version: 66.10
glider: 169
mission: 6
dive: 246
start: 6 11 112 9 9 1
data:
$ID,169
$MISSION,6
$DIVE,246
$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,-15771.782
$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,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,110612,085907,2238.793,12216.413,32,1.3,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.6
$GPS2,110612,090837,2238.676,12216.616,37,1.4,78,-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,287.2,98067,-13.8,-8.684
$D_GRID,4922
$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,-194.6,0.0,0.0,0,113,0.00,0.00,-93.80,0.000,2,0.000,0.000,116,2485,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.58,-194.6,3.2,-7.2,16,149,7.97,2.53,-15.00,0.000,4,0.226,0.037,2089,979,3776,0,0,0,0,0,0,25.13,26.11,26.53
$GC,219,-0.55,-194.6,39.5,-22.2,34,226,0.00,2.53,0.00,0.000,6,0.000,0.032,2076,2474,3776,0,0,0,0,0,0,28.83,26.12,28.83
$GC,414,-0.44,-194.6,102.9,-33.3,71,421,0.15,2.03,0.00,0.000,4,0.177,0.035,2109,3837,3776,0,0,0,0,0,0,25.93,26.18,28.83
$GC,434,-0.34,-194.6,109.5,-31.8,74,442,0.15,2.10,0.00,0.000,6,0.163,0.018,2158,2377,3776,0,0,0,0,0,0,25.88,26.35,28.83
$GC,628,-0.31,-194.6,140.6,-15.7,111,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2376,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,819,-0.30,-194.6,163.9,-9.2,148,826,0.00,2.22,0.00,0.000,4,0.000,0.024,2157,972,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,843,-0.31,-194.6,166.2,-9.7,152,850,0.00,2.45,0.00,0.000,6,0.000,0.030,2155,2452,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1036,-0.31,-194.6,185.3,-10.2,189,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2451,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.32,-194.6,201.7,-6.9,225,1240,0.00,2.08,0.00,0.000,4,0.000,0.040,2145,3830,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1255,-0.33,-194.6,203.4,-7.3,227,1264,0.00,2.08,0.00,0.000,6,0.000,0.018,2146,2381,3776,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1564,-0.34,-194.6,228.6,-8.5,258,1567,0.00,2.22,0.00,0.000,4,0.000,0.024,2145,992,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1588,-0.35,-194.6,230.6,-8.6,260,1595,0.00,2.42,0.00,0.000,6,0.000,0.030,2144,2446,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1897,-0.36,-194.6,255.6,-7.6,291,1906,0.00,2.10,0.00,0.000,4,0.000,0.041,2134,3828,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1941,-0.37,-194.6,258.8,-7.4,295,1948,0.00,2.08,0.00,0.000,6,0.000,0.018,2134,2385,3773,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2249,-0.37,-194.6,286.3,-9.7,326,2259,0.00,2.28,0.00,0.000,4,0.000,0.038,2125,3833,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2274,-0.37,-194.6,288.4,-9.5,328,2281,0.00,2.08,0.00,0.000,6,0.000,0.018,2125,2386,3772,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2582,-0.37,-194.6,320.2,-10.3,359,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2384,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,-0.37,-194.6,344.3,-7.2,389,2892,0.00,2.30,0.00,0.000,4,0.000,0.039,2115,3838,3769,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2907,-0.38,-194.6,346.1,-7.3,391,2917,0.08,2.08,0.00,0.000,6,0.078,0.018,2151,2383,3768,0,0,0,0,0,0,26.33,26.53,28.83
