version: 66.10
glider: 169
mission: 6
dive: 222
start: 6 6 112 4 28 27
data:
$ID,169
$MISSION,6
$DIVE,222
$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,-8
$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,-15739.896
$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
$GPS1,060612,041924,2220.190,12252.300,39,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-73.6
$GPS2,060612,042746,2220.250,12252.285,15,2.1,34,-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,299.1,167762,-13.8,-8.684
$D_GRID,4131
$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,18,-0.58,-194.6,0.0,0.0,0,115,0.00,0.00,-95.12,0.000,2,0.000,0.000,120,2523,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.58,-194.6,3.5,-9.3,17,145,8.00,2.00,-10.05,0.000,4,0.229,0.054,2067,3836,3775,0,0,0,0,0,0,25.14,25.99,26.46
$GC,198,-0.55,-194.6,33.2,-18.3,31,204,0.00,2.00,0.00,0.000,6,0.000,0.021,2074,2471,3776,0,0,0,0,0,0,28.83,26.13,28.83
$GC,390,-0.46,-194.6,79.3,-24.6,68,399,0.15,2.38,0.00,0.000,4,0.161,0.024,2130,1030,3776,0,0,0,0,0,0,25.92,26.17,28.83
$GC,472,-0.48,-194.6,90.6,-8.7,83,479,0.00,2.50,0.00,0.000,6,0.000,0.034,2124,2495,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,663,-0.45,-194.6,115.5,-13.8,120,671,0.00,2.00,0.00,0.000,4,0.000,0.042,2114,3824,3777,0,0,0,0,0,0,28.83,26.16,28.83
$GC,678,-0.42,-194.6,117.5,-13.6,122,685,0.00,2.03,0.00,0.000,6,0.000,0.021,2118,2429,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,871,-0.39,-194.6,147.1,-15.1,159,878,0.12,0.00,0.00,0.000,6,0.147,0.000,2158,2427,3777,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1062,-0.40,-194.6,165.5,-7.5,196,1070,0.00,2.25,0.00,0.000,4,0.000,0.024,2158,1039,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1088,-0.43,-194.6,167.4,-7.2,200,1097,0.00,2.47,0.00,0.000,6,0.000,0.031,2158,2502,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1283,-0.49,-194.6,181.3,-9.5,237,1290,0.12,0.00,0.00,0.000,6,0.116,0.000,2108,2501,3777,0,0,0,0,0,0,26.37,28.83,28.83
$GC,1475,-0.53,-194.6,195.2,-6.5,274,1482,0.00,2.40,0.00,0.000,4,0.000,0.024,2108,1036,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1537,-0.56,-194.6,199.8,-7.7,285,1544,0.00,2.42,0.00,0.000,6,0.000,0.031,2099,2478,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1723,-0.53,-194.6,220.4,-12.9,304,1727,0.00,2.03,0.00,0.000,4,0.000,0.041,2089,3825,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1757,-0.51,-194.6,224.7,-13.2,307,1764,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2412,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2065,-0.48,-194.6,271.8,-15.4,338,2075,0.10,2.20,0.00,0.000,4,0.144,0.022,2121,1035,3776,0,0,0,0,0,0,26.44,26.39,28.83
$GC,2120,-0.50,-194.6,278.0,-11.2,343,2127,0.00,2.40,0.00,0.000,6,0.000,0.031,2117,2473,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2428,-0.50,-194.6,312.5,-11.4,374,2436,0.00,2.10,0.00,0.000,4,0.000,0.043,2106,3828,3775,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2460,-0.50,-194.6,315.8,-10.7,377,2469,0.00,2.05,0.00,0.000,6,0.000,0.018,2106,2400,3774,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2770,-0.50,-194.6,346.3,-9.0,408,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2400,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.50,-194.6,371.9,-8.5,438,3081,0.00,2.28,0.00,0.000,4,0.000,0.042,2097,3824,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3094,-0.50,-194.6,374.1,-8.7,440,3098,0.00,2.05,0.00,0.000,6,0.000