version: 66.10
glider: 169
mission: 6
dive: 302
start: 6 23 112 22 24 54
data:
$ID,169
$MISSION,6
$DIVE,302
$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,320
$T_MISSION,360
$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,-15921.697
$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,2425
$C_ROLL_CLIMB,2520
$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,48
$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
$GPS1,230612,221436,2342.106,12220.133,41,1.1,52,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-69.3
$GPS2,230612,222428,2342.353,12220.372,12,6.0,31,-3.2
$SPEED_LIMITS,0.179,0.299
$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,133.2,160931,-16.1,-10.312
$D_GRID,2948
$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,-0.64,-194.6,0.0,0.0,0,116,0.00,0.00,-95.90,0.000,2,0.000,0.000,117,2398,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.64,-194.6,4.0,-10.5,17,145,7.78,2.42,-11.23,0.000,4,0.221,0.051,2047,3845,3775,0,0,0,0,0,0,24.98,25.99,26.49
$GC,225,-0.58,-194.6,45.9,-26.5,36,233,0.10,2.17,0.00,0.000,6,0.177,0.022,2081,2391,3776,0,0,0,0,0,0,25.87,26.16,28.83
$GC,420,-0.53,-194.6,95.3,-18.8,73,427,0.00,2.33,0.00,0.000,4,0.000,0.024,2089,944,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,470,-0.54,-194.6,103.7,-13.9,82,477,0.00,2.50,0.00,0.000,6,0.000,0.033,2085,2431,3776,0,0,0,0,0,0,28.83,26.16,28.83
$GC,662,-0.51,-194.6,133.9,-16.2,119,668,0.00,2.12,0.00,0.000,4,0.000,0.041,2075,3828,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,718,-0.50,-194.6,142.2,-13.1,129,725,0.12,2.08,0.00,0.000,6,0.132,0.018,2115,2388,3776,0,0,0,0,0,0,26.11,26.41,28.83
$GC,910,-0.50,-194.6,161.5,-9.2,166,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2388,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.50,-194.6,180.6,-10.9,203,1106,0.00,2.28,0.00,0.000,4,0.000,0.039,2104,3834,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1125,-0.51,-194.6,183.1,-10.1,207,1131,0.00,2.08,0.00,0.000,6,0.000,0.018,2104,2396,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1317,-0.51,-194.6,201.2,-7.7,244,1324,0.00,2.30,0.00,0.000,4,0.000,0.024,2104,951,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1342,-0.52,-194.6,203.0,-7.4,248,1350,0.00,2.55,0.00,0.000,6,0.000,0.029,2099,2471,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1656,-0.52,-194.6,226.9,-8.0,309,1663,0.00,2.05,0.00,0.000,4,0.000,0.041,2089,3840,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1706,-0.55,-194.6,231.1,-8.0,318,1713,0.00,2.08,0.00,0.000,6,0.000,0.019,2089,2401,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2019,-0.55,-194.6,262.9,-10.9,379,2026,0.00,2.30,0.00,0.000,4,0.000,0.040,2079,3839,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2043,-0.55,-194.6,265.8,-10.9,383,2050,0.00,2.08,0.00,0.000,6,0.000,0.020,2079,2412,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2356,-0.55,-194.6,300.4,-11.2,444,2364,0.00,2.35,0.00,0.000,4,0.000,0.026,2079,955,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2402,-0.57,-194.6,304.9,-9.5,452,2410,0.00,2.58,0.00,0.000,6,0.000,0.031,2068,2485,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2715,-0.56,-194.6,339.3,-10.6,513,2722,0.00,2.08,0.00,0.000,4,0.000,0.041,2058,3842,3772,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2735,-0.55,-194.6,341.5,-10.5,516,2743,0.12,2.08,0.00,0.000,6,0.127,0.020,2096,2414,3772,0,0,0,0,0,0,26.20,26.46,28.83