$GC,3216,-0.41,-194.6,366.0,-6.8,422,3225,0.00,2.28,0.00,0.000,4,0.000,0.040,2149,3822,3766,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3240,-0.44,-194.6,367.5,-6.7,424,3248,0.00,2.03,0.00,0.000,6,0.000,0.018,2149,2390,3766,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3550,-0.52,-194.6,392.3,-8.7,455,3559,0.12,2.25,0.00,0.000,4,0.107,0.022,2104,970,3764,0,0,0,0,0,0,26.49,26.41,28.83
$GC,3645,-0.58,-194.6,400.1,-8.6,464,3654,0.00,2.47,0.00,0.000,6,0.000,0.028,2103,2476,3763,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3953,-0.62,-194.6,421.6,-7.4,495,3962,0.00,2.03,-0.12,0.000,4,0.000,0.054,2101,3822,3792,0,0,0,0,0,0,28.83,26.27,26.17
$GC,4006,-0.65,-194.6,425.8,-8.3,500,4017,0.10,1.80,0.00,0.000,6,0.089,0.019,2008,2515,3792,0,0,0,0,0,0,26.43,26.55,28.83
$GC,4316,-0.58,-194.6,485.4,-19.5,531,4325,0.22,2.50,0.00,0.000,4,0.140,0.024,2093,997,3790,0,0,0,0,0,0,26.03,26.37,28.83
$GC,4452,-0.59,-194.6,498.2,-7.4,544,4462,0.00,2.62,0.00,0.000,6,0.000,0.032,2089,2539,3790,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4760,-0.58,-194.6,526.6,-9.9,575,4769,0.00,2.58,0.00,0.000,4,0.000,0.024,2089,995,3788,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4795,-0.58,-194.6,529.7,-9.8,578,4802,0.00,2.62,0.00,0.000,6,0.000,0.033,2085,2533,3788,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5103,-0.58,-194.6,562.0,-9.8,609,5112,0.00,2.58,0.00,0.000,4,0.000,0.027,2086,986,3785,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5138,-0.58,-194.6,565.1,-9.6,612,5146,0.00,2.60,0.00,0.000,6,0.000,0.034,2085,2514,3785,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5445,-0.57,-194.6,592.0,-8.8,643,5449,0.00,1.98,0.00,0.000,4,0.000,0.044,2076,3837,3782,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5487,-0.57,-194.6,595.7,-8.9,647,5495,0.00,1.95,0.00,0.000,6,0.000,0.019,2076,2448,3782,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5799,-0.56,-194.6,626.6,-9.9,665,5804,0.00,2.38,0.00,0.000,4,0.000,0.024,2076,978,3780,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5825,-0.55,-194.6,628.5,-9.7,666,5830,0.00,2.60,0.00,0.000,6,0.000,0.033,2068,2516,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6133,-0.53,-194.6,660.3,-10.6,681,6139,0.12,2.50,0.00,0.000,4,0.137,0.024,2112,993,3777,0,0,0,0,0,0,26.31,26.33,28.83
$GC,6175,-0.53,-194.6,663.6,-9.5,683,6180,0.00,2.58,0.00,0.000,6,0.000,0.032,2112,2512,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6489,-0.55,-194.6,683.4,-6.9,699,6494,0.00,2.53,0.00,0.000,4,0.000,0.026,2112,987,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6512,-0.57,-194.6,684.9,-7.0,700,6518,0.00,2.58,0.00,0.000,6,0.000,0.033,2112,2504,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6831,-0.63,-194.6,709.6,-8.1,716,6836,0.12,2.50,0.00,0.000,4,0.081,0.024,2046,982,3772,0,0,0,0,0,0,26.53,26.31,28.83
$GC,6911,-0.64,-194.6,717.7,-9.8,720,6917,0.08,2.70,0.00,0.000,6,0.104,0.037,2069,2546,3771,0,0,0,0,0,0,26.03,26.21,28.83
$GC,7232,-0.63,-194.6,750.0,-9.2,736,7237,0.00,2.62,0.00,0.000,4,0.000,0.028,2069,990,3769,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7280,-0.62,-194.6,753.3,-8.5,738,7289,0.00,2.65,0.00,0.000,6,0.000,0.036,2058,2528,3769,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7591,-0.61,-194.6,782.9,-9.8,754,7596,0.00,2.58,0.00,0.000,4,0.000,0.024,2059,989,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7638,-0.60,-194.6,786.5,-9.5,756,7644,0.12,2.58,0.00,0.000,6,0.125,0.035,2091,2507,3766,0,0,0,0,0,0,26.04,26.20,28.83
