version: 66.10
glider: 169
mission: 6
dive: 254
start: 6 13 112 4 31 52
data:
$ID,169
$MISSION,6
$DIVE,254
$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,-15781.937
$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
$GPS1,130612,042107,2249.951,12201.028,34,1.1,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-72.8
$GPS2,130612,043126,2250.253,12200.975,14,1.2,14,-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,257.6,64772,-13.8,-8.684
$D_GRID,4543
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-69.97,0.000,2,0.000,0.000,117,2373,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.2,-7.7,12,126,8.18,2.35,-17.17,0.000,4,0.233,0.046,2065,3836,3773,0,0,0,0,0,0,25.09,26.02,26.48
$GC,180,-0.45,-194.6,43.4,-49.3,27,188,0.17,2.12,0.00,0.000,6,0.161,0.025,2122,2419,3773,0,0,0,0,0,0,25.67,26.11,28.83
$GC,374,-0.39,-194.6,89.4,-22.2,64,380,0.00,2.33,0.00,0.000,4,0.000,0.024,2129,986,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,494,-0.39,-194.6,108.3,-10.9,87,502,0.10,2.40,0.00,0.000,6,0.148,0.030,2147,2426,3774,0,0,0,0,0,0,26.06,26.22,28.83
$GC,687,-0.38,-194.6,131.8,-10.2,124,694,0.00,2.15,0.00,0.000,4,0.000,0.038,2135,3838,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,737,-0.41,-194.6,136.0,-6.9,133,743,0.00,2.10,0.00,0.000,6,0.000,0.018,2136,2379,3774,0,0,0,0,0,0,28.83,26.44,28.83
$GC,929,-0.40,-194.6,152.1,-8.8,170,936,0.00,2.22,0.00,0.000,4,0.000,0.024,2136,967,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,969,-0.43,-194.6,155.4,-6.9,177,976,0.00,2.47,0.00,0.000,6,0.000,0.028,2135,2457,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1160,-0.43,-194.6,172.6,-9.5,214,1167,0.00,2.08,0.00,0.000,4,0.000,0.038,2125,3844,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1196,-0.45,-194.6,175.7,-8.9,220,1203,0.00,2.08,0.00,0.000,6,0.000,0.018,2124,2400,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1386,-0.45,-194.6,193.9,-10.2,257,1392,0.00,2.28,0.00,0.000,4,0.000,0.024,2125,971,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1428,-0.48,-194.6,197.5,-8.1,264,1436,0.00,2.47,0.00,0.000,6,0.000,0.029,2124,2462,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1620,-0.48,-194.6,215.2,-8.9,301,1627,0.00,2.05,0.00,0.000,4,0.000,0.038,2114,3843,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1649,-0.48,-194.6,218.0,-9.1,306,1656,0.00,2.10,0.00,0.000,6,0.000,0.018,2114,2386,3775,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1961,-0.48,-194.6,245.2,-8.6,367,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2386,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,-0.48,-194.6,273.3,-9.7,428,2281,0.00,2.30,0.00,0.000,4,0.000,0.040,2104,3825,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2316,-0.49,-194.6,277.2,-9.1,435,2324,0.00,2.08,0.00,0.000,6,0.000,0.018,2104,2386,3772,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2630,-0.49,-194.6,310.4,-10.2,496,2636,0.00,2.25,0.00,0.000,4,0.000,0.024,2104,967,3771,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2679,-0.52,-194.6,315.4,-9.0,505,2685,0.00,2.45,0.00,0.000,6,0.000,0.029,2099,2442,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2991,-0.51,-194.6,347.7,-10.2,566,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2441,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-0.51,-194.6,376.3,-8.7,627,3308,0.00,2.10,0.00,0.000,4,0.000,0.039,2089,3837,3766,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3336,-0.51,-194.6,379.5,-9.4,633,3342,0.00,2.15,0.00,0.000,6,0.000,0.018,2089,2364,3766,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3647,-0.51,-194.6,410.3,-9.7,694,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2364,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.51,-194.6,435.6,-7.2,755,3965,0.00,0.00,-0.10,0.000,6,0.000,0.000,2088,2363,3783,0,0,0,0,0,0,28.83,28.83,26.02
$GC,4271,-0.51,-194.6,459.0,-7.5,816,4277,0.00,2.38,0.00,0.000,4,0.000,0.041,2081,3827,3781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4318,-0.53,-194.6,462.4,-7.0,824,4325,0.00,2.12,0.00,0.000,6,0.000,0.018,2081,2371,3781,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4630,-0.52,-194.6,490.7,-10.0,885,4637,0.00,2.22,0.00,0.000,4,0.000,0.025,2081,975,3779,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4671,-0.53,-194.6,494.6,-8.7,892,4678,0.00,2.40,0.00,0.000,6,0.000,0.031,2075,2427,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4982,-0.52,-194.6,525.2,-9.8,928,4992,0.12,2.17,0.00,0.000,4,0.135,0.041,2109,3832,3776,0,0,0,0,0,0,26.35,26.23,28.83
$GC,5028,-0.54,-194.6,528.5,-7.7,932,5034,0.00,2.15,0.00,0.000,6,0.000,0.018,2109,2357,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5335,-0.62,-194.6,550.6,-7.7,963,5345,0.12,2.33,0.00,0.000,4,0.106,0.039,2051,3821,3772,0,0,0,0,0,0,26.48,26.25,28.83
$GC,5480,-0.65,-194.6,561.3,-7.7,977,5489,0.00,2.08,0.00,0.000,6,0.000,0.021,2051,2396,3771,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5789,-0.63,-194.6,599.1,-12.6,1008,5793,0.00,2.25,0.00,0.000,4,0.000,0.024,2055,986,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5834,-0.62,-194.6,604.0,-11.7,1012,5842,0.10,2.45,0.00,0.000,6,0.137,0.031,2077,2446,3770,0,0,0,0,0,0,26.15,26.29,28.83
