version: 66.10
glider: 169
mission: 6
dive: 77
start: 5 3 112 12 32 7
data:
$ID,169
$MISSION,6
$DIVE,77
$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,360
$T_MISSION,390
$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,225
$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,9
$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,-15376.005
$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,2240
$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,2500
$C_ROLL_CLIMB,2525
$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,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
$GPS1,030512,122355,2313.501,12254.042,39,1.2,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-74.0
$GPS2,030512,123143,2313.449,12254.058,12,1.2,17,-3.2
$SPEED_LIMITS,0.159,0.302
$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,104.9,123454,-13.6,-9.167
$D_GRID,5834
$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,-0.61,-219.0,0.0,0.0,0,115,0.00,0.00,-94.85,0.000,2,0.000,0.000,128,2430,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.61,-219.0,3.2,-8.0,17,146,7.50,2.22,-10.00,0.000,4,0.230,0.044,2047,1044,3873,0,0,0,0,0,0,25.59,26.07,26.37
$GC,316,-0.55,-219.0,65.5,-22.8,53,322,0.00,2.42,0.00,0.000,6,0.000,0.034,2035,2528,3874,0,0,0,0,0,0,28.83,26.17,28.83
$GC,514,-0.45,-219.0,129.3,-31.6,90,524,0.17,2.38,0.00,0.000,4,0.187,0.024,2098,1030,3874,0,0,0,0,0,0,25.98,26.27,28.83
$GC,615,-0.45,-219.0,148.2,-11.8,108,622,0.00,2.30,0.00,0.000,6,0.000,0.034,2086,2464,3875,0,0,0,0,0,0,28.83,26.29,28.83
$GC,813,-0.38,-219.0,189.8,-23.3,145,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2463,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-0.32,-219.0,234.8,-23.0,168,1018,0.12,2.22,0.00,0.000,4,0.169,0.027,2136,1040,3875,0,0,0,0,0,0,26.22,26.39,28.83
$GC,1061,-0.32,-219.0,243.3,-13.9,173,1070,0.00,2.28,0.00,0.000,6,0.000,0.033,2134,2452,3875,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1372,-0.32,-219.0,275.8,-10.0,204,1380,0.00,2.12,0.00,0.000,4,0.000,0.041,2124,3825,3875,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1417,-0.33,-219.0,279.7,-9.3,208,1424,0.00,2.12,0.00,0.000,6,0.000,0.019,2124,2369,3875,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1725,-0.33,-219.0,312.2,-9.8,239,1736,0.00,2.30,0.00,0.000,4,0.000,0.041,2114,3821,3875,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1758,-0.33,-219.0,315.6,-10.0,242,1767,0.00,2.10,0.00,0.000,6,0.000,0.019,2113,2389,3875,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2071,-0.32,-219.0,347.4,-10.3,273,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2389,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-0.31,-219.0,381.6,-11.9,304,2390,0.00,2.25,0.00,0.000,4,0.000,0.042,2103,3812,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2444,-0.31,-219.0,388.9,-10.2,310,2453,0.12,2.10,0.00,0.000,6,0.113,0.021,2144,2387,3875,0,0,0,0,0,0,26.41,26.57,28.83
$GC,2755,-0.33,-219.0,411.4,-7.1,341,2764,0.00,2.28,0.00,0.000,4,0.000,0.043,2137,3821,3873,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2788,-0.36,-219.0,413.7,-6.6,344,2796,0.00,2.05,0.00,0.000,6,0.000,0.020,2136,2410,3873,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3097,-0.38,-219.0,435.5,-6.1,375,3101,0.00,2.10,0.00,0.000,4,0.000,0.026,2136,1026,3873,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3122,-0.41,-219.0,436.9,-6.1,377,3129,0.00,2.30,0.00,0.000,6,0.000,0.032,2135,2486,3872,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3431,-0.43,-219.0,454.6,-5.7,408,3440,0.00,2.00,0.00,0.000,4,0.000,0.044,2125,3821,3871,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3486,-0.46,-219.0,457.6,-5.6,413,3495,0.08,2.03,0.00,0.000,6,0.049,0.019,2041,2410,3870,0,0,0,0,0,0,26.53,26.63,28.83
