version: 66.10
glider: 169
mission: 6
dive: 225
start: 6 6 112 20 35 37
data:
$ID,169
$MISSION,6
$DIVE,225
$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,-15743.667
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,300
$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
$GPS1,060612,202725,2222.642,12247.028,41,1.1,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-74.5
$GPS2,060612,203513,2222.241,12247.347,10,1.5,15,-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,313.2,158610,-13.8,-8.684
$D_GRID,4944
$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,-194.6,0.0,0.0,0,96,0.00,0.00,-77.12,0.000,2,0.000,0.000,119,2449,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-194.6,3.3,-8.8,13,132,7.95,2.20,-14.18,0.000,4,0.227,0.045,2067,3829,3776,0,0,0,0,0,0,25.18,26.03,26.46
$GC,166,-0.51,-194.6,27.9,-28.4,24,173,0.12,1.98,0.00,0.000,6,0.160,0.019,2108,2461,3776,0,0,0,0,0,0,25.79,26.15,28.83
$GC,359,-0.44,-194.6,75.8,-20.9,61,366,0.00,2.33,0.00,0.000,4,0.000,0.024,2112,1037,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,399,-0.42,-194.6,82.1,-14.2,68,407,0.12,2.58,0.00,0.000,6,0.119,0.031,2141,2540,3777,0,0,0,0,0,0,26.00,26.14,28.83
$GC,592,-0.40,-194.6,100.6,-11.3,105,599,0.00,2.50,0.00,0.000,4,0.000,0.022,2146,1037,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,612,-0.38,-194.6,103.1,-12.4,108,619,0.00,2.55,0.00,0.000,6,0.000,0.030,2136,2536,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,804,-0.37,-194.6,126.6,-13.0,145,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2535,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.35,-194.6,150.1,-11.7,182,1002,0.00,2.50,0.00,0.000,4,0.000,0.023,2137,1027,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1032,-0.36,-194.6,153.8,-10.1,188,1039,0.00,2.53,0.00,0.000,6,0.000,0.032,2128,2518,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1222,-0.34,-194.6,175.8,-12.4,225,1229,0.12,1.98,0.00,0.000,4,0.143,0.040,2161,3825,3778,0,0,0,0,0,0,26.27,26.24,28.83
$GC,1255,-0.36,-194.6,178.7,-8.5,230,1262,0.00,2.00,0.00,0.000,6,0.000,0.019,2161,2424,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1448,-0.44,-194.6,191.1,-6.8,267,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2424,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-0.52,-194.6,204.7,-7.6,299,1653,0.12,2.17,0.00,0.000,4,0.095,0.037,2093,3825,3778,0,0,0,0,0,0,26.51,26.31,28.83
$GC,1700,-0.59,-194.6,209.2,-8.2,304,1707,0.00,1.98,0.00,0.000,6,0.000,0.020,2096,2433,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2008,-0.60,-194.6,238.4,-10.0,335,2016,0.00,2.22,0.00,0.000,4,0.000,0.022,2096,1030,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2110,-0.62,-194.6,248.5,-9.4,345,2119,0.00,2.58,0.00,0.000,6,0.000,0.031,2086,2553,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2420,-0.59,-194.6,285.1,-11.6,376,2429,0.00,2.53,0.00,0.000,4,0.000,0.024,2086,1030,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2475,-0.59,-194.6,290.1,-9.3,381,2482,0.00,2.55,0.00,0.000,6,0.000,0.032,2084,2537,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2784,-0.56,-194.6,328.3,-13.9,412,2794,0.00,2.47,0.00,0.000,4,0.000,0.024,2084,1033,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2860,-0.58,-194.6,337.1,-10.4,419,2866,0.00,2.47,0.00,0.000,6,0.000,0.032,2074,2513,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3168,-0.55,-194.6,376.3,-12.3,450,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2512,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3469,-0.53,-194.6,408.6,-9.3,480,3479,0.10,2.40,0.00,0.000,4,0.161,0.022,2105,1042,3772,0,0,0,0,0,0,26.42,26.39,28.83