,0.020,2097,2405,3771,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3406,-0.50,-194.6,401.2,-8.0,471,3415,0.00,2.20,0.00,0.000,4,0.000,0.027,2097,1038,3769,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3448,-0.51,-194.6,404.3,-7.6,475,3457,0.00,2.38,0.00,0.000,6,0.000,0.033,2092,2461,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3758,-0.51,-194.6,432.4,-10.1,506,3767,0.00,2.10,0.00,0.000,4,0.000,0.041,2082,3832,3766,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3792,-0.51,-194.6,435.7,-10.3,509,3799,0.10,2.08,0.00,0.000,6,0.119,0.020,2114,2403,3766,0,0,0,0,0,0,26.30,26.48,28.83
$GC,4100,-0.52,-194.6,460.9,-8.1,540,4104,0.00,2.17,0.00,0.000,4,0.000,0.025,2114,1041,3764,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4123,-0.54,-194.6,462.6,-8.1,542,4131,0.00,2.40,0.00,0.000,6,0.000,0.032,2112,2475,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4434,-0.55,-194.6,482.6,-5.4,573,4443,0.00,2.10,-0.10,0.000,4,0.000,0.055,2102,3827,3784,0,0,0,0,0,0,28.83,26.22,25.99
$GC,4479,-0.57,-194.6,485.0,-5.5,577,4486,0.00,2.05,0.00,0.000,6,0.000,0.019,2102,2406,3784,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4787,-0.58,-194.6,501.8,-5.9,608,4797,0.00,2.20,0.00,0.000,4,0.000,0.027,2102,1038,3782,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4810,-0.60,-194.6,503.3,-6.1,610,4819,0.00,2.40,0.00,0.000,6,0.000,0.034,2099,2480,3782,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5121,-0.60,-194.6,526.1,-8.5,641,5131,0.00,2.38,0.00,0.000,4,0.000,0.027,2099,1034,3780,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5145,-0.61,-194.6,528.1,-8.5,643,5153,0.00,2.42,0.00,0.000,6,0.000,0.034,2099,2472,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5455,-0.62,-194.6,553.6,-7.9,674,5458,0.00,2.08,0.00,0.000,4,0.000,0.044,2089,3820,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5488,-0.64,-194.6,556.0,-7.4,677,5491,0.00,2.08,0.00,0.000,6,0.000,0.020,2089,2400,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5801,-0.64,-194.6,580.6,-8.0,708,5810,0.00,2.28,0.00,0.000,4,0.000,0.044,2080,3813,3775,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5826,-0.64,-194.6,582.5,-8.2,710,5833,0.00,2.03,0.00,0.000,6,0.000,0.020,2081,2418,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6145,-0.64,-194.6,612.6,-9.8,736,6149,0.00,2.22,0.00,0.000,4,0.000,0.026,2080,1035,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6188,-0.64,-194.6,617.0,-9.9,738,6194,0.00,2.42,0.00,0.000,6,0.000,0.034,2071,2474,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6508,-0.62,-194.6,649.3,-10.1,754,6513,0.00,2.08,0.00,0.000,4,0.000,0.044,2061,3827,3771,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6541,-0.61,-194.6,651.3,-10.0,755,6548,0.00,2.08,0.00,0.000,6,0.000,0.021,2061,2413,3770,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6848,-0.60,-194.6,684.4,-10.8,771,6851,0.00,2.20,0.00,0.000,4,0.000,0.028,2061,1048,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6883,-0.59,-194.6,686.9,-10.8,772,6891,0.12,2.40,0.00,0.000,6,0.125,0.034,2093,2483,3768,0,0,0,0,0,0,26.06,26.21,28.83
