version: 66.10
glider: 169
mission: 6
dive: 232
start: 6 8 112 10 49 49
data:
$ID,169
$MISSION,6
$DIVE,232
$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,-15752.474
$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
$GPS1,080612,104037,2226.137,12238.637,32,1.7,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.5
$GPS2,080612,104925,2225.996,12238.926,42,1.5,42,-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,306.6,142689,-13.8,-8.684
$D_GRID,4938
$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,-80.30,0.000,2,0.000,0.000,108,2434,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.0,-7.1,14,136,7.88,2.35,-14.48,0.000,4,0.223,0.037,2089,1038,3775,0,0,0,0,0,0,25.17,26.10,26.49
$GC,250,-0.52,-194.6,52.4,-24.6,41,257,0.00,2.55,0.00,0.000,6,0.000,0.033,2076,2516,3777,0,0,0,0,0,0,28.83,26.10,28.83
$GC,444,-0.44,-194.6,107.6,-24.4,78,451,0.15,2.50,0.00,0.000,4,0.164,0.026,2134,1046,3778,0,0,0,0,0,0,25.97,26.22,28.83
$GC,510,-0.43,-194.6,118.4,-12.0,90,517,0.00,2.50,0.00,0.000,6,0.000,0.032,2125,2505,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,702,-0.39,-194.6,145.4,-15.6,127,709,0.00,1.98,0.00,0.000,4,0.000,0.039,2115,3827,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,732,-0.36,-194.6,149.9,-15.3,132,739,0.12,1.95,0.00,0.000,6,0.129,0.018,2156,2441,3778,0,0,0,0,0,0,26.14,26.42,28.83
$GC,923,-0.36,-194.6,170.4,-10.6,169,930,0.00,2.30,0.00,0.000,4,0.000,0.023,2156,1016,3778,0,0,0,0,0,0,28.83,26.35,28.83
$GC,964,-0.39,-194.6,174.2,-8.0,176,971,0.00,2.50,0.00,0.000,6,0.000,0.030,2153,2509,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1157,-0.39,-194.6,192.1,-10.0,213,1165,0.00,1.98,0.00,0.000,4,0.000,0.038,2143,3839,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1177,-0.39,-194.6,194.0,-9.1,216,1184,0.00,2.03,0.00,0.000,6,0.000,0.018,2143,2413,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1370,-0.39,-194.6,213.2,-11.3,241,1379,0.00,2.17,0.00,0.000,4,0.000,0.022,2143,1033,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1412,-0.40,-194.6,218.3,-11.3,245,1422,0.00,2.42,0.00,0.000,6,0.000,0.031,2141,2484,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1722,-0.40,-194.6,247.1,-7.3,276,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2483,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.41,-194.6,268.6,-8.0,306,2033,0.00,2.35,0.00,0.000,4,0.000,0.022,2141,1036,3778,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2069,-0.43,-194.6,272.3,-8.3,310,2078,0.00,2.42,0.00,0.000,6,0.000,0.030,2140,2491,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2378,-0.48,-194.6,299.0,-8.0,341,2387,0.00,2.35,0.00,0.000,4,0.000,0.023,2141,1030,3776,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2614,-0.57,-194.6,317.2,-6.8,364,2622,0.15,2.53,0.00,0.000,6,0.067,0.031,2026,2529,3774,0,0,0,0,0,0,26.38,26.36,28.83
$GC,2921,-0.50,-194.6,375.5,-21.9,395,2930,0.25,2.45,0.00,0.000,4,0.141,0.023,2117,1042,3773,0,0,0,0,0,0,25.98,26.40,28.83
$GC,3057,-0.52,-194.6,389.2,-8.3,408,3066,0.00,2.42,0.00,0.000,6,0.000,0.031,2112,2495,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3365,-0.55,-194.6,413.4,-7.8,439,3374,0.00,2.40,0.00,0.000,4,0.000,0.024,2111,1021,3770,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3398,-0.58,-194.6,416.2,-8.1,442,3408,0.00,2.70,0.00,0.000,6,0.000,0.031,2112,2595,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3710,-0.61,-194.6,441.4,-8.6,473,3720,0.10,2.65,0.00,0.000,4,0.092,0.024,2016,1033,3767,0,0,0,0,0,0,26.62,26.39,28.83