$GC,3534,-0.55,-194.6,412.6,-5.0,486,3542,0.00,2.45,0.00,0.000,6,0.000,0.032,2099,2505,3771,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3843,-0.55,-194.6,431.9,-6.9,517,3851,0.00,2.00,0.00,0.000,4,0.000,0.042,2090,3837,3768,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3865,-0.55,-194.6,433.5,-6.9,519,3874,0.00,2.03,0.00,0.000,6,0.000,0.019,2090,2421,3768,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4175,-0.54,-194.6,458.6,-8.2,550,4179,0.00,2.22,0.00,0.000,4,0.000,0.043,2081,3833,3766,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4207,-0.54,-194.6,461.6,-8.7,553,4211,0.00,2.03,0.00,0.000,6,0.000,0.020,2081,2431,3766,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4519,-0.54,-194.6,491.7,-9.5,584,4529,0.00,2.25,-0.10,0.000,4,0.000,0.036,2081,1031,3786,0,0,0,0,0,0,28.83,26.36,25.99
$GC,4553,-0.54,-194.6,494.5,-8.4,587,4562,0.00,2.45,0.00,0.000,6,0.000,0.032,2071,2506,3785,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4863,-0.52,-194.6,521.4,-8.8,618,4872,0.12,1.98,0.00,0.000,4,0.136,0.041,2106,3830,3783,0,0,0,0,0,0,26.34,26.23,28.83
$GC,4906,-0.54,-194.6,524.0,-6.0,622,4915,0.00,2.00,0.00,0.000,6,0.000,0.019,2106,2433,3783,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5217,-0.58,-194.6,538.6,-5.1,653,5226,0.00,2.22,0.00,0.000,4,0.000,0.024,2107,1030,3780,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5402,-0.65,-194.6,552.3,-9.6,671,5412,0.08,2.65,0.00,0.000,6,0.052,0.032,2063,2581,3780,0,0,0,0,0,0,26.23,26.30,28.83
$GC,5713,-0.66,-194.6,583.2,-11.4,702,5717,0.00,1.85,0.00,0.000,4,0.000,0.045,2056,3825,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5795,-0.66,-194.6,593.8,-13.1,710,5798,0.00,1.65,0.00,0.000,6,0.000,0.022,2056,2604,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6108,-0.64,-194.6,640.6,-14.2,728,6113,0.00,2.60,0.00,0.000,4,0.000,0.026,2056,1047,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6228,-0.64,-194.6,654.6,-11.0,734,6233,0.00,2.83,0.00,0.000,6,0.000,0.036,2043,2667,3773,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6548,-0.61,-194.6,693.1,-10.7,750,6554,0.12,2.75,0.00,0.000,4,0.142,0.024,2091,1035,3771,0,0,0,0,0,0,26.29,26.29,28.83
$GC,6658,-0.63,-194.6,698.7,-4.8,755,6668,0.00,2.72,0.00,0.000,6,0.000,0.034,2086,2628,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6968,-0.66,-194.6,708.7,-2.8,771,6973,0.00,2.67,0.00,0.000,4,0.000,0.025,2086,1041,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7017,-0.69,-194.6,710.1,-3.2,773,7026,0.00,2.47,0.00,0.000,6,0.000,0.034,2085,2507,3768,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7328,-0.72,-194.6,722.5,-4.6,789,7334,0.12,2.00,0.00,0.000,4,0.079,0.043,1977,3828,3765,0,0,0,0,0,0,26.55,26.12,28.83
$GC,7382,-0.72,-194.6,726.1,-6.6,791,7391,0.20,1.77,0.00,0.000,6,0.138,0.023,2043,2552,3765,0,0,0,0,0,0,25.86,26.41,28.83
$GC,7688,-0.69,-194.6,763.9,-12.2,807,7694,0.00,2.53,0.00,0.000,4,0.000,0.028,2053,1050,3763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7757,-0.69,-194.6,770.7,-11.6,810,7767,0.00,2.75,0.00,0.000,6,0.000,0.037,2040,2615,3763,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8068,-0.66,-194.6,810.1,-12.6,826,8074,0.00,2.67,0.00,0.000,4,0.000,0.028,2042,1052,3762,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8162,-0.65,-194.6,818.7,-10.7,830,8169,0.12,2.67,0.00,0.000,6,0.126,0.037,2070,2577,3761,0,0,0,0,0,0,26.00,26.15,28.83
