version: 66.10
glider: 169
mission: 6
dive: 267
start: 6 16 112 4 31 52
data:
$ID,169
$MISSION,6
$DIVE,267
$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,-15808.563
$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
$GPS1,160612,042131,2303.767,12131.383,40,1.4,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-74.7
$GPS2,160612,043126,2304.170,12131.361,15,1.7,15,-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,243.0,9468,-13.8,-8.684
$D_GRID,1122
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-78.90,0.000,2,0.000,0.000,117,2391,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-194.6,3.9,-11.0,14,128,8.00,2.42,-12.50,0.000,4,0.224,0.041,2089,987,3775,0,0,0,0,0,0,24.96,26.00,26.44
$GC,233,-0.57,-194.6,45.5,-14.2,38,240,0.00,2.58,0.00,0.000,6,0.000,0.033,2080,2465,3777,0,0,0,0,0,0,28.83,26.01,28.83
$GC,427,-0.50,-194.6,81.8,-20.5,75,434,0.12,2.53,0.00,0.000,4,0.171,0.024,2130,981,3777,0,0,0,0,0,0,26.01,26.15,28.83
$GC,478,-0.50,-194.6,90.1,-11.4,84,485,0.00,2.47,0.00,0.000,6,0.000,0.029,2119,2437,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,670,-0.48,-194.6,115.6,-12.7,121,678,0.00,2.42,0.00,0.000,4,0.000,0.023,2124,977,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,696,-0.48,-194.6,118.5,-11.1,125,704,0.00,2.45,0.00,0.000,6,0.000,0.031,2114,2431,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,891,-0.50,-194.6,133.3,-7.0,162,898,0.00,2.40,0.00,0.000,4,0.000,0.021,2114,961,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,927,-0.53,-194.6,135.8,-7.4,168,934,0.00,2.80,0.00,0.000,6,0.000,0.031,2107,2562,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1119,-0.51,-194.6,154.9,-11.7,205,1126,0.00,2.72,0.00,0.000,4,0.000,0.024,2110,984,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1171,-0.53,-194.6,160.1,-9.3,214,1178,0.00,2.70,0.00,0.000,6,0.000,0.030,2099,2525,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1362,-0.52,-194.6,180.4,-10.8,251,1369,0.00,2.65,0.00,0.000,4,0.000,0.023,2099,971,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1408,-0.53,-194.6,184.6,-8.5,259,1414,0.00,2.62,0.00,0.000,6,0.000,0.031,2098,2485,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1598,-0.52,-194.6,202.8,-9.8,296,1605,0.00,2.00,0.00,0.000,4,0.000,0.040,2088,3842,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1624,-0.51,-194.6,205.4,-10.2,300,1630,0.00,1.98,0.00,0.000,6,0.000,0.019,2089,2427,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1935,-0.49,-194.6,237.1,-10.3,361,1943,0.00,2.40,0.00,0.000,4,0.000,0.024,2089,977,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1981,-0.51,-194.6,241.8,-8.5,369,1989,0.00,2.62,0.00,0.000,6,0.000,0.031,2085,2490,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2296,-0.49,-194.6,275.6,-10.1,430,2303,0.10,2.55,0.00,0.000,4,0.162,0.022,2120,976,3774,0,0,0,0,0,0,26.40,26.34,28.83
$GC,2342,-0.53,-194.6,279.2,-6.4,438,2349,0.00,2.58,0.00,0.000,6,0.000,0.031,2112,2477,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2656,-0.57,-194.6,299.6,-6.9,499,2663,0.00,2.03,0.00,0.000,4,0.000,0.042,2112,3829,3772,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2707,-0.63,-194.6,303.2,-7.1,508,2714,0.12,1.77,0.00,0.000,6,0.086,0.019,2055,2474,3771,0,0,0,0,0,0,26.36,26.55,28.83
$GC,3022,-0.62,-194.6,331.2,-9.9,569,3029,0.00,2.05,0.00,0.000,4,0.000,0.041,2045,3829,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3047,-0.60,-194.6,334.6,-12.0,573,3055,0.12,1.73,0.00,0.000,6,0.125,0.020,2084,2520,3769,0,0,0,0,0,0,26.20,26.49,28.83
