version: 66.10
glider: 169
mission: 6
dive: 210
start: 6 3 112 11 39 27
data:
$ID,169
$MISSION,6
$DIVE,210
$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,-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,-15724.603
$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
$GPS1,030612,113031,2206.905,12312.677,40,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-69.3
$GPS2,030612,113904,2207.029,12312.762,11,2.1,30,-2.9
$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,257.8,210172,-13.8,-8.684
$D_GRID,5555
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-77.80,0.000,2,0.000,0.000,116,2434,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-194.6,3.1,-7.7,13,134,8.07,2.22,-16.95,0.000,4,0.233,0.048,2068,3840,3771,0,0,0,0,0,0,25.21,26.02,26.46
$GC,273,-0.50,-194.6,64.3,-29.4,45,281,0.12,2.00,0.00,0.000,6,0.168,0.021,2108,2465,3772,0,0,0,0,0,0,25.84,26.20,28.83
$GC,466,-0.41,-194.6,123.2,-27.2,82,474,0.12,2.35,0.00,0.000,4,0.184,0.023,2155,1030,3771,0,0,0,0,0,0,25.98,26.22,28.83
$GC,573,-0.43,-194.6,140.5,-10.7,102,580,0.00,2.45,0.00,0.000,6,0.000,0.031,2149,2497,3772,0,0,0,0,0,0,28.83,26.21,28.83
$GC,764,-0.40,-194.6,172.5,-16.1,139,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2495,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,955,-0.38,-194.6,195.9,-12.5,176,963,0.00,2.38,0.00,0.000,4,0.000,0.024,2150,1044,3772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,986,-0.38,-194.6,199.6,-12.1,181,993,0.00,2.42,0.00,0.000,6,0.000,0.031,2141,2493,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1172,-0.37,-194.6,221.0,-10.7,200,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2491,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1473,-0.36,-194.6,248.1,-9.8,230,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2491,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1784,-0.36,-194.6,279.5,-10.1,261,1792,0.00,2.35,0.00,0.000,4,0.000,0.024,2141,1034,3772,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1819,-0.38,-194.6,282.9,-9.9,264,1827,0.00,2.40,0.00,0.000,6,0.000,0.031,2138,2483,3772,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2126,-0.38,-194.6,308.9,-8.7,295,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2482,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.39,-194.6,333.0,-7.1,325,2437,0.00,2.05,0.00,0.000,4,0.000,0.041,2128,3829,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2461,-0.40,-194.6,335.4,-6.9,328,2471,0.00,2.05,0.00,0.000,6,0.000,0.018,2128,2390,3770,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2772,-0.40,-194.6,358.7,-7.4,359,2781,0.00,2.30,0.00,0.000,4,0.000,0.042,2119,3826,3767,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2796,-0.41,-194.6,360.6,-7.7,361,2800,0.00,2.03,0.00,0.000,6,0.000,0.020,2119,2418,3767,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3108,-0.41,-194.6,386.8,-8.1,392,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2417,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3410,-0.41,-194.6,411.5,-8.5,422,3420,0.00,2.20,-0.10,0.000,4,0.000,0.035,2119,1046,3783,0,0,0,0,0,0,28.83,26.41,26.03
$GC,3434,-0.42,-194.6,413.8,-8.7,424,3443,0.00,2.38,0.00,0.000,6,0.000,0.032,2112,2476,3783,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3743,-0.42,-194.6,442.4,-9.4,455,3752,0.00,2.05,0.00,0.000,4,0.000,0.042,2102,3833,3781,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3778,-0.42,-194.6,445.4,-9.5,458,3785,0.12,2.05,0.00,0.000,6,0.108,0.020,2145,2404,3781,0,0,0,0,0,0,26.30,26.51,28.83
$GC,4087,-0.45,-194.6,465.0,-6.5,489,4091,0.00,2.22,0.00,0.000,4,0.000,0.041,2138,3822,3780,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4112,-0.48,-194.6,466.6,-6.3,491,4119,0.00,2.00,0.00,0.000,6,0.000,0.018,2138,2411,3779,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4421,-0.56,-194.6,495.6,-10.2,522,4430,0.12,2.25,0.00,0.000,4,0.107,0.039,2083,3819,3776,0,0,0,0,0,0,26.48,26.28,28.83
$GC,4476,-0.64,-194.6,500.7,-9.3,527,4484,0.00,2.00,0.00,0.000,6,0.000,0.019,2085,2408,3775,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4784,-0.66,-194.6,524.4,-7.3,558,4793,0.00,2.22,0.00,0.000,4,0.000,0.041,2074,3826,3772,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4849,-0.66,-194.6,529.6,-8.6,564,4856,0.00,1.80,0.00,0.000,6,0.000,0.021,2074,2545,3772,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5157,-0.64,-194.6,561.4,-10.1,595,5166,0.00,2.47,0.00,0.000,4,0.000,0.027,2074,1051,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5252,-0.65,-194.6,570.1,-8.7,604,5259,0.00,2.62,0.00,0.000,6,0.000,0.034,2062,2580,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5573,-0.62,-194.6,608.1,-12.1,633,5578,0.00,2.58,0.00,0.000,4,0.000,0.027,2066,1046,3768,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5604,-0.60,-194.6,610.6,-12.1,634,5611,0.00,2.62,0.00,0.000,6,0.000,0.037,2055,2568,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5912,-0.57,-194.6,647.3,-12.5,650,5918,0.12,2.55,0.00,0.000,4,0.152,0.024,2101,1036,3766,0,0,0,0,0,0,26.27,26.33,28.83
