version: 66.10
glider: 169
mission: 6
dive: 307
start: 6 24 112 23 6 9
data:
$ID,169
$MISSION,6
$DIVE,307
$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,-15927.987
$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
$GPS1,240612,225637,2348.712,12228.681,37,1.0,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.2
$GPS2,240612,230543,2348.924,12228.706,13,1.1,13,-3.3
$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,137.5,146202,-16.1,-10.312
$D_GRID,3309
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-90.47,0.000,2,0.000,0.000,118,2342,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.64,-194.6,3.3,-7.9,16,145,7.82,2.45,-14.57,0.000,4,0.223,0.047,2048,3829,3775,0,0,0,0,0,0,24.98,26.03,26.51
$GC,205,-0.58,-194.6,36.3,-26.4,32,212,0.00,2.10,0.00,0.000,6,0.000,0.018,2059,2385,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,396,-0.51,-194.6,94.9,-28.3,69,404,0.15,2.30,0.00,0.000,4,0.169,0.019,2115,937,3775,0,0,0,0,0,0,25.95,26.26,28.83
$GC,473,-0.53,-194.6,108.5,-11.4,83,481,0.00,2.53,0.00,0.000,6,0.000,0.031,2102,2443,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,665,-0.50,-194.6,135.8,-15.1,120,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2442,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,857,-0.50,-194.6,160.9,-11.2,157,864,0.00,2.08,0.00,0.000,4,0.000,0.040,2092,3827,3775,0,0,0,0,0,0,28.83,26.24,28.83
$GC,882,-0.50,-194.6,164.1,-12.9,161,888,0.00,2.17,0.00,0.000,6,0.000,0.018,2092,2337,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1074,-0.49,-194.6,186.6,-10.9,198,1080,0.00,2.20,0.00,0.000,4,0.000,0.023,2092,948,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1136,-0.52,-194.6,192.7,-8.9,209,1143,0.00,2.35,0.00,0.000,6,0.000,0.030,2085,2395,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1328,-0.51,-194.6,213.8,-11.5,246,1335,0.00,2.20,0.00,0.000,4,0.000,0.037,2074,3829,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1373,-0.51,-194.6,218.7,-10.1,254,1380,0.12,2.22,0.00,0.000,6,0.125,0.018,2113,2314,3776,0,0,0,0,0,0,26.21,26.48,28.83
$GC,1688,-0.53,-194.6,246.9,-8.8,315,1696,0.00,2.40,0.00,0.000,4,0.000,0.038,2102,3828,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1741,-0.56,-194.6,251.6,-8.4,324,1748,0.00,2.17,0.00,0.000,6,0.000,0.018,2103,2340,3776,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2055,-0.57,-194.6,280.4,-8.1,385,2061,0.00,2.38,0.00,0.000,4,0.000,0.040,2093,3830,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2085,-0.58,-194.6,282.8,-8.3,390,2092,0.00,2.15,0.00,0.000,6,0.000,0.018,2093,2352,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2398,-0.59,-194.6,310.1,-9.9,451,2405,0.00,2.40,0.00,0.000,4,0.000,0.040,2084,3840,3773,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2443,-0.62,-194.6,314.7,-9.1,459,2451,0.00,2.15,0.00,0.000,6,0.000,0.018,2084,2364,3773,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2757,-0.62,-194.6,348.6,-10.7,520,2764,0.00,2.35,0.00,0.000,4,0.000,0.039,2073,3831,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2784,-0.62,-194.6,351.4,-11.0,524,2790,0.00,2.10,0.00,0.000,6,0.000,0.018,2073,2379,3770,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3096,-0.62,-194.6,387.8,-10.8,585,3103,0.00,2.30,0.00,0.000,4,0.000,0.024,2073,946,3768,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3138,-0.65,-194.6,392.1,-9.6,592,3145,0.00,2.50,0.00,0.000,6,0.000,0.031,2063,2439,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3450,-0.64,-194.6,427.3,-10.8,653,3457,0.00,2.10,0.00,0.000,4,0.000,0.040,2052,3832,3766,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3474,-0.64,-194.6,430.1,-11.3,657,3481,0.00,2.12,0.00,0.000,6,0.000,0.018,2052,2379,3765,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3788,-0.63,-194.6,465.0,-10.0,718,3795,0.00,2.30,-0.10,0.000,4,0.000,0.035,2053,952,3785,0,0,0,0,0,0,28.83,26.35,26.00
$GC,3808,-0.62,-194.6,467.3,-11.0,721,3816,0.10,2.45,0.00,0.000,6,0.137,0.029,2076,2423,3785,0,0,0,0,0,0,26.17,26.32,28.83
$GC,4123,-0.63,-194.6,492.2,-8.2,782,4130,0.00,2.17,0.00,0.000,4,0.000,0.042,2065,3837,3783,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4164,-0.65,-194.6,495.5,-7.6,789,4170,0.00,2.17,0.00,0.000,6,0.000,0.019,2065,2357,3782,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4479,-0.65,-194.6,523.0,-8.9,825,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2357,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,-0.65,-194.6,549.6,-8.8,855,4791,0.00,2.35,0.00,0.000,4,0.000,0.041,2054,3826,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4816,-0.66,-194.6,552.8,-8.9,858,4825,0.00,2.12,0.00,0.000,6,0.000,0.019,2053,2374,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5125,-0.65,-194.6,583.4,-10.2,889,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2374,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5427,-0.65,-194.6,616.8,-11.7,919,5436,0.00,2.33,0.00,0.000,4,0.000,0.041,2042,3824,3772,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5462,-0.65,-194.6,621.1,-12.1,922,5469,0.00,2.15,0.00,0.000,6,0.000,0.019,2042,2376,3772,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5770,-0.64,-194.6,658.2,-11.5,953,5779,0.00,2.28,0.00,0.000,4,0.000,0.025,2042,954,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5803,-0.64,-194.6,661.7,-11.0,956,5812,0.08,2.45,0.00,0.000,6,0.096,0.031,2068,2428,3769,0,0,0,0,0,0,26.08,26.25,28.83