$GC,3794,-0.41,-219.0,512.4,-18.1,444,3806,0.17,2.10,0.00,0.000,4,0.136,0.024,2109,1032,3869,0,0,0,0,0,0,26.36,26.55,28.83
$GC,3871,-0.44,-219.0,519.7,-6.9,451,3879,0.00,2.30,0.00,0.000,6,0.000,0.034,2100,2474,3869,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4180,-0.44,-219.0,543.7,-8.1,482,4189,0.00,2.05,0.00,0.000,4,0.000,0.044,2090,3816,3868,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4215,-0.44,-219.0,546.4,-8.5,485,4222,0.00,2.08,0.00,0.000,6,0.000,0.023,2090,2408,3868,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4522,-0.44,-219.0,574.0,-8.8,516,4526,0.00,2.12,0.00,0.000,4,0.000,0.028,2090,1034,3866,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4555,-0.44,-219.0,576.9,-8.6,519,4564,0.00,2.30,0.00,0.000,6,0.000,0.035,2086,2470,3865,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4877,-0.44,-219.0,606.5,-9.5,548,4882,0.00,2.05,0.00,0.000,4,0.000,0.045,2075,3822,3864,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4929,-0.44,-219.0,610.1,-9.1,550,4936,0.00,2.08,0.00,0.000,6,0.000,0.021,2075,2410,3863,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5239,-0.43,-219.0,638.4,-8.6,566,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2409,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,-0.42,-219.0,664.9,-9.2,581,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2409,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5837,-0.42,-219.0,692.6,-9.3,596,5842,0.00,2.28,0.00,0.000,4,0.000,0.045,2065,3818,3857,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5878,-0.41,-219.0,696.4,-9.2,598,5884,0.10,2.05,0.00,0.000,6,0.096,0.023,2106,2424,3857,0,0,0,0,0,0,26.39,26.60,28.83
$GC,6199,-0.43,-219.0,717.6,-6.3,614,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2423,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6498,-0.44,-219.0,736.8,-6.5,629,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2423,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6797,-0.46,-219.0,755.0,-5.8,644,6802,0.00,2.25,0.00,0.000,4,0.000,0.047,2099,3814,3850,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6831,-0.48,-219.0,756.2,-5.8,645,6837,0.00,2.05,0.00,0.000,6,0.000,0.024,2099,2429,3850,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7137,-0.49,-219.0,774.7,-5.9,661,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2428,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,-0.50,-219.0,794.2,-6.7,676,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2428,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7740,-0.52,-219.0,815.4,-7.3,691,7745,0.00,2.25,0.00,0.000,4,0.000,0.047,2092,3810,3845,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7778,-0.54,-219.0,818.4,-7.2,693,7784,0.00,2.05,0.00,0.000,6,0.000,0.021,2091,2413,3845,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8099,-0.54,-219.0,843.8,-8.2,709,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2411,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,-0.55,-219.0,867.0,-7.4,724,8404,0.00,2.25,0.00,0.000,4,0.000,0.046,2086,3817,3842,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8438,-0.57,-219.0,869.8,-7.1,726,8444,0.00,2.05,0.00,0.000,6,0.000,0.021,2086,2420,3841,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8759,-0.57,-219.0,893.7,-7.5,742,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2419,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9060,-0.58,-219.0,916.1,-7.5,757,9065,0.00,2.25,0.00,0.000