version: 66.10
glider: 169
mission: 6
dive: 284
start: 6 19 112 22 50 41
data:
$ID,169
$MISSION,6
$DIVE,284
$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,-15836.544
$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
$GPS1,190612,223927,2318.216,12157.644,27,2.8,46,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-68.1
$GPS2,190612,225016,2318.533,12157.669,16,3.2,35,-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,94.0,207134,-13.8,-8.684
$D_GRID,4475
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.6,0.0,0.0,0,108,0.00,0.00,-86.35,0.000,2,0.000,0.000,117,2392,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.58,-194.6,3.6,-9.5,15,137,7.95,2.35,-11.93,0.000,4,0.222,0.034,2089,972,3776,0,0,0,0,0,0,25.00,26.10,26.49
$GC,176,-0.50,-194.6,32.3,-33.4,26,184,0.12,2.58,0.00,0.000,6,0.162,0.037,2109,2464,3778,0,0,0,0,0,0,25.74,26.00,28.83
$GC,370,-0.44,-194.6,75.9,-17.7,63,377,0.00,2.10,0.00,0.000,4,0.000,0.040,2098,3833,3778,0,0,0,0,0,0,28.83,26.09,28.83
$GC,431,-0.43,-194.6,84.7,-12.0,74,439,0.12,2.03,0.00,0.000,6,0.133,0.018,2134,2415,3778,0,0,0,0,0,0,26.03,26.34,28.83
$GC,624,-0.41,-194.6,107.8,-11.7,111,631,0.00,2.33,0.00,0.000,4,0.000,0.024,2135,976,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,695,-0.43,-194.6,114.3,-8.6,124,702,0.00,2.42,0.00,0.000,6,0.000,0.029,2125,2436,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,888,-0.45,-194.6,129.7,-7.6,161,894,0.00,2.38,0.00,0.000,4,0.000,0.021,2125,977,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,918,-0.49,-194.6,132.0,-7.6,166,926,0.00,2.78,0.00,0.000,6,0.000,0.028,2122,2578,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1112,-0.52,-194.6,146.7,-8.1,203,1119,0.00,2.72,0.00,0.000,4,0.000,0.021,2122,969,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1213,-0.55,-194.6,154.4,-7.4,222,1222,0.00,2.92,0.00,0.000,6,0.000,0.030,2112,2647,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1407,-0.57,-194.6,168.6,-6.8,259,1414,0.00,1.67,0.00,0.000,4,0.000,0.039,2105,3836,3779,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1453,-0.57,-194.6,172.1,-7.6,267,1460,0.00,2.00,0.00,0.000,6,0.000,0.017,2105,2415,3778,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1645,-0.56,-194.6,190.6,-10.2,304,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2415,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1834,-0.56,-194.6,209.8,-9.9,341,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2415,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2145,-0.55,-194.6,241.2,-9.9,402,2153,0.00,2.25,0.00,0.000,4,0.000,0.041,2095,3835,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2177,-0.55,-194.6,244.3,-10.1,407,2184,0.00,1.98,0.00,0.000,6,0.000,0.018,2095,2429,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2488,-0.54,-194.6,276.6,-10.5,468,2495,0.00,2.38,0.00,0.000,4,0.000,0.023,2095,970,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2540,-0.56,-194.6,281.3,-8.6,477,2548,0.00,2.62,0.00,0.000,6,0.000,0.031,2086,2505,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2853,-0.54,-194.6,315.2,-10.9,538,2861,0.00,1.98,0.00,0.000,4,0.000,0.041,2076,3838,3773,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2888,-0.54,-194.6,318.8,-10.4,544,2894,0.00,2.00,0.00,0.000,6,0.000,0.018,2076,2429,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3200,-0.52,-194.6,353.1,-10.8,605,3207,0.00,2.35,0.00,0.000,4,0.000,0.024,2076,988,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3245,-0.54,-194.6,357.8,-9.6,613,3252,0.12,2.58,0.00,0.000,6,0.127,0.031,2107,2493,3770,0,0,0,0,0,0,26.14,26.30,28.83
