version: 66.10
glider: 169
mission: 6
dive: 219
start: 6 5 112 12 14 20
data:
$ID,169
$MISSION,6
$DIVE,219
$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,-15736.121
$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
$GPS1,050612,120554,2218.021,12258.868,25,1.0,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.6
$GPS2,050612,121356,2218.290,12258.965,13,1.7,13,-3.0
$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,270.5,179508,-13.8,-8.684
$D_GRID,2147
$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,-0.58,-194.6,0.0,0.0,0,99,0.00,0.00,-80.38,0.000,2,0.000,0.000,116,2518,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.2,-7.8,14,135,7.97,1.95,-14.05,0.000,4,0.228,0.054,2069,3834,3776,0,0,1,0,0,0,25.20,25.44,26.46
$GC,260,-0.53,-194.6,59.9,-21.8,43,268,0.12,1.92,0.00,0.000,6,0.134,0.019,2105,2464,3777,0,0,0,0,0,0,25.94,26.21,28.83
$GC,453,-0.47,-194.6,101.3,-20.9,80,461,0.00,2.35,0.00,0.000,4,0.000,0.024,2109,1040,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,535,-0.48,-194.6,112.1,-9.8,95,542,0.00,2.47,0.00,0.000,6,0.000,0.030,2098,2490,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,726,-0.42,-194.6,145.4,-18.1,132,735,0.12,2.42,0.00,0.000,4,0.161,0.023,2147,1038,3778,0,0,0,0,0,0,26.15,26.30,28.83
$GC,789,-0.45,-194.6,152.6,-8.2,143,796,0.00,2.42,0.00,0.000,6,0.000,0.031,2137,2466,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,979,-0.43,-194.6,172.8,-12.6,180,987,0.00,2.05,0.00,0.000,4,0.000,0.040,2127,3832,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1001,-0.41,-194.6,175.4,-12.6,183,1007,0.00,2.08,0.00,0.000,6,0.000,0.018,2128,2386,3778,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1193,-0.40,-194.6,199.0,-10.3,220,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2385,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1389,-0.40,-194.6,217.5,-8.8,240,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2385,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.40,-194.6,245.5,-9.2,270,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2385,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,-0.41,-194.6,271.4,-7.8,301,2010,0.00,2.28,0.00,0.000,4,0.000,0.040,2118,3825,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2037,-0.42,-194.6,274.2,-7.8,304,2045,0.00,2.03,0.00,0.000,6,0.000,0.018,2118,2393,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2344,-0.43,-194.6,299.9,-8.1,335,2353,0.00,2.17,0.00,0.000,4,0.000,0.024,2118,1030,3775,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2369,-0.44,-194.6,301.7,-8.0,337,2376,0.00,2.40,0.00,0.000,6,0.000,0.029,2112,2470,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2676,-0.44,-194.6,327.4,-8.1,368,2686,0.00,2.05,0.00,0.000,4,0.000,0.041,2102,3835,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2699,-0.44,-194.6,329.3,-8.2,370,2708,0.10,2.08,0.00,0.000,6,0.116,0.018,2138,2386,3773,0,0,0,0,0,0,26.34,26.51,28.83
$GC,3011,-0.46,-194.6,345.8,-5.3,401,3020,0.00,2.28,0.00,0.000,4,0.000,0.039,2129,3827,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3047,-0.49,-194.6,347.6,-5.3,404,3055,0.00,2.03,0.00,0.000,6,0.000,0.017,2128,2380,3770,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3355,-0.56,-194.6,368.6,-7.8,435,3365,0.12,2.28,0.00,0.000,4,0.121,0.037,2080,3829,3768,0,0,0,0,0,0,26.41,26.31,28.83
