version: 66.10
glider: 169
mission: 6
dive: 245
start: 6 11 112 3 41 23
data:
$ID,169
$MISSION,6
$DIVE,245
$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,-15770.522
$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,2450
$C_ROLL_CLIMB,2545
$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
$GPS1,110612,033237,2236.983,12218.455,126,1.0,126,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.4
$GPS2,110612,034059,2236.900,12218.631,12,2.4,31,-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,301.3,102652,-13.8,-8.684
$D_GRID,4971
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-84.07,0.000,2,0.000,0.000,108,2517,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.58,-194.6,3.2,-7.0,14,140,7.95,2.05,-17.77,0.000,4,0.223,0.047,2067,3838,3777,0,0,0,0,0,0,25.09,26.06,26.50
$GC,214,-0.52,-194.6,40.6,-26.1,33,222,0.12,2.10,0.00,0.000,6,0.168,0.021,2104,2410,3778,0,0,0,0,0,0,25.82,26.19,28.83
$GC,409,-0.45,-194.6,94.6,-18.5,70,415,0.00,2.30,0.00,0.000,4,0.000,0.024,2114,991,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,434,-0.39,-194.6,99.5,-20.1,74,441,0.15,2.40,0.00,0.000,6,0.131,0.031,2146,2427,3778,0,0,0,0,0,0,25.96,26.18,28.83
$GC,628,-0.36,-194.6,129.0,-14.7,111,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2426,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,819,-0.35,-194.6,153.9,-12.2,148,826,0.00,2.35,0.00,0.000,4,0.000,0.024,2147,983,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,894,-0.39,-194.6,161.9,-8.8,162,901,0.00,2.38,0.00,0.000,6,0.000,0.031,2141,2419,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1085,-0.39,-194.6,181.9,-10.9,199,1092,0.00,2.17,0.00,0.000,4,0.000,0.041,2130,3827,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1130,-0.41,-194.6,186.2,-9.1,207,1136,0.00,2.12,0.00,0.000,6,0.000,0.019,2130,2368,3778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1326,-0.40,-194.6,205.6,-10.1,240,1334,0.00,2.17,0.00,0.000,4,0.000,0.023,2130,982,3779,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1357,-0.40,-194.6,209.1,-11.0,243,1366,0.00,2.40,0.00,0.000,6,0.000,0.030,2125,2428,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1671,-0.39,-194.6,242.5,-11.2,274,1679,0.00,2.10,0.00,0.000,4,0.000,0.038,2115,3821,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1692,-0.38,-194.6,245.4,-11.2,276,1697,0.12,2.12,0.00,0.000,6,0.116,0.018,2155,2352,3778,0,0,0,0,0,0,26.26,26.49,28.83
$GC,2005,-0.40,-194.6,270.0,-6.8,307,2014,0.00,2.35,0.00,0.000,4,0.000,0.038,2146,3827,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2031,-0.43,-194.6,271.4,-6.4,309,2040,0.00,2.10,0.00,0.000,6,0.000,0.018,2146,2367,3777,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2339,-0.51,-194.6,292.8,-8.8,340,2348,0.12,2.30,0.00,0.000,4,0.119,0.036,2098,3825,3775,0,0,0,0,0,0,26.41,26.32,28.83
$GC,2455,-0.59,-194.6,303.2,-9.2,351,2463,0.00,2.10,0.00,0.000,6,0.000,0.018,2107,2373,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2764,-0.64,-194.6,329.5,-7.7,382,2773,0.12,2.17,0.00,0.000,4,0.093,0.021,2039,984,3772,0,0,0,0,0,0,26.54,26.43,28.83
$GC,2787,-0.68,-194.6,331.7,-8.7,384,2796,0.00,2.30,0.00,0.000,6,0.000,0.029,2028,2401,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3097,-0.63,-194.6,388.2,-17.8,415,3106,0.12,2.25,0.00,0.000,4,0.155,0.021,2080,989,3770,0,0,0,0,0,0,26.29,26.41,28.83