$GC,3362,-0.59,-194.6,370.1,-10.2,634,3369,0.00,2.62,0.00,0.000,4,0.000,0.024,2084,975,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3449,-0.60,-194.6,377.8,-7.8,650,3456,0.00,2.88,0.00,0.000,6,0.000,0.032,2072,2608,3766,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3760,-0.58,-194.6,411.4,-10.5,711,3768,0.00,2.85,-0.10,0.000,4,0.000,0.035,2072,992,3785,0,0,0,0,0,0,28.83,26.28,25.97
$GC,3842,-0.59,-194.6,418.1,-7.7,726,3849,0.00,2.80,0.00,0.000,6,0.000,0.034,2060,2561,3785,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4154,-0.56,-194.6,451.2,-11.2,787,4161,0.12,2.72,0.00,0.000,4,0.147,0.023,2108,976,3783,0,0,0,0,0,0,26.29,26.30,28.83
$GC,4216,-0.60,-194.6,455.9,-6.8,798,4223,0.00,2.72,0.00,0.000,6,0.000,0.031,2102,2532,3784,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4529,-0.65,-194.6,478.1,-7.9,859,4537,0.12,1.88,0.00,0.000,4,0.079,0.041,2023,3826,3780,0,0,0,0,0,0,26.55,26.18,28.83
$GC,4545,-0.69,-194.6,479.5,-7.9,861,4553,0.00,2.10,0.00,0.000,6,0.000,0.019,2023,2367,3780,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4857,-0.65,-194.6,525.8,-14.9,905,4867,0.12,2.22,0.00,0.000,4,0.142,0.023,2071,984,3778,0,0,0,0,0,0,26.28,26.32,28.83
$GC,4883,-0.62,-194.6,529.0,-13.5,907,4890,0.00,2.47,0.00,0.000,6,0.000,0.032,2060,2444,3779,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5191,-0.60,-194.6,562.6,-11.1,938,5200,0.00,2.10,0.00,0.000,4,0.000,0.043,2049,3824,3776,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5213,-0.58,-194.6,565.1,-11.1,940,5218,0.12,2.08,0.00,0.000,6,0.128,0.020,2087,2387,3776,0,0,0,0,0,0,26.14,26.44,28.83
$GC,5526,-0.58,-194.6,593.3,-9.4,971,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2386,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,-0.58,-194.6,621.4,-9.6,1001,5838,0.00,2.33,0.00,0.000,4,0.000,0.043,2077,3833,3771,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5873,-0.59,-194.6,625.7,-10.0,1005,5881,0.00,2.08,0.00,0.000,6,0.000,0.020,2077,2398,3771,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6180,-0.59,-194.6,655.3,-8.7,1036,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2399,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6485,-0.59,-194.6,681.8,-9.5,1066,6493,0.00,2.28,0.00,0.000,4,0.000,0.043,2067,3829,3767,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6510,-0.59,-194.6,684.1,-8.9,1068,6517,0.00,2.08,0.00,0.000,6,0.000,0.021,2066,2397,3767,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6817,-0.59,-194.6,712.9,-8.6,1099,6826,0.00,2.30,0.00,0.000,4,0.000,0.027,2067,991,3765,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6839,-0.59,-194.6,714.8,-8.7,1101,6849,0.00,2.53,0.00,0.000,6,0.000,0.034,2056,2464,3765,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7149,-0.58,-194.6,744.1,-9.8,1132,7158,0.10,2.10,0.00,0.000,4,0.151,0.042,2076,3830,3763,0,0,0,0,0,0,26.40,26.07,28.83
