version: 66.10
glider: 169
mission: 6
dive: 220
start: 6 5 112 17 51 19
data:
$ID,169
$MISSION,6
$DIVE,220
$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,380
$T_MISSION,420
$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,-15737.38
$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
$GPS1,050612,174231,2219.086,12257.446,37,1.3,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.1
$GPS2,050612,175056,2219.200,12257.434,11,1.6,11,-3.0
$SPEED_LIMITS,0.150,0.281
$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,272.0,176414,-13.8,-8.684
$D_GRID,2147
$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,-0.58,-194.6,0.0,0.0,0,100,0.00,0.00,-80.43,0.000,2,0.000,0.000,116,2525,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.2,-7.7,14,131,7.90,2.00,-14.02,0.000,4,0.224,0.055,2069,3834,3775,0,0,1,0,0,0,25.16,25.42,26.45
$GC,250,-0.53,-194.6,49.4,-22.7,41,258,0.00,1.95,0.00,0.000,6,0.000,0.020,2077,2471,3777,0,0,0,0,0,0,28.83,26.18,28.83
$GC,444,-0.45,-194.6,94.8,-21.9,78,452,0.15,2.38,0.00,0.000,4,0.157,0.024,2134,1041,3777,0,0,0,0,0,0,25.98,26.20,28.83
$GC,541,-0.47,-194.6,106.5,-9.1,96,548,0.00,2.42,0.00,0.000,6,0.000,0.031,2123,2480,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,731,-0.43,-194.6,132.6,-14.3,133,739,0.00,2.38,0.00,0.000,4,0.000,0.022,2123,1033,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,763,-0.42,-194.6,136.8,-13.6,138,769,0.00,2.38,0.00,0.000,6,0.000,0.031,2113,2446,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,954,-0.38,-194.6,163.5,-16.2,175,961,0.12,2.30,0.00,0.000,4,0.157,0.023,2162,1039,3778,0,0,0,0,0,0,26.21,26.32,28.83
$GC,996,-0.40,-194.6,168.3,-8.8,182,1003,0.00,2.28,0.00,0.000,6,0.000,0.031,2160,2413,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1187,-0.41,-194.6,180.2,-6.7,219,1194,0.00,2.17,0.00,0.000,4,0.000,0.041,2149,3834,3778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1233,-0.46,-194.6,183.1,-6.1,227,1240,0.00,2.12,0.00,0.000,6,0.000,0.017,2149,2349,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1426,-0.52,-194.6,198.5,-9.7,264,1434,0.12,2.33,0.00,0.000,4,0.111,0.036,2096,3839,3778,0,0,0,0,0,0,26.44,26.29,28.83
$GC,1504,-0.59,-194.6,205.8,-9.5,272,1513,0.00,2.12,0.00,0.000,6,0.000,0.018,2098,2354,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1813,-0.61,-194.6,231.0,-8.2,303,1821,0.00,2.30,0.00,0.000,4,0.000,0.040,2093,3833,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1885,-0.61,-194.6,237.3,-9.4,310,1893,0.00,1.88,0.00,0.000,6,0.000,0.018,2093,2474,3778,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2196,-0.58,-194.6,276.6,-13.5,341,2205,0.00,2.33,0.00,0.000,4,0.000,0.024,2093,1037,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2292,-0.59,-194.6,286.6,-9.6,350,2298,0.00,2.50,0.00,0.000,6,0.000,0.031,2083,2519,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2599,-0.56,-194.6,325.3,-13.0,381,2608,0.00,2.45,0.00,0.000,4,0.000,0.024,2083,1041,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2651,-0.56,-194.6,331.4,-11.1,386,2660,0.00,2.45,0.00,0.000,6,0.000,0.031,2073,2500,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2963,-0.53,-194.6,367.5,-10.7,417,2973,0.10,2.42,0.00,0.000,4,0.161,0.024,2104,1041,3774,0,0,0,0,0,0,26.43,26.39,28.83
