version: 66.10
glider: 169
mission: 6
dive: 260
start: 6 14 112 13 20 57
data:
$ID,169
$MISSION,6
$DIVE,260
$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,-15791.84
$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
$GPS1,140612,131025,2255.682,12146.768,42,1.2,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-70.7
$GPS2,140612,132031,2255.809,12147.039,11,1.5,16,-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,293.5,38899,-13.8,-8.684
$D_GRID,4097
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-86.47,0.000,2,0.000,0.000,113,2405,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.58,-194.6,4.2,-11.9,15,137,8.10,2.35,-11.95,0.000,4,0.227,0.031,2089,947,3777,0,0,0,0,0,0,25.02,26.11,26.46
$GC,181,-0.54,-194.6,33.0,-20.6,27,188,0.00,2.58,0.00,0.000,6,0.000,0.031,2076,2473,3778,0,0,0,0,0,0,28.83,26.01,28.83
$GC,373,-0.45,-194.6,89.8,-25.2,64,381,0.15,2.45,0.00,0.000,4,0.174,0.022,2132,985,3778,0,0,0,0,0,0,25.88,26.17,28.83
$GC,439,-0.47,-194.6,100.7,-10.0,76,446,0.00,2.40,0.00,0.000,6,0.000,0.031,2121,2421,3779,0,0,0,0,0,0,28.83,26.15,28.83
$GC,631,-0.44,-194.6,125.2,-13.9,113,638,0.00,2.17,0.00,0.000,4,0.000,0.039,2110,3839,3779,0,0,0,0,0,0,28.83,26.15,28.83
$GC,671,-0.43,-194.6,130.8,-14.1,120,678,0.00,2.17,0.00,0.000,6,0.000,0.018,2110,2359,3779,0,0,0,0,0,0,28.83,26.36,28.83
$GC,864,-0.41,-194.6,153.8,-13.2,157,871,0.12,2.20,0.00,0.000,4,0.139,0.022,2153,970,3779,0,0,0,0,0,0,26.25,26.31,28.83
$GC,911,-0.45,-194.6,158.5,-7.7,165,917,0.00,2.40,0.00,0.000,6,0.000,0.028,2152,2425,3779,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1101,-0.47,-194.6,173.4,-8.4,202,1108,0.00,2.15,0.00,0.000,4,0.000,0.039,2142,3839,3779,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1157,-0.50,-194.6,177.9,-8.2,212,1164,0.00,2.15,0.00,0.000,6,0.000,0.018,2142,2347,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1350,-0.56,-194.6,191.4,-6.3,249,1357,0.12,2.33,0.00,0.000,4,0.084,0.035,2080,3830,3779,0,0,0,0,0,0,26.51,26.26,28.83
$GC,1435,-0.55,-194.6,198.3,-8.9,265,1442,0.00,1.92,0.00,0.000,6,0.000,0.018,2080,2445,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1627,-0.52,-194.6,220.6,-11.4,302,1634,0.00,2.38,0.00,0.000,4,0.000,0.023,2080,972,3779,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1697,-0.54,-194.6,227.9,-8.9,315,1706,0.12,2.58,0.00,0.000,6,0.125,0.030,2109,2496,3779,0,0,0,0,0,0,26.15,26.32,28.83
$GC,2011,-0.54,-194.6,258.7,-9.4,376,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2495,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-0.54,-194.6,288.0,-9.0,437,2328,0.00,2.53,0.00,0.000,4,0.000,0.025,2109,982,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2366,-0.56,-194.6,291.7,-8.1,445,2372,0.00,2.55,0.00,0.000,6,0.000,0.031,2100,2488,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2679,-0.59,-194.6,314.1,-7.0,506,2686,0.00,2.47,0.00,0.000,4,0.000,0.024,2099,983,3774,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2705,-0.62,-194.6,316.0,-7.1,510,2712,0.00,2.85,0.00,0.000,6,0.000,0.032,2099,2615,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3019,-0.64,-194.6,338.7,-7.5,571,3027,0.00,2.75,0.00,0.000,4,0.000,0.023,2099,972,3772,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3096,-0.66,-194.6,344.9,-7.9,585,3103,0.10,2.53,0.00,0.000,6,0.090,0.031,2013,2478,3771,0,0,0,0,0,0,26.29,26.32,28.83
$GC,3410,-0.59,-194.6,401.4,-19.4,646,3416,0.20,0.00,0.00,0.000,6,0.145,0.000,2078,2476,3769,0,0,0,0,0,0,26.09,28.83,28.83