$GC,7185,-0.58,-194.6,746.6,-8.1,1135,7192,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2404,3762,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7492,-0.58,-194.6,768.1,-7.9,1166,7496,0.00,2.28,0.00,0.000,4,0.000,0.044,2066,3825,3761,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7515,-0.58,-194.6,769.6,-6.9,1168,7524,0.00,2.03,0.00,0.000,6,0.000,0.021,2066,2419,3761,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7824,-0.58,-194.6,797.1,-9.2,1199,7833,0.00,2.35,0.00,0.000,4,0.000,0.027,2066,998,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7867,-0.58,-194.6,801.0,-9.2,1203,7875,0.00,2.53,0.00,0.000,6,0.000,0.033,2055,2470,3759,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8176,-0.57,-194.6,830.6,-9.7,1234,8178,0.12,0.00,0.00,0.000,6,0.137,0.000,2094,2468,3758,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8477,-0.59,-194.6,848.8,-5.8,1264,8481,0.00,2.10,0.00,0.000,4,0.000,0.044,2084,3830,3756,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8500,-0.61,-194.6,850.2,-6.1,1266,8508,0.00,2.05,0.00,0.000,6,0.000,0.021,2084,2410,3756,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8809,-0.63,-194.6,869.1,-6.0,1297,8820,0.00,2.35,0.00,0.000,4,0.000,0.028,2084,984,3754,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8836,-0.64,-194.6,870.6,-5.9,1299,8843,0.00,2.58,0.00,0.000,6,0.000,0.035,2083,2469,3754,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9144,-0.66,-194.6,890.4,-6.6,1330,9153,0.00,2.05,0.00,0.000,4,0.000,0.044,2073,3816,3753,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9170,-0.67,-194.6,891.7,-6.2,1332,9176,0.00,2.08,0.00,0.000,6,0.000,0.021,2073,2399,3753,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9477,-0.68,-194.6,913.4,-6.9,1363,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2400,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9778,-0.68,-194.6,934.1,-6.2,1393,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2400,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10089,-0.69,-194.6,956.8,-7.1,1424,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2399,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10399,-0.70,-194.6,979.8,-7.6,1455,10408,0.00,2.33,0.00,0.000,4,0.000,0.028,2074,996,3749,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10424,-0.71,-194.6,981.7,-7.7,1457,10432,0.00,2.58,0.00,0.000,6,0.000,0.034,2070,2473,3749,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,10528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10528,begin apogee
$GC,10535,-0.20,0.0,990.3,-8.1,1468,10734,0.40,0.05,192.38,1.126,4,0.093,0.043,2211,2509,2974,0,0,0,0,0,0,25.86,24.45,23.42
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10737,0.58,194.6,999.1,0.0,1488,10955,0.68,2.65,208.15,1.092,4,0.040,0.027,2485,1075,2181,0,0,0,0,0,0,24.85,24.84,22.95
$GC,11037,0.54,194.6,961.8,17.7,1518,11046,0.10,2.78,0.00,0.000,6,0.151,0.037,2454,2542,2151,0,0,0,0,0,0,24.89,25.15,28.83
$GC,11344,0.48,194.6,903.4,18.8,1549,11354,0.00,2.60,0.00,0.000,4,0.000,0.030,2467,1096,2146,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,19377,end climb,SURFACE_DEPTH_REACHED
$STATE,19377,begin surface coast
$FINISH,0.0,1.020938
$STATE,19404,end surface coast,CONTROL_FINISHED_OK
$STATE,19405,begin surface
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$IRIDIUM_FIX,2251.04,12129.55,150612,222208
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.15
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.0,54.425
$10V_AH,10.0,33.817
$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
$DEVICE_SECS,18.375,215.350,779.125,0.000,0.000,25.162,21.169,355.896,0.000,0.000,17.908,6509.355,7192.544,1012.027,4681.153,629.886,0.000,3221.927,0.000,4123.820,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,170359,2736
$CAP_FILE_SIZE,271514,0
$CFSIZE,260165632,192389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171, 22.8,1
$GPS,160612,095737,2304.455,12129.496,33,1.0,33,-3.0