version: 66.10
glider: 169
mission: 6
dive: 230
start: 6 8 112 0 15 29
data:
$ID,169
$MISSION,6
$DIVE,230
$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,-15749.96
$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,250
$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
$GPS1,080612,000637,2224.064,12240.551,42,0.9,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.1
$GPS2,080612,001506,2223.857,12240.712,13,1.0,29,-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,328.6,147293,-13.8,-8.684
$D_GRID,4776
$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,17,-0.58,-194.6,0.0,0.0,0,100,0.00,0.00,-79.78,0.000,2,0.000,0.000,117,2452,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.3,-7.7,14,136,8.02,2.40,-15.07,0.000,4,0.230,0.037,2092,1032,3777,0,0,0,0,0,0,25.14,26.10,26.47
$GC,250,-0.56,-194.6,49.9,-18.6,41,258,0.00,2.55,0.00,0.000,6,0.000,0.034,2079,2517,3779,0,0,0,0,0,0,28.83,26.07,28.83
$GC,444,-0.48,-194.6,104.0,-27.7,78,452,0.12,2.50,0.00,0.000,4,0.176,0.024,2128,1035,3778,0,0,0,0,0,0,26.01,26.22,28.83
$GC,490,-0.46,-194.6,112.9,-14.9,86,498,0.00,2.50,0.00,0.000,6,0.000,0.033,2116,2496,3779,0,0,0,0,0,0,28.83,26.18,28.83
$GC,683,-0.43,-194.6,142.6,-16.3,123,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2495,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.40,-194.6,169.5,-14.4,160,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2495,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1064,-0.38,-194.6,195.9,-13.5,197,1072,0.12,2.40,0.00,0.000,4,0.140,0.022,2163,1039,3780,0,0,0,0,0,0,26.29,26.36,28.83
$GC,1106,-0.43,-194.6,199.8,-7.1,204,1113,0.00,2.42,0.00,0.000,6,0.000,0.030,2162,2490,3780,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1295,-0.52,-194.6,215.2,-8.9,223,1304,0.12,2.00,0.00,0.000,4,0.110,0.038,2108,3828,3779,0,0,0,0,0,0,26.42,26.28,28.83
$GC,1390,-0.59,-194.6,223.0,-8.1,232,1398,0.00,2.05,0.00,0.000,6,0.000,0.018,2116,2399,3779,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1699,-0.69,-194.6,244.8,-7.4,263,1709,0.15,2.17,0.00,0.000,4,0.070,0.022,1998,1016,3779,0,0,0,0,0,0,26.58,26.41,28.83
$GC,1765,-0.65,-194.6,252.1,-12.6,269,1774,0.25,2.40,0.00,0.000,6,0.125,0.031,2066,2459,3779,0,0,0,0,0,0,26.01,26.34,28.83
$GC,2072,-0.61,-194.6,293.5,-13.8,300,2081,0.00,2.33,0.00,0.000,4,0.000,0.024,2067,1030,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2095,-0.57,-194.6,296.4,-13.6,302,2104,0.08,2.35,0.00,0.000,6,0.102,0.032,2090,2442,3778,0,0,0,0,0,0,26.16,26.34,28.83
$GC,2405,-0.56,-194.6,329.9,-10.6,333,2408,0.00,2.12,0.00,0.000,4,0.000,0.041,2080,3836,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2439,-0.55,-194.6,333.5,-10.6,336,2446,0.00,2.08,0.00,0.000,6,0.000,0.019,2080,2401,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2747,-0.54,-194.6,369.9,-11.5,367,2756,0.00,2.25,0.00,0.000,4,0.000,0.042,2069,3828,3773,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2799,-0.53,-194.6,375.8,-11.1,372,2809,0.12,2.05,0.00,0.000,6,0.121,0.019,2109,2409,3772,0,0,0,0,0,0,26.25,26.50,28.83
$GC,3110,-0.54,-194.6,401.1,-8.0,403,3118,0.00,2.20,0.00,0.000,4,0.000,0.041,2099,3828,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3143,-0.56,-194.6,403.7,-8.0,406,3151,0.00,2.00,0.00,0.000,6,0.000,0.019,2099,2423,3770,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3451,-0.56,-194.6,432.2,-9.4,437,3455,0.00,2.25,0.00,0.000,4,0.000,0.025,2099,1044,3766,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3476,-0.56,-194.6,434.3,-9.8,439,3483,0.00,2.45,0.00,0.000,6,0.000,0.032,2099,2494,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3784,-0.56,-194.6,463.5,-9.5,470,3793,0.00,2.40,-0.08,0.000,4,0.000,0.036,2099,1043,3791,0,0,0,0,0,0,28.83,26.36,25.52
