version: 66.10
glider: 169
mission: 6
dive: 325
start: 6 28 112 4 57 30
data:
$ID,169
$MISSION,6
$DIVE,325
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-11
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$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,-15950.63
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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
$GPS1,280612,044236,2400.958,12251.626,38,1.0,38,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.3
$GPS2,280612,045707,2401.416,12251.366,11,1.7,11,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2350.984,12254.422
$TGT_RADIUS,1852.000
$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,168.4,20000,-16.2,-13.200
$D_GRID,2080
$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,16,begin dive
$GC,18,-0.76,-292.0,0.0,0.0,0,110,0.00,0.00,-88.93,0.000,2,0.000,0.000,116,2533,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.76,-292.0,3.5,-7.5,16,150,7.60,2.72,-19.20,0.000,4,0.224,0.032,2010,990,3963,0,0,0,0,0,0,24.95,26.14,26.53
$GC,204,-0.71,-292.0,33.7,-25.6,32,210,0.00,2.62,0.00,0.000,6,0.000,0.032,1997,2486,3963,0,0,0,0,0,0,28.83,26.10,28.83
$GC,398,-0.63,-292.0,89.9,-25.4,69,406,0.15,2.53,0.00,0.000,4,0.167,0.020,2055,1011,3964,0,0,0,0,0,0,26.00,26.27,28.83
$GC,489,-0.64,-292.0,104.4,-10.4,86,496,0.00,2.53,0.00,0.000,6,0.000,0.031,2042,2462,3964,0,0,0,0,0,0,28.83,26.23,28.83
$GC,681,-0.60,-292.0,137.6,-17.6,123,688,0.00,2.05,0.00,0.000,4,0.000,0.039,2032,3827,3964,0,0,0,0,0,0,28.83,26.25,28.83
$GC,706,-0.56,-292.0,142.3,-18.7,127,713,0.10,2.08,0.00,0.000,6,0.152,0.018,2066,2377,3964,0,0,0,0,0,0,26.17,26.44,28.83
$GC,898,-0.54,-292.0,171.9,-15.4,164,905,0.00,2.25,0.00,0.000,4,0.000,0.023,2068,992,3964,0,0,0,0,0,0,28.83,26.36,28.83
$GC,938,-0.57,-292.0,177.4,-12.2,171,945,0.00,2.45,0.00,0.000,6,0.000,0.029,2057,2430,3964,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1130,-0.55,-292.0,205.8,-13.6,208,1139,0.00,2.10,0.00,0.000,4,0.000,0.037,2046,3833,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1162,-0.54,-292.0,210.6,-14.8,213,1169,0.10,2.12,0.00,0.000,6,0.137,0.018,2076,2358,3964,0,0,0,0,0,0,26.25,26.47,28.83
$GC,1477,-0.54,-292.0,244.5,-9.7,274,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2357,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-0.54,-292.0,279.3,-11.3,335,1794,0.00,2.33,0.00,0.000,4,0.000,0.037,2065,3840,3961,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1828,-0.55,-292.0,283.8,-10.9,342,1835,0.00,2.12,0.00,0.000,6,0.000,0.018,2065,2359,3961,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2141,-0.55,-292.0,317.6,-9.3,403,2148,0.00,2.33,-0.05,0.000,4,0.000,0.048,2053,3836,3970,0,0,0,0,0,0,28.83,26.30,25.98
$GC,2168,-0.56,-292.0,320.3,-10.0,407,2174,0.00,2.10,0.00,0.000,6,0.000,0.018,2053,2370,3970,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2480,-0.56,-292.0,350.8,-9.8,468,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2370,3969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2793,-0.56,-292.0,384.1,-11.8,529,2799,0.00,2.30,0.00,0.000,4,0.000,0.039,2042,3829,3966,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2832,-0.57,-292.0,388.5,-10.8,536,2839,0.00,2.05,0.00,0.000,6,0.000,0.018,2042,2386,3966,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3145,-0.57,-292.0,424.6,-10.3,597,3152,0.00,2.25,0.00,0.000,4,0.000,0.038,2031,3838,3964,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3175,-0.57,-292.0,427.6,-10.1,602,3183,0.12,2.05,0.00,0.000,6,0.117,0.019,2072,2397,3964,0,0,0,0,0,0,26.25,26.50,28.83
