version: 66.10
glider: 169
mission: 6
dive: 216
start: 6 4 112 20 21 20
data:
$ID,169
$MISSION,6
$DIVE,216
$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,-15732.252
$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
$GPS1,040612,201206,2213.201,12304.998,36,1.2,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.3
$GPS2,040612,202056,2213.308,12305.248,15,1.6,15,-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,267.3,193312,-13.8,-8.684
$D_GRID,4203
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-80.10,0.000,2,0.000,0.000,116,2517,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-194.6,3.8,-8.6,14,130,8.05,2.03,-12.68,0.000,4,0.230,0.047,2069,3844,3775,0,0,1,0,0,0,25.20,25.49,26.44
$GC,153,-0.44,-194.6,27.8,-45.7,22,160,0.20,2.00,0.00,0.000,6,0.158,0.021,2131,2470,3776,0,0,0,0,0,0,25.63,26.10,28.83
$GC,346,-0.36,-194.6,80.9,-27.1,59,353,0.00,2.33,0.00,0.000,4,0.000,0.026,2140,1046,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,445,-0.39,-194.6,97.5,-9.2,78,452,0.00,2.42,0.00,0.000,6,0.000,0.030,2130,2494,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,637,-0.34,-194.6,129.8,-18.0,115,644,0.12,2.40,0.00,0.000,4,0.168,0.024,2179,1042,3776,0,0,0,0,0,0,26.10,26.27,28.83
$GC,687,-0.38,-194.6,136.3,-8.1,124,696,0.00,2.38,0.00,0.000,6,0.000,0.030,2179,2467,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,883,-0.40,-194.6,150.4,-6.0,161,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2466,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1073,-0.46,-194.6,161.7,-6.4,198,1081,0.12,2.05,0.00,0.000,4,0.080,0.037,2121,3826,3778,0,0,0,0,0,0,26.50,26.27,28.83
$GC,1099,-0.54,-194.6,163.7,-7.9,202,1107,0.00,2.08,0.00,0.000,6,0.000,0.018,2123,2372,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1292,-0.55,-194.6,178.1,-8.5,239,1299,0.00,2.12,0.00,0.000,4,0.000,0.024,2123,1018,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1323,-0.57,-194.6,180.8,-8.5,244,1330,0.00,2.70,0.00,0.000,6,0.000,0.029,2112,2603,3778,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1516,-0.54,-194.6,202.8,-13.1,279,1525,0.00,2.60,0.00,0.000,4,0.000,0.023,2115,1039,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1561,-0.54,-194.6,207.7,-11.5,283,1569,0.00,2.55,0.00,0.000,6,0.000,0.031,2112,2549,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1869,-0.53,-194.6,245.7,-11.1,314,1878,0.00,2.47,0.00,0.000,4,0.000,0.023,2112,1041,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1921,-0.54,-194.6,250.8,-9.3,319,1931,0.00,2.47,0.00,0.000,6,0.000,0.031,2112,2526,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2231,-0.53,-194.6,282.8,-10.7,350,2240,0.00,2.42,0.00,0.000,4,0.000,0.023,2112,1038,3777,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2266,-0.53,-194.6,286.0,-10.3,353,2272,0.00,2.47,0.00,0.000,6,0.000,0.031,2112,2519,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2574,-0.52,-194.6,317.7,-10.2,384,2583,0.00,2.40,0.00,0.000,4,0.000,0.022,2112,1029,3775,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2626,-0.54,-194.6,322.7,-9.0,389,2635,0.00,2.45,0.00,0.000,6,0.000,0.032,2112,2501,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2937,-0.54,-194.6,351.1,-9.1,420,2945,0.00,1.95,0.00,0.000,4,0.000,0.041,2102,3825,3773,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2961,-0.54,-194.6,353.0,-8.8,422,2968,0.00,2.03,0.00,0.000,6,0.000,0.019,2102,2418,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3270,-0.54,