version: 66.10
glider: 169
mission: 6
dive: 293
start: 6 22 112 1 6 24
data:
$ID,169
$MISSION,6
$DIVE,293
$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,320
$T_MISSION,360
$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,-15910.366
$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
$GPS1,220612,005630,2327.919,12209.707,39,1.8,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-73.2
$GPS2,220612,010558,2328.137,12209.626,13,2.9,32,-3.2
$SPEED_LIMITS,0.179,0.299
$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,109.2,183046,-16.1,-10.312
$D_GRID,4383
$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,-0.64,-194.6,0.0,0.0,0,116,0.00,0.00,-96.05,0.000,2,0.000,0.000,118,2423,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.64,-194.6,3.2,-7.8,17,146,7.90,2.30,-12.25,0.000,4,0.227,0.047,2050,3832,3776,0,0,0,0,0,0,25.02,26.03,26.48
$GC,221,-0.58,-194.6,40.9,-28.0,35,228,0.00,2.15,0.00,0.000,6,0.000,0.021,2060,2399,3776,0,0,0,0,0,0,28.83,26.16,28.83
$GC,413,-0.49,-194.6,96.7,-32.6,72,421,0.17,2.38,0.00,0.000,4,0.175,0.025,2121,946,3776,0,0,0,0,0,0,25.80,26.20,28.83
$GC,481,-0.50,-194.6,109.9,-12.9,84,489,0.00,2.55,0.00,0.000,6,0.000,0.031,2109,2455,3777,0,0,0,0,0,0,28.83,26.18,28.83
$GC,673,-0.49,-194.6,137.4,-13.9,121,680,0.00,2.08,0.00,0.000,4,0.000,0.039,2099,3835,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,754,-0.50,-194.6,147.5,-11.6,136,762,0.00,2.05,0.00,0.000,6,0.000,0.018,2099,2402,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,948,-0.50,-194.6,168.7,-10.5,173,955,0.00,2.35,0.00,0.000,4,0.000,0.024,2099,940,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,978,-0.51,-194.6,171.6,-9.0,178,985,0.00,2.60,0.00,0.000,6,0.000,0.031,2098,2479,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1169,-0.51,-194.6,190.5,-10.7,215,1176,0.00,2.03,0.00,0.000,4,0.000,0.039,2088,3839,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1189,-0.51,-194.6,192.6,-10.7,218,1196,0.00,2.05,0.00,0.000,6,0.000,0.019,2088,2409,3777,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1380,-0.50,-194.6,215.3,-11.8,255,1387,0.00,2.35,0.00,0.000,4,0.000,0.024,2088,947,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1436,-0.53,-194.6,220.8,-8.5,265,1443,0.00,2.58,0.00,0.000,6,0.000,0.031,2084,2470,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1748,-0.52,-194.6,253.3,-10.6,326,1755,0.00,2.05,0.00,0.000,4,0.000,0.040,2074,3838,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1789,-0.53,-194.6,257.2,-9.4,333,1796,0.00,2.05,0.00,0.000,6,0.000,0.018,2074,2406,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2101,-0.52,-194.6,291.3,-10.7,394,2108,0.10,2.38,0.00,0.000,4,0.151,0.024,2105,944,3776,0,0,0,0,0,0,26.41,26.35,28.83
$GC,2163,-0.57,-194.6,296.4,-6.7,405,2169,0.00,2.53,0.00,0.000,6,0.000,0.029,2098,2448,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2476,-0.58,-194.6,320.9,-7.3,466,2482,0.00,2.12,0.00,0.000,4,0.000,0.041,2088,3832,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2541,-0.61,-194.6,325.4,-7.2,478,2548,0.00,2.08,0.00,0.000,6,0.000,0.018,2089,2394,3774,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2856,-0.61,-194.6,350.1,-8.4,539,2863,0.00,2.33,0.00,0.000,4,0.000,0.041,2078,3840,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2892,-0.64,-194.6,353.1,-8.1,545,2899,0.00,2.08,0.00,0.000,6,0.000,0.019,2079,2404,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3204,-0.64,-194.6,381.0,-9.4,606,3211,0.00,2.35,0.00,0.000,4,0.000,0.024,2078,947,3769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3239,-0.66,-194.6,384.0,-8.5,612,3247,0.00,2.58,0.00,0.000,6,0.000,0.031,2068,2471,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3553,-0.65,-194.6,414.4,-9.8,673,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2469,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3864,-0.65,-194.6,445.2,-10.3,734,3870,0.00,0.00,-0.08,0.000,6,0.000,0.000,2068,2469,3791,0,0,0,0,0,0,28.83,28.83,25.49
