version: 66.10
glider: 169
mission: 6
dive: 304
start: 6 24 112 8 13 40
data:
$ID,169
$MISSION,6
$DIVE,304
$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,-15924.213
$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
$GPS1,240612,080407,2344.388,12223.882,38,1.3,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-68.8
$GPS2,240612,081314,2344.736,12224.057,11,1.5,11,-3.3
$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,134.7,154372,-16.1,-10.312
$D_GRID,3064
$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,-0.64,-194.6,0.0,0.0,0,119,0.00,0.00,-98.62,0.000,2,0.000,0.000,118,2370,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.64,-194.6,4.1,-11.8,17,149,7.90,2.40,-10.52,0.000,4,0.226,0.047,2049,3841,3774,0,0,0,0,0,0,25.01,26.00,26.48
$GC,197,-0.53,-194.6,39.5,-42.5,30,205,0.15,2.15,0.00,0.000,6,0.155,0.021,2099,2397,3774,0,0,0,0,0,0,25.75,26.15,28.83
$GC,389,-0.48,-194.6,86.4,-22.7,67,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2397,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,582,-0.44,-194.6,123.3,-16.8,104,589,0.12,0.00,0.00,0.000,6,0.157,0.000,2139,2397,3774,0,0,0,0,0,0,26.13,28.83,28.83
$GC,775,-0.46,-194.6,145.2,-9.6,141,782,0.00,2.30,0.00,0.000,4,0.000,0.040,2127,3838,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,811,-0.49,-194.6,148.3,-8.2,147,817,0.00,2.15,0.00,0.000,6,0.000,0.018,2127,2352,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1004,-0.50,-194.6,164.9,-9.1,184,1011,0.00,2.38,0.00,0.000,4,0.000,0.037,2116,3838,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1029,-0.51,-194.6,167.4,-9.0,188,1037,0.00,2.12,0.00,0.000,6,0.000,0.017,2116,2371,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1223,-0.52,-194.6,185.8,-9.6,225,1230,0.00,2.35,0.00,0.000,4,0.000,0.038,2106,3841,3775,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1248,-0.54,-194.6,188.2,-9.2,229,1255,0.00,2.08,0.00,0.000,6,0.000,0.018,2106,2411,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1440,-0.54,-194.6,207.2,-9.8,266,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2411,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.55,-194.6,237.9,-9.2,327,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2411,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-0.57,-194.6,264.2,-7.6,388,2070,0.00,2.25,0.00,0.000,4,0.000,0.040,2097,3825,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2105,-0.60,-194.6,267.3,-7.7,395,2111,0.00,2.00,0.00,0.000,6,0.000,0.018,2097,2412,3774,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2418,-0.61,-194.6,293.8,-9.1,456,2425,0.00,2.35,0.00,0.000,4,0.000,0.024,2097,947,3773,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2459,-0.64,-194.6,297.4,-8.1,463,2466,0.00,2.58,0.00,0.000,6,0.000,0.030,2092,2479,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2772,-0.65,-194.6,322.8,-8.1,524,2779,0.00,2.03,0.00,0.000,4,0.000,0.041,2082,3824,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2807,-0.67,-194.6,325.8,-8.6,530,2814,0.00,2.05,0.00,0.000,6,0.000,0.019,2082,2418,3770,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3120,-0.67,-194.6,355.8,-10.1,591,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2417,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-0.67,-194.6,386.7,-10.3,652,3441,0.00,2.25,0.00,0.000,4,0.000,0.041,2072,3826,3765,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3455,-0.68,-194.6,388.9,-9.5,655,3462,0.00,2.03,0.00,0.000,6,0.000,0.019,2072,2423,3765,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3768,-0.68,-194.6,420.4,-9.9,716,3777,0.00,2.40,-0.10,0.000,4,0.000,0.035,2072,955,3784,0,0,0,0,0,0,28.83,26.34,25.98
$GC,3790,-0.68,-194.6,422.7,-10.0,719,3797,0.00,2.60,0.00,0.000,6,0.000,0.031,2062,2487,3784,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4103,-0.67,-194.6,456.2,-10.8,780,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2485,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.66,-194.6,491.1,-12.0,841,4422,0.00,2.58,0.00,0.000,4,0.000,0.027,2062,947,3779,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4491,-0.68,-194.6,499.1,-10.0,855,4498,0.00,2.60,0.00,0.000,6,0.000,0.033,2050,2479,3779,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4806,-0.67,-194.6,537.2,-12.4,887,4810,0.00,2.05,0.00,0.000,4,0.000,0.042,2040,3828,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4848,-0.66,-194.6,542.6,-12.9,891,4857,0.00,2.08,0.00,0.000,6,0.000,0.019,2041,2416,3776,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5158,-0.64,-194.6,583.0,-13.1,922,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2416,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5460,-0.63,-194.6,621.7,-12.6,952,5467,0.10,0.00,0.00,0.000,6,0.141,0.000,2070,2416,3772,0,0,0,0,0,0,26.43,28.83,28.83
