version: 66.10
glider: 169
mission: 6
dive: 274
start: 6 17 112 14 42 51
data:
$ID,169
$MISSION,6
$DIVE,274
$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,-15819.456
$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
$GPS1,170612,142936,2310.479,12138.588,35,1.6,41,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-77.3
$GPS2,170612,144228,2310.856,12138.542,11,2.8,30,-3.1
$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,109.8,242270,-13.8,-8.684
$D_GRID,1339
$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,15,begin dive
$GC,17,-0.58,-194.6,0.0,0.0,0,89,0.00,0.00,-68.88,0.000,2,0.000,0.000,122,2442,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.58,-194.6,3.6,-9.4,12,118,8.02,2.55,-12.88,0.000,4,0.225,0.035,2091,975,3776,0,0,0,0,0,0,25.02,26.03,26.45
$GC,215,-0.57,-194.6,40.2,-15.0,34,222,0.00,2.60,0.00,0.000,6,0.000,0.031,2079,2466,3778,0,0,0,0,0,0,28.83,26.03,28.83
$GC,408,-0.51,-194.6,78.4,-17.8,71,416,0.12,2.05,0.00,0.000,4,0.156,0.037,2108,3836,3778,0,0,0,0,0,0,26.06,26.09,28.83
$GC,454,-0.50,-194.6,85.3,-12.0,79,462,0.00,2.10,0.00,0.000,6,0.000,0.018,2111,2384,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,646,-0.48,-194.6,108.1,-12.2,116,653,0.00,2.30,0.00,0.000,4,0.000,0.024,2111,978,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,666,-0.46,-194.6,110.5,-10.9,119,674,0.00,2.53,0.00,0.000,6,0.000,0.029,2100,2451,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,859,-0.45,-194.6,131.3,-10.4,156,867,0.00,2.08,0.00,0.000,4,0.000,0.039,2090,3839,3779,0,0,0,0,0,0,28.83,26.19,28.83
$GC,906,-0.45,-194.6,136.4,-10.4,164,913,0.12,2.05,0.00,0.000,6,0.113,0.019,2131,2389,3779,0,0,0,0,0,0,26.17,26.41,28.83
$GC,1098,-0.46,-194.6,152.7,-7.6,201,1105,0.00,2.33,0.00,0.000,4,0.000,0.024,2131,970,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1129,-0.49,-194.6,155.0,-7.4,206,1136,0.00,2.53,0.00,0.000,6,0.000,0.028,2125,2458,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1321,-0.52,-194.6,167.9,-6.6,243,1329,0.00,2.47,0.00,0.000,4,0.000,0.023,2125,978,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1407,-0.58,-194.6,173.8,-6.8,259,1415,0.12,2.80,0.00,0.000,6,0.082,0.028,2067,2578,3779,0,0,0,0,0,0,26.27,26.32,28.83
$GC,1601,-0.59,-194.6,190.6,-8.6,296,1609,0.00,2.75,0.00,0.000,4,0.000,0.023,2067,983,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1656,-0.59,-194.6,196.2,-10.3,306,1663,0.00,2.62,0.00,0.000,6,0.000,0.030,2054,2496,3779,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1848,-0.55,-194.6,224.6,-15.4,343,1856,0.12,2.58,0.00,0.000,4,0.149,0.022,2098,971,3779,0,0,0,0,0,0,26.26,26.34,28.83
$GC,1874,-0.53,-194.6,227.7,-12.3,347,1880,0.00,2.62,0.00,0.000,6,0.000,0.032,2098,2476,3779,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2186,-0.52,-194.6,257.6,-10.3,408,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2475,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-0.51,-194.6,285.4,-8.6,469,2508,0.00,2.53,0.00,0.000,4,0.000,0.022,2098,973,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2547,-0.54,-194.6,289.1,-7.5,477,2554,0.00,2.60,0.00,0.000,6,0.000,0.031,2098,2473,3775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2859,-0.54,-194.6,315.4,-8.6,538,2865,0.00,2.03,0.00,0.000,4,0.000,0.044,2088,3838,3772,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2884,-0.54,-194.6,317.6,-8.6,542,2890,0.00,2.05,0.00,0.000,6,0.000,0.019,2088,2398,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