$GC,4176,-0.65,-194.6,478.2,-10.6,795,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2469,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.65,-194.6,510.2,-10.0,846,4497,0.00,2.47,0.00,0.000,4,0.000,0.026,2068,969,3788,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4523,-0.66,-194.6,513.2,-9.6,849,4530,0.00,2.55,0.00,0.000,6,0.000,0.034,2058,2469,3787,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4831,-0.65,-194.6,544.7,-10.2,880,4835,0.00,2.10,0.00,0.000,4,0.000,0.044,2047,3834,3785,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4853,-0.65,-194.6,547.2,-10.5,882,4862,0.00,2.12,0.00,0.000,6,0.000,0.020,2048,2398,3784,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5164,-0.64,-194.6,583.0,-11.8,913,5172,0.00,2.30,0.00,0.000,4,0.000,0.043,2036,3821,3782,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5206,-0.63,-194.6,588.1,-12.3,917,5215,0.08,2.08,0.00,0.000,6,0.103,0.021,2068,2402,3782,0,0,0,0,0,0,26.17,26.43,28.83
$GC,5517,-0.63,-194.6,621.1,-10.6,948,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2402,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,-0.64,-194.6,650.7,-9.3,978,5829,0.00,2.30,0.00,0.000,4,0.000,0.044,2057,3819,3778,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5855,-0.65,-194.6,654.1,-9.3,981,5862,0.00,2.08,0.00,0.000,6,0.000,0.021,2057,2411,3778,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6162,-0.65,-194.6,683.8,-8.9,1012,6172,0.00,2.33,0.00,0.000,4,0.000,0.026,2057,955,3776,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6191,-0.65,-194.6,685.9,-9.0,1014,6197,0.00,2.58,0.00,0.000,6,0.000,0.032,2046,2480,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6497,-0.64,-194.6,716.0,-10.0,1045,6501,0.00,2.05,0.00,0.000,4,0.000,0.044,2036,3825,3774,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6521,-0.63,-194.6,718.2,-9.7,1047,6530,0.08,2.08,0.00,0.000,6,0.103,0.021,2069,2411,3773,0,0,0,0,0,0,26.14,26.40,28.83
$GC,6830,-0.64,-194.6,741.9,-7.7,1078,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2411,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7132,-0.65,-194.6,766.4,-8.2,1108,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2411,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7444,-0.66,-194.6,793.5,-8.8,1139,7452,0.00,2.30,0.00,0.000,4,0.000,0.044,2058,3827,3768,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7467,-0.68,-194.6,795.7,-8.7,1141,7470,0.00,2.05,0.00,0.000,6,0.000,0.021,2058,2415,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7780,-0.68,-194.6,825.9,-9.5,1172,7789,0.00,2.35,0.00,0.000,4,0.000,0.027,2057,965,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7805,-0.69,-194.6,828.2,-9.5,1174,7812,0.00,2.60,0.00,0.000,6,0.000,0.034,2047,2484,3766,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8112,-0.69,-194.6,859.9,-10.5,1205,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2483,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