version: 66.10
glider: 169
mission: 6
dive: 240
start: 6 9 112 23 36 27
data:
$ID,169
$MISSION,6
$DIVE,240
$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,-15764.231
$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,2450
$C_ROLL_CLIMB,2545
$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
$GPS1,090612,232824,2230.343,12229.158,40,1.1,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-72.4
$GPS2,090612,233602,2230.255,12229.223,13,1.3,13,-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,311.2,124414,-13.8,-8.684
$D_GRID,4916
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-194.6,0.0,0.0,0,89,0.00,0.00,-70.30,0.000,2,0.000,0.000,117,2383,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.58,-194.6,3.3,-7.0,12,126,8.10,2.30,-13.80,0.000,4,0.230,0.036,2090,981,3775,0,0,0,0,0,0,25.01,26.11,26.48
$GC,255,-0.56,-194.6,52.7,-16.8,42,263,0.00,2.53,0.00,0.000,6,0.000,0.034,2077,2468,3777,0,0,0,0,0,0,28.83,26.08,28.83
$GC,448,-0.46,-194.6,106.2,-30.7,79,456,0.12,2.42,0.00,0.000,4,0.183,0.023,2125,984,3777,0,0,0,0,0,0,26.00,26.24,28.83
$GC,518,-0.46,-194.6,120.6,-14.6,92,525,0.00,2.45,0.00,0.000,6,0.000,0.033,2124,2440,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,711,-0.43,-194.6,151.0,-16.7,129,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2439,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-0.41,-194.6,178.7,-12.9,166,909,0.00,2.10,0.00,0.000,4,0.000,0.039,2114,3836,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,927,-0.40,-194.6,182.0,-12.8,170,935,0.10,2.15,0.00,0.000,6,0.129,0.018,2146,2342,3779,0,0,0,0,0,0,26.24,26.45,28.83
$GC,1120,-0.40,-194.6,199.7,-9.3,207,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2342,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-0.41,-194.6,216.9,-9.4,226,1314,0.00,2.33,0.00,0.000,4,0.000,0.038,2134,3822,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1339,-0.42,-194.6,220.1,-9.6,229,1346,0.00,2.10,0.00,0.000,6,0.000,0.018,2135,2357,3778,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1648,-0.43,-194.6,242.6,-6.1,260,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2356,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1950,-0.44,-194.6,261.8,-7.1,290,1959,0.00,2.35,0.00,0.000,4,0.000,0.040,2126,3832,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1996,-0.47,-194.6,265.1,-7.3,294,2004,0.00,2.10,0.00,0.000,6,0.000,0.018,2126,2363,3778,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2304,-0.48,-194.6,289.3,-7.7,325,2312,0.00,2.28,0.00,0.000,4,0.000,0.039,2117,3824,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2338,-0.49,-194.6,291.9,-8.0,328,2345,0.00,2.10,0.00,0.000,6,0.000,0.018,2118,2361,3777,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2649,-0.50,-194.6,320.1,-8.6,359,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2361,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.51,-194.6,345.5,-8.0,390,2967,0.00,2.33,0.00,0.000,4,0.000,0.040,2108,3832,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3005,-0.53,-194.6,349.0,-7.9,394,3013,0.00,2.10,0.00,0.000,6,0.000,0.019,2108,2375,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3311,-0.53,-194.6,375.4,-8.2,425,3320,0.00,2.30,0.00,0.000,4,0.000,0.041,2099,3820,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3354,-0.54,-194.6,378.7,-7.9,429,3358,0.00,2.05,0.00,0.000,6,0.000,0.021,2099,2396,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3666,-0.54,-194.6,404.5,-7.2,460,3675,0.00,2.25,0.00,0.000,4,0.000,0.026,2099,991,3769,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3691,-0.54,-194.6,406.1,-7.3,462,3699,0.00,2.47,0.00,0.000,6,0.000,0.032,2098,2473,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3998,-0.54,-194.6,428.8,-8.5,493,4002,0.00,2.05,0.00,0.000,4,0.000,0.042,2089,3830,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4033,-0.54,-194.6,431.7,-8.9,496,4039,0.00,2.03,0.00,0.000,6,0.000,0.019,2089,2418,3766,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4341,-0.53,-194.6,462.9,-10.3,527,4350,0.00,2.33,-0.10,0.000,4,0.000,0.036,2089,982,3786,0,0,0,0,0,0,28.83,26.36,26.00
$GC,4365,-0.53,-194.6,465.2,-10.4,529,4373,0.00,2.50,0.00,0.000,6,0.000,0.033,2086,2474,3785,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4674,-0.53,-194.6,495.5,-8.3,560,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2473,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.52,-194.6,516.6,-6.3,590,4987,0.00,2.05,0.00,0.000,4,0.000,0.044,2076,3819,3781,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5005,-0.52,-194.6,518.3,-6.2,592,5013,0.10,2.05,0.00,0.000,6,0.123,0.021,2109,2405,3781,0,0,0,0,0,0,26.27,26.47,28.83
