version: 66.10
glider: 169
mission: 6
dive: 290
start: 6 21 112 9 1 33
data:
$ID,169
$MISSION,6
$DIVE,290
$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,-15904.404
$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,2425
$C_ROLL_CLIMB,2520
$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,48
$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
$GPS1,210612,085101,2325.543,12206.113,44,0.9,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.1
$GPS2,210612,090108,2325.770,12205.930,11,2.0,11,-3.2
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,124.5,190143,-13.8,-8.684
$D_GRID,4325
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,117,2371,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-194.6,3.4,-7.9,14,138,8.00,2.38,-13.70,0.000,4,0.226,0.039,2089,950,3776,0,0,0,0,0,0,24.98,26.03,26.46
$GC,193,-0.54,-194.6,31.1,-18.5,29,199,0.00,2.53,0.00,0.000,6,0.000,0.032,2077,2439,3777,0,0,0,0,0,0,28.83,26.02,28.83
$GC,386,-0.46,-194.6,82.6,-28.4,66,393,0.15,0.00,0.00,0.000,6,0.160,0.000,2123,2438,3777,0,0,0,0,0,0,25.95,28.83,28.83
$GC,578,-0.44,-194.6,110.3,-12.1,103,585,0.00,2.45,0.00,0.000,4,0.000,0.024,2123,948,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,598,-0.43,-194.6,112.6,-10.7,106,605,0.00,2.53,0.00,0.000,6,0.000,0.031,2112,2446,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,791,-0.41,-194.6,134.0,-9.4,143,797,0.00,2.12,0.00,0.000,4,0.000,0.040,2102,3825,3777,0,0,0,0,0,0,28.83,26.18,28.83
$GC,826,-0.41,-194.6,137.5,-9.8,149,833,0.12,2.12,0.00,0.000,6,0.115,0.018,2142,2370,3777,0,0,0,0,0,0,26.17,26.42,28.83
$GC,1018,-0.42,-194.6,151.5,-7.7,186,1025,0.00,2.38,0.00,0.000,4,0.000,0.041,2131,3841,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1059,-0.45,-194.6,154.3,-6.6,193,1066,0.00,2.10,0.00,0.000,6,0.000,0.018,2131,2387,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1251,-0.49,-194.6,167.3,-7.0,230,1260,0.00,2.33,0.00,0.000,4,0.000,0.040,2129,3836,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1305,-0.56,-194.6,170.8,-7.1,239,1312,0.00,2.00,0.00,0.000,6,0.000,0.018,2129,2383,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1499,-0.64,-194.6,184.3,-7.3,276,1506,0.15,2.33,0.00,0.000,4,0.093,0.037,2067,3837,3777,0,0,0,0,0,0,26.40,26.25,28.83
$GC,1525,-0.72,-194.6,186.3,-7.2,280,1531,0.00,1.90,0.00,0.000,6,0.000,0.018,2072,2444,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1716,-0.73,-194.6,202.3,-8.7,317,1722,0.00,2.42,0.00,0.000,4,0.000,0.024,2072,957,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1730,-0.75,-194.6,203.7,-9.1,319,1738,0.00,2.85,0.00,0.000,6,0.000,0.031,2061,2597,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2043,-0.71,-194.6,245.9,-14.4,380,2050,0.00,2.80,0.00,0.000,4,0.000,0.024,2062,947,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2123,-0.71,-194.6,255.5,-10.1,395,2131,0.00,2.80,0.00,0.000,6,0.000,0.032,2050,2554,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2436,-0.67,-194.6,298.4,-12.9,456,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2552,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2748,-0.63,-194.6,337.4,-11.8,517,2755,0.00,2.72,0.00,0.000,4,0.000,0.024,2050,947,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2854,-0.63,-194.6,348.0,-10.0,537,2862,0.10,2.78,0.00,0.000,6,0.143,0.033,2070,2547,3773,0,0,0,0,0,0,26.13,26.27,28.83