$GC,6143,-0.62,-194.6,634.2,-9.9,1043,6151,0.00,2.10,0.00,0.000,4,0.000,0.042,2066,3822,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6206,-0.62,-194.6,640.2,-9.2,1049,6210,0.00,2.10,0.00,0.000,6,0.000,0.021,2066,2390,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6518,-0.61,-194.6,670.1,-9.0,1080,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2390,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,-0.61,-194.6,699.0,-10.5,1110,6831,0.00,2.30,0.00,0.000,4,0.000,0.044,2055,3834,3763,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6853,-0.61,-194.6,702.7,-10.5,1113,6857,0.00,2.12,0.00,0.000,6,0.000,0.020,2056,2392,3762,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7165,-0.59,-194.6,736.8,-10.4,1144,7174,0.00,2.28,0.00,0.000,4,0.000,0.044,2044,3821,3760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7198,-0.58,-194.6,740.1,-10.3,1147,7207,0.10,2.08,0.00,0.000,6,0.093,0.021,2086,2406,3760,0,0,0,0,0,0,26.15,26.43,28.83
$GC,7508,-0.59,-194.6,762.5,-7.0,1178,7517,0.00,2.28,0.00,0.000,4,0.000,0.025,2086,979,3759,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7534,-0.60,-194.6,764.1,-6.8,1180,7541,0.00,2.53,0.00,0.000,6,0.000,0.033,2086,2478,3758,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7842,-0.62,-194.6,785.4,-6.7,1211,7850,0.00,2.08,0.00,0.000,4,0.000,0.044,2076,3829,3757,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7874,-0.63,-194.6,787.5,-6.4,1214,7877,0.00,2.08,0.00,0.000,6,0.000,0.020,2076,2410,3757,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8186,-0.63,-194.6,809.1,-6.5,1245,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2408,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.63,-194.6,830.7,-7.7,1275,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2408,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,-0.64,-194.6,855.3,-8.4,1306,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2408,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9109,-0.64,-194.6,880.5,-8.2,1337,9118,0.00,2.30,0.00,0.000,4,0.000,0.046,2067,3815,3750,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9136,-0.65,-194.6,882.6,-8.2,1339,9143,0.00,2.08,0.00,0.000,6,0.000,0.021,2067,2412,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9441,-0.65,-194.6,907.4,-8.1,1370,9452,0.00,2.30,0.00,0.000,4,0.000,0.027,2067,988,3748,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9469,-0.65,-194.6,909.5,-8.3,1372,9476,0.00,2.53,0.00,0.000,6,0.000,0.034,2058,2485,3748,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9775,-0.65,-194.6,935.9,-9.0,1403,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2484,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10077,-0.65,-194.6,962.0,-8.8,1433,10086,0.00,2.45,0.00,0.000,4,0.000,0.027,2058,999,3746,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10132,-0.66,-194.6,967.0,-9.3,1438,10140,0.00,2.47,0.00,0.000,6,0.000,0.034,2048,2472,3745,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,10367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10369,begin apogee
$GC,10376,-0.20,0.0,990.3,-10.0,1462,10574,0.45,0.08,192.38,1.117,4,0.096,0.093,2206,2511,2978,0,0,0,0,0,0,25.83,24.69,23.65
$STATE,10575,end apogee,CONTROL_FINISHED_OK
$STATE,10575,begin climb
$GC,10578,0.58,194.6,999.9,0.0,1482,10798,0.65,2.53,210.40,1.071,4,0.036,0.028,2475,1083,2180,0,0,0,0,0,0,24.96,24.95,23.24
$GC,10919,0.54,194.6,961.0,15.2,1516,10928,0.00,2.62,0.00,0.000,6,0.000,0.036,2475,2548,2149,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11230,0.47,194.6,898.8,21.2,1547,11240,0.15,1.92,0.00,0.000,4,0.177,0.041,2430,3826,2144,0,0,0,0,0,0,25.69,25.96,28.83
$GC,11384,0.42,194.6,867.8,19.3,1562,11388,0.00,1.88,0.00,0.000,6,0.000,0.021,2440,2541,2143,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11697,0.37,194.6,811.1,18.0,1593,11699,0.17,0.00,0.00,0.000,6,0.173,0.000,2393,2540,2142,0,0,0,0,0,0,25.81,28.83,28.83
$GC,11997,0.35,194.6,770.9,13.1,1623,12000,0.00,1.95,0.00,0.000,4,0.000,0.043,2393,3824,2141,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12019,0.33,194.6,767.8,13.4,1625,12023,0.00,1.83,0.00,0.000,6,0.000,0.021,2402,2542,2141,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12332,0.30,194.6,725.0,13.4,1656,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2541,2141,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19252,end climb,SURFACE_DEPTH_REACHED
$STATE,19253,begin surface coast
$FINISH,-0.0,1.020995
$STATE,19284,end surface coast,CONTROL_FINISHED_OK
$STATE,19285,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.47
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.2,51.644
$10V_AH,10.1,31.628
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.525,204.250,807.450,0.000,0.000,27.508,34.971,374.645,0.000,0.000,15.865,6550.563,6996.672,995.494,4774.375,615.864,0.000,3223.353,0.000,4180.239,0.000,0.545,0.000
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$MEM,324644
$DATA_FILE_SIZE,170146,2761
$CAP_FILE_SIZE,268291,0
$CFSIZE,260165632,194355200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193, 24.7,1
$GPS,130612,095557,2251.627,12159.040,35,3.0,54,-3.0