version: 66.10
glider: 169
mission: 6
dive: 278
start: 6 18 112 12 48 14
data:
$ID,169
$MISSION,6
$DIVE,278
$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,-15826.748
$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
$GPS1,180612,123731,2313.375,12147.472,42,1.2,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-75.6
$GPS2,180612,124749,2313.692,12147.514,13,1.3,13,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,89.5,226197,-13.8,-8.684
$D_GRID,3105
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,95,0.00,0.00,-75.20,0.000,2,0.000,0.000,129,2479,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-194.6,3.3,-7.2,13,131,8.02,2.10,-14.57,0.000,4,0.227,0.047,2066,3831,3776,0,0,0,0,0,0,25.01,26.01,26.47
$GC,201,-0.52,-194.6,38.8,-24.0,31,208,0.12,2.08,0.00,0.000,6,0.165,0.019,2107,2409,3776,0,0,0,0,0,0,25.79,26.17,28.83
$GC,392,-0.47,-194.6,84.4,-17.3,68,400,0.00,2.33,0.00,0.000,4,0.000,0.024,2111,986,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,459,-0.49,-194.6,92.6,-9.2,80,467,0.00,2.47,0.00,0.000,6,0.000,0.030,2099,2450,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,651,-0.46,-194.6,119.3,-11.7,117,657,0.00,2.05,0.00,0.000,4,0.000,0.037,2089,3829,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,706,-0.46,-194.6,125.3,-10.0,127,713,0.12,2.05,0.00,0.000,6,0.124,0.018,2127,2395,3778,0,0,0,0,0,0,26.14,26.41,28.83
$GC,896,-0.46,-194.6,143.3,-9.4,164,904,0.00,2.30,0.00,0.000,4,0.000,0.024,2127,966,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,933,-0.49,-194.6,146.5,-8.1,170,939,0.00,2.55,0.00,0.000,6,0.000,0.030,2124,2467,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1124,-0.51,-194.6,160.2,-6.7,207,1131,0.00,2.47,0.00,0.000,4,0.000,0.022,2125,965,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1162,-0.54,-194.6,162.8,-7.6,213,1169,0.00,2.85,0.00,0.000,6,0.000,0.028,2122,2598,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1354,-0.57,-194.6,175.7,-7.1,250,1361,0.00,1.75,0.00,0.000,4,0.000,0.039,2114,3837,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1431,-0.58,-194.6,181.5,-8.2,264,1439,0.00,2.05,0.00,0.000,6,0.000,0.018,2114,2393,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1626,-0.60,-194.6,196.1,-7.0,301,1632,0.00,2.28,0.00,0.000,4,0.000,0.024,2114,980,3778,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1681,-0.63,-194.6,200.5,-7.5,311,1688,0.12,2.85,0.00,0.000,6,0.074,0.031,2007,2600,3778,0,0,0,0,0,0,26.32,26.30,28.83
$GC,1996,-0.54,-194.6,266.2,-24.3,372,2004,0.28,2.80,0.00,0.000,4,0.151,0.024,2105,981,3778,0,0,0,0,0,0,25.85,26.34,28.83
$GC,2101,-0.56,-194.6,278.3,-7.8,391,2108,0.00,2.75,0.00,0.000,6,0.000,0.030,2099,2549,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2414,-0.58,-194.6,302.3,-7.4,452,2423,0.00,2.70,0.00,0.000,4,0.000,0.024,2099,972,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2447,-0.61,-194.6,304.9,-7.5,457,2453,0.00,2.50,0.00,0.000,6,0.000,0.031,2099,2444,3775,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2760,-0.64,-194.6,328.6,-7.0,518,2767,0.00,2.12,0.00,0.000,4,0.000,0.044,2096,3830,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2856,-0.65,-194.6,335.4,-7.4,536,2864,0.00,1.80,0.00,0.000,6,0.000,0.018,2096,2485,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3174,-0.68,-194.6,355.8,-6.8,597,3182,0.12,2.50,0.00,0.000,4,0.076,0.021,1976,976,3770,0,0,0,0,0,0,26.59,26.38,28.83
