version: 66.10
glider: 169
mission: 6
dive: 353
start: 7 3 112 14 45 24
data:
$ID,169
$MISSION,6
$DIVE,353
$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,330
$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,-9
$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,-15986.236
$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
$GPS1,030712,143306,2351.898,12337.212,28,1.0,28,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.5
$GPS2,030712,144501,2352.016,12337.091,15,1.2,15,-3.4
$SPEED_LIMITS,0.173,0.296
$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,113.6,30568,-15.7,-10.000
$D_GRID,3335
$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,-0.63,-194.6,0.0,0.0,0,102,0.00,0.00,-82.12,0.000,2,0.000,0.000,108,2424,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.63,-194.6,3.2,-6.7,14,137,8.18,2.20,-14.75,0.000,4,0.233,0.050,2029,3833,3775,0,0,0,0,0,0,24.79,26.01,26.53
$GC,166,-0.53,-194.6,24.9,-33.0,24,175,0.15,1.92,0.00,0.000,6,0.164,0.020,2077,2431,3776,0,0,0,0,0,0,25.72,26.20,28.83
$GC,361,-0.49,-194.6,62.0,-14.7,61,368,0.00,2.45,0.00,0.000,4,0.000,0.023,2078,1002,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,411,-0.49,-194.6,68.8,-12.0,70,418,0.00,2.65,0.00,0.000,6,0.000,0.029,2065,2482,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,604,-0.45,-194.6,98.3,-15.4,107,611,0.12,2.58,0.00,0.000,4,0.162,0.021,2110,1005,3776,0,0,0,0,0,0,26.15,26.27,28.83
$GC,625,-0.42,-194.6,101.4,-14.9,110,632,0.00,2.60,0.00,0.000,6,0.000,0.028,2099,2463,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,817,-0.41,-194.6,124.4,-12.0,147,824,0.00,2.55,0.00,0.000,4,0.000,0.022,2099,991,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,843,-0.41,-194.6,127.3,-11.1,151,849,0.00,2.60,0.00,0.000,6,0.000,0.029,2089,2457,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1033,-0.39,-194.6,149.5,-11.3,188,1041,0.12,2.00,0.00,0.000,4,0.151,0.037,2122,3841,3776,0,0,0,0,0,0,26.25,26.22,28.83
$GC,1060,-0.39,-194.6,152.0,-9.5,192,1068,0.00,1.98,0.00,0.000,6,0.000,0.017,2121,2390,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1254,-0.40,-194.6,166.8,-7.8,229,1260,0.00,2.35,0.00,0.000,4,0.000,0.022,2121,1001,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1275,-0.42,-194.6,168.4,-7.8,232,1283,0.00,2.58,0.00,0.000,6,0.000,0.028,2113,2456,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1470,-0.47,-194.6,183.3,-7.7,269,1477,0.00,2.00,0.00,0.000,4,0.000,0.039,2105,3840,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1567,-0.49,-194.6,191.1,-8.6,287,1573,0.00,1.80,0.00,0.000,6,0.000,0.018,2106,2453,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1758,-0.54,-194.6,207.0,-7.7,324,1766,0.00,2.05,0.00,0.000,4,0.000,0.039,2102,3844,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1835,-0.56,-194.6,213.3,-8.4,338,1843,0.10,1.67,0.00,0.000,6,0.088,0.018,2004,2491,3776,0,0,0,0,0,0,26.41,26.54,28.83
$GC,2150,-0.50,-194.6,270.3,-18.8,399,2158,0.25,2.62,0.00,0.000,4,0.141,0.022,2093,1012,3775,0,0,0,0,0,0,25.94,26.33,28.83
