version: 66.10
glider: 169
mission: 6
dive: 20
start: 4 22 112 17 8 49
data:
$ID,169
$MISSION,6
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,175
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,-14350.519
$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,2035
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,40
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,220412,170007,2230.845,12118.123,37,1.7,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-69.8
$GPS2,220412,170825,2230.974,12118.151,14,1.2,31,-2.9
$SPEED_LIMITS,0.159,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,60.1,61828,-15.6,-9.167
$D_GRID,1263
$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,-0.60,-170.3,0.0,0.0,0,108,0.00,0.00,-87.90,0.000,2,0.000,0.000,120,2209,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.60,-170.3,4.1,-11.8,14,138,6.68,1.90,-9.40,0.000,4,0.227,0.050,1840,994,3676,0,0,0,0,0,0,25.72,26.07,26.35
$GC,189,-0.41,-170.3,43.3,-36.8,27,196,0.25,2.35,0.00,0.000,6,0.148,0.038,1902,2469,3678,0,0,0,0,0,0,25.93,26.10,28.83
$GC,387,-0.30,-170.3,96.7,-24.9,64,393,0.12,0.00,0.00,0.000,6,0.177,0.000,1939,2469,3679,0,0,0,0,0,0,26.09,28.83,28.83
$GC,584,-0.31,-170.3,120.9,-8.7,101,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2469,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,782,-0.35,-170.3,136.2,-8.2,138,791,0.00,2.25,0.00,0.000,4,0.000,0.027,1939,984,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,816,-0.43,-170.3,138.8,-7.7,143,823,0.12,2.30,0.00,0.000,6,0.077,0.033,1848,2474,3680,0,0,0,0,0,0,26.40,26.39,28.83
$GC,1013,-0.35,-170.3,170.7,-15.0,180,1020,0.20,2.08,0.00,0.000,4,0.135,0.042,1905,3825,3681,0,0,0,0,0,0,26.31,26.42,28.83
$GC,1091,-0.41,-170.3,178.0,-6.3,194,1100,0.00,2.08,0.00,0.000,6,0.000,0.021,1905,2398,3681,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1289,-0.44,-170.3,191.4,-7.5,231,1298,0.00,2.10,0.00,0.000,4,0.000,0.028,1906,992,3681,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1326,-0.50,-170.3,194.6,-8.3,237,1333,0.00,2.30,0.00,0.000,6,0.000,0.034,1896,2475,3681,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1523,-0.51,-170.3,213.1,-10.0,262,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2475,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-0.54,-170.3,236.5,-7.1,293,1845,0.10,2.05,0.00,0.000,4,0.090,0.043,1814,3821,3680,0,0,0,0,0,0,26.64,26.53,28.83
$GC,1932,-0.48,-170.3,250.2,-15.6,302,1939,0.20,2.10,0.00,0.000,6,0.134,0.026,1874,2403,3680,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2240,-0.48,-170.3,284.6,-10.0,333,2249,0.00,2.25,0.00,0.000,4,0.000,0.047,1863,3825,3679,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2284,-0.49,-170.3,289.0,-10.3,337,2292,0.00,2.08,0.00,0.000,6,0.000,0.024,1863,2403,3679,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2592,-0.49,-170.3,319.6,-8.5,368,2603,0.00,2.22,0.00,0.000,4,0.000,0.047,1852,3815,3678,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2629,-0.49,-170.3,322.6,-8.8,371,2636,0.00,2.08,0.00,0.000,6,0.000,0.024,1852,2404,3678,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2937,-0.48,-170.3,352.9,-9.4,402,2946,0.00,2.22,0.00,0.000,4,0.000,0.046,1841,3828,3675,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2991,-0.48,-170.3,358.2,-10.3,407,2999,0.12,2.10,0.00,0.000,6,0.127,0.024,1881,2397,3675,0,0,0,0,0,0,26.51,26.64,28.83