$GC,3215,-0.63,-194.6,360.6,-14.1,604,3224,0.35,2.97,0.00,0.000,6,0.120,0.032,2073,2672,3770,0,0,0,0,0,0,25.89,26.27,28.83
$GC,3531,-0.62,-194.6,395.6,-10.8,665,3538,0.00,2.92,0.00,0.000,4,0.000,0.025,2074,979,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3611,-0.62,-194.6,404.1,-9.5,680,3619,0.00,2.95,0.00,0.000,6,0.000,0.032,2060,2651,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3926,-0.60,-194.6,441.8,-12.4,741,3933,0.00,2.90,-0.10,0.000,4,0.000,0.035,2062,995,3785,0,0,0,0,0,0,28.83,26.28,25.99
$GC,4017,-0.60,-194.6,451.2,-9.0,758,4024,0.00,2.92,0.00,0.000,6,0.000,0.035,2049,2633,3785,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4330,-0.57,-194.6,487.4,-11.9,819,4338,0.12,2.85,0.00,0.000,4,0.145,0.025,2094,989,3783,0,0,0,0,0,0,26.29,26.29,28.83
$GC,4411,-0.60,-194.6,494.0,-7.1,834,4418,0.00,2.85,0.00,0.000,6,0.000,0.031,2090,2597,3782,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4729,-0.63,-194.6,516.5,-7.1,873,4737,0.00,2.75,0.00,0.000,4,0.000,0.024,2089,976,3780,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4803,-0.66,-194.6,522.3,-8.2,880,4811,0.00,2.55,0.00,0.000,6,0.000,0.032,2088,2471,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5111,-0.70,-194.6,545.5,-7.3,911,5121,0.12,2.03,0.00,0.000,4,0.078,0.042,1974,3819,3776,0,0,0,0,0,0,26.56,26.17,28.83
$GC,5197,-0.65,-194.6,557.1,-15.7,919,5205,0.28,1.80,0.00,0.000,6,0.133,0.021,2066,2509,3776,0,0,0,0,0,0,25.80,26.44,28.83
$GC,5504,-0.64,-194.6,588.9,-10.3,950,5513,0.00,2.55,0.00,0.000,4,0.000,0.027,2067,992,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5557,-0.65,-194.6,593.8,-9.3,955,5566,0.00,2.78,0.00,0.000,6,0.000,0.034,2055,2552,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5867,-0.63,-194.6,626.7,-10.7,986,5876,0.00,2.67,0.00,0.000,4,0.000,0.027,2056,990,3771,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5910,-0.63,-194.6,631.4,-10.8,990,5919,0.00,2.78,0.00,0.000,6,0.000,0.037,2044,2539,3771,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6221,-0.60,-194.6,668.7,-11.9,1021,6230,0.12,2.65,0.00,0.000,4,0.139,0.025,2090,991,3769,0,0,0,0,0,0,26.29,26.25,28.83
$GC,6266,-0.61,-194.6,672.8,-9.9,1025,6273,0.00,2.72,0.00,0.000,6,0.000,0.034,2087,2532,3769,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6574,-0.62,-194.6,695.9,-7.4,1056,6584,0.00,2.62,0.00,0.000,4,0.000,0.026,2087,988,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6600,-0.63,-194.6,697.5,-7.1,1058,6609,0.00,2.70,0.00,0.000,6,0.000,0.034,2086,2521,3766,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6908,-0.64,-194.6,718.6,-6.7,1089,6916,0.00,2.60,0.00,0.000,4,0.000,0.026,2086,982,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6933,-0.65,-194.6,720.2,-6.6,1091,6939,0.00,2.67,0.00,0.000,6,0.000,0.034,2085,2513,3764,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7240,-0.67,-194.6,739.4,-6.1,1122,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2511,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7543,-0.68,-194.6,759.1,-6.8,1152,7552,0.00,2.60,0.00,0.000,4,0.000,0.027,2086,991,3760,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7579,-0.70,-194.6,761.5,-6.6,1155,7587,0.12,2.67,0.00,0.000,6,0.078,0.037,1992,2508,3760,0,0,0,0,0,0,26.15,26.11,28.83
$GC,7887,-0.64,-194.6,808.7,-15.6,1186,7896,0.20,2.58,0.00,0.000,4,0.138,0.024,2063,980,3758,0,0,0,0,0,0,26.01,26.22,28.83
