version: 66.10
glider: 169
mission: 6
dive: 264
start: 6 15 112 11 23 7
data:
$ID,169
$MISSION,6
$DIVE,264
$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,-15800.625
$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
$GPS1,150612,111207,2259.984,12138.372,40,0.9,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-71.1
$GPS2,150612,112243,2300.272,12138.542,14,1.3,14,-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,288.9,22505,-13.8,-8.684
$D_GRID,2338
$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,-194.6,0.0,0.0,0,111,0.00,0.00,-91.32,0.000,2,0.000,0.000,117,2385,3065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.58,-194.6,3.5,-9.3,16,141,8.07,2.38,-12.80,0.000,4,0.228,0.039,2088,978,3776,0,0,0,0,0,0,25.01,26.03,26.44
$GC,280,-0.55,-194.6,57.5,-18.5,47,288,0.00,2.55,0.00,0.000,6,0.000,0.029,2075,2475,3779,0,0,0,0,0,0,28.83,26.08,28.83
$GC,474,-0.47,-194.6,100.0,-22.6,84,482,0.12,2.47,0.00,0.000,4,0.162,0.021,2126,975,3779,0,0,0,0,0,0,26.05,26.22,28.83
$GC,556,-0.49,-194.6,108.7,-6.8,99,563,0.00,2.42,0.00,0.000,6,0.000,0.032,2125,2418,3779,0,0,0,0,0,0,28.83,26.17,28.83
$GC,749,-0.48,-194.6,128.9,-11.5,136,755,0.00,2.15,0.00,0.000,4,0.000,0.040,2114,3833,3779,0,0,0,0,0,0,28.83,26.17,28.83
$GC,808,-0.50,-194.6,135.1,-9.6,147,816,0.00,2.10,0.00,0.000,6,0.000,0.018,2115,2370,3779,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1002,-0.49,-194.6,156.8,-11.7,184,1008,0.00,2.22,0.00,0.000,4,0.000,0.023,2115,965,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1051,-0.51,-194.6,161.8,-8.6,193,1058,0.00,2.40,0.00,0.000,6,0.000,0.030,2112,2415,3779,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1244,-0.51,-194.6,182.2,-9.6,230,1251,0.00,2.15,0.00,0.000,4,0.000,0.041,2101,3825,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1280,-0.51,-194.6,185.3,-9.0,236,1286,0.00,2.15,0.00,0.000,6,0.000,0.018,2102,2341,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1471,-0.50,-194.6,204.1,-9.6,273,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2340,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,-0.49,-194.6,234.6,-9.7,334,1788,0.00,2.38,0.00,0.000,4,0.000,0.041,2091,3825,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1811,-0.49,-194.6,237.6,-9.5,339,1819,0.00,2.17,0.00,0.000,6,0.000,0.018,2090,2333,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2124,-0.48,-194.6,269.3,-9.5,400,2131,0.00,2.15,0.00,0.000,4,0.000,0.024,2091,968,3778,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2163,-0.49,-194.6,273.2,-8.9,407,2171,0.00,2.40,0.00,0.000,6,0.000,0.030,2086,2414,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2477,-0.48,-194.6,304.7,-9.3,468,2484,0.12,2.17,0.00,0.000,4,0.143,0.040,2119,3825,3775,0,0,0,0,0,0,26.31,26.25,28.83
$GC,2524,-0.52,-194.6,308.2,-5.8,476,2531,0.00,2.15,0.00,0.000,6,0.000,0.018,2119,2337,3775,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2841,-0.56,-194.6,325.9,-4.7,537,2848,0.00,2.40,0.00,0.000,4,0.000,0.041,2115,3825,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2901,-0.62,-194.6,329.7,-5.7,548,2909,0.12,1.92,0.00,0.000,6,0.089,0.018,2060,2415,3773,0,0,0,0,0,0,26.37,26.56,28.83
$GC,3214,-0.59,-194.6,358.5,-11.8,609,3221,0.00,2.20,0.00,0.000,4,0.000,0.041,2049,3832,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3279,-0.58,-194.6,366.3,-10.9,621,3286,0.12,1.95,0.00,0.000,6,0.119,0.019,2089,2444,3770,0,0,0,0,0,0,26.22,26.49,28.83