$GC,3300,-0.52,-170.3,380.8,-7.0,438,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2397,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3600,-0.55,-170.3,400.9,-6.4,468,3611,0.00,2.22,0.00,0.000,4,0.000,0.045,1870,3821,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3666,-0.61,-170.3,405.2,-6.4,474,3675,0.05,2.10,0.00,0.000,6,0.060,0.025,1783,2399,3670,0,0,0,0,0,0,26.59,26.66,28.83
$GC,3977,-0.52,-170.3,451.8,-16.9,505,3986,0.22,2.08,0.00,0.000,4,0.130,0.028,1869,999,3667,0,0,0,0,0,0,26.48,26.64,28.83
$GC,4002,-0.46,-170.3,455.4,-16.0,507,4009,0.00,2.30,0.00,0.000,6,0.000,0.039,1861,2475,3668,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4311,-0.48,-170.3,482.1,-8.6,538,4315,0.00,2.08,-0.10,0.000,4,0.000,0.063,1850,3814,3688,0,0,0,0,0,0,28.83,26.58,26.41
$GC,4347,-0.49,-170.3,484.9,-8.3,541,4354,0.00,2.08,0.00,0.000,6,0.000,0.025,1850,2404,3688,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4655,-0.49,-170.3,511.7,-8.9,572,4665,0.00,2.22,0.00,0.000,4,0.000,0.049,1839,3813,3686,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4701,-0.51,-170.3,515.9,-9.4,576,4710,0.10,2.10,0.00,0.000,6,0.135,0.025,1870,2389,3686,0,0,0,0,0,0,26.53,26.67,28.83
$GC,5009,-0.54,-170.3,540.0,-7.9,607,5018,0.00,2.28,0.00,0.000,4,0.000,0.048,1860,3825,3683,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5063,-0.60,-170.3,543.8,-7.2,612,5072,0.00,2.08,0.00,0.000,6,0.000,0.026,1859,2407,3683,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5373,-0.62,-170.3,568.0,-8.3,643,5382,0.00,2.10,0.00,0.000,4,0.000,0.032,1859,1006,3681,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5398,-0.65,-170.3,570.0,-8.4,645,5407,0.00,2.28,0.00,0.000,6,0.000,0.038,1854,2474,3680,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5706,-0.66,-170.3,595.3,-8.4,676,5715,0.00,2.08,0.00,0.000,4,0.000,0.052,1844,3810,3679,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5774,-0.69,-170.3,600.7,-8.7,682,5777,0.00,2.08,0.00,0.000,6,0.000,0.025,1844,2405,3678,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6087,-0.69,-170.3,631.5,-9.8,698,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2403,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.69,-170.3,659.0,-8.8,713,6391,0.00,2.20,0.00,0.000,4,0.000,0.050,1833,3816,3675,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6449,-0.70,-170.3,664.4,-8.8,716,6453,0.00,2.08,0.00,0.000,6,0.000,0.027,1833,2406,3674,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6767,-0.70,-170.3,695.8,-10.4,732,6773,0.00,2.22,0.00,0.000,4,0.000,0.051,1823,3809,3672,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6794,-0.70,-170.3,698.1,-10.6,733,6798,0.00,2.10,0.00,0.000,6,0.000,0.027,1823,2401,3672,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7102,-0.69,-170.3,735.4,-12.5,748,7108,0.00,2.22,0.00,0.000,4,0.000,0.050,1812,3820,3670,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7145,-0.67,-170.3,740.4,-12.5,750,7149,0.00,2.12,0.00,0.000,6,0.000,0.026,1812,2398,3670,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7459,-0.64,-170.3,779.7,-12.2,766,7464,0.00,2.25,0.00,0.000,4,0.000,0.050,1801,3823,3669,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7506,-0.62,-170.3,784.9,-12.4,768,7511,0.12,2.12,0.00,0.000,6,0.135,0.028,1838,2401,3669,0,0,0,0,0,0,26.48,26.65,28.83