$GC,3767,-0.59,-194.6,448.8,-14.2,478,3776,0.25,2.42,0.00,0.000,6,0.117,0.034,2086,2482,3767,0,0,0,0,0,0,26.03,26.32,28.83
$GC,4075,-0.58,-194.6,487.8,-11.4,509,4083,0.00,2.35,0.00,0.000,4,0.000,0.025,2087,1036,3765,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4106,-0.57,-194.6,491.4,-10.9,512,4115,0.00,2.38,0.00,0.000,6,0.000,0.033,2085,2463,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4419,-0.55,-194.6,521.6,-10.2,543,4427,0.00,2.05,0.00,0.000,4,0.000,0.044,2076,3825,3761,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4441,-0.54,-194.6,524.2,-10.4,545,4445,0.00,2.10,0.00,0.000,6,0.000,0.021,2076,2404,3761,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4754,-0.52,-194.6,560.0,-11.4,576,4763,0.12,2.17,0.00,0.000,4,0.132,0.022,2124,1032,3759,0,0,0,0,0,0,26.36,26.39,28.83
$GC,4800,-0.53,-194.6,563.8,-8.8,580,4807,0.00,2.38,0.00,0.000,6,0.000,0.032,2118,2458,3758,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5108,-0.57,-194.6,586.7,-7.6,611,5116,0.00,2.30,0.00,0.000,4,0.000,0.023,2118,1020,3756,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5123,-0.61,-194.6,587.3,-7.2,612,5131,0.12,2.55,0.00,0.000,6,0.080,0.030,2059,2538,3756,0,0,0,0,0,0,26.29,26.32,28.83
$GC,5443,-0.58,-194.6,626.4,-13.3,634,5448,0.00,2.50,0.00,0.000,4,0.000,0.027,2059,1044,3753,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5495,-0.55,-194.6,631.4,-12.6,636,5503,0.15,2.50,0.00,0.000,6,0.116,0.034,2097,2514,3753,0,0,0,0,0,0,26.10,26.27,28.83
$GC,5801,-0.55,-194.6,657.7,-7.6,652,5807,0.00,2.45,0.00,0.000,4,0.000,0.025,2097,1039,3750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5830,-0.55,-194.6,659.2,-7.7,653,5834,0.00,2.50,0.00,0.000,6,0.000,0.034,2089,2505,3750,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6137,-0.55,-194.6,686.7,-9.1,668,6141,0.00,2.05,0.00,0.000,4,0.000,0.047,2079,3832,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6159,-0.55,-194.6,688.9,-9.2,669,6164,0.00,2.03,0.00,0.000,6,0.000,0.021,2079,2444,3748,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6479,-0.55,-194.6,719.6,-9.9,685,6485,0.00,2.28,0.00,0.000,4,0.000,0.026,2079,1045,3746,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6552,-0.55,-194.6,725.5,-9.9,688,6558,0.00,2.47,0.00,0.000,6,0.000,0.034,2069,2502,3745,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6859,-0.53,-194.6,760.9,-11.4,704,6865,0.12,2.05,0.00,0.000,4,0.141,0.044,2102,3844,3743,0,0,0,0,0,0,26.29,26.15,28.83
$GC,6900,-0.53,-194.6,764.4,-10.2,706,6905,0.00,2.05,0.00,0.000,6,0.000,0.021,2102,2432,3742,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7220,-0.54,-194.6,787.4,-6.9,722,7225,0.00,2.28,0.00,0.000,4,0.000,0.028,2102,1039,3741,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7248,-0.56,-194.6,788.7,-6.9,723,7258,0.00,2.47,0.00,0.000,6,0.000,0.034,2099,2493,3740,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7560,-0.57,-194.6,809.5,-6.2,739,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7860,-0.58,-194.6,829.0,-6.8,754,7865,0.00,2.40,0.00,0.000,4,0.000,0.028,2099,1046,3737,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7893,-0.59,-194.6,830.4,-6.8,755,7900,0.00,2.45,0.00,0.000,6,0.000,0.035,2099,2484,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8200,-0.60,-194.6,851.9,-6.5,771,8205,0.00,2.05,0.00,0.000,4,0.000,0.047,2090,3812,3734,