$GC,2252,-0.52,-194.6,281.4,-8.4,418,2259,0.00,2.88,0.00,0.000,6,0.000,0.030,2084,2598,3775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2565,-0.51,-194.6,312.8,-10.3,479,2572,0.00,2.83,0.00,0.000,4,0.000,0.022,2084,1010,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2622,-0.53,-194.6,318.0,-8.4,489,2629,0.00,2.85,0.00,0.000,6,0.000,0.029,2072,2577,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2935,-0.52,-194.6,355.6,-12.3,550,2942,0.00,2.80,0.00,0.000,4,0.000,0.024,2072,1003,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3005,-0.53,-194.6,363.8,-10.6,563,3012,0.00,2.78,0.00,0.000,6,0.000,0.029,2061,2532,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3318,-0.52,-194.6,399.5,-10.4,624,3326,0.00,2.72,0.00,0.000,4,0.000,0.024,2061,998,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3370,-0.53,-194.6,404.6,-9.6,633,3377,0.00,2.67,0.00,0.000,6,0.000,0.031,2051,2495,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3683,-0.51,-194.6,439.9,-11.9,694,3691,0.12,2.62,0.00,0.000,4,0.150,0.021,2094,1000,3768,0,0,0,0,0,0,26.27,26.34,28.83
$GC,3750,-0.54,-194.6,445.5,-8.2,706,3757,0.00,2.62,0.00,0.000,6,0.000,0.029,2090,2473,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4065,-0.58,-194.6,470.2,-7.8,767,4071,0.00,1.98,0.00,0.000,4,0.000,0.041,2084,3840,3765,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4104,-0.61,-194.6,473.7,-8.2,774,4111,0.00,1.75,0.00,0.000,6,0.000,0.018,2084,2483,3765,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4418,-0.64,-194.6,498.2,-7.9,835,4426,0.12,1.98,-0.05,0.000,4,0.076,0.051,1963,3836,3783,0,0,0,0,0,0,26.55,26.21,24.73
$GC,4528,-0.59,-194.6,514.3,-16.7,847,4537,0.25,2.03,0.00,0.000,6,0.124,0.019,2056,2382,3783,0,0,0,0,0,0,25.80,26.44,28.83
$GC,4837,-0.58,-194.6,548.5,-11.0,878,4841,0.00,2.25,0.00,0.000,4,0.000,0.041,2045,3834,3782,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4871,-0.57,-194.6,552.1,-10.6,881,4878,0.00,1.98,0.00,0.000,6,0.000,0.019,2046,2401,3782,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5179,-0.56,-194.6,587.7,-11.8,912,5188,0.00,2.38,0.00,0.000,4,0.000,0.024,2045,1013,3780,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5243,-0.57,-194.6,595.0,-11.2,918,5252,0.08,2.55,0.00,0.000,6,0.106,0.032,2067,2444,3779,0,0,0,0,0,0,26.04,26.24,28.83
$GC,5552,-0.57,-194.6,627.1,-10.1,949,5561,0.00,2.05,0.00,0.000,4,0.000,0.041,2057,3840,3776,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5611,-0.58,-194.6,632.4,-9.6,954,5618,0.00,2.03,0.00,0.000,6,0.000,0.020,2057,2389,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5917,-0.57,-194.6,661.3,-8.8,985,5925,0.00,2.35,0.00,0.000,4,0.000,0.024,2057,1000,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5961,-0.58,-194.6,664.8,-8.4,989,5970,0.00,2.58,0.00,0.000,6,0.000,0.031,2046,2450,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6269,-0.57,-194.6,692.9,-9.6,1020,6278,0.00,2.00,0.00,0.000,4,0.000,0.042,2035,3830,3771,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6296,-0.56,-194.6,695.1,-9.5,1022,6303,0.12,2.00,0.00,0.000,6,0.123,0.020,2075,2398,3771,0,0,0,0,0,0,26.15,26.42,28.83
$GC,6604,-0.57,-194.6,720.5,-8.4,1053,6613,0.00,2.17,0.00,0.000,4,0.000,0.043,2064,3820,3769,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6640,-0.58,-194.6,723.4,-8.5,1056,6649,0.00,1.95,0.00,0.000,6,0.000,0.020,2064,2407,3769,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6948,-0.58,-194.6,749.8,-7.9,1087,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2407,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7251,-0.58,-194.6,772.3,-7.2,1117,7260,0.00,2.40,0.00,0.000,4,0.000,0.026,2064,1005,