version: 66.10
glider: 169
mission: 6
dive: 356
start: 7 4 112 6 47 50
data:
$ID,169
$MISSION,6
$DIVE,356
$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,-15990.2
$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
$GPS1,040712,063706,2351.191,12342.881,37,1.0,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-72.7
$GPS2,040712,064725,2351.250,12342.778,11,1.7,11,-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,101.4,20833,-15.7,-10.000
$D_GRID,2836
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.05,0.000,2,0.000,0.000,117,2426,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.63,-194.6,4.0,-11.0,14,129,7.97,2.22,-10.98,0.000,4,0.228,0.045,2025,3856,3775,0,0,0,0,0,0,24.82,26.04,26.51
$GC,193,-0.58,-194.6,35.2,-21.0,30,200,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,2440,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,384,-0.51,-194.6,78.0,-19.6,67,392,0.15,2.45,0.00,0.000,4,0.164,0.023,2092,1011,3776,0,0,0,0,0,0,25.97,26.20,28.83
$GC,460,-0.51,-194.6,88.9,-12.6,81,468,0.00,2.60,0.00,0.000,6,0.000,0.032,2080,2463,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,653,-0.48,-194.6,120.3,-16.0,118,659,0.00,2.03,0.00,0.000,4,0.000,0.038,2070,3841,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,693,-0.46,-194.6,126.2,-14.1,125,701,0.10,2.03,0.00,0.000,6,0.143,0.018,2099,2396,3777,0,0,0,0,0,0,26.15,26.40,28.83
$GC,886,-0.44,-194.6,149.2,-10.8,162,893,0.00,2.35,0.00,0.000,4,0.000,0.025,2102,1003,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,933,-0.46,-194.6,153.7,-8.9,170,940,0.00,2.55,0.00,0.000,6,0.000,0.030,2092,2457,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1124,-0.44,-194.6,174.4,-11.0,207,1132,0.00,2.50,0.00,0.000,4,0.000,0.024,2092,1013,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1151,-0.43,-194.6,177.3,-11.0,211,1157,0.00,2.50,0.00,0.000,6,0.000,0.031,2085,2435,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1341,-0.41,-194.6,201.4,-13.5,248,1349,0.10,2.10,0.00,0.000,4,0.162,0.038,2103,3839,3777,0,0,0,0,0,0,26.38,26.22,28.83
$GC,1383,-0.42,-194.6,206.4,-11.0,255,1389,0.00,2.08,0.00,0.000,6,0.000,0.018,2103,2380,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1694,-0.42,-194.6,240.8,-10.1,316,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2379,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2006,-0.42,-194.6,269.4,-9.7,377,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2379,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-0.42,-194.6,298.9,-9.4,438,2325,0.00,2.28,0.00,0.000,4,0.000,0.039,2092,3826,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2353,-0.43,-194.6,302.5,-10.6,444,2360,0.00,2.03,0.00,0.000,6,0.000,0.019,2092,2386,3775,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2665,-0.42,-194.6,335.9,-10.6,505,2673,0.00,2.35,0.00,0.000,4,0.000,0.024,2092,998,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2701,-0.44,-194.6,339.7,-9.9,511,2708,0.00,2.55,0.00,0.000,6,0.000,0.030,2084,2450,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3012,-0.43,-194.6,372.4,-9.7,572,3019,0.00,2.50,0.00,0.000,4,0.000,0.024,2085,994,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3052,-0.45,-194.6,376.1,-9.3,579,3060,0.10,2.47,0.00,0.000,6,0.137,0.030,2107,2420,3772,0,0,0,0,0,0,26.14,26.29,28.83
$GC,3369,-0.46,-194.6,403.4,-9.5,640,3376,0.00,2.12,0.00,0.000,4,0.000,0.040,2096,3828,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3394,-0.47,-194.6,405.9,-9.3,644,3401,0.00,2.10,0.00,0.000,6,0.000,0.018,2096,2355,3770,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3707,-0.47,-194.6,434.5,-8.8,705,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2355,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-0.48,-194.6,457.3,-7.2,766,4028,0.00,2.38,0.00,0.000,4,0.000,0.041,2086,3839,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4076,-0.50,-194.6,461.7,-7.4,776,4083,0.00,2.12,0.00,0.000,6,0.000,0.018,2086,2359,3766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4389,-0.50,-194.6,490.2,-9.1,837,4397,0.00,2.28,-0.08,0.000,4,0.000,0.035,2086,1010,3793,0,0,0,0,0,0,28.83,26.32,25.48
$GC,4410,-0.51,-194.6,492.4,-10.1,840,4417,0.00,2.47,0.00,0.000,6,0.000,0.031,2085,2428,3793,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4725,-0.51,-194.6,521.1,-8.5,879,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2427,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.51,-194.6,546.4,-8.3,909,5038,0.00,2.10,0.00,0.000,4,0.000,0.041,2076,3828,3790,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5062,-0.53,-194.6,549.3,-8.2,912,5066,0.00,2.10,0.00,0.000,6,0.000,0.019,2076,2363,3789,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5374,-0.53,-194.6,578.3,-9.7,943,5383,0.00,2.33,0.00,0.000,4,0.000,0.041,2064,3819,3787,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5407,-0.53,-194.6,581.5,-10.0,946,5415,0.00,2.08,0.00,0.000,6,0.000,0.019,2065,2373,3787,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5715,-0.53,-194.6,615.9,-10.8,977,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2372,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6017,-0.53,-194.6,644.6,-8.9,1007,6026,0.00,2.35,0.00,0.000,4,0.000,0.044,2053,3853,3783,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6042,-0.53,-194.6,646.8,-9.0,1009,6049,0.00,2.10,0.00,0.000,6,0.000,0.020,2053,2386,3783,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6349,-0.52,-194.6,677.9,-10.5,1040,6358,0.00,2.30,0.00,0.000,4,0.000,0.026,2053,1017,3781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6383,-0.52,-194.6,681.2,-10.3,1043,6391,0.12,2.50,0.00,0.000,6,0.124,0.033,2083,2441,3780,0,0,0,0,0,0,26.03,26.19,28.83
