version: 66.10
glider: 169
mission: 6
dive: 275
start: 6 17 112 20 9 27
data:
$ID,169
$MISSION,6
$DIVE,275
$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,-15822.78
$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
$GPS1,170612,195907,2310.628,12140.358,28,1.1,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-75.5
$GPS2,170612,200902,2310.859,12140.547,13,1.8,13,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,91.6,239029,-13.8,-8.684
$D_GRID,1923
$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,14,begin dive
$GC,17,-0.58,-194.6,0.0,0.0,0,95,0.00,0.00,-74.88,0.000,2,0.000,0.000,116,2463,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-194.6,3.0,-7.0,13,130,7.95,2.58,-15.52,0.000,4,0.222,0.041,2090,982,3776,0,0,0,0,0,0,25.03,25.98,26.45
$GC,250,-0.56,-194.6,46.0,-16.9,41,257,0.00,2.60,0.00,0.000,6,0.000,0.034,2077,2467,3777,0,0,0,0,0,0,28.83,26.01,28.83
$GC,441,-0.50,-194.6,87.6,-19.7,78,448,0.12,2.53,0.00,0.000,4,0.164,0.022,2127,973,3777,0,0,0,0,0,0,26.05,26.17,28.83
$GC,497,-0.53,-194.6,95.0,-8.5,88,506,0.00,2.58,0.00,0.000,6,0.000,0.033,2125,2461,3778,0,0,0,0,0,0,28.83,26.13,28.83
$GC,690,-0.52,-194.6,112.6,-9.6,125,697,0.00,2.08,0.00,0.000,4,0.000,0.041,2115,3824,3778,0,0,0,0,0,0,28.83,26.13,28.83
$GC,726,-0.53,-194.6,116.2,-10.3,131,733,0.00,2.05,0.00,0.000,6,0.000,0.018,2115,2388,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,916,-0.52,-194.6,135.6,-9.9,168,924,0.00,2.25,0.00,0.000,4,0.000,0.039,2104,3834,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,943,-0.51,-194.6,138.5,-11.1,172,951,0.00,2.00,0.00,0.000,6,0.000,0.018,2104,2410,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1135,-0.50,-194.6,160.4,-11.2,209,1143,0.00,2.38,0.00,0.000,4,0.000,0.024,2104,974,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1162,-0.50,-194.6,163.4,-10.8,213,1168,0.00,2.60,0.00,0.000,6,0.000,0.031,2099,2475,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1352,-0.49,-194.6,184.8,-10.7,250,1359,0.00,2.00,0.00,0.000,4,0.000,0.041,2089,3831,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1387,-0.48,-194.6,188.4,-10.6,256,1395,0.10,2.03,0.00,0.000,6,0.122,0.018,2122,2392,3778,0,0,0,0,0,0,26.25,26.45,28.83
$GC,1580,-0.49,-194.6,203.3,-6.7,293,1587,0.00,2.30,0.00,0.000,4,0.000,0.024,2122,985,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1622,-0.52,-194.6,205.9,-6.4,300,1630,0.00,2.53,0.00,0.000,6,0.000,0.030,2117,2462,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1935,-0.52,-194.6,228.2,-7.5,361,1941,0.00,2.03,0.00,0.000,4,0.000,0.041,2108,3831,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1990,-0.54,-194.6,232.5,-7.5,371,1997,0.00,2.05,0.00,0.000,6,0.000,0.018,2108,2390,3777,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2304,-0.54,-194.6,261.8,-10.3,432,2311,0.00,2.28,0.00,0.000,4,0.000,0.040,2099,3838,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2328,-0.54,-194.6,264.3,-10.1,436,2336,0.00,2.03,0.00,0.000,6,0.000,0.018,2099,2406,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2643,-0.53,-194.6,297.5,-10.9,497,2649,0.00,2.38,0.00,0.000,4,0.000,0.026,2098,975,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2673,-0.54,-194.6,300.7,-11.0,502,2680,0.00,2.58,0.00,0.000,6,0.000,0.032,2098,2470,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2984,-0.54,-194.6,330.5,-8.8,563,2