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7276,-0.59,-194.6,774.2,-7.3,1119,7283,0.00,2.65,0.00,0.000,6,0.000,0.034,2059,2475,3765,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7583,-0.59,-194.6,799.0,-8.2,1150,7591,0.00,2.00,0.00,0.000,4,0.000,0.043,2050,3831,3763,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7616,-0.60,-194.6,801.6,-8.3,1153,7619,0.00,1.98,0.00,0.000,6,0.000,0.021,2050,2427,3762,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7927,-0.60,-194.6,829.9,-9.3,1184,7937,0.00,2.40,0.00,0.000,4,0.000,0.024,2049,1016,3760,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7974,-0.61,-194.6,833.6,-8.8,1188,7982,0.00,2.65,0.00,0.000,6,0.000,0.034,2039,2483,3759,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8281,-0.60,-194.6,865.0,-10.5,1219,8289,0.00,2.00,0.00,0.000,4,0.000,0.044,2029,3835,3758,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8307,-0.60,-194.6,867.4,-10.6,1221,8313,0.00,2.00,0.00,0.000,6,0.000,0.021,2030,2418,3757,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8614,-0.58,-194.6,903.4,-12.2,1252,8624,0.10,2.40,0.00,0.000,4,0.139,0.024,2060,1005,3756,0,0,0,0,0,0,26.39,26.20,28.83
$GC,8657,-0.60,-194.6,907.8,-10.3,1256,8668,0.00,2.62,0.00,0.000,6,0.000,0.035,2056,2459,3756,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8968,-0.60,-194.6,938.3,-9.7,1287,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2457,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9272,-0.61,-194.6,962.6,-7.4,1317,9280,0.00,2.53,0.00,0.000,4,0.000,0.028,2056,1010,3752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9305,-0.62,-194.6,965.0,-6.9,1320,9315,0.00,2.60,0.00,0.000,6,0.000,0.037,2046,2451,3752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9614,-0.62,-194.6,987.1,-6.8,1351,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2449,3750,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9661,begin apogee
$GC,9668,-0.20,0.0,990.3,-6.5,1356,9864,0.40,0.10,188.52,1.116,4,0.097,0.073,2186,2436,2973,0,0,0,0,0,0,25.84,24.88,23.51
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9868,0.63,194.6,995.3,0.0,1376,10083,0.70,2.22,201.10,1.081,4,0.053,0.043,2455,3836,2169,0,0,0,0,0,0,25.18,25.16,23.56
$GC,10142,0.57,194.6,953.9,21.9,1403,10149,0.12,2.00,0.00,0.000,6,0.182,0.023,2436,2456,2150,0,0,0,0,0,0,25.34,25.66,28.83
$GC,10448,0.53,194.6,902.7,15.7,1434,10457,0.00,2.58,0.00,0.000,4,0.000,0.031,2449,1015,2142,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10541,0.52,194.6,890.0,12.7,1443,10550,0.00,2.72,0.00,0.000,6,0.000,0.034,2449,2503,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10851,0.48,194.6,841.1,15.4,1474,10860,0.12,1.90,0.00,0.000,4,0.174,0.041,2410,3837,2139,0,0,0,0,0,0,25.98,26.09,28.83
$GC,10927,0.45,194.6,830.1,14.5,1481,10935,0.00,1.90,0.00,0.000,6,0.000,0.021,2421,2475,2138,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,18460,end climb,SURFACE_DEPTH_REACHED
$STATE,18461,begin surface coast
$FINISH,-0.3,1.021947
$STATE,18480,end surface coast,CONTROL_FINISHED_OK
$STATE,18480,begin surface
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$10V_AH,9.9,46.639
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,166808,2629
$CAP_FILE_SIZE,264326,0
$CFSIZE,260165632,180850688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,320.5,1
$GPS,030712,195554,2351.570,12339.106,45,0.9,45,-3.4