version: 66.10
glider: 169
mission: 6
dive: 173
start: 5 26 112 0 44 41
data:
$ID,169
$MISSION,6
$DIVE,173
$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,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,-15560.02
$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,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
$GPS1,260512,003537,2133.914,12352.596,41,1.0,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.7
$GPS2,260512,004416,2133.703,12352.563,15,2.6,34,-2.8
$SPEED_LIMITS,0.136,0.271
$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,327.2,300380,-12.5,-7.857
$D_GRID,5252
$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,-0.55,-194.6,0.0,0.0,0,94,0.00,0.00,-73.80,0.000,2,0.000,0.000,122,2420,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.55,-194.6,3.6,-8.6,13,124,7.88,2.25,-11.07,0.000,4,0.228,0.045,2076,3835,3776,0,0,1,0,0,0,25.27,25.65,26.42
$GC,213,-0.49,-194.6,47.6,-24.7,34,220,0.12,2.00,0.00,0.000,6,0.164,0.021,2117,2465,3777,0,0,0,0,0,0,25.79,26.13,28.83
$GC,406,-0.41,-194.6,101.0,-27.4,71,412,0.00,2.12,0.00,0.000,4,0.000,0.039,2106,3825,3777,0,0,0,0,0,0,28.83,26.11,28.83
$GC,435,-0.33,-194.6,108.8,-24.9,76,444,0.17,1.88,0.00,0.000,6,0.138,0.020,2162,2507,3777,0,0,0,0,0,0,25.87,26.27,28.83
$GC,629,-0.31,-194.6,136.4,-11.0,113,636,0.00,2.38,0.00,0.000,4,0.000,0.024,2162,1033,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,684,-0.34,-194.6,141.5,-7.5,123,691,0.00,2.58,0.00,0.000,6,0.000,0.031,2157,2559,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,875,-0.32,-194.6,160.0,-11.4,160,883,0.00,1.88,0.00,0.000,4,0.000,0.040,2147,3823,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,910,-0.32,-194.6,163.9,-11.2,166,917,0.00,1.88,0.00,0.000,6,0.000,0.018,2147,2503,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1102,-0.31,-194.6,186.3,-11.3,203,1109,0.00,2.35,0.00,0.000,4,0.000,0.024,2147,1033,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1161,-0.34,-194.6,191.7,-7.4,214,1168,0.00,2.53,0.00,0.000,6,0.000,0.031,2138,2549,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1360,-0.32,-194.6,213.3,-11.6,241,1369,0.12,2.45,0.00,0.000,4,0.143,0.023,2181,1038,3778,0,0,0,0,0,0,26.29,26.36,28.83
$GC,1392,-0.32,-194.6,216.6,-9.9,244,1402,0.00,2.42,0.00,0.000,6,0.000,0.031,2181,2525,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1703,-0.40,-194.6,244.9,-9.5,275,1712,0.10,1.90,0.00,0.000,4,0.112,0.037,2141,3822,3778,0,0,0,0,0,0,26.53,26.32,28.83
$GC,1736,-0.47,-194.6,248.2,-10.1,278,1745,0.00,1.92,0.00,0.000,6,0.000,0.018,2144,2453,3778,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2046,-0.55,-194.6,277.3,-9.3,309,2056,0.12,2.10,0.00,0.000,4,0.118,0.037,2093,3830,3777,0,0,0,0,0,0,26.43,26.32,28.83
$GC,2150,-0.62,-194.6,287.1,-9.5,319,2159,0.00,1.92,0.00,0.000,6,0.000,0.019,2096,2475,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2460,-0.63,-194.6,312.4,-8.6,350,2469,0.00,2.30,0.00,0.000,4,0.000,0.024,2096,1027,3775,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2525,-0.63,-194.6,318.2,-9.8,356,2533,0.00,2.25,0.00,0.000,6,0.000,0.031,2087,2430,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2832,-0.60,-194.6,362.8,-14.5,387,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2429,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3134,-0.56,-194.6,401.7,-11.8,417,3143,0.00,2.20,0.00,0.000,4,0.000,0.024,2088,1038,3773,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3187,-0.55,-194.6,407.3,-9.9,422,3196,0.00,2.20,0.00,0.000,6,0.000,0.031,2086,2418,3773,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3497,-0.53,-194.6,444.6,-13.3,453,3501,0.00,2.20,0.00,0.000,4,0.000,0.041,2075,3830,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3540,-0.51,-194.6,450.1,-13.3,457,3549,0.08,2.15,0.00,0.000,6,0.103,0.021,2108,2366,3769,0,0,0,0,0,0,26.25,26.48,28.83
