version: 66.10
glider: 169
mission: 6
dive: 229
start: 6 7 112 18 47 21
data:
$ID,169
$MISSION,6
$DIVE,229
$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,-15748.702
$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,250
$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
$GPS1,070612,183807,2224.713,12242.667,28,1.1,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.4
$GPS2,070612,184658,2224.489,12243.006,17,2.6,36,-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,301.1,150123,-13.8,-8.684
$D_GRID,4933
$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,-194.6,0.0,0.0,0,109,0.00,0.00,-89.07,0.000,2,0.000,0.000,117,2436,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.58,-194.6,3.4,-7.8,15,145,8.12,2.35,-15.05,0.000,4,0.233,0.037,2088,1019,3775,0,0,0,0,0,0,25.14,26.10,26.47
$GC,278,-0.58,-194.6,55.9,-18.4,46,286,0.00,2.58,0.00,0.000,6,0.000,0.034,2076,2515,3776,0,0,0,0,0,0,28.83,26.09,28.83
$GC,473,-0.50,-194.6,108.2,-25.2,83,480,0.12,2.50,0.00,0.000,4,0.168,0.023,2126,1027,3776,0,0,0,0,0,0,26.06,26.23,28.83
$GC,508,-0.46,-194.6,115.1,-16.5,89,515,0.00,2.55,0.00,0.000,6,0.000,0.034,2115,2502,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,699,-0.42,-194.6,144.1,-15.7,126,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2501,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-0.39,-194.6,174.8,-15.5,163,899,0.12,0.00,0.00,0.000,6,0.145,0.000,2156,2500,3776,0,0,0,0,0,0,26.25,28.83,28.83
$GC,1083,-0.40,-194.6,192.6,-7.6,200,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2500,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.42,-194.6,205.1,-6.1,229,1285,0.00,2.40,0.00,0.000,4,0.000,0.023,2155,1034,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1312,-0.44,-194.6,207.2,-6.1,232,1318,0.00,2.47,0.00,0.000,6,0.000,0.030,2156,2502,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1618,-0.52,-194.6,230.6,-8.9,263,1629,0.12,1.98,0.00,0.000,4,0.102,0.040,2095,3824,3776,0,0,0,0,0,0,26.48,26.29,28.83
$GC,1664,-0.60,-194.6,234.1,-8.0,267,1673,0.00,1.95,0.00,0.000,6,0.000,0.019,2096,2451,3776,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1973,-0.65,-194.6,256.7,-6.9,298,1977,0.00,2.15,0.00,0.000,4,0.000,0.039,2097,3838,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1999,-0.71,-194.6,258.3,-6.9,300,2008,0.15,2.12,0.00,0.000,6,0.093,0.018,2033,2368,3775,0,0,0,0,0,0,26.33,26.49,28.83
$GC,2306,-0.65,-194.6,314.0,-19.3,331,2315,0.10,2.15,0.00,0.000,4,0.157,0.024,2070,1021,3774,0,0,0,0,0,0,26.44,26.41,28.83
$GC,2372,-0.63,-194.6,323.5,-13.6,337,2380,0.00,2.33,0.00,0.000,6,0.000,0.032,2059,2429,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2680,-0.59,-194.6,368.9,-14.3,368,2690,0.00,2.15,0.00,0.000,4,0.000,0.041,2048,3833,3772,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2717,-0.56,-194.6,373.8,-14.1,371,2724,0.15,2.12,0.00,0.000,6,0.127,0.020,2095,2375,3772,0,0,0,0,0,0,26.16,26.48,28.83
$GC,3024,-0.56,-194.6,403.3,-8.1,402,3032,0.00,2.33,0.00,0.000,4,0.000,0.041,2083,3828,3770,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3056,-0.56,-194.6,405.9,-7.8,405,3060,0.00,2.10,0.00,0.000,6,0.000,0.019,2084,2386,3770,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3368,-0.55,-194.6,434.6,-9.8,436,3377,0.00,2.28,0.00,0.000,4,0.000,0.042,2073,3814,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3404,-0.54,-194.6,438.0,-10.2,439,3411,0.00,2.08,0.00,0.000,6,0.000,0.019,2073,2389,3767,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3712,-0.52,-194.6,471.3,-11.5,470,3721,0.12,2.15,0.00,0.000,4,0.129,0.022,2121,1033,3765,0,0,0,0,0,0,26.36,26.40,28.83
