000,0.044,2417,3821,2143,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11685,0.31,194.6,777.9,15.4,951,11693,0.17,1.83,0.00,0.000,6,0.160,0.021,2378,2537,2142,0,0,0,0,0,0,25.76,26.23,28.83
$GC,11994,0.30,194.6,742.5,9.9,967,11999,0.00,2.42,0.00,0.000,4,0.000,0.031,2391,1079,2142,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12025,0.30,194.6,740.6,9.8,968,12033,0.00,2.60,0.00,0.000,6,0.000,0.034,2391,2568,2140,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,19415,end climb,SURFACE_DEPTH_REACHED
$STATE,19416,begin surface coast
$FINISH,-0.1,1.011873
$STATE,19434,end surface coast,CONTROL_FINISHED_OK
$STATE,19435,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.11
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.1,43.053
$10V_AH,10.1,26.448
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.650,196.975,703.475,0.000,0.000,31.299,46.663,254.643,0.000,0.000,35.511,4449.704,10658.702,880.717,3492.665,502.343,0.000,2583.948,0.000,2959.643,0.000,0.542,0.000
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$MEM,330412
$DATA_FILE_SIZE,113612,1801
$CAP_FILE_SIZE,224630,0
$CFSIZE,260165632,198963200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.231, 31.5,1
$GPS,040612,144737,2212.797,12305.864,28,1.3,28,-2.9