$GC,3169,-0.61,-194.6,381.9,-11.6,598,3176,0.00,2.67,0.00,0.000,4,0.000,0.025,2070,966,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3204,-0.62,-194.6,385.9,-10.0,604,3211,0.00,2.72,0.00,0.000,6,0.000,0.034,2062,2538,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3516,-0.60,-194.6,422.0,-11.9,665,3523,0.00,2.65,0.00,0.000,4,0.000,0.024,2063,961,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3551,-0.60,-194.6,425.8,-10.8,671,3560,0.10,2.67,0.00,0.000,6,0.139,0.032,2085,2521,3767,0,0,0,0,0,0,26.13,26.27,28.83
$GC,3867,-0.60,-194.6,453.4,-8.2,732,3874,0.00,2.62,0.00,0.000,4,0.000,0.024,2085,945,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3894,-0.61,-194.6,455.6,-8.2,736,3901,0.00,2.67,0.00,0.000,6,0.000,0.034,2085,2508,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4207,-0.61,-194.6,479.3,-6.7,797,4214,0.00,0.00,-0.08,0.000,6,0.000,0.000,2085,2507,3790,0,0,0,0,0,0,28.83,28.83,25.46
$GC,4519,-0.61,-194.6,501.4,-7.2,856,4528,0.00,2.58,0.00,0.000,4,0.000,0.025,2086,954,3789,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4553,-0.62,-194.6,503.8,-7.1,859,4563,0.00,2.62,0.00,0.000,6,0.000,0.034,2085,2499,3788,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4863,-0.62,-194.6,527.1,-7.9,890,4871,0.00,2.00,0.00,0.000,4,0.000,0.045,2077,3827,3786,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4898,-0.63,-194.6,529.7,-7.8,893,4905,0.00,2.00,0.00,0.000,6,0.000,0.020,2077,2436,3786,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5204,-0.63,-194.6,559.2,-9.5,924,5213,0.00,2.38,0.00,0.000,4,0.000,0.028,2076,964,3783,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5240,-0.63,-194.6,562.3,-9.6,927,5248,0.00,2.62,0.00,0.000,6,0.000,0.034,2068,2506,3783,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5547,-0.62,-194.6,594.2,-10.2,958,5556,0.00,2.58,0.00,0.000,4,0.000,0.028,2069,964,3781,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5582,-0.62,-194.6,597.2,-9.6,961,5588,0.00,2.60,0.00,0.000,6,0.000,0.034,2058,2492,3781,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5889,-0.61,-194.6,630.7,-10.8,992,5898,0.00,2.05,0.00,0.000,4,0.000,0.046,2048,3827,3779,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5921,-0.59,-194.6,634.3,-11.2,995,5931,0.12,2.08,0.00,0.000,6,0.116,0.022,2089,2424,3779,0,0,0,0,0,0,26.16,26.41,28.83
$GC,6231,-0.60,-194.6,659.6,-8.0,1026,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2423,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6534,-0.61,-194.6,683.1,-7.6,1056,6543,0.00,2.25,0.00,0.000,4,0.000,0.046,2080,3821,3775,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6588,-0.63,-194.6,687.2,-7.2,1061,6596,0.00,2.03,0.00,0.000,6,0.000,0.023,2080,2436,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6897,-0.63,-194.6,710.2,-7.6,1092,6906,0.00,2.40,0.00,0.000,4,0.000,0.028,2079,953,3773,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6932,-0.65,-194.6,712.4,-7.3,1095,6940,0.00,2.62,0.00,0.000,6,0.000,0.034,2074,2495,3773,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7239,-0.65,-194.6,735.5,-7.8,1126,7247,0.00,2.08,0.00,0.000,4,0.000,0.047,2064,3837,3770,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7261,-0.65,-194.6,737.2,-7.6,1128,7270,0.00,2.05,0.00,0.000,6,0.000,0.022,2064,2432,3770,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7570,-0.65,-194.6,764.4,-9.2,1159,7580,0.00,2.42,0.00,0.000,4,0.000,0.027,2064,948,3768,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7603,-0.66,-194.6,767.3,-8.9,1162,7612,0.00,2.60,0.00