$GC,7193,-0.60,-194.6,713.6,-8.2,788,7198,0.00,2.08,0.00,0.000,4,0.000,0.047,2083,3827,3766,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7225,-0.61,-194.6,715.3,-8.1,789,7232,0.00,2.08,0.00,0.000,6,0.000,0.022,2083,2421,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7533,-0.61,-194.6,740.9,-7.7,805,7539,0.00,2.25,0.00,0.000,4,0.000,0.046,2073,3823,3764,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7560,-0.61,-194.6,742.4,-7.7,806,7564,0.00,2.05,0.00,0.000,6,0.000,0.021,2073,2425,3764,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7867,-0.61,-194.6,768.0,-8.1,821,7873,0.00,2.22,0.00,0.000,4,0.000,0.027,2073,1052,3762,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7911,-0.61,-194.6,771.1,-8.0,823,7917,0.00,2.45,0.00,0.000,6,0.000,0.037,2063,2490,3762,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8229,-0.60,-194.6,797.2,-8.1,839,8234,0.00,2.05,0.00,0.000,4,0.000,0.046,2053,3817,3761,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8262,-0.59,-194.6,799.0,-8.1,840,8270,0.10,2.03,0.00,0.000,6,0.125,0.021,2085,2426,3760,0,0,0,0,0,0,26.20,26.40,28.83
$GC,8569,-0.60,-194.6,819.5,-6.6,856,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2426,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,-0.61,-194.6,841.6,-7.6,871,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2425,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,-0.62,-194.6,864.8,-7.6,886,9173,0.00,2.28,0.00,0.000,4,0.000,0.047,2074,3829,3757,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9209,-0.63,-194.6,867.7,-7.5,888,9214,0.00,2.03,0.00,0.000,6,0.000,0.021,2074,2432,3756,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9529,-0.63,-194.6,893.5,-8.0,904,9534,0.00,2.25,0.00,0.000,4,0.000,0.026,2074,1046,3755,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9550,-0.63,-194.6,895.3,-8.1,905,9555,0.00,2.47,0.00,0.000,6,0.000,0.034,2064,2506,3755,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9863,-0.63,-194.6,923.9,-9.3,921,9868,0.00,2.42,0.00,0.000,4,0.000,0.027,2064,1040,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9896,-0.63,-194.6,925.8,-9.4,922,9903,0.00,2.47,0.00,0.000,6,0.000,0.036,2058,2497,3754,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10203,-0.63,-194.6,958.5,-10.3,938,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2495,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10504,-0.62,-194.6,987.1,-8.8,953,10509,0.00,2.40,0.00,0.000,4,0.000,0.028,2058,1047,3752,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10548,-0.20,0.0,990.4,-8.5,955,10749,0.45,0.00,193.93,1.165,4,0.090,0.000,2208,2534,2972,0,0,0,0,0,0,25.86,28.83,23.49
$STATE,10750,end apogee,CONTROL_FINISHED_OK
$STATE,10750,begin climb
$GC,10753,0.58,194.6,996.9,0.0,965,10970,0.68,2.10,208.48,1.142,4,0.040,0.044,2477,3826,2183,0,0,0,0,0,0,24.76,24.70,22.96
$GC,11012,0.49,194.6,951.4,26.1,978,11017,0.20,2.08,0.00,0.000,6,0.184,0.024,2439,2504,2151,0,0,0,0,0,0,24.38,24.72,28.83
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$STATE,18615,end climb,SURFACE_DEPTH_REACHED
$STATE,18616,begin surface coast
$FINISH,-0.5,0.997168
$STATE,18632,end surface coast,CONTROL_FINISHED_OK
$STATE,18632,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.75
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.0,44.825
$10V_AH,10.2,27.480
$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
$DEVICE_SECS,18.125,213.975,829.475,0.000,0.000,31.909,39.801,251.172,0.000,0.000,36.384,4211.915,10139.748,943.138,3401.918,495.193,0.000,2653.868,0.000,2881.453,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324772
$DATA_FILE_SIZE,106834,1700
$CAP_FILE_SIZE,223303,0
$CFSIZE,260165632,198057984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,100.8,1
$GPS,060612,094125,2221.561,12249.816,39,1.1,39,-3.0