$GC,3849,-0.50,-194.6,480.6,-8.8,488,3853,0.00,2.08,0.00,0.000,4,0.000,0.024,2108,1036,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3874,-0.50,-194.6,482.4,-8.2,490,3880,0.00,2.25,0.00,0.000,6,0.000,0.033,2104,2428,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4182,-0.49,-194.6,508.9,-8.6,521,4191,0.00,2.15,0.00,0.000,4,0.000,0.042,2093,3823,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4226,-0.49,-194.6,512.7,-9.0,525,4233,0.00,2.12,0.00,0.000,6,0.000,0.019,2093,2375,3765,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4534,-0.48,-194.6,545.9,-11.0,556,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2375,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4837,-0.47,-194.6,574.5,-9.0,586,4845,0.00,2.33,0.00,0.000,4,0.000,0.043,2083,3820,3759,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4889,-0.47,-194.6,579.3,-9.0,591,4899,0.10,2.10,0.00,0.000,6,0.089,0.019,2126,2376,3759,0,0,0,0,0,0,26.23,26.51,28.83
$GC,5200,-0.49,-194.6,599.1,-5.6,622,5208,0.00,2.35,0.00,0.000,4,0.000,0.044,2123,3820,3757,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5235,-0.51,-194.6,600.4,-5.7,624,5243,0.00,2.08,0.00,0.000,6,0.000,0.019,2123,2390,3756,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5544,-0.58,-194.6,619.9,-7.0,640,5550,0.12,2.30,0.00,0.000,4,0.116,0.040,2073,3830,3753,0,0,0,0,0,0,26.44,26.25,28.83
$GC,5654,-0.65,-194.6,627.0,-6.9,645,5663,0.00,2.05,0.00,0.000,6,0.000,0.021,2077,2408,3752,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5968,-0.69,-194.6,648.3,-6.6,661,5973,0.00,2.22,0.00,0.000,4,0.000,0.041,2077,3817,3750,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6047,-0.73,-194.6,653.6,-6.4,665,6053,0.08,2.12,0.00,0.000,6,0.050,0.019,1980,2361,3749,0,0,0,0,0,0,26.36,26.51,28.83
$GC,6369,-0.66,-194.6,711.4,-19.9,681,6375,0.22,2.03,0.00,0.000,4,0.136,0.023,2067,1044,3747,0,0,0,0,0,0,26.01,26.36,28.83
$GC,6475,-0.65,-194.6,724.5,-11.0,686,6480,0.00,2.17,0.00,0.000,6,0.000,0.033,2056,2414,3747,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6791,-0.62,-194.6,763.0,-12.1,702,6796,0.00,2.17,0.00,0.000,4,0.000,0.044,2045,3817,3744,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6850,-0.60,-194.6,770.1,-11.7,705,6857,0.08,2.17,0.00,0.000,6,0.112,0.021,2076,2353,3744,0,0,0,0,0,0,26.15,26.44,28.83
$GC,7172,-0.59,-194.6,798.7,-8.1,721,7177,0.00,2.35,0.00,0.000,4,0.000,0.044,2065,3812,3741,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7219,-0.58,-194.6,801.9,-8.1,723,7223,0.00,2.12,0.00,0.000,6,0.000,0.021,2065,2371,3741,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7531,-0.56,-194.6,829.8,-9.0,739,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2370,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7834,-0.54,-194.6,856.6,-8.8,754,7840,0.12,2.33,0.00,0.000,4,0.129,0.042,2101,3824,3736,0,0,0,0,0,0,26.36,26.11,28.83
