version: 66.10
glider: 169
mission: 6
dive: 277
start: 6 18 112 7 18 42
data:
$ID,169
$MISSION,6
$DIVE,277
$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,-15825.394
$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
$GPS1,180612,070807,2312.838,12145.072,26,1.3,26,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.9
$GPS2,180612,071816,2313.121,12145.086,15,4.1,34,-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,98.5,230438,-13.8,-8.684
$D_GRID,2796
$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,-194.6,0.0,0.0,0,94,0.00,0.00,-74.43,0.000,2,0.000,0.000,119,2488,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-194.6,3.1,-7.3,13,129,8.02,2.05,-14.93,0.000,4,0.225,0.049,2070,3841,3775,0,0,0,0,0,0,25.00,26.02,26.48
$GC,194,-0.53,-194.6,34.2,-21.7,30,200,0.00,2.08,0.00,0.000,6,0.000,0.021,2078,2416,3777,0,0,0,0,0,0,28.83,26.16,28.83
$GC,386,-0.46,-194.6,86.5,-21.6,67,393,0.12,2.38,0.00,0.000,4,0.164,0.021,2129,973,3777,0,0,0,0,0,0,26.05,26.21,28.83
$GC,499,-0.48,-194.6,98.9,-8.7,88,506,0.00,2.45,0.00,0.000,6,0.000,0.030,2120,2426,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,694,-0.47,-194.6,119.7,-12.2,125,700,0.00,2.15,0.00,0.000,4,0.000,0.039,2109,3841,3778,0,0,0,0,0,0,28.83,26.18,28.83
$GC,739,-0.48,-194.6,124.8,-9.8,133,746,0.00,2.12,0.00,0.000,6,0.000,0.019,2110,2376,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,932,-0.46,-194.6,147.0,-12.1,170,939,0.00,2.25,0.00,0.000,4,0.000,0.024,2110,983,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,963,-0.46,-194.6,150.5,-11.1,175,969,0.00,2.45,0.00,0.000,6,0.000,0.029,2102,2433,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1155,-0.45,-194.6,172.9,-11.2,212,1163,0.00,2.12,0.00,0.000,4,0.000,0.038,2091,3840,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1181,-0.43,-194.6,175.7,-11.0,216,1190,0.15,2.15,0.00,0.000,6,0.109,0.018,2141,2355,3778,0,0,0,0,0,0,26.20,26.46,28.83
$GC,1374,-0.45,-194.6,189.3,-7.1,253,1381,0.00,2.38,0.00,0.000,4,0.000,0.039,2130,3834,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1411,-0.48,-194.6,191.8,-7.0,259,1417,0.00,2.08,0.00,0.000,6,0.000,0.018,2130,2376,3778,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1603,-0.52,-194.6,204.2,-5.8,296,1612,0.00,2.33,0.00,0.000,4,0.000,0.039,2128,3836,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1798,-0.60,-194.6,221.0,-10.6,333,1806,0.17,1.90,0.00,0.000,6,0.082,0.018,2059,2451,3778,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2112,-0.57,-194.6,258.3,-13.7,394,2120,0.10,2.15,0.00,0.000,4,0.143,0.037,2079,3844,3776,0,0,0,0,0,0,26.46,26.28,28.83
$GC,2168,-0.58,-194.6,265.3,-10.0,404,2175,0.00,1.90,0.00,0.000,6,0.000,0.018,2079,2467,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2480,-0.56,-194.6,299.2,-11.1,465,2487,0.00,2.47,0.00,0.000,4,0.000,0.024,2078,978,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2561,-0.56,-194.6,306.9,-8.7,480,2568,0.00,2.62,0.00,0.000,6,0.000,0.031,2067,2507,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2873,-0.54,-194.6,344.6,-13.1,541,2879,0.12,0.00,0.00,0.000,6,0.146,0.000,2110,2506,3772,0,0,0,0,0,0,26.31,28.83,28.83