$GC,7814,-0.62,-170.3,816.2,-9.4,783,7819,0.00,2.25,0.00,0.000,4,0.000,0.050,1827,3817,3667,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7866,-0.62,-170.3,820.0,-9.5,785,7875,0.00,2.10,0.00,0.000,6,0.000,0.026,1827,2406,3667,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8172,-0.62,-170.3,853.0,-10.3,801,8178,0.00,2.25,0.00,0.000,4,0.000,0.053,1817,3824,3666,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8201,-0.62,-170.3,855.1,-10.2,802,8205,0.00,2.12,0.00,0.000,6,0.000,0.029,1817,2409,3665,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8510,-0.60,-170.3,886.3,-9.6,817,8515,0.00,2.20,0.00,0.000,4,0.000,0.054,1806,3809,3664,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8533,-0.58,-170.3,888.1,-9.6,818,8537,0.12,2.10,0.00,0.000,6,0.136,0.029,1843,2408,3664,0,0,0,0,0,0,26.46,26.64,28.83
$GC,8850,-0.60,-170.3,912.8,-7.6,834,8855,0.00,2.25,0.00,0.000,4,0.000,0.054,1832,3817,3663,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8897,-0.62,-170.3,916.3,-7.8,836,8901,0.00,2.12,0.00,0.000,6,0.000,0.028,1832,2404,3662,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9205,-0.62,-170.3,941.7,-8.2,851,9211,0.00,2.20,0.00,0.000,4,0.000,0.052,1823,3805,3662,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9232,-0.62,-170.3,943.2,-8.1,852,9236,0.00,2.10,0.00,0.000,6,0.000,0.028,1823,2404,3661,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9540,-0.62,-170.3,969.0,-8.1,867,9546,0.00,2.25,0.00,0.000,4,0.000,0.052,1812,3816,3660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9600,-0.62,-170.3,974.3,-8.7,870,9605,0.00,2.10,0.00,0.000,6,0.000,0.028,1812,2409,3659,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,9778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9778,begin apogee
$GC,9785,-0.20,0.0,990.3,-8.9,879,9961,0.45,0.08,167.65,1.139,6,0.104,0.095,1970,2520,2972,0,0,0,0,0,0,26.43,24.64,23.91
$STATE,9962,end apogee,CONTROL_FINISHED_OK
$STATE,9962,begin climb
$GC,9965,0.60,170.3,995.0,0.0,888,10153,0.68,2.42,176.70,1.128,4,0.029,0.034,2279,1105,2274,0,0,0,0,0,0,24.96,24.60,23.82
$GC,10243,0.45,170.3,941.7,25.1,902,10249,0.32,2.42,0.00,0.000,6,0.171,0.039,2184,2558,2248,0,0,0,0,0,0,25.20,25.34,28.83
$GC,10563,0.35,170.3,878.0,19.5,918,10569,0.12,1.95,0.00,0.000,4,0.193,0.046,2149,3811,2243,0,0,0,0,0,0,25.75,25.89,28.83
$GC,10657,0.27,170.3,862.7,18.6,922,10667,0.12,1.98,0.00,0.000,6,0.181,0.028,2127,2523,2242,0,0,0,0,0,0,25.81,26.01,28.83
$GC,10963,0.24,170.3,819.1,12.4,938,10969,0.00,2.22,0.00,0.000,4,0.000,0.035,2139,1088,2240,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10986,0.21,170.3,816.7,12.3,939,10991,0.12,2.38,0.00,0.000,6,0.151,0.038,2105,2565,2239,0,0,0,0,0,0,26.01,26.13,28.83
$GC,11301,0.21,170.3,784.2,10.7,955,11306,0.00,1.95,0.00,0.000,4,0.000,0.049,2106,3817,2239,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11327,0.21,170.3,781.9,10.9,956,11331,0.00,1.95,0.00,0.000,6,0.000,0.027,2116,2521,2238,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,17546,end climb,SURFACE_DEPTH_REACHED
$STATE,17546,begin surface coast
$FINISH,-0.4,1.008366
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.97
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.8,3.205
$10V_AH,10.4,2.098
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.350,177.700,696.800,0.000,0.000,28.226,47.989,263.047,3.000,0.000,31.950,4251.637,9332.630,853.853,3253.116,418.267,0.000,2431.369,0.000,2723.824,0.000,27.030,0.000
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$MEM,324624
$DATA_FILE_SIZE,100222,1606
$CAP_FILE_SIZE,205672,0
$CFSIZE,260165632,219983872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.172,257.0,1
$GPS,220412,220400,2232.643,12120.629,39,1.3,44,-2.9