$GC,3234,-0.63,-194.6,402.2,-9.2,428,3241,0.00,2.30,0.00,0.000,6,0.000,0.031,2069,2398,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3543,-0.61,-194.6,439.0,-11.7,459,3552,0.00,2.22,0.00,0.000,4,0.000,0.042,2058,3824,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3596,-0.58,-194.6,445.2,-11.6,464,3600,0.00,2.22,0.00,0.000,6,0.000,0.021,2058,2331,3766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3908,-0.55,-194.6,485.2,-14.6,495,3918,0.12,2.40,-0.05,0.000,4,0.134,0.052,2091,3827,3783,0,0,0,0,0,0,26.34,26.25,24.63
$GC,3952,-0.55,-194.6,490.5,-12.3,499,3956,0.00,2.20,0.00,0.000,6,0.000,0.019,2091,2335,3783,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4264,-0.55,-194.6,524.7,-10.4,530,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2334,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,-0.55,-194.6,552.5,-9.1,560,4575,0.00,2.38,0.00,0.000,4,0.000,0.041,2081,3823,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4608,-0.55,-194.6,556.3,-8.6,564,4617,0.00,2.20,0.00,0.000,6,0.000,0.021,2081,2337,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4918,-0.54,-194.6,587.0,-10.4,595,4927,0.00,2.38,0.00,0.000,4,0.000,0.042,2070,3833,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4962,-0.54,-194.6,591.0,-9.7,599,4969,0.00,2.17,0.00,0.000,6,0.000,0.020,2070,2361,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5281,-0.53,-194.6,622.8,-9.7,620,5283,0.12,0.00,0.00,0.000,6,0.128,0.000,2110,2360,3772,0,0,0,0,0,0,26.40,28.83,28.83
$GC,5582,-0.54,-194.6,640.8,-6.0,635,5588,0.00,2.33,0.00,0.000,4,0.000,0.042,2099,3833,3769,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5623,-0.56,-194.6,643.4,-6.2,637,5627,0.00,2.17,0.00,0.000,6,0.000,0.020,2099,2354,3769,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5937,-0.57,-194.6,665.6,-7.1,653,5943,0.00,2.30,0.00,0.000,4,0.000,0.043,2094,3818,3766,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5976,-0.58,-194.6,668.3,-6.8,655,5981,0.00,2.10,0.00,0.000,6,0.000,0.021,2095,2385,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6297,-0.59,-194.6,691.5,-6.8,671,6303,0.00,2.22,0.00,0.000,4,0.000,0.027,2094,993,3764,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6316,-0.59,-194.6,693.0,-6.9,672,6321,0.00,2.40,0.00,0.000,6,0.000,0.034,2092,2440,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6636,-0.59,-194.6,713.8,-6.3,688,6641,0.00,2.12,0.00,0.000,4,0.000,0.044,2082,3818,3761,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6660,-0.60,-194.6,715.0,-6.3,689,6664,0.00,2.12,0.00,0.000,6,0.000,0.021,2083,2390,3760,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6973,-0.60,-194.6,737.8,-7.5,705,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2388,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7273,-0.60,-194.6,761.8,-8.3,720,7279,0.00,2.30,0.00,0.000,4,0.000,0.044,2073,3830,3757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7292,-0.60,-194.6,763.4,-8.2,721,7296,0.00,2.15,0.00,0.000,6,0.000,0.021,2073,2393,3756,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7614,-0.59,-194.6,794.0,-9.7,737,7620,0.00,2.30,0.00,0.000,4,0.000,0.044,2063,3823,3755,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7636,-0.59,-194.6,796.0,-9.8,738,7641,0.00,2.10,0.00,0.000,6,0.000,0.021,2063,2406,3754,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7955,-0.57,-194.6,830.6,-10.5,754,7960,0.00,2.25,0.00,0.000,4,0.000,0.027,2063,995,3753,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8002,-0.57,-194.6,834.8,-10.9,756,8007,0.12,2.42,0.00,0.000,6,0.122,0.035,2102,2446,3752,0,0,0,0,0,0,26.01,26.15,28.83