$GC,3052,-0.56,-194.6,364.4,-6.5,577,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2413,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3364,-0.57,-194.6,386.2,-7.5,638,3370,0.00,2.28,0.00,0.000,4,0.000,0.041,2085,3826,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3395,-0.59,-194.6,388.7,-7.8,643,3402,0.00,2.05,0.00,0.000,6,0.000,0.018,2086,2412,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3708,-0.60,-194.6,418.1,-9.9,704,3715,0.00,2.35,0.00,0.000,4,0.000,0.024,2085,957,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3745,-0.63,-194.6,421.8,-9.8,710,3752,0.00,2.58,0.00,0.000,6,0.000,0.031,2085,2481,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4058,-0.63,-194.6,453.1,-9.9,771,4065,0.00,0.00,-0.10,0.000,6,0.000,0.000,2085,2480,3784,0,0,0,0,0,0,28.83,28.83,25.98
$GC,4370,-0.64,-194.6,483.3,-8.9,832,4378,0.00,2.08,0.00,0.000,4,0.000,0.043,2076,3834,3782,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4412,-0.67,-194.6,486.9,-8.4,839,4418,0.00,2.05,0.00,0.000,6,0.000,0.019,2076,2419,3782,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4721,-0.67,-194.6,514.7,-9.2,884,4731,0.00,2.35,0.00,0.000,4,0.000,0.027,2076,960,3779,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4748,-0.68,-194.6,516.7,-8.8,886,4754,0.00,2.58,0.00,0.000,6,0.000,0.031,2066,2490,3779,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5055,-0.68,-194.6,547.3,-10.1,917,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2489,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.68,-194.6,577.7,-10.2,947,5367,0.00,2.53,0.00,0.000,4,0.000,0.028,2066,957,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5394,-0.69,-194.6,581.3,-9.9,950,5400,0.00,2.58,0.00,0.000,6,0.000,0.034,2056,2484,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5702,-0.68,-194.6,613.5,-10.6,981,5710,0.00,2.03,0.00,0.000,4,0.000,0.044,2045,3820,3772,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5735,-0.68,-194.6,616.8,-10.4,984,5744,0.00,2.03,0.00,0.000,6,0.000,0.021,2045,2429,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6045,-0.67,-194.6,649.7,-11.0,1015,6054,0.00,2.38,0.00,0.000,4,0.000,0.026,2045,951,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6102,-0.68,-194.6,655.0,-9.7,1020,6110,0.00,2.58,0.00,0.000,6,0.000,0.033,2034,2483,3770,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6409,-0.66,-194.6,690.9,-11.5,1051,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2482,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-0.64,-194.6,725.6,-10.9,1082,6729,0.12,2.50,0.00,0.000,4,0.148,0.025,2078,954,3765,0,0,0,0,0,0,26.25,26.25,28.83
$GC,6756,-0.64,-194.6,728.6,-9.4,1085,6762,0.00,2.58,0.00,0.000,6,0.000,0.034,2069,2479,3765,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7063,-0.65,-194.6,753.1,-8.4,1116,7073,0.00,2.05,0.00,0.000,4,0.000,0.046,2059,3818,3763,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7096,-0.66,-194.6,756.0,-8.8,1119,7100,0.00,2.10,0.00,0.000,6,0.000,0.021,2059,2412,3763,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7408,-0.66,-194.6,787.2,-10.4,1150,7417,0.00,2.30,0.00,0.000,4,0.000,0.044,2047,3835,3761,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7442,-0.66,-194.6,790.8,-11.3,1153,7449,0.00,2.08,0.00,0.000,6,0.000,0.021,2048,2425,3761,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7750,-0.66,-194.6,827.4,-11.7,1184,7759,0.00,2.22,0.00,0.000,4,0.000,0.045,2037,3832,3760,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7782,-0.66,-194.6,831.5,-12.4,1187,7791,0.00,2.08,0.00,0.000,6,0.000,0.021,2038,2426,3759,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8093,-0.66,-194.6,870.5,-12.1,1218,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2427,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,-0.64,-194.6,905.7,-11.3,1248,8405,0.00,2.38,0.00,0.000,4,0.000,0.027,2038,956,3756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8452,-0.65,-194.6,911.7,-10.5,1253,8461,0.12,2.60,0.00,0.000,6,0.129,0.034,2069,2495,3756,0,0,0,0,0,0,25.96,26.13,28.83