$GC,5312,-0.53,-194.6,532.6,-5.2,623,5321,0.00,2.22,0.00,0.000,4,0.000,0.044,2098,3820,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5346,-0.55,-194.6,534.4,-5.5,626,5355,0.00,2.00,0.00,0.000,6,0.000,0.021,2098,2429,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5656,-0.56,-194.6,556.9,-7.7,657,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2429,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5967,-0.56,-194.6,581.5,-8.3,688,5976,0.00,2.35,0.00,0.000,4,0.000,0.028,2098,980,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5992,-0.57,-194.6,583.6,-8.3,690,6000,0.00,2.55,0.00,0.000,6,0.000,0.035,2098,2491,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6312,-0.58,-194.6,607.4,-7.2,717,6317,0.00,2.00,0.00,0.000,4,0.000,0.047,2089,3823,3772,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6345,-0.59,-194.6,609.0,-7.3,718,6353,0.00,2.03,0.00,0.000,6,0.000,0.021,2090,2421,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6653,-0.59,-194.6,631.1,-6.3,734,6658,0.00,2.30,0.00,0.000,4,0.000,0.026,2089,994,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6692,-0.60,-194.6,633.6,-6.3,736,6697,0.00,2.50,0.00,0.000,6,0.000,0.033,2086,2484,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7013,-0.60,-194.6,657.1,-7.4,752,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2482,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,-0.60,-194.6,679.5,-7.4,767,7318,0.00,2.45,0.00,0.000,4,0.000,0.027,2086,984,3766,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7360,-0.61,-194.6,682.4,-7.4,769,7364,0.00,2.53,0.00,0.000,6,0.000,0.035,2086,2477,3766,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7668,-0.61,-194.6,704.6,-6.8,784,7672,0.00,2.10,0.00,0.000,4,0.000,0.047,2076,3831,3764,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7713,-0.62,-194.6,707.5,-6.8,786,7717,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2413,3763,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8026,-0.62,-194.6,731.7,-8.1,802,8032,0.00,2.30,0.00,0.000,4,0.000,0.026,2076,981,3762,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8058,-0.62,-194.6,733.3,-8.1,803,8065,0.00,2.53,0.00,0.000,6,0.000,0.034,2066,2485,3762,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8366,-0.61,-194.6,765.3,-10.8,819,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2484,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.60,-194.6,799.3,-11.2,834,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2484,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.59,-194.6,832.4,-10.8,849,8971,0.00,2.47,0.00,0.000,4,0.000,0.028,2066,986,3757,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8992,-0.59,-194.6,834.5,-10.8,850,8997,0.00,2.53,0.00,0.000,6,0.000,0.035,2059,2470,3757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9304,-0.58,-194.6,866.0,-9.8,865,9309,0.00,2.08,0.00,0.000,4,0.000,0.047,2049,3817,3756,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9332,-0.57,-194.6,868.1,-9.7,866,9342,0.12,2.08,0.00,0.000,6,0.121,0.021,2089,2408,3756,0,0,0,0,0,0,26.10,26.37,28.83
$GC,9645,-0.58,-194.6,889.6,-6.4,882,9651,0.00,2.28,0.00,0.000,4,0.000,0.028,2089,993,3755,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9667,-0.60,-194.6,890.9,-6.2,883,9671,0.00,2.50,0.00,0.000,6,0.000,0.034,2089,2469,3755,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9980,-0.61,-194.6,910.4,-6.2,899,9986,0.00,2.10,0.00,0.000,4,0.000,0.048,2085,3819,3754,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10003,-0.63,-194.6,911.7,-6.3,900,10009,0.00,2.10,0.00,0.000,6,0.000,0.021,2085,2393,3754,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10320,-0.64,-194.6,931.9,-6.1,916,10325,0.00,2.25,0.00,0.000,4,0.000,0.028,2085,997,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10353,-0.66,-194.6,933.3,-6.1,917,10359,0.00,2.50,0.00,0.000,6,0.000,0.035,2085,2469,3752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10661,-0.67,-194.6,952.9,-6.1,933,10665,0.00,2.12,0.00,0.000,4,0.000,0.048,2076,3829,3750,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10683,-0.69,-194.6,954.4,-6.2,934,10688,0.00,2.10,0.00,0.000,6,0.000,0.021,2076,2402,3750,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11004,-0.69,-194.6,977.7,-7.8,950,11010,0.00,2.28,0.00,0.000,4,0.000,0.028,2076,989,3750,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11046,-0.71,-194.6,980.8,-7.7,952,11050,0.00,2.50,0.00,0.000,6,0.000,0.034,2069,2461,3750,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,11155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11155,begin apogee
$GC,11163,-0.20,0.0,990.3,-8.4,958,11439,0.40,0.08,267.85,0.978,4,0.091,0.089,2211,2508,2974,0,0,0,0,0,0,25.89,24.60,23.61
$STATE,11440,end apogee,CONTROL_FINISHED_OK
$STATE,11440,begin climb
$GC,11445,0.58,194.6,1003.0,0.0,972,11665,0.62,2.53,210.32,1.078,4,0.034,0.026,2478,1089,2181,0,0,0,0,0,0,24.92,24.92,23.11
$GC,11729,0.53,194.6,968.6,17.7,986,11739,0.08,2.72,0.00,0.000,6,0.158,0.037,2455,2550,2154,0,0,0,0,0,0,24.77,25.01,28.83
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$STATE,19701,end climb,SURFACE_DEPTH_REACHED
$STATE,19702,begin surface coast
$FINISH,0.5,1.021641
$STATE,19713,end surface coast,CONTROL_FINISHED_OK
$STATE,19713,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.58
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,10.1,29.698
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.400,218.975,774.375,0.000,0.000,26.003,24.639,259.911,0.000,0.000,14.597,4436.595,10847.463,917.149,3510.573,507.798,0.000,2675.979,0.000,3015.908,0.000,0.544,0.000
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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,324600
$DATA_FILE_SIZE,110062,1772
$CAP_FILE_SIZE,231364,0
$CFSIZE,260165632,196100096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,131.0,1
$GPS,100612,050755,2231.698,12227.142,70,1.1,70,-3.0