version: 66.10
glider: 169
mission: 6
dive: 228
start: 6 7 112 13 15 19
data:
$ID,169
$MISSION,6
$DIVE,228
$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,-15747.444
$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
$GPS1,070612,130701,2224.311,12243.620,36,2.0,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.0
$GPS2,070612,131456,2224.115,12243.887,17,1.8,17,-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,300.0,151771,-13.8,-8.684
$D_GRID,4929
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-87.47,0.000,2,0.000,0.000,116,2558,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.58,-194.6,3.5,-8.9,15,144,7.97,2.60,-14.95,0.000,4,0.226,0.033,2093,1017,3777,0,0,1,0,0,0,25.15,25.41,26.46
$GC,247,-0.53,-194.6,48.7,-20.3,40,254,0.00,2.55,0.00,0.000,6,0.000,0.034,2080,2513,3778,0,0,0,0,0,0,28.83,26.07,28.83
$GC,439,-0.45,-194.6,96.9,-24.7,77,447,0.12,2.45,0.00,0.000,4,0.165,0.021,2124,1038,3778,0,0,0,0,0,0,26.03,26.23,28.83
$GC,460,-0.39,-194.6,102.1,-24.5,80,467,0.12,2.50,0.00,0.000,6,0.140,0.033,2149,2503,3778,0,0,0,0,0,0,25.97,26.16,28.83
$GC,654,-0.38,-194.6,127.4,-12.7,117,661,0.00,2.42,0.00,0.000,4,0.000,0.023,2149,1021,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,690,-0.39,-194.6,132.0,-12.5,123,697,0.00,2.50,0.00,0.000,6,0.000,0.031,2147,2499,3779,0,0,0,0,0,0,28.83,26.24,28.83
$GC,881,-0.39,-194.6,154.2,-11.0,160,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2498,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1072,-0.39,-194.6,172.7,-8.5,197,1079,0.00,2.40,0.00,0.000,4,0.000,0.023,2147,1035,3779,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1102,-0.42,-194.6,175.0,-7.7,202,1111,0.00,2.42,0.00,0.000,6,0.000,0.031,2147,2480,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1297,-0.42,-194.6,189.4,-8.1,239,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2479,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1488,-0.44,-194.6,205.7,-9.0,270,1497,0.00,2.00,0.00,0.000,4,0.000,0.042,2137,3823,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1510,-0.46,-194.6,208.1,-9.6,272,1519,0.00,2.08,0.00,0.000,6,0.000,0.019,2138,2402,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1821,-0.47,-194.6,239.9,-9.4,303,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2402,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-0.49,-194.6,260.9,-5.5,333,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2402,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.50,-194.6,277.2,-5.6,364,2441,0.00,2.25,0.00,0.000,4,0.000,0.043,2128,3818,3776,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2479,-0.53,-194.6,279.8,-5.9,368,2485,0.00,2.03,0.00,0.000,6,0.000,0.019,2129,2404,3775,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2786,-0.57,-194.6,301.3,-7.7,399,2795,0.12,2.25,0.00,0.000,4,0.079,0.040,2044,3816,3773,0,0,0,0,0,0,26.59,26.29,28.83
$GC,2819,-0.59,-194.6,304.8,-9.6,402,2829,0.12,1.80,0.00,0.000,6,0.135,0.019,2080,2506,3773,0,0,0,0,0,0,26.21,26.53,28.83
$GC,3130,-0.56,-194.6,348.7,-11.8,433,3138,0.00,2.38,0.00,0.000,4,0.000,0.024,2082,1046,3772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3246,-0.56,-194.6,357.9,-6.8,444,3253,0.00,2.55,0.00,0.000,6,0.000,0.033,2071,2545,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3554,-0.53,-194.6,384.9,-9.1,475,3563,0.12,2.50,0.00,0.000,4,0.154,0.023,2114,1044,3768,0,0,0,0,0,0,26.29,26.39,28.83