-194.6,381.8,-9.3,453,3278,0.00,2.20,0.00,0.000,4,0.000,0.041,2094,3829,3771,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3314,-0.54,-194.6,385.7,-9.3,457,3321,0.00,1.98,0.00,0.000,6,0.000,0.018,2094,2430,3771,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3622,-0.53,-194.6,417.9,-10.7,488,3631,0.00,2.22,0.00,0.000,4,0.000,0.025,2094,1040,3768,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3667,-0.53,-194.6,422.2,-10.1,492,3674,0.00,2.40,0.00,0.000,6,0.000,0.031,2092,2492,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3974,-0.52,-194.6,453.1,-9.7,523,3984,0.00,2.03,0.00,0.000,4,0.000,0.041,2082,3826,3765,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4007,-0.52,-194.6,456.5,-10.5,526,4016,0.00,2.00,0.00,0.000,6,0.000,0.020,2082,2426,3765,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4318,-0.51,-194.6,487.9,-9.7,557,4325,0.00,0.00,-0.10,0.000,6,0.000,0.000,2081,2426,3785,0,0,0,0,0,0,28.83,28.83,26.01
$GC,4628,-0.50,-194.6,516.7,-9.1,588,4637,0.10,2.22,0.00,0.000,4,0.137,0.023,2115,1033,3783,0,0,0,0,0,0,26.48,26.39,28.83
$GC,4672,-0.52,-194.6,520.0,-7.5,592,4680,0.00,2.42,0.00,0.000,6,0.000,0.033,2112,2487,3783,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4981,-0.58,-194.6,539.4,-6.7,623,4991,0.00,2.35,0.00,0.000,4,0.000,0.025,2112,1035,3780,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5168,-0.66,-194.6,554.8,-9.2,641,5177,0.15,2.53,0.00,0.000,6,0.074,0.033,2041,2535,3778,0,0,0,0,0,0,26.28,26.29,28.83
$GC,5477,-0.67,-194.6,582.9,-9.7,672,5487,0.00,2.45,0.00,0.000,4,0.000,0.024,2040,1037,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5511,-0.67,-194.6,586.4,-10.2,675,5521,0.08,2.45,0.00,0.000,6,0.106,0.034,2063,2497,3776,0,0,0,0,0,0,26.08,26.27,28.83
$GC,5833,-0.65,-194.6,624.6,-12.0,697,5838,0.00,2.38,0.00,0.000,4,0.000,0.026,2064,1049,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5881,-0.64,-194.6,629.3,-11.7,699,5890,0.00,2.40,0.00,0.000,6,0.000,0.034,2054,2473,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6193,-0.62,-194.6,667.5,-12.3,715,6198,0.00,2.33,0.00,0.000,4,0.000,0.025,2054,1048,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6220,-0.60,-194.6,669.9,-12.4,716,6225,0.12,2.38,0.00,0.000,6,0.129,0.035,2086,2463,3770,0,0,0,0,0,0,26.08,26.23,28.83
$GC,6528,-0.60,-194.6,694.9,-7.2,731,6532,0.00,2.10,0.00,0.000,4,0.000,0.047,2076,3821,3767,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6563,-0.60,-194.6,696.6,-7.3,732,6571,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2408,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6871,-0.60,-194.6,722.2,-8.0,748,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2407,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,-0.60,-194.6,745.5,-7.7,763,7176,0.00,2.28,0.00,0.000,4,0.000,0.046,2066,3813,3764,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7204,-0.60,-194.6,747.1,-7.8,764,7211,0.00,2.05,0.00,0.000,6,0.000,0.021,2066,2413,3763,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7511,-0.59,-194.6,775.6,-9.5,780,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2413,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7810,-0.58,-194.6,804.1,-9.8,795,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2413,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.58,-194.6,832.9,-9.6,810,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2413,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,-0.58,-194.6,862.9,-10.