991,0.00,2.03,0.00,0.000,4,0.000,0.041,2089,3832,3771,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3010,-0.54,-194.6,332.6,-8.5,567,3017,0.00,2.03,0.00,0.000,6,0.000,0.018,2089,2403,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3323,-0.53,-194.6,359.7,-9.1,628,3331,0.00,2.35,0.00,0.000,4,0.000,0.024,2089,978,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3368,-0.55,-194.6,363.9,-8.1,636,3377,0.00,2.55,0.00,0.000,6,0.000,0.031,2085,2462,3768,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3682,-0.55,-194.6,393.7,-10.3,697,3689,0.00,2.08,0.00,0.000,4,0.000,0.041,2076,3839,3766,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3708,-0.54,-194.6,396.4,-10.3,701,3714,0.00,2.08,0.00,0.000,6,0.000,0.019,2076,2397,3766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4020,-0.53,-194.6,430.7,-10.7,762,4028,0.00,2.35,-0.10,0.000,4,0.000,0.036,2076,979,3785,0,0,0,0,0,0,28.83,26.32,25.98
$GC,4052,-0.54,-194.6,434.1,-10.6,767,4059,0.12,2.55,0.00,0.000,6,0.120,0.031,2108,2463,3785,0,0,0,0,0,0,26.12,26.26,28.83
$GC,4367,-0.55,-194.6,459.4,-7.8,828,4374,0.00,2.08,0.00,0.000,4,0.000,0.042,2099,3829,3783,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4412,-0.58,-194.6,463.0,-7.1,836,4421,0.00,2.05,0.00,0.000,6,0.000,0.019,2098,2397,3783,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4729,-0.61,-194.6,485.4,-6.9,897,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2398,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-0.65,-194.6,507.5,-7.2,948,5050,0.00,2.28,0.00,0.000,4,0.000,0.044,2098,3822,3778,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5124,-0.70,-194.6,513.8,-7.9,956,5134,0.15,1.77,0.00,0.000,6,0.076,0.019,2028,2493,3778,0,0,0,0,0,0,26.33,26.48,28.83
$GC,5434,-0.66,-194.6,554.7,-14.2,987,5443,0.12,2.53,0.00,0.000,4,0.138,0.024,2076,982,3776,0,0,0,0,0,0,26.31,26.29,28.83
$GC,5510,-0.68,-194.6,561.7,-8.2,994,5517,0.00,2.78,0.00,0.000,6,0.000,0.031,2064,2556,3775,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5817,-0.67,-194.6,592.4,-10.0,1025,5826,0.00,2.67,0.00,0.000,4,0.000,0.025,2064,996,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5849,-0.66,-194.6,595.5,-10.2,1028,5859,0.00,2.72,0.00,0.000,6,0.000,0.034,2055,2535,3772,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6159,-0.64,-194.6,630.6,-11.5,1059,6168,0.00,2.65,0.00,0.000,4,0.000,0.025,2056,986,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6203,-0.64,-194.6,634.9,-10.4,1063,6210,0.00,2.70,0.00,0.000,6,0.000,0.034,2044,2522,3770,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6511,-0.61,-194.6,672.0,-12.9,1094,6513,0.12,0.00,0.00,0.000,6,0.143,0.000,2082,2521,3768,0,0,0,0,0,0,26.32,28.83,28.83
$GC,6812,-0.61,-194.6,698.4,-7.8,1124,6821,0.00,2.62,0.00,0.000,4,0.000,0.026,2082,988,3766,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6847,-0.63,-194.6,701.0,-7.8,1127,6854,0.00,2.67,0.00,0.000,6,0.000,0.035,2072,2514,3766,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7155,-0.63,-194.6,726.7,-8.2,1158,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2512,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,-0.63,-194.6,749.8,-7.5,1188,7465,0.00,2.62,0.00,0.000,4,0.000,0.029,2072,988,3762,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7502,-0.64,-194.6,752.8,-7.0,1192,7510,0.00,2.67,0.00,0.000,6,0.000,0.038,2061,2506