version: 66.10
glider: 169
mission: 6
dive: 177
start: 5 26 112 22 48 9
data:
$ID,169
$MISSION,6
$DIVE,177
$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,420
$T_MISSION,460
$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,-15565.049
$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,2275
$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,49
$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
$GPS1,260512,223730,2137.350,12348.055,40,1.1,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.7
$GPS2,260512,224744,2137.201,12348.153,16,1.5,16,-2.9
$SPEED_LIMITS,0.136,0.271
$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,311.2,290538,-12.5,-7.857
$D_GRID,5164
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.55,-194.6,0.0,0.0,0,89,0.00,0.00,-67.62,0.000,2,0.000,0.000,119,2488,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.55,-194.6,3.0,-5.7,12,124,7.75,2.05,-14.98,0.000,4,0.222,0.047,2077,3838,3775,0,0,1,0,0,0,25.34,25.63,26.44
$GC,229,-0.47,-194.6,48.5,-26.0,37,236,0.12,1.98,0.00,0.000,6,0.169,0.020,2117,2459,3776,0,0,0,0,0,0,25.82,26.20,28.83
$GC,420,-0.39,-194.6,105.8,-29.5,74,428,0.12,2.30,0.00,0.000,4,0.177,0.022,2162,1033,3776,0,0,0,0,0,0,25.99,26.24,28.83
$GC,481,-0.40,-194.6,114.9,-8.0,85,488,0.00,2.42,0.00,0.000,6,0.000,0.031,2151,2490,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,672,-0.36,-194.6,141.1,-15.3,122,679,0.00,2.03,0.00,0.000,4,0.000,0.039,2141,3834,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,708,-0.33,-194.6,146.5,-15.2,128,715,0.00,2.03,0.00,0.000,6,0.000,0.018,2141,2423,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,899,-0.30,-194.6,172.9,-13.5,165,906,0.12,2.20,0.00,0.000,4,0.140,0.021,2191,1039,3777,0,0,0,0,0,0,26.27,26.36,28.83
$GC,956,-0.35,-194.6,178.0,-6.4,175,963,0.00,2.35,0.00,0.000,6,0.000,0.027,2190,2479,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1149,-0.43,-194.6,197.3,-10.0,212,1156,0.12,2.03,0.00,0.000,4,0.099,0.036,2125,3840,3777,0,0,0,0,0,0,26.47,26.32,28.83
$GC,1215,-0.50,-194.6,203.4,-8.2,220,1224,0.00,2.03,0.00,0.000,6,0.000,0.018,2129,2393,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1525,-0.57,-194.6,227.8,-8.3,251,1535,0.12,2.17,0.00,0.000,4,0.104,0.035,2070,3826,3776,0,0,0,0,0,0,26.50,26.34,28.83
$GC,1598,-0.57,-194.6,234.7,-9.7,258,1608,0.00,2.00,0.00,0.000,6,0.000,0.020,2070,2430,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1909,-0.51,-194.6,292.7,-19.3,289,1919,0.12,2.20,0.00,0.000,4,0.146,0.023,2120,1042,3776,0,0,0,0,0,0,26.32,26.44,28.83
$GC,2017,-0.52,-194.6,304.7,-8.7,299,2024,0.00,2.35,0.00,0.000,6,0.000,0.031,2110,2487,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2324,-0.49,-194.6,340.7,-11.8,330,2333,0.00,2.30,0.00,0.000,4,0.000,0.023,2111,1035,3775,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2398,-0.49,-194.6,347.7,-8.0,337,2406,0.00,2.33,0.00,0.000,6,0.000,0.031,2101,2463,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2708,-0.47,-194.6,378.3,-10.7,368,2717,0.00,2.05,0.00,0.000,4,0.000,0.039,2091,3829,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2730,-0.44,-194.6,380.7,-10.6,370,2735,0.12,2.10,0.00,0.000,6,0.122,0.020,2130,2383,3773,0,0,0,0,0,0,26.28,26.53,28.83