3196,-0.53,-194.6,346.5,-9.2,603,3203,0.00,2.22,0.00,0.000,4,0.000,0.040,2078,3831,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3215,-0.53,-194.6,348.4,-9.1,606,3222,0.00,2.00,0.00,0.000,6,0.000,0.018,2078,2406,3770,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3527,-0.52,-194.6,380.5,-10.0,667,3534,0.00,2.38,0.00,0.000,4,0.000,0.025,2078,976,3768,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3592,-0.53,-194.6,386.8,-9.3,679,3600,0.12,2.58,0.00,0.000,6,0.120,0.031,2110,2468,3768,0,0,0,0,0,0,26.13,26.27,28.83
$GC,3905,-0.59,-194.6,408.9,-6.0,740,3913,0.00,2.50,0.00,0.000,4,0.000,0.023,2111,976,3766,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4124,-0.64,-194.6,426.4,-9.0,782,4132,0.12,2.67,0.00,0.000,6,0.101,0.031,2067,2509,3764,0,0,0,0,0,0,26.15,26.27,28.83
$GC,4441,-0.68,-194.6,449.8,-6.6,843,4449,0.00,2.65,-0.10,0.000,4,0.000,0.032,2068,964,3782,0,0,0,0,0,0,28.83,26.33,25.96
$GC,4467,-0.71,-194.6,451.8,-7.2,847,4474,0.00,2.92,0.00,0.000,6,0.000,0.031,2056,2610,3782,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4781,-0.72,-194.6,474.4,-6.5,908,4788,0.00,2.83,0.00,0.000,4,0.000,0.024,2056,972,3781,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4830,-0.72,-194.6,478.4,-8.3,917,4838,0.00,2.60,0.00,0.000,6,0.000,0.033,2045,2469,3780,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5144,-0.69,-194.6,515.0,-12.8,966,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2467,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5446,-0.66,-194.6,552.7,-12.3,996,5454,0.00,2.50,0.00,0.000,4,0.000,0.025,2045,984,3776,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5500,-0.65,-194.6,559.0,-11.3,1001,5509,0.10,2.55,0.00,0.000,6,0.138,0.034,2066,2461,3776,0,0,0,0,0,0,26.07,26.21,28.83
$GC,5808,-0.64,-194.6,588.1,-10.2,1032,5812,0.00,2.05,0.00,0.000,4,0.000,0.044,2056,3822,3774,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5831,-0.64,-194.6,590.6,-10.7,1034,5840,0.00,2.05,0.00,0.000,6,0.000,0.020,2056,2395,3773,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6141,-0.62,-194.6,624.2,-10.6,1065,6150,0.00,2.30,0.00,0.000,4,0.000,0.025,2056,991,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6166,-0.61,-194.6,626.6,-10.5,1067,6173,0.12,2.53,0.00,0.000,6,0.122,0.032,2086,2456,3771,0,0,0,0,0,0,26.04,26.20,28.83
$GC,6477,-0.62,-194.6,651.6,-8.0,1098,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2455,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6785,-0.62,-194.6,678.4,-9.4,1129,6795,0.00,2.05,0.00,0.000,4,0.000,0.046,2076,3820,3768,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6818,-0.64,-194.6,681.6,-9.2,1132,6827,0.00,2.08,0.00,0.000,6,0.000,0.020,2076,2396,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7128,-0.64,-194.6,711.8,-9.2,1163,7137,0.00,2.33,0.00,0.000,4,0.000,0.025,2076,982,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7155,-0.65,-194.6,713.8,-9.3,1165,7163,0.00,2.55,0.00,0.000,6,0.000,0.032,2072,2461,3766,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7460,-0.65,-194.6,742.3,-8.9,1196,7469,0.00,2.08,0.00,0.000,4,0.000,0.044,2062,3822,3763,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7502,-0.65,-194.6,745.9,-8.9,1200,7511,0.00,2.08,0.00,0.000,6,0.000,0.020,2062,2399,3763,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7812,-0.65,-194.6,775.1,-9.0,1231,7821,0.00,2.33,0.00,0.000,4,0.000,0.027,2062,997,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