$GC,3027,-0.55,-194.6,372.0,-5.4,423,3036,0.00,2.42,0.00,0.000,6,0.000,0.031,2099,2483,3773,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3337,-0.55,-194.6,395.6,-9.1,454,3345,0.00,2.05,0.00,0.000,4,0.000,0.044,2089,3828,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3358,-0.55,-194.6,397.7,-9.3,456,3368,0.00,2.05,0.00,0.000,6,0.000,0.018,2089,2401,3771,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3669,-0.54,-194.6,431.3,-11.1,487,3678,0.00,2.17,0.00,0.000,4,0.000,0.024,2089,1036,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3694,-0.53,-194.6,433.8,-11.1,489,3700,0.00,2.42,0.00,0.000,6,0.000,0.031,2085,2483,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4001,-0.52,-194.6,464.0,-9.2,520,4011,0.00,2.05,0.00,0.000,4,0.000,0.042,2076,3837,3765,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4027,-0.51,-194.6,466.2,-9.1,522,4034,0.12,2.05,0.00,0.000,6,0.117,0.020,2116,2402,3765,0,0,0,0,0,0,26.25,26.50,28.83
$GC,4335,-0.53,-194.6,483.7,-5.2,553,4345,0.00,2.28,-0.08,0.000,4,0.000,0.054,2105,3834,3791,0,0,0,0,0,0,28.83,26.22,25.50
$GC,4370,-0.55,-194.6,485.5,-5.4,556,4380,0.00,2.03,0.00,0.000,6,0.000,0.021,2105,2410,3791,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4678,-0.59,-194.6,505.7,-7.0,587,4687,0.00,2.17,0.00,0.000,4,0.000,0.024,2105,1037,3790,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4804,-0.67,-194.6,514.9,-8.0,599,4813,0.15,2.65,0.00,0.000,6,0.089,0.032,2050,2573,3788,0,0,0,0,0,0,26.20,26.31,28.83
$GC,5111,-0.68,-194.6,538.9,-7.3,630,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2572,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5415,-0.69,-194.6,560.8,-7.2,660,5425,0.00,2.60,0.00,0.000,4,0.000,0.025,2050,1037,3784,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5458,-0.69,-194.6,564.7,-8.3,664,5468,0.00,2.47,0.00,0.000,6,0.000,0.034,2038,2494,3783,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5772,-0.66,-194.6,607.0,-15.3,693,5777,0.00,2.00,0.00,0.000,4,0.000,0.045,2028,3829,3782,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5790,-0.63,-194.6,610.3,-15.2,694,5797,0.12,2.05,0.00,0.000,6,0.135,0.021,2073,2419,3781,0,0,0,0,0,0,26.13,26.44,28.83
$GC,6113,-0.62,-194.6,646.4,-10.1,710,6118,0.00,2.22,0.00,0.000,4,0.000,0.027,2074,1050,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6166,-0.62,-194.6,650.3,-9.9,712,6174,0.00,2.42,0.00,0.000,6,0.000,0.036,2065,2477,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6471,-0.61,-194.6,681.6,-9.9,728,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2476,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6772,-0.59,-194.6,710.3,-9.6,743,6778,0.00,2.38,0.00,0.000,4,0.000,0.028,2065,1047,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6804,-0.58,-194.6,712.3,-9.7,744,6813,0.10,2.42,0.00,0.000,6,0.137,0.035,2090,2473,3775,0,0,0,0,0,0,26.08,26.21,28.83
$GC,7115,-0.59,-194.6,736.8,-7.5,760,7120,0.00,2.08,0.00,0.000,4,0.000,0.047,2081,3821,3773,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7143,-0.60,-194.6,738.4,-7.5,761,7152,0.00,2.08,0.00,0.000,6,0.000,0.021,2081,2407,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7454,-0.60,-194.6,764.4,-8.1,777,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2407,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7754,-0.60,-194.6,789.6,-8.4,792,7760,0.00,2.28,0.00,0.000,4,0.000,0.046,2070,3816,3768,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7797,-0.61,-194.6,793.0,-8.3,794,7801,0.00,2.05,0.00,0.000,6,0.000,0.021,2070,2416,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8109,-0.61,-194.6,821.6,-8.8,810,8114,0.00,2.25,0.00,0.000,4,0.000,0.028,2070,1047,3766,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