$GC,3185,-0.55,-194.6,371.1,-7.7,602,3192,0.00,2.58,0.00,0.000,4,0.000,0.024,2110,976,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3226,-0.58,-194.6,374.4,-7.8,609,3233,0.00,2.60,0.00,0.000,6,0.000,0.031,2105,2495,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3541,-0.62,-194.6,397.1,-7.1,670,3548,0.00,2.53,0.00,0.000,4,0.000,0.022,2105,968,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3639,-0.67,-194.6,404.1,-7.1,688,3646,0.15,2.83,0.00,0.000,6,0.072,0.029,2033,2589,3767,0,0,0,0,0,0,26.29,26.31,28.83
$GC,3955,-0.63,-194.6,446.4,-15.0,749,3964,0.12,2.75,0.00,0.000,4,0.141,0.024,2081,989,3764,0,0,0,0,0,0,26.32,26.31,28.83
$GC,4033,-0.65,-194.6,454.6,-8.2,763,4042,0.00,2.72,-0.08,0.000,6,0.000,0.033,2069,2539,3786,0,0,0,0,0,0,28.83,26.27,25.09
$GC,4351,-0.63,-194.6,485.8,-10.4,824,4358,0.00,2.65,0.00,0.000,4,0.000,0.025,2069,989,3785,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4391,-0.64,-194.6,490.2,-9.5,831,4399,0.00,2.70,0.00,0.000,6,0.000,0.034,2058,2527,3784,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4702,-0.62,-194.6,525.7,-11.1,870,4711,0.00,2.62,0.00,0.000,4,0.000,0.026,2058,981,3782,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4747,-0.61,-194.6,530.1,-10.6,874,4755,0.10,2.65,0.00,0.000,6,0.138,0.034,2079,2514,3781,0,0,0,0,0,0,26.10,26.24,28.83
$GC,5054,-0.61,-194.6,557.2,-8.7,905,5062,0.00,1.98,0.00,0.000,4,0.000,0.043,2070,3840,3779,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5086,-0.61,-194.6,560.1,-9.2,908,5094,0.00,1.95,0.00,0.000,6,0.000,0.020,2070,2450,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5396,-0.60,-194.6,589.2,-9.8,939,5405,0.00,2.42,0.00,0.000,4,0.000,0.025,2070,977,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5441,-0.61,-194.6,593.2,-9.1,943,5449,0.00,2.65,0.00,0.000,6,0.000,0.033,2058,2510,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5749,-0.60,-194.6,624.7,-10.0,974,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2509,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,-0.59,-194.6,652.7,-8.9,1004,6060,0.00,2.55,0.00,0.000,4,0.000,0.026,2058,994,3772,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6108,-0.59,-194.6,657.2,-8.3,1009,6116,0.12,2.62,0.00,0.000,6,0.124,0.034,2089,2499,3772,0,0,0,0,0,0,26.05,26.19,28.83
$GC,6415,-0.60,-194.6,677.2,-6.6,1040,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,-0.61,-194.6,695.6,-6.1,1070,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2498,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7026,-0.62,-194.6,714.0,-6.0,1101,7035,0.00,2.58,0.00,0.000,4,0.000,0.027,2089,978,3765,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7069,-0.65,-194.6,716.6,-5.9,1105,7078,0.00,2.60,0.00,0.000,6,0.000,0.033,2085,2488,3765,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7379,-0.68,-194.6,735.3,-6.3,1136,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2486,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,-0.72,-194.6,753.4,-5.9,1166,7690,0.12,2.00,0.00,0.000,4,0.078,0.041,1996,3823,3760,0,0,0,0,0,0,26.53,26.11,28.83
$GC,7767,-0.68,-194.6,762.3,-12.0,1174,7775,0.17,1.77,0.00,0.000,6,0.125,0.021,2056,2520,3760,0,0,0,0,0,0,25.96,26.41,28.83
$GC,8074,-0.67,-194.6,789.3,-8.0,1205,8082,0.00,2.58,0.00,0.000,4,0.000,0.028,2057,999,3759,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8168,-0.69,-194.6,795.9,-6.8,1214,8177,0.00,2.80,0.00,0.000,6,0.000,0.036,2045,2566,3759,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8476,-0.67,-194.6,822.5,-8.9,1245,8485,0.00,2.72,0.00,0.000,4,0.000,0.028,2045,983,3758,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8539,-0.67,-194.6,827.7,-8.0,1251,8549,0.00,2.72,0.00,0.000,6,0.000,0.034,2033,2538,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8848,-0.64,-194.6,859.4,-11.7,1282,8857,0.12,2.67,0.00,0.000,4,0.144,0.025,2078,990,3755,0,0,0,0,0,0,26.25,26.17,28.83