$GC,3828,-0.58,-194.6,467.4,-9.1,474,3836,0.00,2.40,0.00,0.000,6,0.000,0.033,2098,2477,3791,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4140,-0.59,-194.6,493.2,-8.1,505,4149,0.00,2.05,0.00,0.000,4,0.000,0.047,2090,3825,3790,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4183,-0.60,-194.6,496.8,-8.0,509,4192,0.00,2.03,0.00,0.000,6,0.000,0.021,2090,2426,3789,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4495,-0.60,-194.6,523.2,-8.3,540,4503,0.00,2.22,0.00,0.000,4,0.000,0.025,2090,1040,3786,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4518,-0.61,-194.6,525.2,-7.8,542,4527,0.00,2.42,0.00,0.000,6,0.000,0.033,2089,2487,3786,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4827,-0.61,-194.6,549.4,-7.5,573,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2485,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-0.61,-194.6,571.2,-7.4,603,5138,0.00,2.38,0.00,0.000,4,0.000,0.026,2089,1043,3781,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5162,-0.62,-194.6,573.6,-7.0,606,5171,0.00,2.40,0.00,0.000,6,0.000,0.034,2085,2478,3781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5471,-0.62,-194.6,595.2,-7.8,637,5481,0.00,2.08,0.00,0.000,4,0.000,0.047,2075,3820,3778,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5505,-0.63,-194.6,597.7,-7.6,640,5513,0.00,2.05,0.00,0.000,6,0.000,0.021,2076,2418,3779,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5815,-0.63,-194.6,623.5,-8.9,657,5820,0.00,2.22,0.00,0.000,4,0.000,0.027,2076,1042,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5857,-0.63,-194.6,627.0,-9.0,659,5861,0.00,2.42,0.00,0.000,6,0.000,0.034,2067,2486,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6170,-0.62,-194.6,659.9,-10.9,675,6176,0.00,2.03,0.00,0.000,4,0.000,0.044,2056,3829,3773,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6233,-0.61,-194.6,666.4,-10.9,678,6237,0.00,2.05,0.00,0.000,6,0.000,0.021,2056,2427,3773,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6547,-0.59,-194.6,704.5,-12.0,694,6552,0.00,2.25,0.00,0.000,4,0.000,0.027,2056,1044,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6599,-0.58,-194.6,709.3,-12.1,696,6607,0.12,2.45,0.00,0.000,6,0.122,0.035,2089,2487,3771,0,0,0,0,0,0,26.06,26.20,28.83
$GC,6906,-0.59,-194.6,737.3,-8.7,712,6911,0.00,2.03,0.00,0.000,4,0.000,0.046,2081,3829,3769,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6959,-0.61,-194.6,740.8,-8.7,714,6966,0.00,2.05,0.00,0.000,6,0.000,0.021,2081,2422,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7267,-0.61,-194.6,767.7,-8.1,730,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2422,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7566,-0.62,-194.6,790.4,-7.2,745,7570,0.00,2.25,0.00,0.000,4,0.000,0.047,2070,3825,3765,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7592,-0.62,-194.6,792.1,-7.3,746,7595,0.00,2.05,0.00,0.000,6,0.000,0.024,2070,2434,3764,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7904,-0.62,-194.6,818.7,-8.8,762,7909,0.00,2.28,0.00,0.000,4,0.000,0.028,2070,1045,3763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7936,-0.62,-194.6,820.4,-8.8,763,7943,0.00,2.47,0.00,0.000,6,0.000,0.037,2060,2495,3763,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8245,-0.61,-194.6,851.0,-9.9,779,8250,0.00,2.40,0.00,0.000,4,0.000,0.028,2060,1049,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8283,-0.61,-194.6,854.9,-9.8,781,8289,0.00,2.50,0.00,0.000,6,0.000,0.037,2050,2496,3762,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8605,-0.60,-194.6,890.2,-11.3,797,8611,0.10,2.03,0.00,0.000,4,0.157,0.047,2069,3817,3761,0,0,0,0,0,0,26.39,26.03,28.83
