version: 66.10
glider: 169
mission: 6
dive: 282
start: 6 19 112 11 35 59
data:
$ID,169
$MISSION,6
$DIVE,282
$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,-15833.837
$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
$GPS1,190612,112208,2317.294,12154.166,27,1.7,27,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.7
$GPS2,190612,113536,2317.754,12154.267,40,0.8,50,-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,109.5,213071,-13.8,-8.684
$D_GRID,4151
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-69.45,0.000,2,0.000,0.000,116,2464,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-194.6,3.1,-6.8,12,126,8.10,2.12,-14.93,0.000,4,0.226,0.048,2070,3844,3775,0,0,0,0,0,0,25.00,26.05,26.51
$GC,140,-0.41,-194.6,23.1,-42.7,19,149,0.22,2.08,0.00,0.000,6,0.168,0.018,2139,2405,3776,0,0,0,0,0,0,25.52,26.19,28.83
$GC,335,-0.37,-194.6,73.5,-17.3,56,342,0.00,2.35,0.00,0.000,4,0.000,0.024,2139,972,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,411,-0.39,-194.6,83.2,-9.0,70,418,0.00,2.53,0.00,0.000,6,0.000,0.031,2128,2443,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,603,-0.36,-194.6,108.2,-13.8,107,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2442,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-0.35,-194.6,130.1,-12.2,144,801,0.12,2.10,0.00,0.000,4,0.155,0.037,2160,3830,3777,0,0,0,0,0,0,26.22,26.22,28.83
$GC,841,-0.39,-194.6,134.2,-7.0,152,848,0.00,2.08,0.00,0.000,6,0.000,0.016,2160,2355,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1033,-0.46,-194.6,147.9,-7.7,189,1041,0.12,2.33,0.00,0.000,4,0.122,0.035,2111,3833,3777,0,0,0,0,0,0,26.36,26.27,28.83
$GC,1137,-0.54,-194.6,156.6,-8.4,208,1146,0.00,2.03,0.00,0.000,6,0.000,0.017,2120,2390,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1333,-0.60,-194.6,171.0,-6.9,245,1340,0.12,2.25,0.00,0.000,4,0.096,0.035,2048,3833,3777,0,0,0,0,0,0,26.51,26.29,28.83
$GC,1366,-0.62,-194.6,173.6,-8.2,250,1372,0.00,2.05,0.00,0.000,6,0.000,0.018,2048,2392,3777,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1557,-0.56,-194.6,202.6,-14.7,287,1564,0.12,0.00,0.00,0.000,6,0.148,0.000,2089,2392,3777,0,0,0,0,0,0,26.27,28.83,28.83
$GC,1869,-0.54,-194.6,240.1,-11.4,348,1876,0.00,2.30,0.00,0.000,4,0.000,0.024,2091,967,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1922,-0.56,-194.6,245.2,-8.6,357,1928,0.00,2.58,0.00,0.000,6,0.000,0.030,2085,2476,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2233,-0.54,-194.6,279.7,-11.2,418,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2475,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.52,-194.6,314.8,-10.1,479,2553,0.00,2.50,0.00,0.000,4,0.000,0.023,2086,983,3773,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2597,-0.53,-194.6,319.9,-8.6,488,2605,0.00,2.53,0.00,0.000,6,0.000,0.030,2085,2466,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2910,-0.52,-194.6,351.1,-10.5,549,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2465,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.51,-194.6,382.7,-10.7,610,3227,0.00,2.47,0.00,0.000,4,0.000,0.023,2085,971,3768,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3265,-0.52,-194.6,387.3,-9.3,618,3271,0.00,2.53,0.00,0.000,6,0.000,0.031,2085,2463,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3577,-0.51,-194.6,418.7,-10.3,679,3583,0.00,2.10,0.00,0.000,4,0.000,0.041,2076,3837,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3606,-0.51,-194.6,421.5,-9.5,684,3614,0.12,2.10,0.00,0.000,6,0.117,0.018,2116,2389,3765,0,0,0,0,0,0,26.25,26.49,28.83
$GC,3923,-0.52,-194.6,443.1,-6.8,745,3930,0.00,2.38,-0.08,0.000,4,0.000,0.052,2106,3839,3789,0,0,0,0,0,0,28.83,26.22,25.50
$GC,3960,-0.55,-194.6,445.8,-7.1,751,3967,0.00,2.08,0.00,0.000,6,0.000,0.019,2105,2405,3789,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4276,-0.58,-194.6,467.5,-6.2,812,4283,0.00,2.28,0.00,0.000,4,0.000,0.041,2101,3839,3787,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4341,-0.61,-194.6,471.9,-6.7,824,4349,0.00,1.80,0.00,0.000,6,0.000,0.019,2101,2510,3786,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4656,-0.66,-194.6,492.0,-6.6,885,4663,0.12,2.58,0.00,0.000,4,0.079,0.022,2022,966,3784,0,0,0,0,0,0,26.57,26.35,28.83