$GC,3722,-0.58,-194.6,437.0,-10.4,707,3730,0.00,2.45,0.00,0.000,4,0.000,0.024,2078,987,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3774,-0.60,-194.6,442.2,-9.3,716,3781,0.00,2.47,0.00,0.000,6,0.000,0.034,2068,2457,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4086,-0.58,-194.6,477.4,-10.6,777,4092,0.00,2.10,0.00,0.000,4,0.000,0.041,2057,3827,3764,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4125,-0.57,-194.6,481.7,-10.3,784,4134,0.12,2.10,-0.10,0.000,6,0.123,0.020,2096,2386,3788,0,0,0,0,0,0,26.20,26.47,25.68
$GC,4446,-0.58,-194.6,506.7,-7.6,838,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2386,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4755,-0.58,-194.6,529.2,-7.6,869,4763,0.00,2.30,0.00,0.000,4,0.000,0.044,2085,3822,3783,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4798,-0.60,-194.6,532.4,-7.3,873,4802,0.00,2.08,0.00,0.000,6,0.000,0.021,2085,2394,3783,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5110,-0.60,-194.6,557.8,-8.6,904,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2393,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5412,-0.60,-194.6,586.0,-10.1,934,5421,0.00,2.30,0.00,0.000,4,0.000,0.042,2076,3819,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5454,-0.61,-194.6,590.2,-9.5,938,5463,0.00,2.08,0.00,0.000,6,0.000,0.020,2075,2403,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5765,-0.61,-194.6,620.4,-9.7,969,5773,0.00,2.28,0.00,0.000,4,0.000,0.027,2076,995,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5786,-0.61,-194.6,622.7,-10.2,971,5796,0.00,2.50,0.00,0.000,6,0.000,0.032,2065,2476,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6097,-0.60,-194.6,654.0,-9.0,1002,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2475,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6399,-0.59,-194.6,682.8,-9.7,1032,6407,0.00,2.47,0.00,0.000,4,0.000,0.028,2066,986,3771,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6442,-0.59,-194.6,687.0,-9.6,1036,6450,0.00,2.53,0.00,0.000,6,0.000,0.035,2058,2466,3771,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6751,-0.57,-194.6,719.3,-10.3,1067,6753,0.10,0.00,0.00,0.000,6,0.152,0.000,2087,2465,3769,0,0,0,0,0,0,26.41,28.83,28.83
$GC,7052,-0.58,-194.6,740.0,-6.6,1097,7060,0.00,2.12,0.00,0.000,4,0.000,0.045,2077,3828,3767,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7074,-0.60,-194.6,741.5,-6.4,1099,7083,0.00,2.10,0.00,0.000,6,0.000,0.020,2077,2391,3766,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7383,-0.60,-194.6,763.9,-7.1,1130,7392,0.00,2.38,0.00,0.000,4,0.000,0.044,2067,3833,3765,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7418,-0.60,-194.6,766.1,-7.3,1133,7427,0.00,2.08,0.00,0.000,6,0.000,0.021,2067,2416,3764,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7726,-0.60,-194.6,790.5,-8.2,1164,7734,0.00,2.30,0.00,0.000,4,0.000,0.026,2067,982,3763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7750,-0.60,-194.6,792.4,-8.2,1166,7757,0.00,2.53,0.00,0.000,6,0.000,0.032,2056,2481,3763,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8058,-0.59,-194.6,821.7,-9.5,1197,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2480,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,-0.59,-194.6,848.7,-8.8,1227,8368,0.00,2.47,0.00,0.000,4,0.000,0.028,2056,984,3760,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8403,-0.59,-194.6,852.2,-8.3,1231,8413,0.08,2.53,0.00,0.000,6,0.098,0.035,2081,2473,3760,0,0,0,0,0,0,25.94,26.12,28.83