$GC,3558,-0.54,-194.6,384.2,-8.2,674,3566,0.00,2.03,0.00,0.000,4,0.000,0.042,2097,3829,3767,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3585,-0.55,-194.6,386.5,-8.8,678,3593,0.00,2.03,0.00,0.000,6,0.000,0.018,2097,2427,3767,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3899,-0.55,-194.6,416.7,-10.0,739,3906,0.00,2.35,0.00,0.000,4,0.000,0.024,2097,983,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3929,-0.56,-194.6,419.6,-9.1,744,3935,0.00,2.58,0.00,0.000,6,0.000,0.031,2092,2492,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4241,-0.56,-194.6,449.2,-9.2,805,4248,0.00,2.55,-0.08,0.000,4,0.000,0.034,2092,974,3789,0,0,0,0,0,0,28.83,26.33,25.48
$GC,4266,-0.57,-194.6,451.5,-8.9,809,4273,0.00,2.58,0.00,0.000,6,0.000,0.031,2092,2485,3789,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4580,-0.57,-194.6,477.9,-7.8,870,4587,0.00,2.05,0.00,0.000,4,0.000,0.044,2081,3839,3787,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4600,-0.57,-194.6,479.7,-8.5,873,4607,0.00,2.05,0.00,0.000,6,0.000,0.020,2082,2427,3787,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4913,-0.56,-194.6,506.2,-8.6,927,4922,0.00,2.30,0.00,0.000,4,0.000,0.024,2082,988,3785,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4946,-0.56,-194.6,508.7,-8.0,930,4956,0.00,2.55,0.00,0.000,6,0.000,0.031,2071,2491,3784,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5255,-0.55,-194.6,537.4,-9.3,961,5264,0.00,2.00,0.00,0.000,4,0.000,0.043,2061,3823,3782,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5279,-0.54,-194.6,539.5,-9.5,963,5288,0.10,1.98,0.00,0.000,6,0.087,0.019,2103,2424,3781,0,0,0,0,0,0,26.20,26.48,28.83
$GC,5588,-0.55,-194.6,560.7,-6.8,994,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2424,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.57,-194.6,581.7,-7.4,1024,5901,0.00,2.25,0.00,0.000,4,0.000,0.043,2094,3831,3778,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5945,-0.59,-194.6,585.7,-7.3,1029,5953,0.00,2.00,0.00,0.000,6,0.000,0.019,2094,2431,3777,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6255,-0.63,-194.6,608.7,-7.6,1060,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2432,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6556,-0.66,-194.6,630.0,-7.0,1090,6566,0.00,2.20,0.00,0.000,4,0.000,0.044,2090,3819,3772,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6624,-0.70,-194.6,634.3,-7.1,1096,6631,0.12,1.75,0.00,0.000,6,0.073,0.021,1982,2532,3772,0,0,0,0,0,0,26.37,26.48,28.83
$GC,6931,-0.63,-194.6,685.0,-17.2,1127,6940,0.25,2.60,0.00,0.000,4,0.138,0.024,2076,990,3770,0,0,0,0,0,0,25.87,26.25,28.83