$GC,3619,-0.55,-194.6,388.6,-4.1,481,3627,0.00,2.50,0.00,0.000,6,0.000,0.032,2112,2526,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3928,-0.56,-194.6,406.5,-6.9,512,3932,0.00,1.92,0.00,0.000,4,0.000,0.044,2103,3823,3766,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3951,-0.57,-194.6,408.2,-7.0,514,3960,0.00,1.95,0.00,0.000,6,0.000,0.021,2103,2458,3766,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4262,-0.57,-194.6,434.0,-8.5,545,4271,0.00,2.33,-0.10,0.000,4,0.000,0.035,2103,1030,3785,0,0,0,0,0,0,28.83,26.38,26.01
$GC,4306,-0.59,-194.6,437.6,-8.3,549,4314,0.00,2.47,0.00,0.000,6,0.000,0.033,2099,2506,3785,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4616,-0.59,-194.6,466.3,-8.9,580,4624,0.00,2.40,0.00,0.000,4,0.000,0.025,2099,1032,3783,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4639,-0.59,-194.6,468.1,-8.1,582,4649,0.00,2.45,0.00,0.000,6,0.000,0.032,2098,2506,3783,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4947,-0.59,-194.6,486.1,-4.7,613,4956,0.00,2.00,0.00,0.000,4,0.000,0.044,2091,3825,3780,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4980,-0.60,-194.6,487.6,-4.8,616,4989,0.00,2.00,0.00,0.000,6,0.000,0.019,2091,2433,3780,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5290,-0.60,-194.6,505.9,-6.8,647,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2433,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,-0.60,-194.6,530.5,-8.8,677,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2433,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5900,-0.60,-194.6,560.1,-9.3,708,5904,0.00,2.25,0.00,0.000,4,0.000,0.026,2091,1048,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5934,-0.61,-194.6,563.2,-9.4,711,5943,0.00,2.47,0.00,0.000,6,0.000,0.034,2089,2507,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6242,-0.61,-194.6,591.6,-9.2,742,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2506,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,-0.61,-194.6,617.7,-8.3,762,6548,0.00,2.40,0.00,0.000,4,0.000,0.026,2089,1047,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6570,-0.61,-194.6,619.4,-8.3,763,6575,0.00,2.47,0.00,0.000,6,0.000,0.035,2088,2504,3770,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6878,-0.61,-194.6,645.7,-8.6,778,6883,0.00,2.00,0.00,0.000,4,0.000,0.045,2079,3824,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6902,-0.61,-194.6,647.3,-8.5,779,6908,0.00,2.03,0.00,0.000,6,0.000,0.021,2079,2432,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7218,-0.61,-194.6,674.6,-8.3,795,7224,0.00,2.25,0.00,0.000,4,0.000,0.027,2079,1042,3765,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7251,-0.61,-194.6,676.1,-8.0,796,7257,0.00,2.45,0.00,0.000,6,0.000,0.034,2071,2493,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7559,-0.60,-194.6,701.8,-7.8,812,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2491,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,-0.59,-194.6,722.8,-6.6,827,7864,0.00,2.40,0.00,0.000,4,0.000,0.028,2071,1044,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7901,-0.59,-194.6,725.2,-6.4,829,7907,0.00,2.47,0.00,0.000,6,0.000,0.035,2062,2498,3762,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8218,-0.58,-194.6,750.8,-8.2,845,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2497,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8518,-0.56,-194.6,779.2,-10.1,860,8525,0.10,2.40,0.00,0.000,4,0.155,0.024,2091,1044,3759,0,0,0,0,0,0,26.41,26.26,28.83
