version: 66.10
glider: 169
mission: 6
dive: 79
start: 5 3 112 22 46 52
data:
$ID,169
$MISSION,6
$DIVE,79
$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,360
$T_MISSION,390
$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,225
$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,9
$N_NOCOMM,2
$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,-15378.524
$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,330
$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
$GPS1,030512,223355,2314.304,12258.916,37,1.3,37,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-73.4
$GPS2,030512,224626,2314.321,12258.864,12,1.9,12,-3.2
$SPEED_LIMITS,0.159,0.302
$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,103.4,115800,-13.6,-9.167
$D_GRID,5949
$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,16,-0.61,-219.0,0.0,0.0,0,108,0.00,0.00,-88.53,0.000,2,0.000,0.000,122,2445,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.61,-219.0,3.7,-10.0,16,139,7.70,2.25,-8.50,0.000,4,0.230,0.037,2083,1026,3875,0,0,0,0,0,0,25.55,26.07,26.33
$GC,146,-0.35,-219.0,23.4,-54.1,21,154,0.32,2.45,0.00,0.000,6,0.184,0.034,2157,2524,3876,0,0,0,0,0,0,25.70,26.03,28.83
$GC,342,-0.32,-219.0,65.1,-15.7,58,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2523,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,536,-0.30,-219.0,94.5,-13.3,95,545,0.00,2.35,0.00,0.000,4,0.000,0.026,2167,1037,3877,0,0,0,0,0,0,28.83,26.27,28.83
$GC,594,-0.35,-219.0,99.7,-4.7,105,601,0.00,2.38,0.00,0.000,6,0.000,0.030,2161,2514,3877,0,0,0,0,0,0,28.83,26.29,28.83
$GC,789,-0.34,-219.0,115.5,-9.4,142,796,0.00,2.03,0.00,0.000,4,0.000,0.041,2151,3831,3878,0,0,0,0,0,0,28.83,26.31,28.83
$GC,821,-0.35,-219.0,118.2,-9.3,147,827,0.00,2.08,0.00,0.000,6,0.000,0.018,2151,2410,3877,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1015,-0.34,-219.0,138.4,-11.4,184,1021,0.00,2.10,0.00,0.000,4,0.000,0.024,2151,1032,3878,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1061,-0.38,-219.0,142.8,-7.9,192,1068,0.00,2.33,0.00,0.000,6,0.000,0.032,2150,2491,3878,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1256,-0.38,-219.0,161.5,-10.0,229,1265,0.00,2.00,0.00,0.000,4,0.000,0.041,2140,3821,3877,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1320,-0.42,-219.0,167.0,-7.0,240,1326,0.00,2.03,0.00,0.000,6,0.000,0.018,2140,2416,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1516,-0.42,-219.0,187.9,-10.3,277,1523,0.00,2.10,0.00,0.000,4,0.000,0.024,2140,1037,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1553,-0.43,-219.0,191.0,-8.2,283,1560,0.00,2.35,0.00,0.000,6,0.000,0.031,2138,2514,3877,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1751,-0.43,-219.0,207.6,-9.1,312,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2513,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.43,-219.0,239.3,-9.8,343,2069,0.00,2.28,0.00,0.000,4,0.000,0.025,2138,1038,3877,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2114,-0.45,-219.0,244.2,-8.2,348,2122,0.00,2.30,0.00,0.000,6,0.000,0.032,2137,2489,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2424,-0.45,-219.0,272.5,-9.8,379,2435,0.00,2.05,0.00,0.000,4,0.000,0.043,2127,3826,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2461,-0.46,-219.0,275.8,-9.4,382,2468,0.00,2.03,0.00,0.000,6,0.000,0.019,2128,2417,3877,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2770,-0.46,-219.0,305.1,-8.9,413,2773,0.00,2.10,0.00,0.000,4,0.000,0.026,2128,1040,3877,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2793,-0.46,-219.0,307.3,-9