$GC,3766,-0.54,-194.6,475.8,-7.5,475,3776,0.00,2.30,0.00,0.000,6,0.000,0.030,2116,2434,3764,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4076,-0.60,-194.6,499.6,-8.0,506,4086,0.12,2.25,-0.08,0.000,4,0.081,0.034,2058,1036,3787,0,0,0,0,0,0,26.55,26.40,24.80
$GC,4123,-0.66,-194.6,503.5,-8.7,510,4130,0.00,2.42,0.00,0.000,6,0.000,0.030,2056,2490,3786,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4430,-0.63,-194.6,539.5,-11.5,541,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2488,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.60,-194.6,568.9,-8.7,571,4742,0.00,2.38,0.00,0.000,4,0.000,0.024,2056,1032,3782,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4795,-0.60,-194.6,573.5,-5.9,577,4805,0.08,2.45,0.00,0.000,6,0.102,0.033,2079,2489,3781,0,0,0,0,0,0,26.10,26.29,28.83
$GC,5106,-0.60,-194.6,595.0,-8.0,608,5115,0.00,2.05,0.00,0.000,4,0.000,0.044,2069,3826,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5128,-0.59,-194.6,596.9,-8.1,610,5137,0.00,2.08,0.00,0.000,6,0.000,0.020,2069,2410,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5450,-0.58,-194.6,632.7,-12.4,628,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2410,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-0.57,-194.6,667.4,-11.4,643,5754,0.00,2.25,0.00,0.000,4,0.000,0.044,2058,3820,3773,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5802,-0.57,-194.6,671.8,-11.2,645,5809,0.12,2.08,0.00,0.000,6,0.119,0.021,2098,2410,3772,0,0,0,0,0,0,26.19,26.45,28.83
$GC,6111,-0.58,-194.6,694.8,-6.0,661,6116,0.00,2.20,0.00,0.000,4,0.000,0.027,2098,1038,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6138,-0.60,-194.6,696.1,-6.0,662,6147,0.00,2.45,0.00,0.000,6,0.000,0.035,2098,2484,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6451,-0.61,-194.6,714.9,-5.9,678,6456,0.00,2.03,0.00,0.000,4,0.000,0.047,2089,3814,3768,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6492,-0.63,-194.6,717.3,-5.9,680,6496,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2418,3767,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6807,-0.64,-194.6,736.9,-6.2,696,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2417,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7105,-0.65,-194.6,756.8,-6.8,711,7110,0.00,2.25,0.00,0.000,4,0.000,0.046,2083,3819,3763,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7133,-0.66,-194.6,758.1,-6.9,712,7137,0.00,2.05,0.00,0.000,6,0.000,0.021,2083,2418,3763,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7441,-0.67,-194.6,782.2,-8.1,727,7447,0.00,2.22,0.00,0.000,4,0.000,0.026,2083,1038,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7469,-0.68,-194.6,783.9,-8.1,728,7478,0.00,2.47,0.00,0.000,6,0.000,0.034,2074,2495,3761,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7781,-0.68,-194.6,812.9,-9.1,744,7785,0.00,2.05,0.00,0.000,4,0.000,0.047,2064,3828,3760,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7806,-0.68,-194.6,815.0,-9.2,745,7810,0.00,2.08,0.00,0.000,6,0.000,0.021,2065,2424,3759,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8124,-0.68,-194.6,846.6,-9.7,761,8129,0.00,2.22,0.00,0.000,4,0.000,0.047,2054,3818,3758,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8158,-0.67,-194.6,848.6,-9.8,762,8164,0.00,2.05,0.00,0.000,6,0.000,0.022,2054,2428,3757,