,4,0.000,0.048,2076,3819,3839,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9088,-0.59,-219.0,917.5,-7.4,758,9099,0.00,2.03,0.00,0.000,6,0.000,0.021,2077,2438,3838,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9399,-0.59,-219.0,942.7,-8.0,774,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2439,3837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9698,-0.59,-219.0,966.0,-7.7,789,9704,0.00,2.22,0.00,0.000,4,0.000,0.049,2067,3823,3836,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9732,-0.59,-219.0,967.6,-7.9,790,9739,0.00,2.03,0.00,0.000,6,0.000,0.023,2068,2448,3836,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,9976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9976,begin apogee
$GC,9982,-0.20,0.0,990.1,-8.6,803,10204,0.30,0.10,215.00,1.118,4,0.110,0.073,2171,2477,2972,0,0,0,0,0,0,26.23,24.63,23.94
$STATE,10205,end apogee,CONTROL_FINISHED_OK
$STATE,10206,begin climb
$GC,10208,0.61,219.0,1000.3,0.0,814,10446,0.77,2.28,228.95,1.113,4,0.080,0.045,2430,3818,2085,0,0,0,0,0,0,24.78,24.79,23.58
$GC,10559,0.56,219.0,945.2,19.9,832,10563,0.00,2.08,0.00,0.000,6,0.000,0.022,2440,2497,2047,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10874,0.51,219.0,882.8,19.4,848,10880,0.12,2.28,0.00,0.000,4,0.197,0.030,2418,1078,2042,0,0,0,0,0,0,25.58,25.80,28.83
$GC,10975,0.49,219.0,868.0,13.0,853,10980,0.00,2.45,0.00,0.000,6,0.000,0.036,2418,2558,2038,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11294,0.45,219.0,816.0,16.3,869,11300,0.12,1.90,0.00,0.000,4,0.170,0.042,2379,3812,2039,0,0,0,0,0,0,25.89,26.04,28.83
$GC,11418,0.43,219.0,799.1,13.2,875,11422,0.00,1.90,0.00,0.000,6,0.000,0.023,2389,2537,2037,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11731,0.41,219.0,758.6,12.8,891,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2535,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12030,0.39,219.0,719.6,13.0,906,12034,0.00,2.00,0.00,0.000,4,0.000,0.044,2389,3825,2037,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12066,0.37,219.0,716.6,13.0,907,12076,0.15,1.90,0.00,0.000,6,0.161,0.023,2357,2539,2036,0,0,0,0,0,0,26.01,26.29,28.83
$GC,12372,0.37,219.0,685.8,9.3,923,12378,0.00,2.38,0.00,0.000,4,0.000,0.034,2369,1072,2036,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12413,0.38,219.0,682.1,9.2,925,12419,0.00,2.47,0.00,0.000,6,0.000,0.036,2369,2572,2034,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12733,0.38,219.0,648.2,10.6,941,12737,0.00,1.92,0.00,0.000,4,0.000,0.045,2369,3827,2035,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12776,0.38,219.0,643.3,11.0,943,12782,0.00,1.92,0.00,0.000,6,0.000,0.023,2379,2537,2034,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13097,0.37,219.0,608.5,10.6,959,13102,0.00,2.33,0.00,0.000,4,0.000,0.033,2391,1074,2034,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,17666,end climb,SURFACE_DEPTH_REACHED
$STATE,17666,begin surface coast
$FINISH,-0.2,1.023012
$STATE,17698,end surface coast,CONTROL_FINISHED_OK
$STATE,17699,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,8.19723
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,15.397
$10V_AH,10.3,8.427
$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
$DEVICE_SECS,17.600,152.700,881.050,0.000,0.000,30.022,48.167,242.148,0.500,0.000,17.958,3939.944,9816.967,972.238,3087.415,395.866,0.000,2510.192,0.000,2598.970,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,96963,1519
$CAP_FILE_SIZE,189957,0
$CFSIZE,260165632,214597632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.299,291.9,1
$GPS,030512,172930,2313.812,12256.133,40,1.1,40,-3.2