$GC,7037,-0.65,-194.6,694.4,-7.3,1137,7046,0.00,2.83,0.00,0.000,6,0.000,0.033,2063,2596,3770,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7344,-0.64,-194.6,721.8,-9.9,1168,7353,0.00,2.75,0.00,0.000,4,0.000,0.025,2063,989,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7378,-0.64,-194.6,725.0,-9.7,1171,7385,0.00,2.80,0.00,0.000,6,0.000,0.034,2058,2572,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7687,-0.62,-194.6,757.1,-10.5,1202,7696,0.00,2.70,0.00,0.000,4,0.000,0.026,2058,989,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7770,-0.64,-194.6,765.0,-9.1,1210,7779,0.00,2.70,0.00,0.000,6,0.000,0.033,2046,2541,3766,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8080,-0.62,-194.6,799.7,-11.3,1241,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2539,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8382,-0.60,-194.6,831.7,-10.4,1271,8391,0.12,2.62,0.00,0.000,4,0.146,0.024,2091,985,3762,0,0,0,0,0,0,26.25,26.22,28.83
$GC,8449,-0.63,-194.6,836.5,-6.3,1277,8455,0.00,2.70,0.00,0.000,6,0.000,0.033,2089,2537,3762,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8755,-0.67,-194.6,855.3,-6.0,1308,8764,0.00,2.60,0.00,0.000,4,0.000,0.024,2089,973,3761,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8829,-0.74,-194.6,859.8,-6.3,1315,8839,0.12,2.88,0.00,0.000,6,0.052,0.030,2028,2630,3760,0,0,0,0,0,0,26.08,26.17,28.83
$GC,9137,-0.74,-194.6,883.3,-7.8,1346,9146,0.00,2.80,0.00,0.000,4,0.000,0.027,2028,992,3759,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9265,-0.74,-194.6,894.1,-8.9,1358,9272,0.00,2.72,0.00,0.000,6,0.000,0.035,2017,2546,3759,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9572,-0.70,-194.6,931.1,-12.4,1389,9581,0.10,2.65,0.00,0.000,4,0.167,0.024,2053,986,3757,0,0,0,0,0,0,26.34,26.17,28.83
$GC,9645,-0.72,-194.6,938.2,-8.2,1396,9655,0.00,2.67,0.00,0.000,6,0.000,0.034,2042,2531,3756,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9955,-0.70,-194.6,969.3,-10.5,1427,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2530,3755,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10152,begin apogee
$GC,10157,-0.20,0.0,990.5,-10.8,1447,10354,0.47,0.00,190.30,1.143,4,0.102,0.000,2205,2529,2973,0,0,0,0,0,0,25.72,28.83,23.44
$STATE,10355,end apogee,CONTROL_FINISHED_OK
$STATE,10355,begin climb
$GC,10358,0.58,194.6,999.1,0.0,1467,10575,0.70,2.10,203.07,1.112,4,0.045,0.044,2475,3831,2171,0,0,0,0,0,0,24.91,24.87,23.08
$GC,10782,0.51,194.6,920.0,22.0,1509,10790,0.17,1.90,0.00,0.000,6,0.185,0.021,2440,2523,2150,0,0,0,0,0,0,25.39,25.86,28.83
$GC,11090,0.46,194.6,869.2,16.0,1540,11100,0.00,2.50,0.00,0.000,4,0.000,0.028,2453,1082,2145,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11204,0.43,194.6,852.9,13.9,1551,11213,0.10,2.65,0.00,0.000,6,0.140,0.034,2420,2561,2142,0,0,0,0,0,0,25.75,26.06,28.83
$GC,11513,0.40,194.6,808.0,14.7,1582,11521,0.00,1.88,0.00,0.000,4,0.000,0.042,2419,3837,2142,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11575,0.36,194.6,798.0,16.8,1588,11585,0.12,1.88,0.00,0.000,6,0.175,0.020,2389,2520,2142,0,0,0,0,0,0,25.80,26.26,28.83
$GC,11886,0.34,194.6,762.7,11.1,1619,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2519,2141,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19422,end climb,SURFACE_DEPTH_REACHED
$STATE,19422,begin surface coast
$FINISH,0.9,1.021287
$STATE,19447,end surface coast,CONTROL_FINISHED_OK
$STATE,19447,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.02
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,10.0,36.606
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324596
$DATA_FILE_SIZE,176935,2814
$CAP_FILE_SIZE,272120,0
$CFSIZE,260165632,189882368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,298.4,1
$GPS,200612,041731,2319.526,12158.596,59,1.3,59,-3.1