,-0.69,-194.6,892.0,-10.7,1235,8424,0.00,2.50,0.00,0.000,4,0.000,0.028,2047,967,3764,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8460,-0.70,-194.6,896.6,-10.4,1239,8467,0.00,2.60,0.00,0.000,6,0.000,0.035,2037,2482,3763,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8768,-0.69,-194.6,932.3,-12.0,1270,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2481,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,-0.69,-194.6,967.3,-11.5,1300,9078,0.00,2.53,0.00,0.000,4,0.000,0.028,2037,963,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9125,-0.71,-194.6,973.0,-10.6,1305,9132,0.00,2.60,0.00,0.000,6,0.000,0.037,2027,2475,3761,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9270,begin apogee
$GC,9276,-0.20,0.0,990.1,-11.5,1320,9542,0.52,0.10,258.85,0.948,4,0.103,0.073,2206,2483,2976,0,0,0,0,0,0,25.69,24.72,23.51
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9547,0.64,194.6,1003.7,0.0,1347,9771,0.68,2.53,211.98,1.061,4,0.034,0.026,2495,1052,2174,0,0,0,0,0,0,24.98,24.98,23.15
$GC,9874,0.60,194.6,964.7,16.1,1380,9884,0.00,2.67,0.00,0.000,6,0.000,0.038,2494,2525,2148,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10185,0.53,194.6,902.3,20.1,1411,10194,0.15,2.53,0.00,0.000,4,0.190,0.028,2465,1059,2144,0,0,0,0,0,0,25.65,25.98,28.83
$GC,10251,0.51,194.6,892.5,14.0,1417,10258,0.00,2.67,0.00,0.000,6,0.000,0.037,2465,2546,2142,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10557,0.45,194.6,839.5,17.2,1448,10567,0.12,1.90,0.00,0.000,4,0.184,0.041,2428,3834,2141,0,0,0,0,0,0,25.86,26.05,28.83
$GC,10700,0.41,194.6,816.0,16.2,1462,10704,0.00,1.90,0.00,0.000,6,0.000,0.022,2437,2528,2140,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11014,0.38,194.6,768.8,15.1,1493,11023,0.12,1.98,0.00,0.000,4,0.188,0.042,2402,3830,2140,0,0,0,0,0,0,25.94,26.08,28.83
$GC,11039,0.35,194.6,765.3,14.7,1495,11046,0.00,1.85,0.00,0.000,6,0.000,0.023,2411,2530,2139,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11346,0.33,194.6,728.5,11.8,1526,11355,0.00,1.98,0.00,0.000,4,0.000,0.043,2411,3831,2139,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11373,0.31,194.6,725.6,12.5,1528,11381,0.15,1.83,0.00,0.000,6,0.170,0.022,2380,2535,2139,0,0,0,0,0,0,25.81,26.29,28.83
$GC,11679,0.36,237.9,696.5,8.8,1559,11741,0.00,0.00,59.42,0.799,6,0.000,0.000,2380,2534,2009,0,0,0,0,0,0,28.83,28.83,24.37
$GC,12039,0.43,283.8,665.2,8.7,1595,12101,0.10,2.72,54.58,0.852,4,0.090,0.030,2453,1058,1812,0,0,0,0,0,0,26.20,25.41,24.18
$GC,12127,0.42,283.8,654.2,13.7,1603,12136,0.10,2.85,0.00,0.000,6,0.118,0.036,2416,2597,1795,0,0,0,0,0,0,25.33,25.54,28.83
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$STATE,17676,end climb,SURFACE_DEPTH_REACHED
$STATE,17677,begin surface coast
$FINISH,-0.1,1.021435
$STATE,17694,end surface coast,CONTROL_FINISHED_OK
$STATE,17694,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.85
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.9,38.116
$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
$DEVICE_SECS,17.675,189.800,873.625,0.000,0.000,30.740,23.453,317.193,0.000,0.000,34.816,5966.400,6326.999,1051.224,4368.853,580.229,0.000,3126.918,0.000,3834.055,0.000,0.542,0.000
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$MEM,324580
$DATA_FILE_SIZE,156636,2544
$CAP_FILE_SIZE,245697,0
$CFSIZE,260165632,188583936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,330.1,1
$GPS,220612,060337,2329.521,12210.834,34,1.2,34,-3.2