1,825,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2413,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8710,-0.58,-194.6,890.9,-8.7,840,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2412,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,-0.58,-194.6,915.0,-8.0,855,9017,0.00,2.30,0.00,0.000,4,0.000,0.047,2054,3809,3754,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9073,-0.58,-194.6,919.9,-8.2,858,9078,0.12,2.08,0.00,0.000,6,0.119,0.022,2095,2411,3753,0,0,0,0,0,0,26.12,26.39,28.83
$GC,9389,-0.59,-194.6,938.5,-5.8,874,9395,0.00,2.20,0.00,0.000,4,0.000,0.028,2095,1048,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9417,-0.61,-194.6,940.0,-6.0,875,9421,0.00,2.40,0.00,0.000,6,0.000,0.036,2092,2470,3753,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9724,-0.66,-194.6,959.0,-6.1,890,9729,0.00,2.33,0.00,0.000,4,0.000,0.027,2092,1043,3751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9792,-0.73,-194.6,962.8,-6.3,893,9803,0.15,2.55,0.00,0.000,6,0.087,0.031,2038,2543,3750,0,0,0,0,0,0,26.05,26.15,28.83
$GC,10106,-0.74,-194.6,984.7,-7.1,909,10111,0.00,2.50,0.00,0.000,4,0.000,0.028,2038,1050,3749,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10134,-0.76,-194.6,986.4,-7.2,910,10143,0.00,2.80,0.00,0.000,6,0.000,0.038,2027,2634,3749,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,10182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10182,begin apogee
$GC,10188,-0.20,0.0,992.2,-9.1,913,10391,0.52,0.12,194.55,1.161,4,0.105,0.081,2205,2548,2972,0,0,0,0,0,0,25.64,24.59,23.58
$STATE,10392,end apogee,CONTROL_FINISHED_OK
$STATE,10392,begin climb
$GC,10394,0.58,194.6,1000.0,0.0,923,10613,0.65,2.62,209.85,1.135,4,0.037,0.026,2476,1057,2185,0,0,1,0,0,0,24.82,24.82,23.08
$GC,10701,0.54,194.6,960.3,17.6,939,10707,0.00,2.67,0.00,0.000,6,0.000,0.037,2475,2534,2151,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11022,0.47,194.6,889.9,22.5,955,11028,0.15,2.47,0.00,0.000,4,0.179,0.027,2444,1079,2146,0,0,0,0,0,0,25.60,25.90,28.83
$GC,11095,0.42,194.6,879.2,18.9,958,11103,0.12,2.60,0.00,0.000,6,0.157,0.035,2412,2556,2145,0,0,0,0,0,0,25.69,25.94,28.83
$GC,11402,0.39,194.6,832.1,14.6,974,11405,0.00,1.90,0.00,0.000,4,0.000,0.044,2411,3836,2144,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11437,0.35,194.6,828.6,14.8,975,11445,0.12,1.90,0.00,0.000,6,0.174,0.021,2389,2520,2143,0,0,0,0,0,0,25.78,26.15,28.83
$GC,11744,0.33,194.6,790.2,11.7,991,11749,0.00,2.45,0.00,0.000,4,0.000,0.033,2401,1077,2142,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,19067,end climb,SURFACE_DEPTH_REACHED
$STATE,19068,begin surface coast
$FINISH,-0.0,1.021162
$STATE,19109,end surface coast,CONTROL_FINISHED_OK
$STATE,19109,begin surface
$SM_CCo,19185,0.00,0.000,0,0,826,528.13
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$IRIDIUM_FIX,2204.37,12303.97,040612,141406
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.1,43.481
$10V_AH,10.1,26.711
$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
$DEVICE_SECS,18.425,212.200,769.525,0.000,0.000,31.722,21.374,309.995,0.000,0.000,16.514,4410.291,10267.753,938.567,3560.601,498.427,0.000,2692.023,0.000,3008.023,0.000,0.544,0.000
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$MEM,330436
$DATA_FILE_SIZE,113599,1788
$CAP_FILE_SIZE,227621,0
$CFSIZE,260165632,198729728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0,0
$CURRENT,0.061,341.7,1
$GPS,050612,014207,2213.718,12302.066,34,0.8,34,-2.9