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8464,-0.66,-194.6,880.3,-10.2,778,8469,0.00,2.22,0.00,0.000,4,0.000,0.028,2054,1049,3756,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8506,-0.65,-194.6,884.2,-10.1,780,8511,0.00,2.45,0.00,0.000,6,0.000,0.036,2043,2488,3756,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8821,-0.63,-194.6,918.8,-10.9,796,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2487,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,-0.61,-194.6,949.8,-10.0,811,9125,0.12,2.38,0.00,0.000,4,0.142,0.026,2090,1050,3753,0,0,0,0,0,0,26.27,26.20,28.83
$GC,9161,-0.61,-194.6,952.8,-8.7,813,9166,0.00,2.42,0.00,0.000,6,0.000,0.037,2089,2477,3753,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9481,-0.63,-194.6,970.0,-5.1,829,9487,0.00,2.08,0.00,0.000,4,0.000,0.048,2083,3819,3751,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9521,-0.65,-194.6,972.0,-5.2,831,9527,0.00,2.08,0.00,0.000,6,0.000,0.021,2083,2415,3751,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9841,-0.69,-194.6,985.6,-4.0,847,9846,0.00,2.22,0.00,0.000,4,0.000,0.028,2083,1039,3750,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9905,-0.73,-194.6,988.5,-4.6,850,9911,0.08,2.70,0.00,0.000,6,0.047,0.036,2018,2579,3750,0,0,0,0,0,0,26.03,26.08,28.83
$STATE,9938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9938,begin apogee
$GC,9945,-0.20,0.0,990.8,-5.1,852,10228,0.55,0.15,275.38,0.944,4,0.106,0.071,2204,2551,2978,0,0,0,0,0,0,25.62,24.70,23.75
$STATE,10231,end apogee,CONTROL_FINISHED_OK
$STATE,10231,begin climb
$GC,10234,0.58,194.6,997.7,0.0,866,10496,0.70,2.05,248.18,1.012,4,0.044,0.045,2472,3829,2170,0,0,0,0,0,0,24.89,24.85,23.15
$GC,10580,0.50,194.6,931.3,25.0,884,10586,0.15,2.03,0.00,0.000,6,0.175,0.024,2439,2503,2148,0,0,0,0,0,0,24.84,25.22,28.83
$GC,10903,0.44,194.6,875.0,16.7,900,10907,0.00,2.08,0.00,0.000,4,0.000,0.044,2439,3827,2141,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11058,0.38,194.6,846.7,19.4,907,11066,0.20,1.88,0.00,0.000,6,0.173,0.022,2396,2531,2140,0,0,0,0,0,0,25.58,26.08,28.83
$GC,11366,0.35,194.6,806.0,11.5,923,11371,0.00,1.98,0.00,0.000,4,0.000,0.044,2396,3825,2139,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11398,0.32,194.6,803.5,11.7,924,11405,0.00,1.88,0.00,0.000,6,0.000,0.022,2406,2524,2138,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11707,0.29,194.6,762.3,12.9,940,11713,0.12,2.42,0.00,0.000,4,0.171,0.029,2379,1079,2138,0,0,0,0,0,0,25.97,26.13,28.83
$GC,11727,0.27,194.6,759.8,12.7,941,11733,0.00,2.60,0.00,0.000,6,0.000,0.035,2379,2563,2136,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,18989,end climb,SURFACE_DEPTH_REACHED
$STATE,18989,begin surface coast
$FINISH,-0.3,1.021024
$STATE,19009,end surface coast,CONTROL_FINISHED_OK
$STATE,19009,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.48
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.1,46.407
$10V_AH,10.1,28.411
$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
$DEVICE_SECS,18.875,207.425,881.925,0.000,0.000,29.910,40.996,275.447,0.000,0.000,38.078,4327.742,10155.801,1021.834,3560.401,509.556,0.000,2801.662,0.000,3009.498,0.000,0.542,0.000
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$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,110473,1751
$CAP_FILE_SIZE,228617,0
$CFSIZE,260165632,197238784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,168.2,1
$GPS,080612,000637,2224.064,12240.551,42,0.9,42,-3.0