version: 66.10
glider: 169
mission: 6
dive: 224
start: 6 6 112 15 6 1
data:
$ID,169
$MISSION,6
$DIVE,224
$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,-8
$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,-15742.411
$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
$GPS1,060612,145737,2222.904,12248.234,27,1.0,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-75.2
$GPS2,060612,150538,2222.709,12248.357,11,1.7,11,-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,294.6,159707,-13.8,-8.684
$D_GRID,4944
$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,-79.50,0.000,2,0.000,0.000,118,2522,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-194.6,3.6,-9.4,14,130,8.02,2.53,-10.77,0.000,4,0.226,0.035,2090,1035,3777,0,0,1,0,0,0,25.14,25.46,26.43
$GC,325,-0.58,-194.6,64.0,-14.4,56,332,0.00,2.53,0.00,0.000,6,0.000,0.034,2077,2513,3779,0,0,0,0,0,0,28.83,26.09,28.83
$GC,517,-0.51,-194.6,104.0,-19.0,93,524,0.12,0.00,0.00,0.000,6,0.168,0.000,2115,2512,3779,0,0,0,0,0,0,26.06,28.83,28.83
$GC,710,-0.48,-194.6,134.8,-17.5,130,717,0.00,2.45,0.00,0.000,4,0.000,0.024,2124,1038,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,745,-0.47,-194.6,140.3,-14.0,136,752,0.00,2.45,0.00,0.000,6,0.000,0.031,2114,2489,3781,0,0,0,0,0,0,28.83,26.23,28.83
$GC,936,-0.44,-194.6,165.5,-13.4,173,943,0.00,2.00,0.00,0.000,4,0.000,0.041,2104,3826,3780,0,0,0,0,0,0,28.83,26.22,28.83
$GC,987,-0.44,-194.6,171.8,-10.2,182,993,0.00,2.03,0.00,0.000,6,0.000,0.019,2104,2422,3781,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1177,-0.41,-194.6,197.4,-14.7,219,1185,0.12,2.22,0.00,0.000,4,0.139,0.021,2150,1036,3781,0,0,0,0,0,0,26.28,26.36,28.83
$GC,1235,-0.45,-194.6,203.6,-9.0,226,1242,0.00,2.40,0.00,0.000,6,0.000,0.029,2147,2481,3781,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1544,-0.53,-194.6,230.6,-8.5,257,1553,0.12,2.03,0.00,0.000,4,0.109,0.037,2094,3829,3781,0,0,0,0,0,0,26.44,26.28,28.83
$GC,1560,-0.60,-194.6,231.2,-8.3,258,1567,0.00,2.10,0.00,0.000,6,0.000,0.018,2095,2353,3781,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1867,-0.62,-194.6,252.4,-6.4,289,1876,0.00,2.30,0.00,0.000,4,0.000,0.038,2085,3822,3780,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1941,-0.62,-194.6,257.4,-7.3,296,1949,0.00,1.85,0.00,0.000,6,0.000,0.020,2085,2497,3780,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2250,-0.59,-194.6,289.3,-11.1,327,2259,0.00,2.35,0.00,0.000,4,0.000,0.024,2085,1042,3780,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2366,-0.60,-194.6,298.9,-7.1,338,2376,0.00,2.47,0.00,0.000,6,0.000,0.031,2075,2522,3779,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2675,-0.57,-194.6,331.7,-10.8,369,2679,0.00,1.95,0.00,0.000,4,0.000,0.043,2065,3827,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2708,-0.54,-194.6,335.4,-11.3,372,2713,0.12,1.98,0.00,0.000,6,0.127,0.021,2104,2440,3777,0,0,0,0,0,0,26.22,26.48,28.83
$GC,3021,-0.54,-194.6,365.5,-9.9,403,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2439,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3323,-0.54,-194.6,392.8,-7.9,433,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2439,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3634,-0.54,-194.6,417.7,-8.0,464,3642,0.00,2.25,0.00,0.000,4,0.000,0.024,2104,1045,3771,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3668,-0.56,-194.6,420.4,-7.7,467,3676,0.00,2.47,0.00,0.000,6,0.000,0.032,2099,2516,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3975,-0.56,-194.6,446.7,-9.2,498,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2516,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4279,-0.56,-194.6,475.1,-9.0,528,4288,0.00,2.42,0.00,0.000,4,0.000,0.024,2099,1039,3767,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4325,-0.57,-194.6,479.0,-8.6,532,4333,0.00,2.47,0.00,0.000,6,0.000,0.033,2098,2510,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4632,-0.57,-194.6,502.8,-7.4,563,4641,0.00,2.00,0.00,0.000,4,0.000,0.044,2089,3828,3764,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4657,-0.57,-194.6,504.5,-7.3,565,4664,0.00,1.98,0.00,0.000,6,0.000,0.019,2090,2443,3764,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4964,-0.57,-194.6,526.3,-7.4,596,4973,0.00,2.25,0.00,0.000,4,0.000,0.024,2090,1045,3762,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5017,-0.58,-194.6,529.8,-6.7,601,5025,0.00,2.45,0.00,0.000,6,0.000,0.034,2085,2506,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5327,-0.58,-194.6,553.2,-7.8,632,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2505,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5628,-0.58,-194.6,574.6,-6.8,662,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2505,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.58,-194.6,596.9,-8.4,693,5948,0.00,2.42,0.00,0.000,4,0.000,0.026,2086,1037,3755,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5963,-0.58,-194.6,599.2,-8.7,695,5970,0.00,2.50,0.00,0.000,6,0.000,0.034,2085,2508,3755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6281,-0.58,-194.6,630.1,-10.2,712,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2507,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6583,-0.58,-194.6,657.7,-8.0,727,6588,0.00,2.40,0.00,0.000,4,0.000,0.026,2085,1045,3751,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