$GC,6001,-0.58,-194.6,654.1,-8.3,654,6011,0.00,2.55,0.00,0.000,6,0.000,0.034,2099,2545,3765,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6313,-0.59,-194.6,679.1,-8.2,670,6318,0.00,2.47,0.00,0.000,4,0.000,0.024,2099,1046,3762,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6345,-0.59,-194.6,680.7,-8.1,671,6353,0.00,2.53,0.00,0.000,6,0.000,0.034,2098,2536,3762,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6653,-0.60,-194.6,705.4,-7.4,687,6658,0.00,2.47,0.00,0.000,4,0.000,0.026,2099,1033,3760,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6680,-0.61,-194.6,706.9,-7.4,688,6684,0.00,2.53,0.00,0.000,6,0.000,0.035,2099,2523,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6987,-0.62,-194.6,729.5,-7.1,703,6991,0.00,1.95,0.00,0.000,4,0.000,0.045,2091,3823,3757,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7018,-0.63,-194.6,731.0,-7.1,704,7027,0.00,1.95,0.00,0.000,6,0.000,0.020,2091,2449,3757,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7330,-0.63,-194.6,755.2,-7.8,720,7335,0.00,2.28,0.00,0.000,4,0.000,0.026,2091,1041,3754,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7372,-0.64,-194.6,758.3,-7.8,722,7377,0.00,2.50,0.00,0.000,6,0.000,0.035,2086,2517,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7686,-0.64,-194.6,784.6,-8.3,738,7691,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1045,3752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7718,-0.64,-194.6,786.2,-8.4,739,7726,0.00,2.47,0.00,0.000,6,0.000,0.037,2086,2506,3752,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8026,-0.64,-194.6,810.3,-7.2,755,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2504,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,-0.64,-194.6,830.6,-6.7,770,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2504,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8625,-0.64,-194.6,852.5,-7.5,785,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2504,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8926,-0.64,-194.6,876.1,-7.9,800,8931,0.00,2.40,0.00,0.000,4,0.000,0.027,2086,1045,3745,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8968,-0.65,-194.6,879.1,-7.7,802,8973,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2504,3745,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9282,-0.65,-194.6,902.5,-7.3,818,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2503,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9581,-0.65,-194.6,924.9,-7.6,833,9587,0.00,2.40,0.00,0.000,4,0.000,0.029,2086,1050,3742,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9603,-0.66,-194.6,926.4,-7.5,834,9608,0.00,2.47,0.00,0.000,6,0.000,0.039,2085,2497,3742,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9917,-0.67,-194.6,947.6,-6.1,850,9923,0.00,2.08,0.00,0.000,4,0.000,0.047,2077,3829,3740,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9944,-0.68,-194.6,948.9,-6.2,851,9948,0.00,2.05,0.00,0.000,6,0.000,0.021,2077,2430,3741,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10252,-0.68,-194.6,967.9,-5.7,866,10258,0.00,2.25,0.00,0.000,4,0.000,0.028,2077,1043,3740,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10274,-0.68,-194.6,969.0,-5.7,867,10278,0.00,2.45,0.00,0.000,6,0.000,0.037,2069,2501,3740,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10564,begin apogee
$GC,10570,-0.20,0.0,990.0,-7.7,882,10768,0.40,0.08,191.43,1.147,4,0.100,0.089,2207,2486,2974,0,0,0,0,0,0,25.83,24.58,23.64
$STATE,10769,end apogee,CONTROL_FINISHED_OK
$STATE,10769,begin climb
$GC,10771,0.58,194.6,997.7,0.0,892,10989,0.65,2.47,208.35,1.129,4,0.040,0.029,2470,1071,2182,0,0,0,0,0,0,24.82,24.82,23.12
$GC,11010,0.53,194.6,972.8,15.2,904,11014,0.00,2.72,0.00,0.000,6,0.000,0.037,2469,2534,2157,0,0,0,0,0,0,28.83,24.51,28.83
$GC,11324,0.47,194.6,912.0,19.2,920,11330,0.12,2.50,0.00,0.000,4,0.184,0.029,2446,1079,2147,0,0,0,0,0,0,25.58,25.81,28.83
$GC,11371,0.41,194.6,905.0,18.4,922,11376,0.12,2.62,0.00,0.000,6,0.156,0.036,2413,2562,2146,0,0,0,0,0,0,25.62,25.84,28.83
$GC,11681,0.38,194.6,862.3,13.5,937,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2561,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11979,0.35,194.6,819.6,14.6,952,11983,0.00,1.92,0.00,0.000,4,0.000,0.044,2413,3824,2144,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12123,0.31,194.6,795.2,17.4,959,12129,0.12,1.90,0.00,0.000,6,0.166,0.023,2384,2520,2142,0,0,0,0,0,0,25.82,26.20,28.83
$GC,12445,0.30,194.6,757.3,10.9,975,12451,0.00,2.42,0.00,0.000,4,0.000,0.030,2396,1072,2142,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18659,end climb,SURFACE_DEPTH_REACHED
$STATE,18659,begin surface coast
$FINISH,-0.2,1.021296
$STATE,18709,end surface coast,CONTROL_FINISHED_OK
$STATE,18709,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.1,42.122
$10V_AH,10.1,25.922
$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
$DEVICE_SECS,18.000,192.100,890.475,0.000,0.000,30.797,51.166,257.247,0.000,0.000,32.156,3983.754,10520.462,953.416,3330.102,471.019,0.000,2621.055,0.000,2800.156,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,103628,1621
$CAP_FILE_SIZE,210678,0
$CFSIZE,260165632,199434240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.172, 51.8,1
$GPS,030612,165337,2207.293,12311.478,37,1.1,37,-2.9