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8248,-0.62,-194.6,854.6,-6.4,773,8257,0.00,2.05,0.00,0.000,6,0.000,0.021,2090,2423,3734,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8560,-0.63,-194.6,875.7,-6.6,789,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2424,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,-0.64,-194.6,895.2,-6.5,804,8863,0.00,2.28,0.00,0.000,4,0.000,0.028,2090,1037,3731,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8903,-0.65,-194.6,898.2,-7.0,806,8909,0.00,2.45,0.00,0.000,6,0.000,0.037,2089,2484,3731,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9222,-0.66,-194.6,923.6,-8.4,822,9226,0.00,2.12,0.00,0.000,4,0.000,0.049,2079,3829,3729,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9246,-0.67,-194.6,925.5,-8.5,823,9252,0.00,2.08,0.00,0.000,6,0.000,0.022,2080,2425,3729,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9565,-0.67,-194.6,954.9,-8.9,839,9570,0.00,2.25,0.00,0.000,4,0.000,0.028,2079,1031,3728,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9587,-0.67,-194.6,956.8,-9.0,840,9591,0.00,2.47,0.00,0.000,6,0.000,0.036,2070,2485,3728,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9901,-0.67,-194.6,986.1,-9.6,856,9906,0.00,2.40,0.00,0.000,4,0.000,0.028,2070,1035,3727,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9928,-0.67,-194.6,988.0,-9.6,857,9932,0.00,2.42,0.00,0.000,6,0.000,0.035,2061,2468,3727,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,9952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9952,begin apogee
$GC,9958,-0.20,0.0,991.5,-9.7,858,10155,0.43,0.10,185.93,1.174,4,0.101,0.072,2208,2483,2966,0,0,0,0,0,0,25.82,24.64,23.54
$STATE,10156,end apogee,CONTROL_FINISHED_OK
$STATE,10156,begin climb
$GC,10158,0.58,194.6,1001.1,0.0,868,10376,0.68,2.25,205.52,1.155,4,0.046,0.043,2471,3826,2173,0,0,0,0,0,0,24.89,24.86,23.13
$GC,10492,0.51,194.6,946.5,23.4,884,10499,0.15,2.03,0.00,0.000,6,0.183,0.023,2444,2501,2149,0,0,0,0,0,0,25.06,25.42,28.83
$GC,10800,0.46,194.6,892.0,16.0,900,10805,0.00,2.40,0.00,0.000,4,0.000,0.030,2458,1079,2143,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10872,0.42,194.6,882.9,15.3,903,10880,0.15,2.65,0.00,0.000,6,0.152,0.035,2416,2564,2139,0,0,0,0,0,0,25.70,25.98,28.83
$GC,11181,0.39,194.6,837.6,14.0,919,11186,0.00,1.90,0.00,0.000,4,0.000,0.044,2415,3836,2139,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11262,0.35,194.6,824.7,16.1,923,11266,0.12,1.88,0.00,0.000,6,0.172,0.023,2393,2535,2139,0,0,0,0,0,0,25.83,26.20,28.83
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$STATE,18757,end climb,SURFACE_DEPTH_REACHED
$STATE,18757,begin surface coast
$FINISH,0.7,1.021416
$STATE,18774,end surface coast,CONTROL_FINISHED_OK
$STATE,18774,begin surface
$SM_CCo,18853,0.00,0.000,0,0,980,490.35
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,47.082
$10V_AH,10.1,28.798
$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,18.025,231.200,698.425,0.000,0.000,25.440,42.185,269.867,0.000,0.000,42.838,4340.367,10096.460,881.726,3524.387,501.259,0.000,2611.098,0.000,2980.245,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,76.500,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$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,110026,1724
$CAP_FILE_SIZE,229066,0
$CFSIZE,260165632,196894720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.161, 99.3,1
$GPS,080612,160507,2227.013,12238.545,37,1.1,37,-3.0