.4,415,2800,0.00,2.30,0.00,0.000,6,0.000,0.033,2125,2492,3877,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3103,-0.46,-219.0,337.8,-10.4,446,3112,0.00,2.00,0.00,0.000,4,0.000,0.041,2115,3816,3877,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3137,-0.46,-219.0,341.2,-10.2,449,3145,0.00,2.08,0.00,0.000,6,0.000,0.021,2115,2417,3876,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3446,-0.44,-219.0,373.2,-9.6,480,3450,0.00,2.10,0.00,0.000,4,0.000,0.027,2115,1034,3876,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3510,-0.47,-219.0,378.0,-6.6,486,3518,0.00,2.28,0.00,0.000,6,0.000,0.032,2112,2478,3876,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3820,-0.46,-219.0,406.2,-9.4,517,3829,0.00,2.03,0.00,0.000,4,0.000,0.041,2101,3826,3874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3852,-0.46,-219.0,409.2,-9.0,520,3863,0.00,2.05,0.00,0.000,6,0.000,0.020,2102,2402,3874,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4162,-0.45,-219.0,445.0,-11.0,551,4171,0.00,2.08,0.00,0.000,4,0.000,0.026,2101,1036,3873,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4195,-0.45,-219.0,448.5,-10.7,554,4204,0.00,2.28,0.00,0.000,6,0.000,0.032,2098,2475,3873,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4505,-0.44,-219.0,478.7,-9.9,585,4517,0.12,2.20,0.00,0.000,4,0.149,0.023,2142,1020,3872,0,0,0,0,0,0,26.46,26.58,28.83
$GC,4553,-0.46,-219.0,481.7,-7.0,589,4562,0.00,2.30,0.00,0.000,6,0.000,0.031,2142,2473,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4862,-0.54,-219.0,505.6,-9.3,620,4872,0.12,2.03,0.00,0.000,4,0.112,0.039,2087,3824,3870,0,0,0,0,0,0,26.56,26.53,28.83
$GC,4970,-0.62,-219.0,515.0,-8.4,630,4977,0.00,2.08,0.00,0.000,6,0.000,0.021,2087,2381,3870,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5277,-0.67,-219.0,534.7,-5.9,661,5285,0.00,2.25,0.00,0.000,4,0.000,0.042,2086,3818,3868,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5514,-0.74,-219.0,549.6,-7.0,684,5521,0.15,2.17,0.00,0.000,6,0.067,0.022,1975,2339,3867,0,0,0,0,0,0,26.59,26.64,28.83
$GC,5821,-0.66,-219.0,614.3,-23.6,712,5827,0.25,1.98,0.00,0.000,4,0.144,0.024,2066,1039,3865,0,0,0,0,0,0,26.25,26.57,28.83
$GC,5890,-0.63,-219.0,623.1,-16.7,715,5894,0.00,2.15,0.00,0.000,6,0.000,0.034,2055,2406,3864,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6199,-0.60,-219.0,660.3,-12.4,730,6204,0.00,2.17,0.00,0.000,4,0.000,0.044,2044,3817,3862,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6257,-0.59,-219.0,667.7,-12.2,733,6264,0.15,2.22,0.00,0.000,6,0.123,0.023,2091,2337,3862,0,0,0,0,0,0,26.36,26.60,28.83
$GC,6580,-0.59,-219.0,695.2,-8.5,749,6585,0.00,2.40,0.00,0.000,4,0.000,0.046,2081,3813,3861,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6621,-0.60,-219.0,698.8,-8.5,751,6626,0.00,2.17,0.00,0.000,6,0.000,0.023,2081,2357,3860,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6940,-0.60,-219.0,726.6,-8.3,767,6945,0.00,2.35,0.00,0.000,4,0.000,0.045,2070,3818,3857,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6972,-0.60,-219.0,728.3,-8.4,768,6979,0.00,2.15,0.00,0.000,6,0.000,0.021,2070,2364,3857,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7280,-0.60,-219.0,756.7,-9.0,784,7285,0.00,2.33,0.00,0.000,4,0.000,0.044,2059,3815,3855,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7304,-0.59,-219.0,758.6,-9.0,785,7309,0.00,2.15,0.00,0.000,6,0.000,0.022,2059,2367,3855,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7620,-0.58,-219.0,789.8,-9.8,801,7625,0.00,2.33,0.00,0.000,4,0.000,0.046,2048,3817,3852,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7680,-0.57,-219.0,796.0,-10.2,804,7687,0.15,2.12,0.00,0.000,6,0.118,0.024,2097,2384,3852,0,0,0,0,0,0,26.35,26.57,28.83
