version: 66.10
glider: 169
mission: 6
dive: 227
start: 6 7 112 7 53 21
data:
$ID,169
$MISSION,6
$DIVE,227
$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,-15746.188
$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,300
$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
$GPS1,070612,073907,2223.426,12243.789,37,1.2,37,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-75.3
$GPS2,070612,075256,2223.041,12244.465,11,1.7,11,-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,314.1,153599,-13.8,-8.684
$D_GRID,4891
$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,-194.6,0.0,0.0,0,94,0.00,0.00,-73.97,0.000,2,0.000,0.000,116,2547,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-194.6,4.1,-10.2,13,124,8.02,2.55,-12.62,0.000,4,0.226,0.028,2092,984,3776,0,0,1,0,0,0,25.18,25.50,26.47
$GC,203,-0.55,-194.6,41.7,-19.1,32,211,0.00,2.58,0.00,0.000,6,0.000,0.031,2080,2515,3777,0,0,0,0,0,0,28.83,26.08,28.83
$GC,398,-0.47,-194.6,93.4,-25.5,69,405,0.12,2.45,0.00,0.000,4,0.168,0.024,2128,1041,3777,0,0,0,0,0,0,26.06,26.22,28.83
$GC,454,-0.48,-194.6,101.5,-8.9,79,461,0.00,2.47,0.00,0.000,6,0.000,0.031,2125,2508,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,647,-0.44,-194.6,127.9,-14.0,116,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2506,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,840,-0.42,-194.6,155.4,-13.3,153,847,0.00,2.42,0.00,0.000,4,0.000,0.024,2127,1032,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,879,-0.42,-194.6,160.3,-10.1,160,887,0.00,2.42,0.00,0.000,6,0.000,0.031,2125,2483,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1072,-0.40,-194.6,180.2,-11.5,197,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2482,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.38,-194.6,205.9,-14.7,231,1276,0.00,2.33,0.00,0.000,4,0.000,0.022,2125,1035,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1299,-0.38,-194.6,210.2,-13.8,234,1308,0.00,2.35,0.00,0.000,6,0.000,0.031,2125,2448,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1610,-0.38,-194.6,250.6,-12.5,265,1614,0.00,2.10,0.00,0.000,4,0.000,0.041,2114,3827,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1642,-0.39,-194.6,254.6,-12.6,268,1653,0.12,2.10,0.00,0.000,6,0.103,0.018,2160,2373,3778,0,0,0,0,0,0,26.32,26.51,28.83
$GC,1953,-0.46,-194.6,275.5,-7.3,299,1963,0.12,2.28,0.00,0.000,4,0.112,0.035,2110,3829,3775,0,0,0,0,0,0,26.45,26.33,28.83
$GC,2041,-0.54,-194.6,282.2,-7.4,307,2048,0.00,2.03,0.00,0.000,6,0.000,0.018,2110,2392,3774,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2347,-0.57,-194.6,300.8,-6.1,338,2357,0.00,2.12,0.00,0.000,4,0.000,0.024,2110,1036,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2414,-0.60,-194.6,305.5,-7.6,344,2421,0.00,2.67,0.00,0.000,6,0.000,0.031,2105,2602,3772,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2722,-0.64,-194.6,328.4,-6.9,375,2731,0.10,2.60,0.00,0.000,4,0.093,0.021,2021,1033,3770,0,0,0,0,0,0,26.63,26.44,28.83
$GC,2788,-0.61,-194.6,335.2,-11.9,381,2795,0.20,2.40,0.00,0.000,6,0.116,0.033,2078,2484,3770,0,0,0,0,0,0,26.13,26.35,28.83
$GC,3094,-0.59,-194.6,367.9,-9.3,412,3103,0.00,2.35,0.00,0.000,4,0.000,0.024,2078,1033,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3147,-0.59,-194.6,372.2,-7.9,417,3156,0.00,2.35,0.00,0.000,6,0.000,0.032,2068,2459,3766,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3458,-0.55,-194.6,402.4,-10.8,448,3465,0.00,0.00,-0.10,0.000,6,0.000,0.000,2068,2458,3785,0,0,0,0,0,0,28.83,28.83,26.03