6610,-0.58,-194.6,659.2,-7.9,728,6614,0.00,2.47,0.00,0.000,6,0.000,0.036,2086,2501,3751,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6918,-0.58,-194.6,680.1,-6.4,743,6923,0.00,2.00,0.00,0.000,4,0.000,0.046,2076,3814,3749,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6945,-0.58,-194.6,681.5,-6.4,744,6948,0.00,2.03,0.00,0.000,6,0.000,0.021,2076,2427,3749,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7252,-0.58,-194.6,703.1,-7.1,759,7256,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,3819,3748,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7288,-0.58,-194.6,704.7,-7.1,760,7295,0.00,2.00,0.00,0.000,6,0.000,0.021,2067,2440,3748,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7595,-0.58,-194.6,729.2,-7.9,776,7600,0.00,2.25,0.00,0.000,4,0.000,0.027,2067,1045,3746,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7655,-0.58,-194.6,733.8,-7.8,779,7661,0.08,2.45,0.00,0.000,6,0.090,0.035,2093,2499,3746,0,0,0,0,0,0,26.03,26.18,28.83
$GC,7978,-0.59,-194.6,752.7,-6.1,795,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2497,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8275,-0.60,-194.6,769.3,-5.7,810,8280,0.00,2.38,0.00,0.000,4,0.000,0.028,2094,1054,3742,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8296,-0.61,-194.6,770.4,-5.8,811,8301,0.00,2.45,0.00,0.000,6,0.000,0.036,2089,2493,3742,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8616,-0.62,-194.6,790.3,-6.3,827,8621,0.00,2.08,0.00,0.000,4,0.000,0.047,2079,3817,3740,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8648,-0.63,-194.6,791.5,-6.4,828,8655,0.00,2.05,0.00,0.000,6,0.000,0.021,2080,2421,3740,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8955,-0.63,-194.6,817.7,-8.8,844,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2421,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9255,-0.63,-194.6,845.7,-9.3,859,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2421,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9555,-0.63,-194.6,873.7,-9.2,874,9561,0.00,2.28,0.00,0.000,4,0.000,0.045,2070,3811,3736,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9588,-0.63,-194.6,875.4,-9.2,875,9594,0.00,2.03,0.00,0.000,6,0.000,0.021,2070,2429,3735,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9896,-0.63,-194.6,902.9,-7.7,891,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2430,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10196,-0.63,-194.6,921.6,-5.3,906,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2430,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10495,-0.63,-194.6,934.9,-4.0,921,10500,0.00,2.28,0.00,0.000,4,0.000,0.028,2070,1040,3733,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10517,-0.63,-194.6,935.8,-4.1,922,10521,0.00,2.47,0.00,0.000,6,0.000,0.034,2061,2507,3733,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10831,-0.63,-194.6,952.4,-5.8,938,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2506,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11130,-0.62,-194.6,973.9,-8.1,953,11135,0.00,2.42,0.00,0.000,4,0.000,0.028,2061,1043,3730,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11191,-0.62,-194.6,979.0,-8.4,956,11196,0.00,2.42,0.00,0.000,6,0.000,0.034,2051,2491,3730,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11307,begin apogee
$GC,11313,-0.20,0.0,990.5,-10.0,962,11512,0.45,0.10,189.70,1.168,4,0.103,0.071,2205,2479,2970,0,0,0,0,0,0,25.71,24.53,23.45
$STATE,11513,end apogee,CONTROL_FINISHED_OK
$STATE,11513,begin climb
$GC,11515,0.58,194.6,999.9,0.0,972,11734,0.68,2.25,208.55,1.157,4,0.045,0.044,2469,3818,2178,0,0,0,0,0,0,24.79,24.72,22.93
$GC,11845,0.50,194.6,948.6,21.7,988,11852,0.15,2.03,0.00,0.000,6,0.190,0.022,2443,2499,2148,0,0,0,0,0,0,24.87,25.25,28.83
$GC,12153,0.45,194.6,894.9,16.0,1004,12158,0.00,2.42,0.00,0.000,4,0.000,0.029,2456,1068,2141,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12234,0.41,194.6,883.4,14.3,1008,12240,0.17,2.62,0.00,0.000,6,0.151,0.036,2407,2557,2138,0,0,0,0,0,0,25.60,25.91,28.83
$GC,12550,0.38,194.6,843.0,12.9,1024,12555,0.00,1.92,0.00,0.000,4,0.000,0.044,2407,3831,2138,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12629,0.34,194.6,830.5,15.6,1028,12635,0.12,1.90,0.00,0.000,6,0.169,0.020,2380,2523,2138,0,0,0,0,0,0,25.77,26.17,28.83
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$STATE,19113,end climb,SURFACE_DEPTH_REACHED
$STATE,19113,begin surface coast
$FINISH,0.1,1.020866
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19136,begin surface
$SM_CCo,19214,0.00,0.000,0,0,850,522.24
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$IRIDIUM_FIX,2213.68,12250.98,060612,090942
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.66
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,22.9,45.265
$10V_AH,10.0,27.739
$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,17.900,175.275,778.850,0.000,0.000,27.501,42.254,254.983,0.000,0.000,12.012,4235.699,10671.070,859.119,3396.201,492.386,0.000,2543.558,0.000,2903.828,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,100.215,1168.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,106984,1697
$CAP_FILE_SIZE,213736,0
$CFSIZE,260165632,197836800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.169,137.9,1
$GPS,060612,202725,2222.642,12247.028,41,1.1,41,-3.0