$GC,3489,-0.59,-292.0,451.9,-8.2,663,3496,0.00,2.30,0.00,0.000,4,0.000,0.024,2072,1008,3961,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3526,-0.63,-292.0,455.0,-8.4,669,3533,0.00,2.50,0.00,0.000,6,0.000,0.028,2066,2466,3961,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3839,-0.68,-292.0,480.5,-8.0,730,3847,0.10,2.08,-0.03,0.000,4,0.090,0.053,1966,3839,3970,0,0,0,0,0,0,26.59,26.27,25.95
$GC,3860,-0.70,-292.0,482.8,-10.2,733,3868,0.17,1.80,0.00,0.000,6,0.137,0.019,2024,2497,3970,0,0,0,0,0,0,26.04,26.51,28.83
$GC,4173,-0.68,-292.0,523.1,-12.2,776,4182,0.00,1.98,0.00,0.000,4,0.000,0.040,2015,3827,3968,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4225,-0.68,-292.0,529.5,-11.8,781,4229,0.00,1.83,0.00,0.000,6,0.000,0.019,2022,2502,3967,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4538,-0.67,-292.0,568.2,-13.1,812,4547,0.00,2.47,0.00,0.000,4,0.000,0.027,2022,1021,3964,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4600,-0.69,-292.0,575.6,-10.6,818,4609,0.00,2.70,0.00,0.000,6,0.000,0.032,2016,2543,3964,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4910,-0.67,-292.0,617.1,-13.5,849,4918,0.00,2.65,0.00,0.000,4,0.000,0.026,2017,1020,3961,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4954,-0.67,-292.0,622.2,-12.2,853,4961,0.00,2.67,0.00,0.000,6,0.000,0.033,2016,2531,3960,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5262,-0.65,-292.0,660.7,-12.1,884,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2530,3957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.63,-292.0,695.6,-11.8,914,5574,0.00,2.60,0.00,0.000,4,0.000,0.025,2017,1015,3955,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5628,-0.65,-292.0,702.4,-9.2,920,5637,0.00,2.62,0.00,0.000,6,0.000,0.034,2016,2511,3954,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5937,-0.63,-292.0,741.5,-13.7,951,5946,0.00,2.55,0.00,0.000,4,0.000,0.025,2017,1011,3951,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5963,-0.62,-292.0,744.4,-13.5,953,5970,0.10,2.62,0.00,0.000,6,0.140,0.035,2051,2502,3951,0,0,0,0,0,0,26.08,26.20,28.83
$GC,6270,-0.64,-292.0,774.0,-9.4,984,6279,0.00,2.55,0.00,0.000,4,0.000,0.027,2051,1012,3949,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6304,-0.66,-292.0,776.9,-8.7,987,6312,0.00,2.58,0.00,0.000,6,0.000,0.036,2046,2483,3948,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6613,-0.67,-292.0,806.0,-9.5,1018,6621,0.00,2.00,0.00,0.000,4,0.000,0.047,2036,3826,3946,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6650,-0.69,-292.0,809.1,-9.5,1021,6656,0.00,2.00,0.00,0.000,6,0.000,0.020,2037,2422,3945,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6955,-0.70,-292.0,838.1,-9.3,1052,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2422,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7260,-0.71,-292.0,866.5,-9.3,1082,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2422,3943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.71,-292.0,895.8,-9.6,1113,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2422,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7877,-0.72,-292.0,926.3,-10.1,1144,7886,0.00,2.38,0.00,0.000,4,0.000,0.027,2036,1019,3939,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7909,-0.74,-292.0,929.6,-9.9,1147,7918,0.00,2.58,0.00,0.000,6,0.000,0.034,2033,2486,3939,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8219,-0.75,-292.0,961.2,-10.1,1178,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2484,3937,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8521,begin apogee