$GC,3767,-0.53,-194.6,442.6,-14.0,479,3776,0.12,2.28,0.00,0.000,4,0.146,0.021,2111,1033,3783,0,0,0,0,0,0,26.33,26.42,28.83
$GC,3812,-0.54,-194.6,447.4,-11.1,483,3819,0.00,2.33,0.00,0.000,6,0.000,0.031,2111,2446,3783,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4121,-0.55,-194.6,472.2,-6.9,514,4124,0.00,2.10,0.00,0.000,4,0.000,0.042,2101,3825,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4175,-0.57,-194.6,475.8,-6.8,519,4182,0.00,2.08,0.00,0.000,6,0.000,0.020,2101,2393,3779,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4484,-0.58,-194.6,496.6,-6.8,550,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2393,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-0.59,-194.6,516.5,-7.0,580,4794,0.00,2.28,0.00,0.000,4,0.000,0.043,2092,3824,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4830,-0.60,-194.6,519.4,-6.4,584,4837,0.00,2.08,0.00,0.000,6,0.000,0.020,2092,2400,3774,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5139,-0.60,-194.6,543.3,-8.2,615,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2400,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5450,-0.60,-194.6,571.0,-8.9,646,5460,0.00,2.25,0.00,0.000,4,0.000,0.041,2082,3823,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5496,-0.61,-194.6,575.1,-9.3,650,5504,0.00,2.08,0.00,0.000,6,0.000,0.021,2083,2403,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5816,-0.61,-194.6,606.5,-9.5,679,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2403,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6113,-0.61,-194.6,635.0,-9.9,694,6119,0.00,2.28,0.00,0.000,4,0.000,0.042,2074,3826,3764,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6153,-0.61,-194.6,639.0,-9.9,696,6159,0.00,2.05,0.00,0.000,6,0.000,0.020,2073,2419,3763,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6473,-0.61,-194.6,673.6,-10.6,712,6479,0.00,2.20,0.00,0.000,4,0.000,0.025,2073,1034,3761,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6501,-0.61,-194.6,675.8,-10.6,713,6505,0.00,2.42,0.00,0.000,6,0.000,0.032,2063,2490,3761,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6809,-0.59,-194.6,711.2,-11.2,728,6815,0.00,2.35,0.00,0.000,4,0.000,0.024,2063,1036,3759,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6850,-0.59,-194.6,715.4,-10.7,730,6856,0.08,2.38,0.00,0.000,6,0.096,0.033,2088,2462,3759,0,0,0,0,0,0,26.08,26.26,28.83
$GC,7172,-0.59,-194.6,739.6,-7.4,746,7177,0.00,2.08,0.00,0.000,4,0.000,0.044,2078,3821,3757,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7214,-0.60,-194.6,742.8,-7.5,748,7218,0.00,2.08,0.00,0.000,6,0.000,0.021,2078,2412,3756,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7526,-0.60,-194.6,767.0,-7.8,764,7531,0.00,2.17,0.00,0.000,4,0.000,0.026,2078,1041,3754,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7555,-0.60,-194.6,768.6,-7.8,765,7564,0.00,2.38,0.00,0.000,6,0.000,0.033,2068,2465,3754,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7867,-0.60,-194.6,794.9,-8.0,781,7872,0.00,2.08,0.00,0.000,4,0.000,0.044,2058,3818,3752,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7907,-0.60,-194.6,798.0,-7.8,783,7912,0.00,2.08,0.00,0.000,6,0.000,0.021,2058,2412,3751,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8228,-0.59,-194.6,826.0,-8.9,799,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2411,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,-0.57,-194.6,852.9,-9.0,814,8528,0.10,0.00,0.00,0.000,6,0.138,0.000,2090,2411,3748,0,0,0,0,0,0,26.45,28.83,28.83