$GC,6694,-0.54,-194.6,707.1,-8.4,1074,6703,0.00,2.08,0.00,0.000,4,0.000,0.043,2073,3822,3778,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6749,-0.56,-194.6,711.7,-8.6,1079,6756,0.00,2.08,0.00,0.000,6,0.000,0.021,2073,2384,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7057,-0.56,-194.6,737.1,-8.0,1110,7066,0.00,2.28,0.00,0.000,4,0.000,0.044,2062,3822,3775,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7090,-0.57,-194.6,739.7,-7.9,1113,7099,0.00,2.05,0.00,0.000,6,0.000,0.021,2062,2396,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7399,-0.57,-194.6,767.1,-9.6,1144,7408,0.00,2.35,0.00,0.000,4,0.000,0.027,2062,1005,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7435,-0.58,-194.6,770.0,-9.4,1147,7441,0.00,2.55,0.00,0.000,6,0.000,0.034,2052,2455,3772,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7742,-0.58,-194.6,802.6,-11.0,1178,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2453,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8044,-0.57,-194.6,834.2,-10.0,1208,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2453,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,-0.57,-194.6,864.3,-10.2,1239,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2453,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8664,-0.57,-194.6,895.1,-10.3,1270,8673,0.00,2.47,0.00,0.000,4,0.000,0.028,2052,1015,3765,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8709,-0.58,-194.6,899.3,-9.6,1274,8716,0.00,2.53,0.00,0.000,6,0.000,0.034,2042,2448,3765,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9018,-0.58,-194.6,930.0,-9.5,1305,9027,0.00,2.10,0.00,0.000,4,0.000,0.046,2031,3832,3763,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9083,-0.58,-194.6,935.7,-8.6,1311,9090,0.10,2.08,0.00,0.000,6,0.134,0.022,2061,2397,3762,0,0,0,0,0,0,26.09,26.32,28.83
$GC,9391,-0.58,-194.6,958.8,-6.8,1342,9400,0.00,2.33,0.00,0.000,4,0.000,0.027,2063,1007,3760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9423,-0.59,-194.6,961.0,-6.8,1345,9433,0.00,2.53,0.00,0.000,6,0.000,0.035,2054,2447,3760,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9734,-0.59,-194.6,984.8,-8.8,1376,9742,0.00,2.10,0.00,0.000,4,0.000,0.046,2044,3817,3758,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9766,-0.60,-194.6,987.6,-8.4,1379,9770,0.00,2.10,0.00,0.000,6,0.000,0.022,2044,2393,3758,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,9796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9796,begin apogee
$GC,9802,-0.20,0.0,990.3,-8.6,1382,10001,0.40,0.05,193.62,1.178,4,0.099,0.044,2181,2447,2977,0,0,0,0,0,0,25.81,24.58,23.34
$STATE,10002,end apogee,CONTROL_FINISHED_OK
$STATE,10002,begin climb
$GC,10005,0.63,194.6,1000.1,0.0,1402,10218,0.77,2.25,203.68,1.155,4,0.058,0.044,2461,3826,2180,0,0,0,0,0,0,25.02,25.03,23.34
$GC,10335,0.57,194.6,955.7,17.3,1435,10342,0.12,2.03,0.00,0.000,6,0.181,0.023,2440,2456,2147,0,0,0,0,0,0,25.48,25.81,28.83
$GC,10643,0.54,194.6,915.6,12.5,1466,10652,0.00,2.12,0.00,0.000,4,0.000,0.043,2440,3832,2142,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10797,0.50,194.6,893.1,15.0,1481,10802,0.15,2.03,0.00,0.000,6,0.169,0.023,2412,2444,2141,0,0,0,0,0,0,25.75,26.17,28.83
$GC,11110,0.49,194.6,858.4,11.0,1512,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2443,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11413,0.48,194.6,824.9,11.2,1542,11422,0.00,2.12,0.00,0.000,4,0.000,0.044,2411,3819,2138,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11468,0.46,194.6,818.0,12.7,1547,11475,0.00,1.98,0.00,0.000,6,0.000,0.024,2422,2456,2138,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11776,0.44,194.6,780.1,12.3,1578,11784,0.00,2.08,0.00,0.000,4,0.000,0.044,2422,3817,2137,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11797,0.42,194.6,777.2,12.5,1580,11807,0.15,1.95,0.00,0.000,6,0.163,0.023,2391,2467,2137,0,0,0,0,0,0,25.82,26.27,28.83
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$STATE,18879,end climb,SURFACE_DEPTH_REACHED
$STATE,18879,begin surface coast
$FINISH,0.4,1.021698
$STATE,18895,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,0
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$10V_AH,9.9,47.131
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330340
$DATA_FILE_SIZE,167086,2681
$CAP_FILE_SIZE,262715,0
$CFSIZE,260165632,180412416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,308.0,1
$GPS,040712,120506,2351.603,12344.607,35,1.3,35,-3.4