$GC,3391,-0.64,-194.6,371.4,-7.8,438,3399,0.00,2.05,0.00,0.000,6,0.000,0.018,2087,2377,3768,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3700,-0.67,-194.6,391.5,-5.6,469,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2377,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-0.70,-194.6,409.3,-5.4,500,4022,0.12,2.15,-0.08,0.000,4,0.080,0.034,1981,1028,3786,0,0,0,0,0,0,26.60,26.42,24.84
$GC,4099,-0.65,-194.6,420.1,-14.5,508,4108,0.30,2.50,0.00,0.000,6,0.132,0.033,2063,2506,3786,0,0,0,0,0,0,25.90,26.32,28.83
$GC,4409,-0.62,-194.6,456.5,-11.9,539,4418,0.00,2.42,0.00,0.000,4,0.000,0.024,2066,1031,3785,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4443,-0.60,-194.6,460.7,-12.0,542,4450,0.00,2.47,0.00,0.000,6,0.000,0.031,2055,2502,3785,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4752,-0.57,-194.6,503.1,-14.1,573,4761,0.12,2.38,0.00,0.000,4,0.147,0.022,2098,1047,3783,0,0,0,0,0,0,26.31,26.37,28.83
$GC,4835,-0.59,-194.6,510.8,-7.8,581,4844,0.00,2.40,0.00,0.000,6,0.000,0.031,2089,2483,3782,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5144,-0.59,-194.6,539.4,-9.9,612,5154,0.00,2.03,0.00,0.000,4,0.000,0.044,2080,3826,3780,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5198,-0.60,-194.6,544.5,-9.9,617,5206,0.00,2.00,0.00,0.000,6,0.000,0.020,2080,2417,3780,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5507,-0.59,-194.6,577.4,-10.5,648,5517,0.00,2.20,0.00,0.000,4,0.000,0.024,2080,1044,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5561,-0.60,-194.6,582.4,-9.3,653,5570,0.00,2.40,0.00,0.000,6,0.000,0.033,2069,2476,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5874,-0.59,-194.6,615.6,-11.1,677,5879,0.00,2.35,0.00,0.000,4,0.000,0.024,2070,1044,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5912,-0.58,-194.6,620.3,-11.2,679,5918,0.00,2.40,0.00,0.000,6,0.000,0.033,2059,2464,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6232,-0.56,-194.6,658.1,-11.3,695,6238,0.12,2.05,0.00,0.000,4,0.143,0.041,2093,3815,3772,0,0,0,0,0,0,26.32,26.18,28.83
$GC,6256,-0.54,-194.6,660.2,-11.0,696,6260,0.00,2.05,0.00,0.000,6,0.000,0.020,2093,2402,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6569,-0.55,-194.6,682.7,-7.2,712,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2401,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.56,-194.6,702.1,-5.8,727,6875,0.00,2.28,0.00,0.000,4,0.000,0.045,2083,3827,3768,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6901,-0.57,-194.6,703.2,-5.8,728,6909,0.00,2.05,0.00,0.000,6,0.000,0.021,2084,2406,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7208,-0.57,-194.6,723.0,-6.7,744,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2407,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7509,-0.57,-194.6,745.2,-7.7,759,7513,0.00,2.25,0.00,0.000,4,0.000,0.044,2074,3829,3763,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7553,-0.58,-194.6,748.6,-7.9,761,7559,0.00,2.03,0.00,0.000,6,0.000,0.020,2075,2414,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7874,-0.58,-194.6,777.4,-8.8,777,7879,0.00,2.22,0.00,0.000,4,0.000,0.028,2075,1049,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7905,-0.58,-194.6,779.1,-8.6,778,7912,0.00,2.45,0.00,0.000,6,0.000,0.036,2065,2483,3761,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8213,-0.57,-194.6,806.8,-8.6,794,8219,0.00,2.38,0.00,0.000,4,0.000,0.027,2065,1039,3760,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8236,-0.56,-194.6,808.6,-8.7,795,8243,0.12,2.45,0.00,0.000,6,0.119,0.034,2101,2478,3760,0,0,0,0,0,0,26.05,26.17,28.83