7837,-0.65,-194.6,777.3,-9.3,1233,7845,0.00,2.55,0.00,0.000,6,0.000,0.034,2052,2462,3762,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8144,-0.64,-194.6,806.3,-9.2,1264,8153,0.00,2.08,0.00,0.000,4,0.000,0.044,2042,3838,3760,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8189,-0.64,-194.6,810.1,-9.3,1268,8195,0.00,2.08,0.00,0.000,6,0.000,0.021,2042,2406,3760,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8496,-0.62,-194.6,841.8,-10.3,1299,8505,0.10,2.35,0.00,0.000,4,0.135,0.024,2076,992,3759,0,0,0,0,0,0,26.42,26.20,28.83
$GC,8531,-0.62,-194.6,844.6,-8.8,1302,8538,0.00,2.55,0.00,0.000,6,0.000,0.034,2069,2463,3759,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8839,-0.62,-194.6,869.1,-8.0,1333,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2461,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9140,-0.62,-194.6,894.8,-8.8,1363,9149,0.00,2.47,0.00,0.000,4,0.000,0.028,2070,996,3757,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9173,-0.64,-194.6,897.9,-9.1,1366,9182,0.00,2.55,0.00,0.000,6,0.000,0.035,2069,2458,3757,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9482,-0.64,-194.6,923.9,-8.2,1397,9486,0.00,2.10,0.00,0.000,4,0.000,0.046,2059,3835,3755,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9514,-0.64,-194.6,926.6,-8.4,1400,9518,0.00,2.10,0.00,0.000,6,0.000,0.021,2060,2396,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9826,-0.64,-194.6,953.4,-9.4,1431,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2395,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10129,-0.64,-194.6,977.2,-5.9,1461,10140,0.00,2.33,0.00,0.000,4,0.000,0.027,2059,990,3753,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10153,-0.64,-194.6,978.6,-5.4,1463,10162,0.00,2.50,0.00,0.000,6,0.000,0.030,2048,2450,3752,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,10310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10310,begin apogee
$GC,10316,-0.20,0.0,990.1,-8.4,1479,10514,0.47,0.10,191.23,1.117,4,0.099,0.073,2211,2507,2977,0,0,0,0,0,0,25.71,24.63,23.42
$STATE,10515,end apogee,CONTROL_FINISHED_OK
$STATE,10515,begin climb
$GC,10517,0.58,194.6,1001.0,0.0,1499,10733,0.65,2.12,204.50,1.076,4,0.040,0.044,2472,3822,2174,0,0,0,0,0,0,24.87,24.82,23.02
$GC,10878,0.50,194.6,937.0,23.3,1535,10887,0.15,1.90,0.00,0.000,6,0.184,0.022,2441,2516,2152,0,0,0,0,0,0,25.21,25.62,28.83
$GC,11188,0.45,194.6,882.7,17.2,1566,11197,0.00,2.53,0.00,0.000,4,0.000,0.029,2454,1085,2147,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11334,0.42,194.6,861.1,14.2,1580,11342,0.15,2.78,0.00,0.000,6,0.156,0.036,2414,2580,2144,0,0,0,0,0,0,25.69,25.99,28.83
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$STATE,18812,end climb,SURFACE_DEPTH_REACHED
$STATE,18812,begin surface coast
$FINISH,-0.4,1.009486
$STATE,18843,end surface coast,CONTROL_FINISHED_OK
$STATE,18844,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.0,55.767
$10V_AH,10.0,34.886
$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
$DEVICE_SECS,18.300,230.125,711.700,0.000,0.000,53.397,84.940,365.865,0.000,0.000,32.590,6473.927,6768.464,966.644,4793.495,632.383,0.000,3167.125,0.000,4107.628,0.000,0.542,0.000
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$MEM,324592
$DATA_FILE_SIZE,169913,2711
$CAP_FILE_SIZE,274530,0
$CFSIZE,260165632,191418368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.101,303.5,1
$GPS,170612,195907,2310.628,12140.358,28,1.1,28,-3.1