$GC,8526,-0.20,0.0,990.8,-9.7,1208,8772,0.43,0.00,240.18,1.084,4,0.093,0.000,2183,2484,2977,0,0,0,0,0,0,25.91,28.83,23.67
$STATE,8773,end apogee,CONTROL_FINISHED_OK
$STATE,8773,begin climb
$GC,8777,0.76,292.0,1005.5,0.0,1233,9096,0.82,0.00,310.83,1.040,6,0.044,0.000,2507,2483,1782,0,0,0,0,0,0,25.05,28.83,23.53
$GC,9404,0.71,292.0,884.2,23.8,1296,9413,0.00,2.55,0.00,0.000,4,0.000,0.030,2519,1031,1747,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9487,0.68,292.0,867.8,18.4,1304,9496,0.15,2.67,0.00,0.000,6,0.138,0.037,2470,2515,1745,0,0,0,0,0,0,25.70,26.02,28.83
$GC,9796,0.64,292.0,807.5,19.7,1335,9805,0.00,1.98,0.00,0.000,4,0.000,0.043,2469,3837,1744,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9890,0.60,292.0,787.5,21.6,1344,9894,0.12,1.92,0.00,0.000,6,0.176,0.021,2447,2491,1743,0,0,0,0,0,0,25.88,26.26,28.83
$GC,10202,0.57,292.0,735.3,15.8,1375,10211,0.00,2.08,0.00,0.000,4,0.000,0.044,2447,3841,1743,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10238,0.55,292.0,729.7,17.1,1378,10246,0.12,1.92,0.00,0.000,6,0.169,0.021,2425,2489,1743,0,0,0,0,0,0,25.93,26.30,28.83
$GC,10545,0.55,304.5,688.1,12.8,1409,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2488,1743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10847,0.62,361.7,651.4,11.5,1439,10917,0.00,2.15,59.25,0.937,4,0.000,0.042,2425,3819,1505,0,0,0,0,1,0,28.83,25.46,23.86
$GC,10946,0.66,391.3,639.8,12.3,1448,11000,0.00,1.92,40.25,0.813,6,0.000,0.021,2435,2505,1382,0,0,0,0,1,0,28.83,25.70,23.80
$GC,11301,0.73,446.5,597.5,11.5,1484,11373,0.12,2.72,60.40,0.965,4,0.077,0.031,2525,1036,1158,0,0,0,0,1,0,26.20,25.30,23.75
$GC,11397,0.70,446.5,578.9,23.2,1493,11406,0.17,2.75,2.38,0.390,6,0.132,0.034,2474,2531,1156,0,0,0,0,0,0,25.30,25.51,23.62
$GC,11705,0.69,446.5,529.2,15.4,1524,11715,0.00,1.98,2.53,0.419,4,0.000,0.043,2474,3828,1155,0,0,0,0,0,0,28.83,25.94,23.78
$GC,11758,0.69,446.5,520.1,17.2,1529,11766,0.00,1.92,0.00,0.000,6,0.000,0.022,2484,2504,1163,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12071,0.68,446.5,469.5,15.9,1578,12078,0.00,2.60,0.00,0.000,4,0.000,0.031,2497,1015,1166,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12111,0.70,446.5,463.6,13.2,1585,12118,0.00,2.72,0.00,0.000,6,0.000,0.032,2497,2533,1166,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12425,0.69,446.5,410.9,16.0,1646,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2531,1166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12738,0.69,446.5,358.2,15.0,1707,12745,0.00,1.90,0.00,0.000,4,0.000,0.044,2497,3824,1166,0,0,0,0,0,0,28.83,26.12,28.83
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$GC,14847,1.19,794.2,15.4,12.1,2105,14853,0.00,1.98,0.00,0.000,4,0.000,0.039,2627,3836,406,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,14944,end climb,SURFACE_DEPTH_REACHED
$STATE,14944,begin surface coast
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$TT8_MAMPS,0.026215,0.026215
$HUMID,56.49
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$TCM_TEMP,23.70
$XPDR_PINGS,0
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$10V_AH,10.0,42.638
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.625,153.075,901.150,0.000,0.000,116.573,108.217,292.848,0.000,0.000,12.008,4685.863,5782.517,989.747,3886.539,521.572,0.000,2793.358,0.000,3247.228,0.000,0.543,0.000
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$MEM,325448
$DATA_FILE_SIZE,133502,2126
$CAP_FILE_SIZE,211471,0
$CFSIZE,260165632,184545280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280612,090906,2401.780,12252.159,31,1.7,31,-3.4