$GC,3043,-0.45,-194.6,404.7,-7.3,401,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2383,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3346,-0.46,-194.6,424.8,-5.9,431,3355,0.00,2.28,0.00,0.000,4,0.000,0.041,2120,3822,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3381,-0.47,-194.6,426.9,-6.1,434,3390,0.00,2.08,0.00,0.000,6,0.000,0.019,2120,2378,3769,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3688,-0.47,-194.6,449.3,-8.2,465,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2378,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.48,-194.6,472.2,-6.8,495,4000,0.00,2.30,-0.08,0.000,4,0.000,0.053,2112,3819,3792,0,0,0,0,0,0,28.83,26.30,25.58
$GC,4027,-0.50,-194.6,474.3,-6.4,498,4035,0.00,2.05,0.00,0.000,6,0.000,0.019,2112,2389,3792,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4336,-0.50,-194.6,494.5,-6.0,529,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2390,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,-0.50,-194.6,512.8,-5.8,560,4655,0.00,2.25,0.00,0.000,4,0.000,0.041,2104,3821,3787,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4679,-0.51,-194.6,514.7,-5.8,563,4687,0.00,2.03,0.00,0.000,6,0.000,0.019,2103,2402,3787,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4988,-0.51,-194.6,533.6,-6.1,594,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2402,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5289,-0.51,-194.6,555.1,-8.1,624,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2402,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5590,-0.51,-194.6,579.8,-7.5,654,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2402,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5910,-0.51,-194.6,603.0,-6.7,684,5915,0.00,2.28,0.00,0.000,4,0.000,0.042,2095,3818,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5950,-0.51,-194.6,605.6,-6.8,686,5954,0.00,2.03,0.00,0.000,6,0.000,0.019,2095,2410,3777,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6272,-0.51,-194.6,629.8,-7.7,702,6276,0.00,2.17,0.00,0.000,4,0.000,0.024,2095,1044,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6307,-0.51,-194.6,631.6,-7.7,703,6314,0.00,2.38,0.00,0.000,6,0.000,0.031,2088,2489,3775,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6616,-0.51,-194.6,657.1,-7.3,719,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2487,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,-0.51,-194.6,678.8,-7.5,734,6918,0.00,2.05,0.00,0.000,4,0.000,0.044,2079,3821,3771,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6937,-0.51,-194.6,680.5,-7.7,735,6943,0.08,2.05,0.00,0.000,6,0.089,0.020,2114,2408,3770,0,0,0,0,0,0,26.25,26.48,28.83
$GC,7259,-0.52,-194.6,701.2,-6.7,751,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2407,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,-0.54,-194.6,720.9,-6.3,766,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2407,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7856,-0.56,-194.6,737.4,-5.0,781,7862,0.00,2.28,0.00,0.000,4,0.000,0.047,2110,3811,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7884,-0.58,-194.6,738.4,-5.0,782,7888,0.00,2.05,0.00,0.000,6,0.000,0.021,2110,2406,3764,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8194,-0.65,-194.6,758.7,-7.4,797,8200,0.12,2.25,0.00,0.000,4,0.099,0.043,2053,3829,3762,0,0,0,0,0,0,26.49,26.15,28.83
$GC,8258,-0.72,-194.6,762.9,-7.1,800,8263,0.00,2.00,0.00,0.000,6,0.000,0.021,2052,2430,3762,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8575,-0.72,-194.6,785.8,-7.2,816,8581,0.00,2.22,0.00,0.000,4,0.000,0.028,2052,1038,3760,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8634,-0.72,-194.6,790.7,-7.9,819,8640,0.00,2.65,0.00,0.000,6,0.000,0.036,2040,2576,3760,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8955,-0.69,-194.6,826.8,-11.8,835,8961,0.00,2.55,0.00,0.000,4,0.000,0.028,2042,1048,3758,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9076,-0.68,-194.6,840.0,-10.7,841,9082,0.00,2.55,0.00,0.000,6,0.000,0.037,2030,2554,3758,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9397,-0.64,-194.6,880.6,-12.4,857,9403,0.12,2.50,0.00,0.000,4,0.148,0.026,2082,1042,3756,0,0,0,0,0,0,26.27,26.22,28.83
