version: 66.10
glider: 169
mission: 6
dive: 266
start: 6 15 112 22 55 18
data:
$ID,169
$MISSION,6
$DIVE,266
$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,-15805.221
$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
$GPS1,150612,224407,2302.247,12133.215,31,1.5,31,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-76.1
$GPS2,150612,225452,2302.514,12133.341,14,2.5,33,-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,276.7,12939,-13.8,-8.684
$D_GRID,1458
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-79.85,0.000,2,0.000,0.000,116,2497,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-194.6,4.0,-11.6,14,129,8.05,2.70,-11.23,0.000,4,0.226,0.039,2090,988,3777,0,0,0,0,0,0,24.98,26.02,26.46
$GC,226,-0.57,-194.6,47.5,-15.3,36,233,0.00,2.58,0.00,0.000,6,0.000,0.033,2077,2466,3779,0,0,0,0,0,0,28.83,26.03,28.83
$GC,417,-0.49,-194.6,90.0,-25.4,73,425,0.12,2.53,0.00,0.000,4,0.170,0.023,2126,985,3778,0,0,0,0,0,0,26.02,26.17,28.83
$GC,480,-0.50,-194.6,100.8,-9.5,84,486,0.00,2.50,0.00,0.000,6,0.000,0.031,2115,2439,3779,0,0,0,0,0,0,28.83,26.15,28.83
$GC,671,-0.50,-194.6,121.1,-9.6,121,679,0.00,2.42,0.00,0.000,4,0.000,0.023,2118,988,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,707,-0.52,-194.6,124.7,-9.1,127,714,0.00,2.45,0.00,0.000,6,0.000,0.031,2112,2427,3780,0,0,0,0,0,0,28.83,26.22,28.83
$GC,899,-0.51,-194.6,144.4,-9.6,164,906,0.00,2.10,0.00,0.000,4,0.000,0.040,2102,3835,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,935,-0.51,-194.6,148.1,-10.7,170,942,0.00,2.10,0.00,0.000,6,0.000,0.018,2102,2370,3780,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1125,-0.49,-194.6,168.8,-11.8,207,1132,0.00,2.25,0.00,0.000,4,0.000,0.023,2102,974,3780,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1171,-0.51,-194.6,173.4,-9.1,215,1178,0.00,2.47,0.00,0.000,6,0.000,0.030,2098,2436,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1362,-0.50,-194.6,195.6,-10.1,252,1369,0.00,2.40,0.00,0.000,4,0.000,0.023,2099,982,3780,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1383,-0.50,-194.6,197.7,-10.6,255,1389,0.00,2.40,0.00,0.000,6,0.000,0.031,2098,2407,3780,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1574,-0.49,-194.6,217.3,-10.6,292,1581,0.00,2.15,0.00,0.000,4,0.000,0.040,2088,3826,3780,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1615,-0.50,-194.6,221.0,-8.6,299,1622,0.00,2.12,0.00,0.000,6,0.000,0.018,2088,2351,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1926,-0.49,-194.6,252.2,-9.3,360,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2351,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.48,-194.6,285.1,-10.1,421,2245,0.10,2.38,0.00,0.000,4,0.143,0.038,2107,3839,3776,0,0,0,0,0,0,26.45,26.24,28.83
$GC,2268,-0.48,-194.6,288.0,-9.1,426,2275,0.00,2.12,0.00,0.000,6,0.000,0.019,2108,2366,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2580,-0.48,-194.6,313.2,-8.6,487,2588,0.00,2.25,0.00,0.000,4,0.000,0.024,2107,982,3774,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2602,-0.49,-194.6,315.1,-8.5,490,2609,0.00,2.47,0.00,0.000,6,0.000,0.031,2099,2438,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2914,-0.49,-194.6,342.0,-8.4,551,2921,0.00,2.10,0.00,0.000,4,0.000,0.041,2089,3827,3772,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2965,-0.51,-194.6,346.2,-7.6,560,2972,0.00,2.08,0.00,0.000,6,0.000,0.018,2090,2382,3771,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3277,-0.51,-194.6,374.4,-9.7,621,3285,0.00,2.30,0.00,0.000,4,0.000,0.041,2081,3829,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3308,-0.51,-194.6,377.7,-10.0,626,3315,0.00,2.08,0.00,0.000,6,0.000,0.018,2081,2385,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3620,-0.50,-194.6,409.0,-10.2,687,3627,0.10,2.30,0.00,0.000,4,0.136,0.024,2114,973,3767,0,0,0,0,0,0,26.46,26.32,28.83
$GC,3665,-0.54,-194.6,412.8,-7.1,695,3672,0.00,2.50,0.00,0.000,6,0.000,0.031,2112,2449,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3979,-0.60,-194.6,433.5,-6.3,756,3986,0.00,2.42,0.00,0.000,4,0.000,0.024,2112,979,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4097,-0.65,-194.6,441.1,-7.5,778,4105,0.15,2.62,-0.10,0.000,6,0.123,0.031,2065,2505,3787,0,0,0,0,0,0,26.04,26.27,25.59
$GC,4413,-0.67,-194.6,461.8,-7.7,839,4420,0.00,1.95,0.00,0.000,4,0.000,0.041,2057,3831,3786,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4464,-0.67,-194.6,465.9,-8.9,848,4470,0.00,1.73,0.00,0.000,6,0.000,0.020,2057,2529,3785,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4775,-0.65,-194.6,499.6,-11.0,909,4782,0.00,2.62,0.00,0.000,4,0.000,0.027,2057,991,3783,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4854,-0.66,-194.6,507.2,-9.0,917,4861,0.00,2.88,0.00,0.000,6,0.000,0.035,2044,2612,3782,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5161,-0.63,-194.6,544.6,-11.9,948,5170,0.00,2.78,0.00,0.000,4,0.000,0.027,2048,998,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5236,-0.63,-194.6,551.9,-8.8,955,5245,0.12,2.83,0.00,0.000,6,0.131,0.035,2079,2586,3779,0,0,0,0,0,0,26.03,26.20,28.83
