version: 66.10
glider: 169
mission: 6
dive: 226
start: 6 7 112 2 8 25
data:
$ID,169
$MISSION,6
$DIVE,226
$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,-8
$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,-15744.928
$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,300
$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
$GPS1,070612,015931,2222.376,12245.073,39,1.2,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-75.8
$GPS2,070612,020801,2222.062,12245.227,11,1.4,16,-3.0
$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,328.1,155620,-13.8,-8.684
$D_GRID,4891
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.32,0.000,2,0.000,0.000,117,2436,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-194.6,4.2,-11.8,14,130,8.10,2.33,-11.90,0.000,4,0.230,0.031,2091,989,3777,0,0,0,0,0,0,25.17,26.13,26.42
$GC,188,-0.52,-194.6,33.5,-22.1,29,195,0.00,2.60,0.00,0.000,6,0.000,0.034,2078,2517,3778,0,0,0,0,0,0,28.83,26.00,28.83
$GC,380,-0.45,-194.6,74.2,-21.2,66,387,0.15,1.98,0.00,0.000,4,0.158,0.038,2115,3835,3778,0,0,0,0,0,0,25.94,26.09,28.83
$GC,394,-0.38,-194.6,77.2,-21.1,68,402,0.00,2.03,0.00,0.000,6,0.000,0.018,2124,2427,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,587,-0.35,-194.6,106.3,-13.7,105,594,0.12,0.00,0.00,0.000,6,0.140,0.000,2167,2426,3779,0,0,0,0,0,0,26.17,28.83,28.83
$GC,779,-0.37,-194.6,121.6,-6.8,142,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2427,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,971,-0.39,-194.6,132.4,-4.9,179,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2427,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1162,-0.41,-194.6,140.2,-3.5,216,1171,0.00,2.25,0.00,0.000,4,0.000,0.041,2156,3827,3780,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1199,-0.45,-194.6,141.4,-3.0,222,1207,0.00,2.00,0.00,0.000,6,0.000,0.019,2156,2441,3780,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1392,-0.52,-194.6,151.0,-7.4,259,1400,0.12,2.28,0.00,0.000,4,0.120,0.023,2118,1034,3779,0,0,0,0,0,0,26.38,26.36,28.83
$GC,1424,-0.58,-194.6,153.4,-7.8,264,1432,0.00,2.42,0.00,0.000,6,0.000,0.029,2118,2501,3780,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1620,-0.64,-194.6,166.7,-9.2,301,1629,0.12,2.40,0.00,0.000,4,0.076,0.019,2020,1011,3780,0,0,0,0,0,0,26.56,26.40,28.83
$GC,1662,-0.61,-194.6,171.9,-13.9,308,1669,0.22,2.40,0.00,0.000,6,0.117,0.032,2082,2459,3780,0,0,0,0,0,0,26.03,26.32,28.83
$GC,1854,-0.57,-194.6,200.3,-14.5,345,1858,0.00,2.08,0.00,0.000,4,0.000,0.041,2071,3827,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1939,-0.55,-194.6,212.7,-14.3,353,1947,0.00,2.05,0.00,0.000,6,0.000,0.021,2072,2419,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2247,-0.51,-194.6,257.5,-14.5,384,2248,0.12,0.00,0.00,0.000,6,0.138,0.000,2110,2418,3779,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2547,-0.51,-194.6,292.6,-12.6,414,2555,0.00,2.20,0.00,0.000,4,0.000,0.023,2111,1033,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2579,-0.51,-194.6,296.6,-12.6,417,2589,0.00,2.38,0.00,0.000,6,0.000,0.031,2104,2486,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2890,-0.51,-194.6,336.3,-13.0,448,2898,0.00,2.03,0.00,0.000,4,0.000,0.041,2095,3831,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2914,-0.51,-194.6,339.3,-12.8,450,2921,0.00,2.05,0.00,0.000,6,0.000,0.018,2095,2413,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3222,-0.51,-194.6,373.4,-8.9,481,3231,0.00,2.20,0.00,0.000,