$GC,8760,-0.67,-194.6,935.8,-7.1,1284,8769,0.00,2.03,0.00,0.000,4,0.000,0.047,2059,3818,3754,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8787,-0.68,-194.6,937.5,-7.3,1286,8793,0.00,2.03,0.00,0.000,6,0.000,0.022,2058,2439,3754,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9094,-0.69,-194.6,961.6,-7.7,1317,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2439,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9405,-0.70,-194.6,984.5,-7.2,1348,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2439,3752,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9479,begin apogee
$GC,9486,-0.20,0.0,990.4,-7.5,1356,9686,0.43,0.10,194.70,1.099,4,0.092,0.073,2207,2474,2978,0,0,0,0,0,0,25.87,24.71,23.43
$STATE,9687,end apogee,CONTROL_FINISHED_OK
$STATE,9687,begin climb
$GC,9690,0.64,194.6,997.2,0.0,1376,9911,0.70,2.50,211.23,1.103,4,0.038,0.028,2491,1059,2179,0,0,0,0,0,0,24.97,24.97,23.08
$GC,9932,0.60,194.6,967.4,17.7,1400,9939,0.00,2.75,0.00,0.000,6,0.000,0.038,2491,2529,2156,0,0,0,0,0,0,28.83,24.79,28.83
$GC,10239,0.54,194.6,899.3,21.3,1431,10249,0.12,2.55,0.00,0.000,4,0.181,0.029,2467,1067,2146,0,0,0,0,0,0,25.72,25.94,28.83
$GC,10332,0.51,194.6,884.1,14.8,1440,10341,0.00,2.62,0.00,0.000,6,0.000,0.037,2467,2542,2144,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10642,0.46,194.6,826.7,18.3,1471,10651,0.12,1.92,0.00,0.000,4,0.178,0.041,2429,3835,2143,0,0,0,0,0,0,25.90,26.05,28.83
$GC,10747,0.42,194.6,808.8,16.9,1481,10757,0.00,1.90,0.00,0.000,6,0.000,0.021,2440,2519,2141,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11055,0.39,194.6,760.0,15.4,1512,11064,0.12,2.05,0.00,0.000,4,0.183,0.042,2403,3834,2141,0,0,0,0,0,0,25.96,26.08,28.83
$GC,11153,0.37,194.6,746.1,14.2,1521,11161,0.00,1.85,0.00,0.000,6,0.000,0.021,2413,2539,2140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11459,0.35,194.6,708.0,11.9,1552,11467,0.00,2.53,0.00,0.000,4,0.000,0.030,2426,1057,2139,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11494,0.34,194.6,704.4,11.5,1555,11502,0.12,2.70,0.00,0.000,6,0.139,0.033,2390,2576,2138,0,0,0,0,0,0,25.92,26.14,28.83
$GC,11801,0.41,244.5,676.7,8.5,1586,11881,0.00,1.95,69.60,0.834,4,0.000,0.044,2390,3820,1971,0,0,0,0,0,0,28.83,25.44,24.18
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$STATE,17051,end climb,SURFACE_DEPTH_REACHED
$STATE,17051,begin surface coast
$FINISH,0.1,1.021582
$STATE,17063,end surface coast,CONTROL_FINISHED_OK
$STATE,17063,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.12
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,9.9,39.499
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.625,191.000,851.725,0.000,0.000,25.578,41.511,328.657,0.000,0.000,32.854,5778.566,5977.062,1053.333,4293.127,583.982,0.000,3090.403,0.000,3739.956,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,153444,2470
$CAP_FILE_SIZE,242839,0
$CFSIZE,260165632,187346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,353.2,1
$GPS,240612,031137,2343.375,12222.062,33,0.9,33,-3.2