$GC,8712,-0.60,-194.6,872.2,-6.3,1262,8716,0.00,2.10,0.00,0.000,4,0.000,0.046,2070,3822,3758,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8776,-0.62,-194.6,876.3,-6.5,1268,8785,0.00,2.05,0.00,0.000,6,0.000,0.021,2070,2416,3758,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9084,-0.62,-194.6,897.8,-7.3,1299,9095,0.00,2.30,0.00,0.000,4,0.000,0.027,2070,986,3757,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9110,-0.63,-194.6,899.6,-7.3,1301,9118,0.00,2.55,0.00,0.000,6,0.000,0.034,2064,2487,3757,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9419,-0.63,-194.6,923.5,-8.1,1332,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2485,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9721,-0.63,-194.6,948.9,-8.5,1362,9729,0.00,2.47,0.00,0.000,4,0.000,0.027,2064,992,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9773,-0.65,-194.6,953.3,-8.1,1367,9782,0.00,2.53,0.00,0.000,6,0.000,0.035,2059,2475,3754,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10082,-0.65,-194.6,979.2,-8.4,1398,10091,0.00,2.12,0.00,0.000,4,0.000,0.047,2049,3832,3752,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10114,-0.65,-194.6,981.9,-8.2,1401,10123,0.00,2.10,0.00,0.000,6,0.000,0.021,2049,2412,3752,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,10213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10213,begin apogee
$GC,10219,-0.20,0.0,990.6,-8.9,1411,10417,0.45,0.00,192.82,1.085,4,0.095,0.000,2205,2556,2978,0,0,0,0,0,0,25.78,28.83,23.55
$STATE,10418,end apogee,CONTROL_FINISHED_OK
$STATE,10418,begin climb
$GC,10420,0.58,194.6,998.3,0.0,1431,10640,0.68,2.03,207.48,1.073,4,0.043,0.046,2473,3830,2171,0,0,0,0,0,0,24.91,24.86,23.15
$GC,10830,0.50,194.6,919.2,24.2,1471,10837,0.17,1.92,0.00,0.000,6,0.181,0.023,2438,2522,2146,0,0,0,0,0,0,25.32,25.76,28.83
$GC,11138,0.45,194.6,864.7,17.1,1502,11146,0.00,2.47,0.00,0.000,4,0.000,0.028,2451,1083,2141,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11242,0.42,194.6,849.5,13.9,1512,11251,0.15,2.67,0.00,0.000,6,0.160,0.034,2411,2571,2138,0,0,0,0,0,0,25.70,26.02,28.83
$GC,11550,0.39,194.6,806.5,13.9,1543,11553,0.00,1.88,0.00,0.000,4,0.000,0.044,2410,3829,2138,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11621,0.35,194.6,795.1,15.9,1550,11626,0.05,1.88,0.00,0.000,6,0.136,0.021,2393,2531,2138,0,0,0,0,0,0,25.86,26.24,28.83
$GC,11935,0.33,194.6,755.1,12.5,1581,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2530,2137,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18857,end climb,SURFACE_DEPTH_REACHED
$STATE,18857,begin surface coast
$FINISH,0.0,1.021325
$STATE,18879,end surface coast,CONTROL_FINISHED_OK
$STATE,18879,begin surface
$SM_CCo,18955,0.00,0.000,0,0,1120,456.26
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$TT8_MAMPS,0.025466,0.025466
$HUMID,50.86
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.1,52.967
$10V_AH,10.0,32.625
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.950,208.800,703.100,0.000,0.000,28.620,17.660,371.979,0.000,0.000,17.712,6425.040,6893.322,935.057,4649.663,607.624,0.000,3103.487,0.000,4072.334,0.000,0.543,0.000
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$MEM,324620
$DATA_FILE_SIZE,166942,2689
$CAP_FILE_SIZE,266217,0
$CFSIZE,260165632,193462272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.026,215.2,1
$GPS,140612,183801,2256.666,12144.383,41,1.0,41,-3.0