$GC,7949,-0.60,-194.6,811.1,-8.0,771,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2505,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8248,-0.61,-194.6,836.7,-8.7,786,8253,0.00,2.53,0.00,0.000,4,0.000,0.027,2092,988,3762,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8275,-0.62,-194.6,838.4,-8.7,787,8285,0.00,2.58,0.00,0.000,6,0.000,0.035,2091,2505,3762,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8587,-0.63,-194.6,863.8,-7.4,803,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2503,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8887,-0.64,-194.6,887.3,-8.2,818,8893,0.00,2.53,0.00,0.000,4,0.000,0.028,2092,999,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8928,-0.66,-194.6,890.8,-8.4,820,8933,0.00,2.58,0.00,0.000,6,0.000,0.038,2089,2495,3759,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9247,-0.67,-194.6,918.2,-8.4,836,9252,0.00,2.05,0.00,0.000,4,0.000,0.049,2081,3826,3758,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9271,-0.68,-194.6,919.8,-8.4,837,9276,0.00,2.05,0.00,0.000,6,0.000,0.021,2081,2424,3757,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9587,-0.69,-194.6,948.3,-9.0,853,9592,0.00,2.33,0.00,0.000,4,0.000,0.028,2081,998,3756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9626,-0.70,-194.6,951.9,-8.8,855,9632,0.00,2.53,0.00,0.000,6,0.000,0.035,2074,2481,3757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9947,-0.70,-194.6,980.6,-8.9,871,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2480,3754,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10065,begin apogee
$GC,10071,-0.20,0.0,990.8,-8.4,877,10267,0.38,0.00,185.18,1.389,4,0.096,0.000,2206,2560,2978,0,0,0,0,1,0,25.92,28.83,22.92
$STATE,10268,end apogee,CONTROL_FINISHED_OK
$STATE,10268,begin climb
$GC,10270,0.58,194.6,1000.3,0.0,887,10488,0.68,2.75,198.93,1.444,4,0.041,0.027,2466,1083,2185,0,0,0,0,1,0,24.50,24.51,22.54
$GC,10515,0.53,194.6,980.3,15.2,899,10521,0.00,2.80,0.00,0.000,6,0.000,0.038,2466,2550,2189,0,0,0,0,0,0,28.83,24.56,28.83
$GC,10831,0.46,194.6,918.8,18.9,915,10837,0.12,2.55,0.00,0.000,4,0.184,0.028,2443,1088,2192,0,0,0,0,0,0,25.67,25.91,28.83
$GC,10935,0.43,194.6,904.1,13.9,920,10941,0.00,2.65,0.00,0.000,6,0.000,0.037,2443,2558,2192,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11254,0.38,194.6,852.2,16.1,936,11260,0.12,1.83,0.00,0.000,4,0.177,0.042,2405,3824,2192,0,0,0,0,0,0,25.89,26.07,28.83
$GC,11382,0.34,194.6,834.2,14.7,942,11386,0.00,1.85,0.00,0.000,6,0.000,0.022,2415,2529,2190,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11689,0.30,194.6,796.9,11.1,957,11694,0.12,2.00,0.00,0.000,4,0.178,0.043,2377,3836,2190,0,0,0,0,0,0,25.98,26.10,28.83
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$STATE,19284,end climb,SURFACE_DEPTH_REACHED
$STATE,19284,begin surface coast
$FINISH,-0.3,1.001258
$STATE,19301,end surface coast,CONTROL_FINISHED_OK
$STATE,19301,begin surface
$SM_CCo,19378,0.00,0.000,0,0,605,582.34
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,10.1,30.503
$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
$DEVICE_SECS,18.900,222.525,782.975,0.000,0.000,30.751,41.985,270.332,0.000,0.000,78.916,4334.701,10516.401,955.867,3586.296,517.363,0.000,2710.706,0.000,2990.912,0.000,0.544,0.000
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$MEM,324644
$DATA_FILE_SIZE,110142,1745
$CAP_FILE_SIZE,229760,0
$CFSIZE,260165632,195411968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.131, 56.6,1
$GPS,110612,143337,2239.982,12214.765,67,1.2,67,-3.0