$GC,3591,-0.58,-194.6,394.3,-7.8,682,3598,0.00,2.38,0.00,0.000,4,0.000,0.024,2089,986,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3623,-0.59,-194.6,396.8,-7.8,687,3631,0.00,2.62,0.00,0.000,6,0.000,0.031,2085,2511,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3937,-0.58,-194.6,422.6,-8.8,748,3943,0.00,1.95,0.00,0.000,4,0.000,0.041,2076,3831,3766,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3970,-0.58,-194.6,425.9,-9.5,754,3978,0.00,1.95,0.00,0.000,6,0.000,0.019,2077,2447,3766,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4284,-0.57,-194.6,454.8,-8.7,815,4293,0.00,2.42,-0.10,0.000,4,0.000,0.035,2077,978,3784,0,0,0,0,0,0,28.83,26.32,25.98
$GC,4350,-0.59,-194.6,459.9,-7.0,827,4358,0.00,2.62,0.00,0.000,6,0.000,0.032,2065,2511,3785,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4663,-0.57,-194.6,490.0,-10.1,888,4670,0.00,2.55,0.00,0.000,4,0.000,0.025,2065,988,3783,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4690,-0.57,-194.6,492.4,-9.5,892,4697,0.12,2.60,0.00,0.000,6,0.120,0.034,2098,2502,3783,0,0,0,0,0,0,26.11,26.25,28.83
$GC,5002,-0.58,-194.6,512.7,-6.7,934,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2501,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5313,-0.59,-194.6,535.5,-7.3,965,5321,0.00,2.53,0.00,0.000,4,0.000,0.025,2099,988,3779,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5338,-0.60,-194.6,537.3,-7.7,967,5346,0.00,2.58,0.00,0.000,6,0.000,0.034,2098,2493,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5645,-0.65,-194.6,560.8,-7.9,998,5654,0.00,2.50,0.00,0.000,4,0.000,0.024,2099,976,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5798,-0.73,-194.6,573.1,-8.1,1013,5808,0.12,2.70,0.00,0.000,6,0.044,0.031,2024,2544,3775,0,0,0,0,0,0,26.22,26.26,28.83
$GC,6109,-0.69,-194.6,604.0,-14.2,1044,6117,0.00,2.65,0.00,0.000,4,0.000,0.026,2028,992,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6184,-0.68,-194.6,613.4,-11.4,1051,6193,0.12,2.70,0.00,0.000,6,0.134,0.034,2056,2539,3773,0,0,0,0,0,0,26.02,26.20,28.83
$GC,6494,-0.67,-194.6,649.3,-11.2,1082,6503,0.00,2.62,0.00,0.000,4,0.000,0.026,2056,985,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6550,-0.67,-194.6,654.9,-10.0,1087,6558,0.00,2.67,0.00,0.000,6,0.000,0.035,2043,2532,3771,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6858,-0.64,-194.6,690.7,-12.2,1118,6867,0.00,2.62,0.00,0.000,4,0.000,0.028,2044,992,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6913,-0.64,-194.6,696.8,-11.5,1123,6921,0.12,2.65,0.00,0.000,6,0.124,0.036,2074,2511,3768,0,0,0,0,0,0,26.01,26.15,28.83
$GC,7221,-0.64,-194.6,725.9,-9.1,1154,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2509,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7523,-0.64,-194.6,752.6,-9.2,1184,7532,0.00,2.58,0.00,0.000,4,0.000,0.026,2074,987,3765,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7557,-0.65,-194.6,755.9,-9.4,1187,7565,0.00,2.65,0.00,0.000,6,0.000,0.036,2069,2508,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7864,-0.65,-194.6,785.2,-9.2,1218,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2507,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,-0.65,-194.6,810.5,-7.9,1248,8179,0.00,2.58,0.00,0.000,4,0.000,0.027,2070,990,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8214,-0.67,-194.6,814.3,-8.0,1252,8