,3762,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7809,-0.63,-194.6,784.2,-9.0,1223,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2505,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8111,-0.62,-194.6,812.2,-9.5,1253,8119,0.00,2.58,0.00,0.000,4,0.000,0.027,2061,996,3759,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8172,-0.64,-194.6,818.1,-8.9,1259,8181,0.00,2.62,0.00,0.000,6,0.000,0.036,2056,2493,3759,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8482,-0.63,-194.6,848.4,-9.8,1290,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2491,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8784,-0.62,-194.6,876.6,-9.4,1320,8793,0.00,2.55,0.00,0.000,4,0.000,0.025,2056,984,3756,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8820,-0.62,-194.6,879.5,-9.0,1323,8827,0.00,2.65,0.00,0.000,6,0.000,0.035,2048,2491,3756,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9126,-0.61,-194.6,908.5,-9.2,1354,9130,0.00,2.03,0.00,0.000,4,0.000,0.045,2038,3840,3754,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9162,-0.60,-194.6,911.5,-9.6,1357,9169,0.12,2.03,0.00,0.000,6,0.121,0.021,2082,2428,3753,0,0,0,0,0,0,26.08,26.36,28.83
$GC,9469,-0.62,-194.6,932.2,-6.7,1388,9479,0.00,2.40,0.00,0.000,4,0.000,0.028,2081,984,3752,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9513,-0.64,-194.6,935.0,-6.6,1392,9523,0.00,2.58,0.00,0.000,6,0.000,0.034,2079,2475,3752,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9822,-0.67,-194.6,953.7,-5.7,1423,9826,0.00,2.08,0.00,0.000,4,0.000,0.048,2075,3825,3752,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9858,-0.71,-194.6,955.6,-5.5,1426,9864,0.00,1.77,0.00,0.000,6,0.000,0.021,2075,2518,3751,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10165,-0.75,-194.6,973.7,-5.8,1457,10174,0.12,2.62,0.00,0.000,4,0.077,0.027,1993,992,3749,0,0,0,0,0,0,26.48,26.13,28.83
$GC,10229,-0.72,-194.6,979.6,-10.3,1463,10238,0.15,2.62,0.00,0.000,6,0.106,0.038,2038,2483,3749,0,0,0,0,0,0,25.70,26.00,28.83
$STATE,10335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10335,begin apogee
$GC,10341,-0.20,0.0,990.2,-9.4,1474,10540,0.50,0.05,192.30,1.131,4,0.101,0.047,2209,2520,2974,0,0,0,0,0,0,25.67,24.48,23.42
$STATE,10541,end apogee,CONTROL_FINISHED_OK
$STATE,10541,begin climb
$GC,10544,0.58,194.6,997.3,0.0,1494,10758,0.68,2.67,204.57,1.092,4,0.041,0.028,2482,1090,2181,0,0,0,0,0,0,24.88,24.87,22.99
$GC,10806,0.54,194.6,968.2,16.2,1520,10815,0.12,2.85,0.00,0.000,6,0.168,0.037,2452,2554,2154,0,0,0,0,0,0,24.70,24.93,28.83
$GC,11114,0.48,194.6,912.6,18.4,1551,11123,0.00,2.65,0.00,0.000,4,0.000,0.030,2465,1090,2149,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11199,0.44,194.6,898.9,15.4,1559,11207,0.17,2.78,0.00,0.000,6,0.158,0.038,2418,2578,2147,0,0,0,0,0,0,25.60,25.94,28.83
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$STATE,19759,end climb,SURFACE_DEPTH_REACHED
$STATE,19759,begin surface coast
$FINISH,0.5,1.021011
$STATE,19772,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
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$10V_AH,10.0,35.060
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324620
$DATA_FILE_SIZE,176714,2862
$CAP_FILE_SIZE,275454,0
$CFSIZE,260165632,191258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,341.3,1
$GPS,180612,014125,2311.667,12143.033,40,1.0,40,-3.1