$GC,5543,-0.63,-194.6,577.0,-7.9,986,5552,0.00,2.75,0.00,0.000,4,0.000,0.028,2079,1000,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5580,-0.63,-194.6,579.1,-7.2,989,5587,0.00,2.80,0.00,0.000,6,0.000,0.034,2069,2575,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5886,-0.62,-194.6,606.4,-9.1,1020,5895,0.00,2.75,0.00,0.000,4,0.000,0.025,2069,983,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5930,-0.63,-194.6,610.4,-9.3,1024,5939,0.00,2.75,0.00,0.000,6,0.000,0.034,2058,2540,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6238,-0.61,-194.6,641.5,-10.2,1055,6248,0.00,2.67,0.00,0.000,4,0.000,0.026,2058,993,3773,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6284,-0.61,-194.6,645.5,-9.5,1059,6292,0.10,2.72,0.00,0.000,6,0.135,0.036,2081,2528,3773,0,0,0,0,0,0,26.05,26.17,28.83
$GC,6591,-0.61,-194.6,666.4,-7.1,1090,6600,0.00,2.62,0.00,0.000,4,0.000,0.025,2081,996,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6628,-0.62,-194.6,668.6,-7.3,1093,6634,0.00,2.70,0.00,0.000,6,0.000,0.034,2070,2525,3771,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6934,-0.62,-194.6,691.0,-7.5,1124,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2523,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7236,-0.62,-194.6,713.4,-7.7,1154,7244,0.00,2.65,0.00,0.000,4,0.000,0.027,2070,989,3767,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7288,-0.64,-194.6,717.6,-7.5,1159,7298,0.00,2.67,0.00,0.000,6,0.000,0.035,2059,2511,3766,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7598,-0.63,-194.6,745.8,-9.7,1190,7606,0.00,2.60,0.00,0.000,4,0.000,0.028,2059,996,3765,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7650,-0.63,-194.6,750.6,-9.2,1195,7660,0.00,2.62,0.00,0.000,6,0.000,0.035,2050,2497,3765,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7960,-0.62,-194.6,783.6,-10.7,1226,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2495,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8262,-0.60,-194.6,814.4,-9.8,1256,8268,0.10,0.00,0.00,0.000,6,0.155,0.000,2078,2496,3761,0,0,0,0,0,0,26.39,28.83,28.83
$GC,8570,-0.61,-194.6,837.7,-7.5,1287,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2495,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8873,-0.62,-194.6,858.7,-6.2,1317,8881,0.00,2.58,0.00,0.000,4,0.000,0.027,2079,991,3759,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8928,-0.65,-194.6,862.3,-6.7,1322,8934,0.00,2.62,0.00,0.000,6,0.000,0.036,2074,2489,3759,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9235,-0.65,-194.6,883.3,-7.0,1353,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2487,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9536,-0.66,-194.6,902.2,-5.6,1383,9546,0.00,2.55,0.00,0.000,4,0.000,0.028,2075,1000,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9583,-0.68,-194.6,904.7,-5.6,1387,9591,0.00,2.60,0.00,0.000,6,0.000,0.036,2070,2477,3757,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9889,-0.68,-194.6,921.6,-5.0,1418,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2475,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10192,-0.69,-194.6,938.7,-6.5,1448,10201,0.00,2.53,0.00,0.000,4,0.000,0.028,2070,1000,3754,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10217,-0.70,-194.6,940.4,-6.5,1450,10224,0.00,2.60,0.00,0.000,6,0.000,0.037,2070,2473,3754,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10525,-0.70,-194.6,963.0,-7.5,1481,10534,0.00,2.10,0.00,0.000,4,0.000,0.049,2060,3823,3753,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10550,-0.71,-194.6,964.8,-7.5,1483,10558,0.00,2.05,0.00,0.000,6,0.000,0.021,2060,2406,3752,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10857,-0.71,-194.6,989.1,-8.5,1514,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2406,3753,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10875,begin apogee
$GC,10881,-0.20,0.0,990.9,-8.7,1516,11080,0.43,0.05,193.00,1.116,4,0.091,0.048,2208,2517,2974,0,0,0,0,0,0,25.83,24.45,23.42
$STATE,11081,end apogee,CONTROL_FINISHED_OK
$STATE,11081,begin climb
$GC,11084,0.58,194.6,1001.6,0.0,1536,11300,0.68,2.67,207.95,1.082,4,0.040,0.028,2485,1089,2184,0,0,0,0,0,0,24.87,24.84,23.00
$GC,11378,0.54,194.6,968.9,16.5,1565,11385,0.15,2.80,0.00,0.000,6,0.166,0.036,2448,2553,2152,0,0,0,0,0,0,24.83,25.11,28.83
$GC,11684,0.48,194.6,913.1,18.4,1596,11693,0.00,2.62,0.00,0.000,4,0.000,0.028,2461,1084,2147,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,19391,end climb,SURFACE_DEPTH_REACHED
$STATE,19391,begin surface coast
$FINISH,-0.4,1.001005
$STATE,19429,end surface coast,CONTROL_FINISHED_OK
$STATE,19429,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.37
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.0,54.212
$10V_AH,10.1,33.649
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,324620
$DATA_FILE_SIZE,170248,2752
$CAP_FILE_SIZE,274230,0
$CFSIZE,260165632,192540672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 29.3,1
$GPS,160612,042131,2303.767,12131.383,40,1.4,40,-3.0