$GC,7952,-0.66,-194.6,815.3,-8.1,1192,7961,0.00,2.62,0.00,0.000,6,0.000,0.035,2059,2484,3758,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8261,-0.65,-194.6,842.1,-9.4,1223,8269,0.00,2.03,0.00,0.000,4,0.000,0.045,2049,3823,3756,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8293,-0.65,-194.6,845.5,-10.0,1226,8302,0.00,2.00,0.00,0.000,6,0.000,0.021,2050,2422,3756,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8605,-0.64,-194.6,878.2,-10.7,1257,8613,0.00,2.38,0.00,0.000,4,0.000,0.027,2049,990,3755,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8640,-0.64,-194.6,881.6,-10.8,1260,8648,0.00,2.60,0.00,0.000,6,0.000,0.034,2042,2482,3755,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8947,-0.62,-194.6,915.4,-10.3,1291,8956,0.10,2.53,0.00,0.000,4,0.152,0.024,2072,993,3753,0,0,0,0,0,0,26.39,26.20,28.83
$GC,8993,-0.63,-194.6,919.2,-8.8,1295,9000,0.00,2.60,0.00,0.000,6,0.000,0.034,2070,2476,3753,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9300,-0.64,-194.6,943.9,-7.9,1326,9308,0.00,2.05,0.00,0.000,4,0.000,0.045,2060,3827,3751,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9335,-0.65,-194.6,946.6,-8.4,1329,9342,0.00,2.05,0.00,0.000,6,0.000,0.021,2060,2412,3750,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9641,-0.65,-194.6,972.7,-8.4,1360,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2412,3750,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9839,begin apogee
$GC,9846,-0.20,0.0,990.1,-8.1,1380,10042,0.43,0.08,190.55,1.161,4,0.092,0.090,2210,2511,2978,0,0,0,0,0,0,25.86,24.60,23.44
$STATE,10043,end apogee,CONTROL_FINISHED_OK
$STATE,10043,begin climb
$GC,10047,0.58,194.6,999.4,0.0,1400,10263,0.62,2.60,203.75,1.104,4,0.036,0.026,2474,1089,2173,0,0,0,0,0,0,24.91,24.91,23.08
$GC,10277,0.53,194.6,975.6,15.1,1423,10285,0.00,2.85,0.00,0.000,6,0.000,0.037,2474,2544,2157,0,0,0,0,0,0,28.83,24.66,28.83
$GC,10586,0.46,194.6,910.1,21.8,1454,10596,0.15,2.62,0.00,0.000,4,0.177,0.027,2443,1099,2148,0,0,0,0,0,0,25.63,25.93,28.83
$GC,10694,0.43,194.6,893.8,14.0,1464,10701,0.00,2.72,0.00,0.000,6,0.000,0.034,2443,2573,2146,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10999,0.38,194.6,840.9,16.9,1495,11008,0.12,1.80,0.00,0.000,4,0.175,0.040,2405,3839,2145,0,0,0,0,0,0,25.89,26.05,28.83
$GC,11035,0.33,194.6,835.5,16.7,1498,11042,0.12,1.80,0.00,0.000,6,0.173,0.021,2382,2526,2144,0,0,0,0,0,0,25.83,26.22,28.83
$GC,11343,0.32,194.6,801.4,10.4,1529,11352,0.00,2.53,0.00,0.000,4,0.000,0.030,2395,1097,2143,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,18649,end climb,SURFACE_DEPTH_REACHED
$STATE,18649,begin surface coast
$FINISH,-0.3,1.016039
$STATE,18671,end surface coast,CONTROL_FINISHED_OK
$STATE,18671,begin surface
$SM_CCo,18747,0.00,0.000,0,0,735,550.45
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$IRIDIUM_FIX,2307.44,12144.90,180612,070752
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.44
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.1,56.596
$10V_AH,9.9,35.559
$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
$DEVICE_SECS,19.525,250.650,766.550,0.000,0.000,26.536,41.773,363.558,0.000,0.000,14.086,6264.669,6800.668,1045.632,4570.564,631.280,0.000,3205.152,0.000,3988.161,0.000,0.542,0.000
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$MEM,324620
$DATA_FILE_SIZE,166968,2641
$CAP_FILE_SIZE,270551,0
$CFSIZE,260165632,190820352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,254.8,1
$GPS,180612,180137,2313.895,12148.841,27,1.8,27,-3.1