$GC,9476,-0.64,-194.6,887.3,-8.1,861,9482,0.00,2.47,0.00,0.000,6,0.000,0.036,2073,2526,3756,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9797,-0.64,-194.6,911.6,-7.9,877,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2524,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10097,-0.63,-194.6,934.7,-7.6,892,10103,0.00,2.42,0.00,0.000,4,0.000,0.028,2075,1052,3753,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10144,-0.63,-194.6,937.7,-7.5,894,10149,0.00,2.47,0.00,0.000,6,0.000,0.037,2066,2516,3753,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10453,-0.62,-194.6,963.2,-8.1,909,10458,0.00,2.40,0.00,0.000,4,0.000,0.027,2066,1052,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10480,-0.61,-194.6,964.9,-8.1,910,10484,0.00,2.47,0.00,0.000,6,0.000,0.037,2059,2510,3752,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10764,begin apogee
$GC,10770,-0.20,0.0,991.7,-9.4,924,10966,0.43,0.00,187.95,1.172,4,0.096,0.000,2209,2508,2970,0,0,0,0,0,0,25.84,28.83,23.75
$STATE,10967,end apogee,CONTROL_FINISHED_OK
$STATE,10967,begin climb
$GC,10970,0.55,194.6,1000.4,0.0,934,11180,0.60,2.53,202.12,1.155,4,0.032,0.028,2470,1060,2184,0,0,0,0,0,0,24.89,24.87,23.30
$GC,11277,0.50,194.6,965.1,15.9,948,11286,0.12,2.62,0.00,0.000,6,0.169,0.038,2439,2535,2153,0,0,0,0,0,0,24.91,25.13,28.83
$GC,11585,0.43,194.6,904.4,19.0,964,11591,0.00,2.47,0.00,0.000,4,0.000,0.030,2452,1080,2150,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11632,0.38,194.6,897.1,18.7,966,11637,0.20,2.62,0.00,0.000,6,0.148,0.038,2395,2560,2148,0,0,0,0,0,0,25.56,25.85,28.83
$GC,11940,0.34,194.6,851.1,14.4,981,11944,0.00,1.90,0.00,0.000,4,0.000,0.046,2395,3823,2147,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11984,0.30,194.6,844.2,15.3,983,11990,0.12,1.88,0.00,0.000,6,0.168,0.022,2371,2523,2146,0,0,0,0,0,0,25.77,26.11,28.83
$GC,12306,0.28,194.6,806.3,11.3,999,12311,0.00,2.00,0.00,0.000,4,0.000,0.046,2372,3813,2146,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12332,0.26,194.6,803.7,11.4,1000,12336,0.00,1.85,0.00,0.000,6,0.000,0.022,2381,2529,2145,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12639,0.24,194.6,764.8,12.3,1015,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2528,2145,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18828,end climb,SURFACE_DEPTH_REACHED
$STATE,18829,begin surface coast
$FINISH,-0.2,1.021286
$STATE,18853,end surface coast,CONTROL_FINISHED_OK
$STATE,18853,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.49
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.3,34.795
$10V_AH,10.1,21.653
$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
$DEVICE_SECS,18.325,179.775,698.225,0.000,0.000,67.279,62.577,255.625,0.000,0.000,17.735,4194.010,10609.427,789.990,3444.379,466.439,0.000,2439.673,0.000,2870.530,0.000,0.544,0.000
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$MEM,330476
$DATA_FILE_SIZE,106806,1667
$CAP_FILE_SIZE,218386,0
$CFSIZE,260165632,203186176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.177,163.5,1
$GPS,270512,040436,2137.645,12346.169,29,0.9,29,-2.9