$GC,8827,-0.59,-194.6,874.0,-7.0,829,8832,0.00,2.30,0.00,0.000,4,0.000,0.045,2083,3816,3747,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8859,-0.60,-194.6,875.3,-7.0,830,8867,0.00,2.08,0.00,0.000,6,0.000,0.021,2084,2408,3746,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9167,-0.61,-194.6,897.4,-6.5,846,9172,0.00,2.17,0.00,0.000,4,0.000,0.027,2084,1047,3745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9194,-0.63,-194.6,898.6,-6.5,847,9199,0.00,2.40,0.00,0.000,6,0.000,0.034,2082,2473,3745,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9501,-0.64,-194.6,917.8,-5.7,862,9507,0.00,2.10,0.00,0.000,4,0.000,0.045,2073,3820,3743,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9542,-0.65,-194.6,920.2,-5.8,864,9546,0.00,2.08,0.00,0.000,6,0.000,0.021,2073,2414,3743,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9864,-0.65,-194.6,940.5,-6.3,880,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2412,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.65,-194.6,960.3,-6.9,895,10171,0.00,2.28,0.00,0.000,4,0.000,0.046,2062,3821,3741,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10207,-0.66,-194.6,963.1,-7.1,897,10211,0.00,2.08,0.00,0.000,6,0.000,0.021,2062,2423,3741,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10517,begin apogee
$GC,10524,-0.20,0.0,990.5,-8.9,913,10722,0.43,0.03,190.02,1.169,4,0.093,0.018,2212,2481,2971,0,0,0,0,0,0,25.87,24.55,23.53
$STATE,10723,end apogee,CONTROL_FINISHED_OK
$STATE,10724,begin climb
$GC,10726,0.58,194.6,1000.8,0.0,923,10942,0.62,2.45,207.75,1.151,4,0.035,0.026,2476,1061,2184,0,0,0,0,0,0,24.85,24.85,23.03
$GC,10978,0.53,194.6,975.7,14.8,936,10983,0.00,2.72,0.00,0.000,6,0.000,0.034,2476,2538,2154,0,0,0,0,0,0,28.83,24.68,28.83
$GC,11292,0.45,194.6,908.2,23.0,952,11298,0.17,2.50,0.00,0.000,4,0.181,0.028,2438,1067,2148,0,0,0,0,0,0,25.52,25.87,28.83
$GC,11396,0.42,194.6,891.7,15.1,957,11402,0.00,2.58,0.00,0.000,6,0.000,0.036,2438,2546,2145,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11713,0.37,194.6,835.3,17.7,973,11719,0.12,1.95,0.00,0.000,4,0.176,0.042,2401,3829,2145,0,0,0,0,0,0,25.88,26.02,28.83
$GC,11800,0.33,194.6,822.8,15.5,977,11804,0.00,1.90,0.00,0.000,6,0.000,0.024,2411,2523,2144,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12109,0.30,194.6,782.1,12.3,992,12111,0.12,0.00,0.00,0.000,6,0.171,0.000,2378,2521,2143,0,0,0,0,0,0,26.02,28.83,28.83
$GC,12408,0.29,194.6,753.9,8.9,1007,12413,0.00,2.00,0.00,0.000,4,0.000,0.043,2378,3819,2142,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,18650,end climb,SURFACE_DEPTH_REACHED
$STATE,18652,begin surface coast
$FINISH,0.0,1.020797
$STATE,18678,end surface coast,CONTROL_FINISHED_OK
$STATE,18678,begin surface
$SM_CCo,18755,0.00,0.000,0,0,467,616.19
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$IRIDIUM_FIX,2216.01,12245.79,070612,070749
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.53
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.0,45.939
$10V_AH,10.1,28.144
$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,17.800,190.900,869.850,0.000,0.000,84.766,104.835,333.797,0.000,0.000,12.369,4165.359,10333.061,948.712,3596.401,498.196,0.000,2643.818,0.000,2887.227,0.000,0.547,0.000
$DEVICE_MAMPS,226.440,57.375,1168.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1142.443,2167.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,106862,1685
$CAP_FILE_SIZE,218319,0
$CFSIZE,260165632,197476352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.116,114.6,1
$GPS,070612,130701,2224.311,12243.620,36,2.0,36,-3.0