$GC,5770,-0.63,-194.6,651.9,-9.3,983,5778,0.00,2.28,0.00,0.000,4,0.000,0.043,2059,3831,3769,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5804,-0.64,-194.6,655.2,-9.7,986,5811,0.00,2.05,0.00,0.000,6,0.000,0.020,2059,2422,3769,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6112,-0.64,-194.6,687.0,-10.6,1017,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2421,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6414,-0.64,-194.6,718.2,-10.1,1047,6423,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,3817,3764,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6438,-0.64,-194.6,720.6,-9.8,1049,6445,0.00,2.03,0.00,0.000,6,0.000,0.021,2049,2433,3764,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6747,-0.64,-194.6,753.5,-10.4,1080,6757,0.00,2.38,0.00,0.000,4,0.000,0.028,2048,960,3762,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6801,-0.65,-194.6,758.8,-9.6,1085,6810,0.00,2.58,0.00,0.000,6,0.000,0.032,2037,2487,3762,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7111,-0.63,-194.6,793.7,-11.0,1116,7121,0.12,2.05,0.00,0.000,4,0.142,0.043,2070,3829,3760,0,0,0,0,0,0,26.26,26.10,28.83
$GC,7147,-0.63,-194.6,797.0,-10.0,1119,7154,0.00,2.05,0.00,0.000,6,0.000,0.020,2070,2424,3759,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7454,-0.65,-194.6,822.5,-8.0,1150,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2423,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7757,-0.66,-194.6,847.8,-8.4,1180,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2423,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,-0.67,-194.6,874.2,-8.9,1211,8077,0.00,2.25,0.00,0.000,4,0.000,0.045,2059,3822,3755,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8113,-0.69,-194.6,878.4,-9.2,1215,8120,0.00,2.05,0.00,0.000,6,0.000,0.020,2059,2423,3754,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8421,-0.70,-194.6,905.5,-8.6,1246,8430,0.00,2.38,0.00,0.000,4,0.000,0.027,2060,952,3753,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8454,-0.72,-194.6,908.2,-8.7,1249,8462,0.00,2.60,0.00,0.000,6,0.000,0.033,2049,2492,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8763,-0.72,-194.6,937.0,-9.4,1280,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2491,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,-0.72,-194.6,964.6,-9.0,1310,9073,0.00,2.55,0.00,0.000,4,0.000,0.028,2049,958,3750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9100,-0.73,-194.6,967.5,-8.8,1313,9107,0.00,2.60,0.00,0.000,6,0.000,0.034,2039,2487,3750,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,9323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9323,begin apogee
$GC,9330,-0.20,0.0,990.1,-10.0,1336,9526,0.47,0.08,181.55,1.414,4,0.100,0.037,2203,2486,2981,0,0,0,0,1,0,25.75,24.13,22.69
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9530,0.64,194.6,998.9,0.0,1356,9766,0.75,2.25,225.12,1.121,4,0.044,0.044,2491,3824,2175,0,0,0,0,0,0,24.55,24.50,22.90
$GC,9913,0.56,194.6,931.4,25.2,1394,9921,0.17,2.00,0.00,0.000,6,0.192,0.023,2458,2496,2146,0,0,0,0,0,0,25.24,25.68,28.83
$GC,10223,0.51,194.6,874.7,17.4,1425,10232,0.00,2.45,0.00,0.000,4,0.000,0.028,2471,1052,2140,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10330,0.49,194.6,858.2,15.3,1435,10337,0.12,2.62,0.00,0.000,6,0.168,0.034,2439,2539,2138,0,0,0,0,0,0,25.74,26.03,28.83
$GC,10636,0.45,194.6,809.8,15.3,1466,10640,0.00,1.92,0.00,0.000,4,0.000,0.044,2438,3823,2139,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10689,0.41,194.6,800.4,17.8,1471,10699,0.15,1.90,0.00,0.000,6,0.175,0.021,2408,2506,2137,0,0,0,0,0,0,25.76,26.24,28.83
$GC,11000,0.39,194.6,759.8,12.9,1502,11008,0.00,2.42,0.00,0.000,4,0.000,0.029,2421,1071,2137,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11033,0.38,194.6,755.7,12.7,1505,11042,0.00,2.58,0.00,0.000,6,0.000,0.033,2421,2534,2136,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11342,0.36,194.6,715.1,12.9,1536,11345,0.00,1.95,0.00,0.000,4,0.000,0.042,2421,3830,2136,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11366,0.34,194.6,712.1,13.2,1538,11373,0.17,1.92,0.00,0.000,6,0.164,0.019,2383,2490,2136,0,0,0,0,0,0,25.77,26.32,28.83
$GC,11674,0.40,247.9,683.8,8.4,1569,11733,0.00,2.17,46.55,0.960,4,0.000,0.044,2383,3834,1965,0,0,0,0,1,0,28.83,25.56,23.96
$GC,11770,0.43,269.2,675.5,9.6,1578,11816,0.00,1.98,30.65,0.861,6,0.000,0.021,2394,2501,1880,0,0,0,0,1,0,28.83,25.78,23.87
$GC,12118,0.51,325.6,645.1,8.3,1613,12199,0.12,2.60,74.25,0.844,4,0.076,0.030,2485,1081,1642,0,0,0,0,0,0,26.17,25.29,24.08
$GC,12241,0.50,325.6,626.4,15.8,1625,12252,0.17,2.65,0.00,0.000,6,0.130,0.034,2433,2533,1623,0,0,0,0,0,0,25.34,25.55,28.83
$GC,12550,0.50,325.6,588.1,12.2,1656,12558,0.00,2.00,0.00,0.000,4,0.000,0.044,2433,3833,1618,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,17521,end climb,SURFACE_DEPTH_REACHED
$STATE,17522,begin surface coast
$FINISH,-0.1,1.021509
$STATE,17543,end surface coast,CONTROL_FINISHED_OK
$STATE,17543,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.0,39.804
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324580
$DATA_FILE_SIZE,156915,2541
$CAP_FILE_SIZE,249293,0
$CFSIZE,260165632,187068416
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.261,352.4,1
$GPS,240612,130831,2345.540,12225.699,42,1.1,42,-3.3