$GC,8468,-0.65,-194.6,848.3,-9.0,846,8474,0.00,2.62,0.00,0.000,4,0.000,0.027,2071,1041,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8541,-0.66,-194.6,853.1,-8.2,849,8548,0.00,2.60,0.00,0.000,6,0.000,0.035,2060,2552,3759,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8849,-0.65,-194.6,880.2,-9.3,865,8855,0.00,2.53,0.00,0.000,4,0.000,0.027,2061,1041,3758,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8896,-0.65,-194.6,883.7,-9.0,867,8900,0.00,2.58,0.00,0.000,6,0.000,0.035,2050,2538,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9205,-0.64,-194.6,909.9,-8.2,882,9210,0.00,2.50,0.00,0.000,4,0.000,0.028,2051,1046,3756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9246,-0.63,-194.6,913.3,-8.4,884,9251,0.10,2.55,0.00,0.000,6,0.138,0.037,2074,2526,3756,0,0,0,0,0,0,25.97,26.10,28.83
$GC,9560,-0.63,-194.6,933.5,-6.6,900,9565,0.00,2.47,0.00,0.000,4,0.000,0.026,2074,1044,3755,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9588,-0.63,-194.6,935.0,-6.6,901,9597,0.00,2.53,0.00,0.000,6,0.000,0.037,2070,2513,3755,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9901,-0.63,-194.6,955.2,-5.9,917,9906,0.00,2.00,0.00,0.000,4,0.000,0.050,2060,3821,3754,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9934,-0.63,-194.6,956.4,-5.8,918,9940,0.00,1.98,0.00,0.000,6,0.000,0.022,2063,2456,3753,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10240,-0.63,-194.6,976.0,-6.2,934,10245,0.00,2.33,0.00,0.000,4,0.000,0.026,2064,1044,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10282,-0.63,-194.6,978.5,-6.4,936,10287,0.00,2.53,0.00,0.000,6,0.000,0.035,2054,2517,3752,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10438,begin apogee
$GC,10444,-0.20,0.0,991.0,-8.2,944,10647,0.45,0.00,197.40,1.150,4,0.098,0.000,2211,2516,2978,0,0,0,0,0,0,25.78,28.83,23.49
$STATE,10648,end apogee,CONTROL_FINISHED_OK
$STATE,10648,begin climb
$GC,10652,0.58,194.6,998.6,0.0,954,10868,0.70,2.15,207.98,1.145,4,0.038,0.046,2486,3819,2184,0,0,0,0,0,0,24.77,24.70,23.00
$GC,10891,0.48,194.6,957.1,25.2,966,10897,0.22,2.08,0.00,0.000,6,0.187,0.021,2437,2505,2155,0,0,0,0,0,0,24.21,24.53,28.83
$GC,11214,0.43,194.6,901.5,15.7,982,11219,0.00,2.08,0.00,0.000,4,0.000,0.042,2437,3822,2143,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11343,0.36,194.6,878.6,19.4,988,11347,0.20,1.90,0.00,0.000,6,0.171,0.021,2394,2513,2141,0,0,0,0,0,0,25.53,26.03,28.83
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$STATE,19247,end climb,SURFACE_DEPTH_REACHED
$STATE,19247,begin surface coast
$FINISH,-0.2,1.020689
$STATE,19290,end surface coast,CONTROL_FINISHED_OK
$STATE,19290,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.81
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.1,27.875
$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
$DEVICE_SECS,18.000,230.225,815.375,0.000,0.000,26.943,19.492,262.839,0.000,0.000,16.640,4454.368,10194.359,969.072,3662.167,517.743,0.000,2822.100,0.000,3157.835,0.000,0.543,0.000
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$MEM,324604
$DATA_FILE_SIZE,113678,1798
$CAP_FILE_SIZE,234770,0
$CFSIZE,260165632,197701632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.145,176.7,1
$GPS,070612,015931,2222.376,12245.073,39,1.2,39,-3.0