,0.000,6,0.000,0.034,2059,2482,3768,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7915,-0.65,-194.6,797.5,-10.4,1193,7923,0.00,2.05,0.00,0.000,4,0.000,0.045,2049,3826,3767,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7946,-0.65,-194.6,800.9,-10.3,1196,7955,0.00,2.08,0.00,0.000,6,0.000,0.021,2049,2427,3766,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8256,-0.64,-194.6,834.3,-10.6,1227,8266,0.00,2.38,0.00,0.000,4,0.000,0.028,2050,954,3765,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8302,-0.64,-194.6,838.8,-10.6,1231,8311,0.10,2.62,0.00,0.000,6,0.136,0.035,2072,2488,3765,0,0,0,0,0,0,25.97,26.10,28.83
$GC,8611,-0.64,-194.6,864.6,-8.4,1262,8619,0.00,2.05,0.00,0.000,4,0.000,0.046,2062,3819,3763,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8644,-0.64,-194.6,867.4,-8.3,1265,8652,0.00,2.05,0.00,0.000,6,0.000,0.022,2062,2426,3763,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8953,-0.64,-194.6,894.0,-8.8,1296,8962,0.00,2.40,0.00,0.000,4,0.000,0.029,2062,942,3763,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8988,-0.65,-194.6,896.8,-8.5,1299,8998,0.00,2.62,0.00,0.000,6,0.000,0.037,2056,2482,3763,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9296,-0.64,-194.6,924.8,-9.1,1330,9305,0.00,2.08,0.00,0.000,4,0.000,0.046,2046,3833,3761,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9339,-0.64,-194.6,928.6,-9.3,1334,9347,0.00,2.05,0.00,0.000,6,0.000,0.022,2046,2433,3761,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9649,-0.63,-194.6,960.2,-10.8,1365,9657,0.00,2.40,0.00,0.000,4,0.000,0.028,2046,969,3760,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9711,-0.64,-194.6,966.3,-9.5,1371,9722,0.08,2.60,0.00,0.000,6,0.097,0.037,2070,2479,3760,0,0,0,0,0,0,25.86,26.03,28.83
$STATE,10018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10018,begin apogee
$GC,10024,-0.20,0.0,990.7,-7.5,1402,10271,0.40,0.10,238.68,0.992,4,0.088,0.073,2213,2484,2974,0,0,0,0,0,0,25.91,24.74,23.61
$STATE,10272,end apogee,CONTROL_FINISHED_OK
$STATE,10272,begin climb
$GC,10274,0.58,194.6,1000.3,0.0,1427,10500,0.65,2.22,212.85,1.089,4,0.042,0.044,2475,3830,2173,0,0,0,0,0,0,25.01,24.94,23.17
$GC,10526,0.50,194.6,963.0,22.4,1452,10534,0.17,2.08,0.00,0.000,6,0.182,0.024,2443,2497,2154,0,0,0,0,0,0,24.52,24.87,28.83
$GC,10834,0.45,194.6,909.8,16.2,1483,10842,0.00,2.08,0.00,0.000,4,0.000,0.044,2443,3828,2144,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10927,0.39,194.6,892.7,18.6,1492,10937,0.15,1.90,0.00,0.000,6,0.180,0.022,2410,2519,2144,0,0,0,0,0,0,25.58,26.06,28.83
$GC,11236,0.36,194.6,850.5,12.7,1523,11244,0.00,2.05,0.00,0.000,4,0.000,0.044,2409,3836,2142,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,19465,end climb,SURFACE_DEPTH_REACHED
$STATE,19465,begin surface coast
$FINISH,0.2,1.021600
$STATE,19482,end surface coast,CONTROL_FINISHED_OK
$STATE,19482,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.74
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.9,37.639
$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
$DEVICE_SECS,17.975,235.175,921.675,0.000,0.000,28.792,37.384,353.383,0.000,0.000,12.416,6523.866,6961.400,1178.834,4795.963,653.408,0.000,3485.052,0.000,4215.949,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,173725,2781
$CAP_FILE_SIZE,276245,0
$CFSIZE,260165632,188968960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.240,334.9,1
$GPS,210612,142837,2326.506,12207.480,36,1.0,36,-3.2