$GC,8904,-0.65,-194.6,864.0,-8.3,1287,8913,0.00,2.70,0.00,0.000,6,0.000,0.035,2070,2525,3755,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9211,-0.65,-194.6,891.5,-8.9,1318,9220,0.00,2.62,0.00,0.000,4,0.000,0.026,2070,978,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9247,-0.66,-194.6,894.6,-9.4,1321,9254,0.00,2.70,0.00,0.000,6,0.000,0.034,2059,2517,3753,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9554,-0.66,-194.6,924.0,-9.8,1352,9563,0.00,2.58,0.00,0.000,4,0.000,0.027,2059,991,3752,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9598,-0.67,-194.6,928.2,-9.7,1356,9606,0.00,2.62,0.00,0.000,6,0.000,0.036,2048,2495,3752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9906,-0.66,-194.6,960.2,-10.6,1387,9916,0.00,2.53,0.00,0.000,4,0.000,0.027,2048,988,3751,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9938,-0.66,-194.6,963.7,-10.7,1390,9948,0.00,2.62,0.00,0.000,6,0.000,0.035,2038,2490,3751,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,10157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10157,begin apogee
$GC,10164,-0.20,0.0,990.3,-12.3,1412,10362,0.50,0.10,191.40,1.152,4,0.103,0.073,2207,2511,2977,0,0,0,0,0,0,25.67,24.63,23.42
$STATE,10363,end apogee,CONTROL_FINISHED_OK
$STATE,10363,begin climb
$GC,10365,0.58,194.6,998.6,0.0,1432,10580,0.70,2.15,203.82,1.105,4,0.040,0.045,2479,3835,2176,0,0,0,0,0,0,24.87,24.82,23.02
$GC,10809,0.50,194.6,911.4,24.1,1476,10816,0.20,1.88,0.00,0.000,6,0.178,0.021,2437,2521,2150,0,0,0,0,0,0,25.38,25.86,28.83
$GC,11116,0.45,194.6,855.2,17.3,1507,11125,0.00,2.53,0.00,0.000,4,0.000,0.029,2451,1090,2145,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11233,0.42,194.6,837.4,15.0,1518,11241,0.15,2.70,0.00,0.000,6,0.155,0.034,2409,2566,2142,0,0,0,0,0,0,25.73,26.05,28.83
$GC,11541,0.39,194.6,792.7,13.5,1549,11544,0.00,1.85,0.00,0.000,4,0.000,0.043,2409,3836,2142,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11574,0.35,194.6,787.6,14.4,1552,11582,0.00,1.85,0.00,0.000,6,0.000,0.021,2419,2525,2141,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11883,0.32,194.6,742.3,14.3,1583,11893,0.12,2.50,0.00,0.000,4,0.184,0.028,2394,1098,2141,0,0,0,0,0,0,25.96,26.14,28.83
$GC,11909,0.29,194.6,739.2,13.8,1585,11917,0.00,2.65,0.00,0.000,6,0.000,0.032,2394,2562,2140,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18945,end climb,SURFACE_DEPTH_REACHED
$STATE,18946,begin surface coast
$FINISH,0.1,1.020842
$STATE,18982,end surface coast,CONTROL_FINISHED_OK
$STATE,18982,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.45
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.0,56.379
$10V_AH,10.0,35.395
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.400,229.450,720.425,0.000,0.000,23.422,19.642,357.239,0.000,0.000,36.816,6502.337,6751.846,983.598,4735.356,643.371,0.000,3203.110,0.000,4153.144,0.000,0.542,0.000
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$MEM,324592
$DATA_FILE_SIZE,170053,2735
$CAP_FILE_SIZE,270847,0
$CFSIZE,260165632,190967808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,333.1,1
$GPS,180612,123731,2313.375,12147.472,42,1.2,42,-3.1