4,0.000,0.025,2095,1034,3772,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3257,-0.51,-194.6,375.9,-7.8,484,3264,0.00,2.42,0.00,0.000,6,0.000,0.032,2091,2486,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3566,-0.49,-194.6,396.0,-6.4,515,3575,0.00,2.35,0.00,0.000,4,0.000,0.023,2090,1026,3770,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3611,-0.49,-194.6,398.8,-6.6,519,3618,0.00,2.42,0.00,0.000,6,0.000,0.033,2085,2482,3770,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3919,-0.49,-194.6,427.4,-10.7,550,3928,0.10,2.03,0.00,0.000,4,0.149,0.042,2107,3817,3766,0,0,0,0,0,0,26.45,26.24,28.83
$GC,3972,-0.51,-194.6,432.4,-8.8,555,3980,0.00,2.05,0.00,0.000,6,0.000,0.019,2106,2411,3766,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4282,-0.52,-194.6,465.5,-10.8,586,4284,0.00,0.00,-0.08,0.000,6,0.000,0.000,2106,2411,3788,0,0,0,0,0,0,28.83,28.83,25.37
$GC,4583,-0.53,-194.6,496.2,-9.2,616,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2411,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4885,-0.54,-194.6,518.4,-6.0,646,4894,0.00,2.30,0.00,0.000,4,0.000,0.043,2099,3829,3784,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4922,-0.56,-194.6,520.3,-5.7,649,4930,0.00,2.03,0.00,0.000,6,0.000,0.019,2099,2420,3784,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5228,-0.57,-194.6,537.0,-5.4,680,5237,0.00,2.20,0.00,0.000,4,0.000,0.024,2099,1038,3782,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5261,-0.59,-194.6,538.7,-5.4,683,5269,0.00,2.40,0.00,0.000,6,0.000,0.032,2099,2493,3781,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5572,-0.59,-194.6,557.6,-7.0,714,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5883,-0.60,-194.6,582.4,-8.6,745,5893,0.00,2.38,0.00,0.000,4,0.000,0.025,2099,1032,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5916,-0.62,-194.6,585.5,-8.9,748,5925,0.00,2.40,0.00,0.000,6,0.000,0.033,2099,2479,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6228,-0.63,-194.6,614.0,-9.7,772,6234,0.00,2.08,0.00,0.000,4,0.000,0.044,2090,3822,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6255,-0.64,-194.6,616.1,-9.7,773,6259,0.00,2.08,0.00,0.000,6,0.000,0.020,2090,2412,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6563,-0.65,-194.6,644.1,-8.2,788,6568,0.00,2.28,0.00,0.000,4,0.000,0.044,2084,3819,3772,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6586,-0.65,-194.6,645.7,-8.1,789,6590,0.00,2.05,0.00,0.000,6,0.000,0.021,2084,2419,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6899,-0.65,-194.6,671.8,-8.0,805,6902,0.00,2.20,0.00,0.000,4,0.000,0.024,2084,1033,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6923,-0.66,-194.6,673.5,-7.9,806,6928,0.00,2.45,0.00,0.000,6,0.000,0.033,2076,2494,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7237,-0.66,-194.6,698.3,-8.2,822,7243,0.00,2.38,0.00,0.000,4,0.000,0.025,2076,1035,3769,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7264,-0.66,-194.6,699.8,-8.1,823,7268,0.00,2.40,0.00,0.000,6,0.000,0.033,2066,2471,3768,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7573,-0.65,-194.6,727.8,-9.1,838,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2470,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,-0.64,-194.6,756.5,-9.5,853,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2470,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8173,-0.63,-194.6,786.4,-10.3,868,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2470,