$GC,7885,-0.54,-194.6,859.5,-7.9,756,7892,0.00,2.15,0.00,0.000,6,0.000,0.020,2101,2369,3736,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8194,-0.55,-194.6,878.8,-6.1,772,8199,0.00,2.33,0.00,0.000,4,0.000,0.044,2092,3812,3734,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8222,-0.56,-194.6,880.0,-6.2,773,8232,0.00,2.12,0.00,0.000,6,0.000,0.020,2092,2381,3733,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8534,-0.56,-194.6,902.4,-7.2,789,8539,0.00,2.10,0.00,0.000,4,0.000,0.028,2092,1046,3732,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8556,-0.56,-194.6,903.8,-7.2,790,8561,0.00,2.30,0.00,0.000,6,0.000,0.034,2085,2451,3732,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8870,-0.56,-194.6,929.1,-8.1,806,8876,0.00,2.15,0.00,0.000,4,0.000,0.044,2076,3826,3730,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8909,-0.56,-194.6,932.3,-8.1,808,8914,0.00,2.15,0.00,0.000,6,0.000,0.021,2076,2388,3730,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9230,-0.56,-194.6,960.8,-8.9,824,9236,0.00,2.33,0.00,0.000,4,0.000,0.046,2065,3819,3728,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9262,-0.55,-194.6,962.6,-9.0,825,9270,0.10,2.10,0.00,0.000,6,0.129,0.021,2097,2402,3727,0,0,0,0,0,0,26.17,26.39,28.83
$GC,9571,-0.56,-194.6,985.2,-6.6,841,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2402,3726,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9646,begin apogee
$GC,9653,-0.20,0.0,990.5,-6.6,845,9844,0.30,0.08,183.32,1.157,4,0.089,0.090,2208,2480,2972,0,0,0,0,0,0,26.09,24.68,23.79
$STATE,9845,end apogee,CONTROL_FINISHED_OK
$STATE,9845,begin climb
$GC,9848,0.55,194.6,997.5,0.0,854,10064,0.60,2.40,202.10,1.140,4,0.033,0.026,2468,1069,2171,0,0,0,0,0,0,24.92,24.91,23.35
$GC,10137,0.50,194.6,962.8,16.6,868,10147,0.08,2.58,0.00,0.000,6,0.147,0.037,2443,2529,2152,0,0,0,0,0,0,24.84,25.06,28.83
$GC,10447,0.44,194.6,903.4,17.9,884,10453,0.00,2.45,0.00,0.000,4,0.000,0.029,2456,1071,2147,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10536,0.39,194.6,890.6,15.9,888,10546,0.17,2.53,0.00,0.000,6,0.150,0.036,2407,2547,2146,0,0,0,0,0,0,25.59,25.87,28.83
$GC,10847,0.36,194.6,844.9,14.2,904,10853,0.00,1.98,0.00,0.000,4,0.000,0.044,2406,3835,2145,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10915,0.31,194.6,835.3,15.7,907,10920,0.15,1.98,0.00,0.000,6,0.161,0.022,2376,2508,2144,0,0,0,0,0,0,25.75,26.13,28.83
$GC,11225,0.29,194.6,798.4,11.3,922,11231,0.00,2.08,0.00,0.000,4,0.000,0.044,2376,3826,2143,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11267,0.27,194.6,793.1,11.9,924,11271,0.00,1.92,0.00,0.000,6,0.000,0.023,2385,2521,2142,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11580,0.25,194.6,752.4,13.3,940,11584,0.00,2.05,0.00,0.000,4,0.000,0.043,2386,3832,2142,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,18201,end climb,SURFACE_DEPTH_REACHED
$STATE,18201,begin surface coast
$FINISH,0.4,1.021152
$STATE,18227,end surface coast,CONTROL_FINISHED_OK
$STATE,18227,begin surface
$SM_CCo,18303,0.00,0.000,0,0,697,559.77
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$IRIDIUM_FIX,2124.90,12355.54,250512,181805
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.4,33.972
$10V_AH,10.1,21.122
$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,18.150,213.025,734.700,0.000,0.000,25.971,44.786,263.032,0.000,0.000,36.246,4189.511,9775.541,879.367,3448.481,487.282,0.000,2582.477,0.000,2915.549,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,89.505,1156.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,106899,1674
$CAP_FILE_SIZE,223459,0
$CFSIZE,260165632,203649024
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.225,186.7,1
$GPS,260512,055036,2134.189,12350.531,24,1.8,24,-2.8