$GC,8003,-0.58,-219.0,818.0,-6.9,820,8009,0.00,2.30,0.00,0.000,4,0.000,0.046,2087,3820,3849,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8035,-0.60,-219.0,819.5,-6.9,821,8044,0.00,2.12,0.00,0.000,6,0.000,0.022,2087,2380,3849,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8343,-0.60,-219.0,842.8,-7.0,837,8348,0.00,2.30,0.00,0.000,4,0.000,0.049,2079,3817,3847,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8376,-0.61,-219.0,844.2,-7.0,838,8382,0.00,2.10,0.00,0.000,6,0.000,0.024,2079,2397,3847,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8683,-0.61,-219.0,867.0,-7.1,854,8689,0.00,2.25,0.00,0.000,4,0.000,0.047,2069,3807,3846,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8716,-0.61,-219.0,868.4,-7.1,855,8723,0.00,2.05,0.00,0.000,6,0.000,0.022,2069,2408,3845,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9025,-0.61,-219.0,895.7,-8.7,871,9030,0.00,2.10,0.00,0.000,4,0.000,0.028,2069,1037,3844,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9054,-0.61,-219.0,897.4,-8.6,872,9063,0.00,2.30,0.00,0.000,6,0.000,0.036,2059,2473,3844,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9365,-0.60,-219.0,926.3,-9.1,888,9370,0.00,2.10,0.00,0.000,4,0.000,0.048,2049,3821,3842,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9406,-0.59,-219.0,930.1,-9.5,890,9411,0.12,2.08,0.00,0.000,6,0.123,0.023,2089,2411,3842,0,0,0,0,0,0,26.34,26.56,28.83
$GC,9722,-0.60,-219.0,951.8,-6.8,906,9727,0.00,2.22,0.00,0.000,4,0.000,0.047,2079,3808,3840,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9763,-0.62,-219.0,954.7,-7.0,908,9767,0.00,2.05,0.00,0.000,6,0.000,0.022,2079,2418,3840,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10078,-0.62,-219.0,979.2,-7.9,924,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2417,3839,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10213,begin apogee
$GC,10219,-0.20,0.0,990.2,-7.7,931,10436,0.35,0.08,205.85,1.157,4,0.097,0.091,2205,2479,2966,0,0,0,0,0,0,26.27,24.66,23.96
$STATE,10437,end apogee,CONTROL_FINISHED_OK
$STATE,10437,begin climb
$GC,10439,0.61,219.0,999.4,0.0,942,10676,0.68,0.12,225.52,1.134,6,0.032,0.080,2484,2560,2074,0,0,0,0,0,0,24.90,24.89,23.68
$GC,10977,0.53,219.0,880.7,27.1,969,10983,0.12,1.95,0.00,0.000,4,0.208,0.041,2441,3810,2044,0,0,0,0,0,0,25.48,25.70,28.83
$GC,11125,0.47,219.0,847.2,22.5,976,11129,0.00,1.98,0.00,0.000,6,0.000,0.023,2451,2514,2041,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11432,0.41,219.0,775.4,22.1,991,11439,0.12,2.08,0.00,0.000,4,0.201,0.040,2412,3827,2040,0,0,0,0,0,0,25.84,26.05,28.83
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$STATE,16854,end climb,SURFACE_DEPTH_REACHED
$STATE,16854,begin surface coast
$FINISH,-0.3,1.012045
$STATE,16878,end surface coast,CONTROL_FINISHED_OK
$STATE,16878,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.23
$INTERNAL_PRESSURE,8.207
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.7,15.872
$10V_AH,10.3,8.674
$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
$DEVICE_SECS,18.050,186.050,876.500,0.000,0.000,88.950,64.735,292.965,0.000,0.000,13.363,4175.525,8634.768,996.538,3425.447,441.013,0.000,2639.404,0.000,2791.417,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,100324,1597
$CAP_FILE_SIZE,206836,0
$CFSIZE,260165632,214368256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.308,309.9,1
$GPS,040512,033035,2314.808,12301.057,36,1.0,40,-3.2