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,-0.63,-194.6,820.4,-11.3,883,8477,0.00,2.38,0.00,0.000,4,0.000,0.025,2067,1032,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8518,-0.63,-194.6,824.7,-11.0,885,8523,0.00,2.40,0.00,0.000,6,0.000,0.035,2058,2454,3762,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8827,-0.61,-194.6,859.4,-11.1,900,8832,0.00,2.12,0.00,0.000,4,0.000,0.045,2048,3828,3761,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8880,-0.61,-194.6,863.6,-10.6,902,8887,0.00,2.10,0.00,0.000,6,0.000,0.021,2052,2409,3760,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9187,-0.59,-194.6,893.7,-8.4,918,9193,0.10,2.22,0.00,0.000,4,0.139,0.025,2082,1038,3759,0,0,0,0,0,0,26.43,26.23,28.83
$GC,9229,-0.59,-194.6,896.0,-7.2,920,9234,0.00,2.38,0.00,0.000,6,0.000,0.034,2082,2451,3759,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9548,-0.60,-194.6,907.8,-2.7,936,9553,0.00,2.12,0.00,0.000,4,0.000,0.045,2073,3828,3757,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9589,-0.61,-194.6,909.1,-2.9,938,9594,0.00,2.10,0.00,0.000,6,0.000,0.021,2073,2407,3757,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9908,-0.61,-194.6,922.0,-3.9,954,9913,0.00,2.20,0.00,0.000,4,0.000,0.027,2073,1035,3756,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9940,-0.61,-194.6,922.9,-4.2,955,9947,0.00,2.40,0.00,0.000,6,0.000,0.034,2070,2458,3756,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10249,-0.61,-194.6,940.0,-6.2,971,10252,0.00,2.12,0.00,0.000,4,0.000,0.046,2059,3831,3754,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10299,-0.62,-194.6,942.9,-6.3,973,10303,0.00,2.10,0.00,0.000,6,0.000,0.021,2059,2414,3754,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10607,-0.61,-194.6,967.9,-8.5,988,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2413,3753,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10863,begin apogee
$GC,10869,-0.20,0.0,991.0,-9.2,1001,11068,0.43,0.05,192.73,1.167,4,0.094,0.046,2207,2493,2975,0,0,0,0,0,0,25.84,24.44,23.46
$STATE,11069,end apogee,CONTROL_FINISHED_OK
$STATE,11069,begin climb
$GC,11072,0.58,194.6,1000.1,0.0,1011,11287,0.68,2.25,206.73,1.151,4,0.043,0.043,2472,3832,2183,0,0,0,0,0,0,24.76,24.72,22.94
$GC,11494,0.50,194.6,918.6,24.3,1032,11499,0.17,2.00,0.00,0.000,6,0.182,0.023,2439,2501,2147,0,0,0,0,0,0,25.25,25.65,28.83
$GC,11810,0.45,194.6,863.4,16.4,1048,11815,0.00,2.38,0.00,0.000,4,0.000,0.028,2451,1079,2143,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11901,0.42,194.6,851.3,14.9,1052,11909,0.15,2.55,0.00,0.000,6,0.151,0.034,2410,2543,2140,0,0,0,0,0,0,25.70,25.98,28.83
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$STATE,19663,end climb,SURFACE_DEPTH_REACHED
$STATE,19663,begin surface coast
$FINISH,0.1,1.020586
$STATE,19701,end surface coast,CONTROL_FINISHED_OK
$STATE,19701,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.00
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,22.9,45.700
$10V_AH,10.1,28.014
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.625,211.425,730.725,0.000,0.000,27.152,41.067,275.847,0.250,0.000,17.597,4674.432,10422.850,895.785,3719.864,531.913,0.000,2723.079,0.000,3186.954,0.000,0.544,0.000
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$MEM,324596
$DATA_FILE_SIZE,116846,1886
$CAP_FILE_SIZE,237428,0
$CFSIZE,260165632,197574656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.104,152.8,1
$GPS,070612,073907,2223.426,12243.789,37,1.2,37,-3.0