222,0.00,2.60,0.00,0.000,6,0.000,0.036,2059,2491,3761,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8522,-0.67,-194.6,842.0,-8.9,1283,8532,0.00,2.05,0.00,0.000,4,0.000,0.048,2050,3833,3759,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8546,-0.67,-194.6,844.2,-9.2,1285,8549,0.00,2.00,0.00,0.000,6,0.000,0.021,2050,2437,3759,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8858,-0.66,-194.6,873.0,-8.6,1316,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2435,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9161,-0.65,-194.6,897.5,-7.7,1346,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2435,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-0.64,-194.6,920.7,-7.8,1377,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2435,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,-0.63,-194.6,946.6,-8.6,1408,9789,0.00,2.38,0.00,0.000,4,0.000,0.028,2050,991,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9815,-0.63,-194.6,949.6,-8.8,1411,9823,0.00,2.65,0.00,0.000,6,0.000,0.037,2040,2504,3753,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10122,-0.62,-194.6,980.2,-10.5,1442,10132,0.12,2.55,0.00,0.000,4,0.132,0.025,2088,990,3753,0,0,0,0,0,0,26.28,26.14,28.83
$GC,10169,-0.64,-194.6,983.8,-8.4,1446,10176,0.00,2.60,0.00,0.000,6,0.000,0.036,2086,2488,3753,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10252,begin apogee
$GC,10259,-0.20,0.0,990.3,-7.3,1455,10458,0.32,0.10,193.85,1.131,4,0.067,0.073,2218,2509,2978,0,0,0,0,0,0,26.21,24.63,23.46
$STATE,10459,end apogee,CONTROL_FINISHED_OK
$STATE,10459,begin climb
$GC,10463,0.58,194.6,1000.2,0.0,1475,10679,0.68,2.12,207.20,1.096,4,0.037,0.045,2485,3826,2182,0,0,0,0,0,0,24.88,24.82,23.02
$GC,10837,0.49,194.6,926.5,25.7,1513,10842,0.22,1.90,0.00,0.000,6,0.181,0.022,2437,2511,2147,0,0,0,0,0,0,25.18,25.64,28.83
$GC,11150,0.45,194.6,871.5,16.6,1544,11160,0.00,2.47,0.00,0.000,4,0.000,0.030,2450,1097,2140,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11267,0.42,194.6,855.0,13.8,1555,11275,0.15,2.67,0.00,0.000,6,0.155,0.034,2409,2567,2137,0,0,0,0,0,0,25.70,26.01,28.83
$GC,11573,0.39,194.6,813.2,13.3,1586,11576,0.00,1.83,0.00,0.000,4,0.000,0.044,2409,3822,2137,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11657,0.35,194.6,800.5,15.5,1594,11664,0.00,1.80,0.00,0.000,6,0.000,0.022,2419,2529,2137,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11965,0.32,194.6,756.9,13.9,1625,11967,0.15,0.00,0.00,0.000,6,0.173,0.000,2378,2528,2136,0,0,0,0,0,0,25.93,28.83,28.83
$GC,12265,0.31,194.6,722.7,11.4,1655,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2528,2136,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19471,end climb,SURFACE_DEPTH_REACHED
$STATE,19472,begin surface coast
$FINISH,0.0,1.021137
$STATE,19500,end surface coast,CONTROL_FINISHED_OK
$STATE,19500,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,10.0,33.300
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.575,216.250,727.925,0.000,0.000,25.344,19.310,407.611,0.000,0.000,16.994,6691.073,6996.064,975.481,4858.966,639.693,0.000,3219.449,0.000,4244.096,0.000,0.543,0.000
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$MEM,324616
$DATA_FILE_SIZE,173541,2812
$CAP_FILE_SIZE,273848,0
$CFSIZE,260165632,192847872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,106.6,1
$GPS,150612,165031,2300.881,12136.251,37,1.3,37,-3.0