$GC,6114,-0.64,-194.6,688.4,-8.5,987,6123,0.00,2.15,0.00,0.000,4,0.000,0.042,2057,3832,3766,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6161,-0.66,-194.6,692.2,-8.4,991,6168,0.00,2.15,0.00,0.000,6,0.000,0.019,2057,2376,3766,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6467,-0.66,-194.6,721.1,-9.3,1022,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2377,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.66,-194.6,749.9,-9.4,1052,6778,0.00,2.35,0.00,0.000,4,0.000,0.043,2046,3822,3762,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6794,-0.66,-194.6,752.4,-9.7,1054,6801,0.00,2.12,0.00,0.000,6,0.000,0.020,2046,2386,3761,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7101,-0.66,-194.6,785.4,-10.5,1085,7110,0.00,2.30,0.00,0.000,4,0.000,0.025,2046,954,3760,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7145,-0.67,-194.6,789.5,-10.0,1089,7153,0.00,2.45,0.00,0.000,6,0.000,0.031,2037,2434,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7454,-0.66,-194.6,824.7,-11.6,1120,7457,0.00,2.17,0.00,0.000,4,0.000,0.043,2026,3838,3758,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7476,-0.65,-194.6,827.5,-12.0,1122,7485,0.12,2.20,0.00,0.000,6,0.129,0.020,2067,2370,3758,0,0,0,0,0,0,26.09,26.39,28.83
$GC,7786,-0.66,-194.6,854.9,-8.5,1153,7795,0.00,2.33,0.00,0.000,4,0.000,0.044,2056,3827,3757,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7819,-0.68,-194.6,857.7,-8.8,1156,7827,0.00,2.12,0.00,0.000,6,0.000,0.020,2056,2385,3756,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8128,-0.68,-194.6,887.1,-9.8,1187,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2385,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,-0.69,-194.6,917.0,-10.4,1217,8440,0.00,2.30,0.00,0.000,4,0.000,0.044,2045,3819,3753,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8474,-0.71,-194.6,921.7,-10.6,1221,8482,0.00,2.10,0.00,0.000,6,0.000,0.021,2045,2398,3753,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8783,-0.71,-194.6,955.9,-10.4,1252,8792,0.00,2.30,0.00,0.000,4,0.000,0.026,2045,953,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8826,-0.72,-194.6,960.4,-10.4,1256,8835,0.00,2.50,0.00,0.000,6,0.000,0.033,2035,2443,3752,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,9095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9095,begin apogee
$GC,9101,-0.20,0.0,990.4,-11.1,1283,9307,0.50,0.10,200.32,1.076,4,0.103,0.073,2205,2484,2978,0,0,0,0,0,0,25.73,24.76,23.48
$STATE,9308,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9311,0.64,194.6,1000.1,0.0,1304,9535,0.73,2.22,211.30,1.072,4,0.041,0.043,2493,3823,2174,0,0,0,0,0,0,25.02,24.97,23.40
$GC,9762,0.55,194.6,910.3,26.3,1349,9770,0.17,1.95,0.00,0.000,6,0.194,0.022,2459,2497,2150,0,0,0,0,0,0,25.46,25.95,28.83
$GC,10069,0.50,194.6,851.9,17.6,1380,10078,0.00,2.45,0.00,0.000,4,0.000,0.027,2472,1060,2146,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10194,0.47,194.6,832.8,14.9,1392,10203,0.12,2.65,0.00,0.000,6,0.148,0.034,2431,2546,2143,0,0,0,0,0,0,25.72,26.09,28.83
$GC,10503,0.44,194.6,787.1,14.3,1423,10506,0.00,1.90,0.00,0.000,4,0.000,0.044,2431,3830,2143,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10629,0.40,194.6,766.0,17.2,1435,10637,0.12,1.88,0.00,0.000,6,0.181,0.021,2408,2517,2142,0,0,0,0,0,0,25.85,26.28,28.83
$GC,10935,0.38,194.6,728.5,11.8,1466,10944,0.00,2.03,0.00,0.000,4,0.000,0.043,2408,3829,2142,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10997,0.35,194.6,719.9,14.7,1472,11001,0.00,1.88,0.00,0.000,6,0.000,0.021,2418,2530,2141,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11309,0.34,194.6,680.6,12.7,1503,11320,0.12,2.00,0.00,0.000,4,0.176,0.041,2379,3847,2141,0,0,0,0,0,0,26.04,26.13,28.83
$GC,11355,0.33,194.6,675.2,12.5,1507,11363,0.00,1.85,0.00,0.000,6,0.000,0.021,2388,2533,2141,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11662,0.33,194.6,642.7,10.4,1538,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2532,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11965,0.33,200.2,611.5,10.1,1568,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2532,2140,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17103,end climb,SURFACE_DEPTH_REACHED
$STATE,17103,begin surface coast
$FINISH,-0.0,1.021328
$STATE,17130,end surface coast,CONTROL_FINISHED_OK
$STATE,17131,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.60
$XPDR_PINGS,1
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$10V_AH,10.0,40.258
$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,324580
$DATA_FILE_SIZE,153408,2452
$CAP_FILE_SIZE,239728,0
$CFSIZE,260165632,186671104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.263,338.2,1
$GPS,250612,035407,2349.643,12229.420,42,1.0,42,-3.3