$GC,8554,-0.58,-194.6,828.8,-6.6,811,8560,0.00,2.03,0.00,0.000,4,0.000,0.044,2092,3819,3759,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8596,-0.61,-194.6,831.4,-6.5,813,8599,0.00,2.05,0.00,0.000,6,0.000,0.021,2092,2405,3758,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8910,-0.65,-194.6,853.2,-7.0,829,8915,0.00,2.20,0.00,0.000,4,0.000,0.024,2092,1034,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8942,-0.69,-194.6,854.7,-7.1,830,8949,0.12,2.65,0.00,0.000,6,0.080,0.031,2031,2568,3757,0,0,0,0,0,0,26.18,26.20,28.83
$GC,9250,-0.66,-194.6,891.7,-12.8,846,9256,0.10,2.60,0.00,0.000,4,0.151,0.027,2065,1057,3755,0,0,0,0,0,0,26.41,26.20,28.83
$GC,9311,-0.65,-194.6,897.7,-10.5,849,9316,0.00,2.55,0.00,0.000,6,0.000,0.034,2056,2531,3755,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9633,-0.64,-194.6,927.3,-9.8,865,9638,0.00,2.53,0.00,0.000,4,0.000,0.029,2056,1050,3754,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9674,-0.64,-194.6,931.4,-9.8,867,9678,0.00,2.58,0.00,0.000,6,0.000,0.038,2046,2521,3754,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9987,-0.62,-194.6,962.2,-9.4,883,9992,0.00,2.47,0.00,0.000,4,0.000,0.027,2046,1047,3753,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10028,-0.61,-194.6,965.8,-9.0,885,10034,0.10,2.53,0.00,0.000,6,0.096,0.036,2078,2509,3753,0,0,0,0,0,0,25.90,26.10,28.83
$GC,10350,-0.62,-194.6,983.8,-5.4,901,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2507,3751,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10466,begin apogee
$GC,10472,-0.20,0.0,990.7,-6.0,907,10670,0.38,0.00,191.15,1.168,4,0.092,0.000,2213,2507,2972,0,0,0,0,0,0,25.96,28.83,23.57
$STATE,10671,end apogee,CONTROL_FINISHED_OK
$STATE,10671,begin climb
$GC,10674,0.58,194.6,997.5,0.0,917,10890,0.62,2.58,206.25,1.150,4,0.031,0.027,2483,1072,2181,0,0,0,0,0,0,24.84,24.82,23.08
$GC,10991,0.54,194.6,956.6,17.4,933,10997,0.10,2.62,0.00,0.000,6,0.161,0.036,2453,2527,2150,0,0,0,0,0,0,24.95,25.21,28.83
$GC,11312,0.48,194.6,894.4,19.1,949,11318,0.00,2.53,0.00,0.000,4,0.000,0.030,2466,1067,2146,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11392,0.43,194.6,880.6,17.0,953,11398,0.15,2.62,0.00,0.000,6,0.144,0.037,2416,2545,2144,0,0,0,0,0,0,25.61,25.94,28.83
$GC,11714,0.39,194.6,829.9,16.3,969,11719,0.00,1.92,0.00,0.000,4,0.000,0.044,2416,3836,2143,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11772,0.35,194.6,819.0,17.5,972,11778,0.12,1.88,0.00,0.000,6,0.181,0.021,2393,2524,2141,0,0,0,0,0,0,25.77,26.18,28.83
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$STATE,19530,end climb,SURFACE_DEPTH_REACHED
$STATE,19530,begin surface coast
$FINISH,0.2,1.021590
$STATE,19545,end surface coast,CONTROL_FINISHED_OK
$STATE,19545,begin surface
$SM_CCo,19624,0.00,0.000,0,0,825,528.38
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.11
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,10.2,27.097
$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
$DEVICE_SECS,18.200,205.525,736.975,0.000,0.000,30.426,40.619,252.186,0.000,0.000,14.211,4537.271,10527.557,899.808,3585.638,515.796,0.000,2683.863,0.000,3081.934,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,113754,1830
$CAP_FILE_SIZE,229131,0
$CFSIZE,260165632,198393856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.153, 55.2,1
$GPS,050612,174231,2219.086,12257.446,37,1.3,37,-3.0