$GC,8632,-0.59,-194.6,892.5,-11.2,798,8636,0.00,2.05,0.00,0.000,6,0.000,0.023,2069,2429,3760,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8940,-0.59,-194.6,920.9,-9.0,813,8945,0.00,2.22,0.00,0.000,4,0.000,0.046,2058,3825,3760,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8962,-0.59,-194.6,922.8,-9.0,814,8966,0.00,2.03,0.00,0.000,6,0.000,0.022,2058,2438,3759,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9280,-0.58,-194.6,953.5,-9.4,830,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2437,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9581,-0.57,-194.6,980.1,-8.6,845,9587,0.10,2.30,0.00,0.000,4,0.135,0.026,2091,1045,3756,0,0,0,0,0,0,26.44,26.20,28.83
$GC,9624,-0.58,-194.6,983.1,-7.8,847,9630,0.00,2.50,0.00,0.000,6,0.000,0.036,2089,2503,3756,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,9758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9759,begin apogee
$GC,9765,-0.20,0.0,990.8,-5.5,854,9981,0.32,0.05,205.52,1.136,4,0.068,0.041,2220,2489,2968,0,0,0,0,0,0,26.22,24.49,23.49
$STATE,9982,end apogee,CONTROL_FINISHED_OK
$STATE,9982,begin climb
$GC,9985,0.58,194.6,998.6,0.0,865,10201,0.62,2.22,208.07,1.147,4,0.036,0.045,2483,3823,2183,0,0,0,0,0,0,24.86,24.77,23.00
$GC,10353,0.49,194.6,920.5,28.7,883,10357,0.22,2.00,0.00,0.000,6,0.181,0.024,2435,2504,2146,0,0,0,0,0,0,25.09,25.51,28.83
$GC,10664,0.44,194.6,856.4,19.2,898,10669,0.00,2.08,0.00,0.000,4,0.000,0.044,2435,3823,2141,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10792,0.39,194.6,831.3,20.3,904,10801,0.15,1.88,0.00,0.000,6,0.174,0.023,2406,2522,2140,0,0,0,0,0,0,25.67,26.08,28.83
$GC,11104,0.36,194.6,784.2,13.2,920,11109,0.00,2.47,0.00,0.000,4,0.000,0.031,2419,1081,2139,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11155,0.33,194.6,779.3,12.7,922,11164,0.12,2.58,0.00,0.000,6,0.142,0.036,2383,2543,2136,0,0,0,0,0,0,25.87,26.08,28.83
$GC,11465,0.33,205.1,750.2,8.4,938,11471,0.00,1.95,0.00,0.000,4,0.000,0.044,2383,3835,2137,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11507,0.31,205.1,746.2,9.1,940,11511,0.00,1.92,0.00,0.000,6,0.000,0.022,2393,2501,2136,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,18370,end climb,SURFACE_DEPTH_REACHED
$STATE,18370,begin surface coast
$FINISH,0.3,1.021054
$STATE,18395,end surface coast,CONTROL_FINISHED_OK
$STATE,18396,begin surface
$SM_CCo,18472,0.00,0.000,0,0,861,519.55
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$IRIDIUM_FIX,2216.01,12242.57,070612,181832
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.56
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.0,46.627
$10V_AH,10.1,28.541
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.000,209.100,795.800,0.000,0.000,31.842,23.869,271.496,0.000,0.000,30.345,4275.117,9775.044,916.818,3471.308,500.326,0.000,2650.196,0.000,2955.218,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,113.985,1147.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,110072,1721
$CAP_FILE_SIZE,223135,0
$CFSIZE,260165632,197128192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,148.9,1
$GPS,080612,052430,2225.033,12239.793,36,0.8,41,-3.0