$GC,8570,-0.56,-194.6,782.5,-8.9,862,8579,0.00,2.42,0.00,0.000,6,0.000,0.035,2089,2475,3759,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8879,-0.60,-194.6,803.0,-6.1,878,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2474,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9179,-0.63,-194.6,819.7,-5.3,893,9185,0.00,2.10,0.00,0.000,4,0.000,0.048,2083,3816,3755,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9281,-0.65,-194.6,825.2,-5.4,898,9285,0.00,1.80,0.00,0.000,6,0.000,0.021,2083,2538,3754,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9600,-0.66,-194.6,841.3,-5.2,914,9605,0.00,2.45,0.00,0.000,4,0.000,0.027,2083,1041,3753,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9687,-0.68,-194.6,846.1,-5.9,918,9691,0.00,2.62,0.00,0.000,6,0.000,0.034,2073,2559,3753,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9995,-0.68,-194.6,867.4,-7.3,933,10000,0.00,2.58,0.00,0.000,4,0.000,0.028,2073,1036,3752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10036,-0.68,-194.6,870.2,-7.2,935,10040,0.00,2.62,0.00,0.000,6,0.000,0.036,2063,2547,3752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10349,-0.67,-194.6,899.3,-9.9,951,10355,0.00,2.53,0.00,0.000,4,0.000,0.028,2063,1051,3750,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10397,-0.67,-194.6,903.2,-10.2,953,10402,0.00,2.58,0.00,0.000,6,0.000,0.037,2054,2537,3751,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10704,-0.66,-194.6,936.9,-10.7,968,10709,0.00,2.50,0.00,0.000,4,0.000,0.027,2055,1046,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10745,-0.65,-194.6,941.1,-10.5,970,10750,0.00,2.53,0.00,0.000,6,0.000,0.038,2045,2514,3749,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11064,-0.63,-194.6,974.3,-10.0,986,11069,0.00,2.47,0.00,0.000,4,0.000,0.030,2045,1040,3748,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11104,-0.62,-194.6,978.0,-9.7,988,11110,0.10,2.53,0.00,0.000,6,0.096,0.038,2077,2505,3747,0,0,0,0,0,0,25.84,26.04,28.83
$STATE,11301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11301,begin apogee
$GC,11308,-0.20,0.0,990.5,-5.6,998,11510,0.38,0.00,195.57,1.156,4,0.091,0.000,2211,2541,2974,0,0,0,0,0,0,25.95,28.83,23.49
$STATE,11511,end apogee,CONTROL_FINISHED_OK
$STATE,11511,begin climb
$GC,11514,0.58,194.6,995.0,0.0,1008,11736,0.62,2.65,211.10,1.129,4,0.034,0.028,2476,1075,2179,0,0,1,0,0,0,24.82,24.79,23.03
$GC,11800,0.53,194.6,960.1,17.2,1022,11807,0.00,2.67,0.00,0.000,6,0.000,0.036,2476,2536,2151,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12104,0.46,194.6,893.4,21.4,1038,12110,0.15,2.50,0.00,0.000,4,0.175,0.028,2445,1077,2147,0,0,0,0,0,0,25.60,25.88,28.83
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$STATE,19228,end climb,SURFACE_DEPTH_REACHED
$STATE,19229,begin surface coast
$FINISH,1.3,1.020955
$STATE,19235,end surface coast,CONTROL_FINISHED_OK
$STATE,19235,begin surface
$SM_CCo,19312,0.00,0.000,0,0,441,622.33
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$IRIDIUM_FIX,2216.01,12245.79,070612,070705
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.85
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.0,46.181
$10V_AH,10.1,28.277
$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,18.850,215.175,890.150,0.000,0.000,30.691,24.599,258.988,0.000,0.000,18.041,4351.924,10388.467,982.013,3516.637,509.454,0.000,2763.193,0.000,3019.442,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,150.705,1155.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$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,110025,1756
$CAP_FILE_SIZE,227702,0
$CFSIZE,260165632,197353472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0
$CURRENT,0.124,117.3,1
$GPS,070612,183807,2224.713,12242.667,28,1.1,28,-3.0