$GC,8312,-0.58,-194.6,856.9,-6.5,771,8318,0.00,2.12,0.00,0.000,4,0.000,0.047,2093,3818,3750,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8331,-0.60,-194.6,858.4,-6.5,772,8337,0.00,2.08,0.00,0.000,6,0.000,0.021,2093,2399,3751,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8652,-0.61,-194.6,879.8,-6.3,788,8658,0.00,2.25,0.00,0.000,4,0.000,0.028,2093,987,3749,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8675,-0.63,-194.6,881.2,-6.4,789,8679,0.00,2.42,0.00,0.000,6,0.000,0.034,2092,2445,3750,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8988,-0.64,-194.6,900.5,-6.2,805,8991,0.00,2.17,0.00,0.000,4,0.000,0.047,2085,3835,3748,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9011,-0.65,-194.6,902.0,-6.3,806,9017,0.00,2.15,0.00,0.000,6,0.000,0.021,2085,2388,3747,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9331,-0.66,-194.6,924.1,-7.1,822,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2387,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9631,-0.67,-194.6,946.0,-7.5,837,9637,0.00,2.35,0.00,0.000,4,0.000,0.047,2085,3833,3745,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9663,-0.68,-194.6,947.5,-7.5,838,9670,0.00,2.12,0.00,0.000,6,0.000,0.021,2085,2400,3744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9971,-0.69,-194.6,971.3,-7.5,854,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2400,3744,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10228,begin apogee
$GC,10235,-0.20,0.0,991.5,-7.8,867,10433,0.35,0.00,193.45,1.117,4,0.089,0.000,2212,2561,2978,0,0,0,0,0,0,25.98,28.83,23.58
$STATE,10434,end apogee,CONTROL_FINISHED_OK
$STATE,10434,begin climb
$GC,10437,0.58,194.6,1001.2,0.0,877,10651,0.65,0.00,208.25,1.068,6,0.044,0.000,2471,2561,2183,0,0,0,0,0,0,24.86,28.83,23.17
$GC,10968,0.52,194.6,913.7,20.2,904,10974,0.00,1.92,0.00,0.000,4,0.000,0.044,2471,3828,2144,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11088,0.44,194.6,886.8,22.4,910,11095,0.20,1.88,0.00,0.000,6,0.178,0.022,2424,2536,2141,0,0,0,0,0,0,25.51,26.04,28.83
$GC,11411,0.41,194.6,841.9,13.0,926,11416,0.00,2.47,0.00,0.000,4,0.000,0.031,2437,1090,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11432,0.37,194.6,838.9,13.4,927,11437,0.15,2.62,0.00,0.000,6,0.148,0.032,2395,2568,2139,0,0,0,0,0,0,25.77,26.07,28.83
$GC,11748,0.36,194.6,804.9,10.3,943,11754,0.00,1.88,0.00,0.000,4,0.000,0.044,2395,3832,2138,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11795,0.34,194.6,800.1,10.9,945,11799,0.00,1.88,0.00,0.000,6,0.000,0.021,2404,2517,2138,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,18904,end climb,SURFACE_DEPTH_REACHED
$STATE,18904,begin surface coast
$FINISH,-0.2,1.021140
$STATE,18926,end surface coast,CONTROL_FINISHED_OK
$STATE,18926,begin surface
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$IRIDIUM_FIX,2227.67,12217.89,100612,212118
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.13
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.2,49.601
$10V_AH,10.1,30.369
$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
$DEVICE_SECS,18.400,206.225,883.500,0.000,0.000,33.265,22.265,266.811,0.000,0.000,33.434,4189.886,10369.721,991.975,3423.439,491.013,0.000,2724.735,0.000,2904.054,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,107157,1701
$CAP_FILE_SIZE,222415,0
$CFSIZE,260165632,195534848
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.071, 45.8,1
$GPS,110612,085907,2238.793,12216.413,32,1.3,32,-3.0