8157,-0.61,-194.6,825.0,-8.7,812,8162,0.00,2.42,0.00,0.000,6,0.000,0.037,2060,2471,3766,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8464,-0.60,-194.6,853.0,-8.8,827,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2469,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,-0.59,-194.6,878.0,-8.3,842,8770,0.00,2.38,0.00,0.000,4,0.000,0.028,2060,1048,3763,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8793,-0.59,-194.6,879.7,-8.4,843,8803,0.12,2.42,0.00,0.000,6,0.119,0.036,2094,2462,3763,0,0,0,0,0,0,26.00,26.13,28.83
$GC,9106,-0.61,-194.6,897.3,-5.2,859,9111,0.00,2.10,0.00,0.000,4,0.000,0.046,2084,3825,3762,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9139,-0.63,-194.6,898.3,-5.2,860,9146,0.00,2.10,0.00,0.000,6,0.000,0.021,2084,2398,3762,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9445,-0.64,-194.6,915.9,-5.3,876,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2398,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,-0.65,-194.6,932.7,-5.6,891,9751,0.00,2.38,0.00,0.000,4,0.000,0.046,2074,3818,3760,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9778,-0.67,-194.6,933.9,-5.7,892,9786,0.00,2.08,0.00,0.000,6,0.000,0.022,2074,2408,3759,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10085,-0.67,-194.6,954.5,-6.6,908,10090,0.00,2.22,0.00,0.000,4,0.000,0.029,2074,1047,3759,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10108,-0.68,-194.6,955.8,-6.5,909,10113,0.00,2.42,0.00,0.000,6,0.000,0.036,2069,2465,3759,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10427,-0.68,-194.6,980.1,-8.3,925,10433,0.00,2.10,0.00,0.000,4,0.000,0.046,2059,3818,3757,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10467,-0.69,-194.6,983.6,-8.6,927,10472,0.00,2.05,0.00,0.000,6,0.000,0.022,2059,2418,3756,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,10544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10544,begin apogee
$GC,10551,-0.20,0.0,991.2,-9.4,931,10753,0.43,0.05,195.80,1.165,4,0.094,0.043,2207,2488,2974,0,0,0,0,0,0,25.84,24.46,23.51
$STATE,10754,end apogee,CONTROL_FINISHED_OK
$STATE,10754,begin climb
$GC,10758,0.58,194.6,1002.6,0.0,941,10974,0.68,2.22,207.68,1.153,4,0.041,0.044,2475,3824,2185,0,0,0,0,0,0,24.79,24.73,23.01
$GC,11006,0.49,194.6,968.3,21.8,954,11011,0.20,2.05,0.00,0.000,6,0.185,0.022,2437,2505,2153,0,0,0,0,0,0,24.32,24.65,28.83
$GC,11321,0.44,194.6,916.4,16.0,970,11326,0.00,2.05,0.00,0.000,4,0.000,0.045,2437,3816,2143,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11449,0.38,194.6,893.3,19.6,976,11454,0.17,1.88,0.00,0.000,6,0.175,0.022,2401,2517,2142,0,0,0,0,0,0,25.55,26.01,28.83
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$STATE,18512,end climb,SURFACE_DEPTH_REACHED
$STATE,18512,begin surface coast
$FINISH,0.4,1.022057
$STATE,18543,end surface coast,CONTROL_FINISHED_OK
$STATE,18543,begin surface
$SM_CCo,18620,0.00,0.000,0,0,807,532.79
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.26
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.0,44.353
$10V_AH,10.1,27.225
$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
$DEVICE_SECS,17.975,216.300,777.775,0.000,0.000,32.201,43.604,268.804,0.000,0.000,12.197,4171.169,10108.585,921.386,3391.622,489.114,0.000,2616.367,0.000,2871.910,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,106811,1675
$CAP_FILE_SIZE,224343,0
$CFSIZE,260165632,198287360
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.081,165.8,1
$GPS,050612,230237,2218.386,12254.579,30,1.4,30,-3.0