$GC,4764,-0.64,-194.6,502.7,-10.6,903,4773,0.15,2.58,0.00,0.000,6,0.101,0.033,2069,2485,3783,0,0,0,0,0,0,26.00,26.26,28.83
$GC,5072,-0.62,-194.6,533.2,-9.4,934,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2484,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,-0.61,-194.6,562.1,-10.0,964,5385,0.00,2.50,0.00,0.000,4,0.000,0.025,2069,993,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5408,-0.60,-194.6,565.7,-10.2,967,5417,0.00,2.55,0.00,0.000,6,0.000,0.034,2059,2478,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5718,-0.58,-194.6,597.9,-10.8,998,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2476,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6021,-0.56,-194.6,630.3,-11.1,1028,6028,0.12,0.00,0.00,0.000,6,0.145,0.000,2103,2475,3773,0,0,0,0,0,0,26.29,28.83,28.83
$GC,6328,-0.57,-194.6,651.2,-6.5,1059,6337,0.00,2.45,0.00,0.000,4,0.000,0.024,2103,991,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6362,-0.60,-194.6,653.5,-6.7,1062,6371,0.00,2.53,0.00,0.000,6,0.000,0.032,2099,2473,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6672,-0.64,-194.6,674.3,-6.6,1093,6680,0.00,2.08,0.00,0.000,4,0.000,0.046,2099,3820,3768,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6745,-0.69,-194.6,679.4,-6.5,1100,6749,0.10,1.85,0.00,0.000,6,0.054,0.021,2033,2500,3768,0,0,0,0,0,0,26.28,26.49,28.83
$GC,7058,-0.65,-194.6,716.7,-12.6,1131,7068,0.12,2.50,0.00,0.000,4,0.135,0.024,2077,993,3766,0,0,0,0,0,0,26.30,26.26,28.83
$GC,7135,-0.67,-194.6,723.3,-7.7,1138,7142,0.00,2.78,0.00,0.000,6,0.000,0.032,2066,2568,3766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7443,-0.66,-194.6,751.0,-9.5,1169,7451,0.00,2.70,0.00,0.000,4,0.000,0.026,2066,979,3763,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7475,-0.66,-194.6,753.9,-9.1,1172,7485,0.00,2.75,0.00,0.000,6,0.000,0.034,2056,2550,3764,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7784,-0.65,-194.6,785.4,-9.9,1203,7793,0.00,2.67,0.00,0.000,4,0.000,0.028,2056,983,3762,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7827,-0.65,-194.6,789.5,-9.8,1207,7835,0.00,2.70,0.00,0.000,6,0.000,0.034,2045,2535,3762,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8137,-0.63,-194.6,823.3,-11.0,1238,8147,0.00,2.60,0.00,0.000,4,0.000,0.026,2046,984,3760,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8191,-0.63,-194.6,828.8,-10.5,1243,8200,0.08,2.65,0.00,0.000,6,0.106,0.034,2068,2517,3760,0,0,0,0,0,0,25.93,26.13,28.83
$GC,8500,-0.63,-194.6,855.0,-8.4,1274,8509,0.00,2.58,0.00,0.000,4,0.000,0.026,2068,982,3758,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8527,-0.63,-194.6,856.8,-8.1,1276,8535,0.00,2.65,0.00,0.000,6,0.000,0.034,2059,2513,3759,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8833,-0.62,-194.6,885.1,-9.2,1307,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2511,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9137,-0.61,-194.6,913.6,-9.4,1337,9146,0.00,2.58,0.00,0.000,4,0.000,0.028,2060,990,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9192,-0.62,-194.6,918.8,-9.0,1342,9199,0.00,2.65,0.00,0.000,6,0.000,0.037,2050,2508,3755,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9500,-0.61,-194.6,949.2,-10.0,1373,9508,0.00,2.53,0.00,0.000,4,0.000,0.026,2050,994,3753,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9534,-0.61,-194.6,952.4,-9.8,1376,9543,0.12,2.62,0.00,0.000,6,0.125,0.036,2083,2499,3753,0,0,0,0,0,0,25.91,26.05,28.83
$GC,9843,-0.62,-194.6,972.9,-6.3,1407,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2498,3753,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10120,begin apogee
$GC,10128,-0.20,0.0,990.7,-5.9,1435,10326,0.35,0.08,191.95,1.134,4,0.089,0.091,2210,2515,2978,0,0,0,0,0,0,25.98,24.63,23.44
$STATE,10327,end apogee,CONTROL_FINISHED_OK
$STATE,10327,begin climb
$GC,10329,0.58,194.6,997.2,0.0,1455,10548,0.62,2.60,204.27,1.091,4,0.038,0.026,2472,1088,2172,0,0,0,0,0,0,24.93,24.94,23.15
$GC,10594,0.55,194.6,966.4,15.4,1481,10600,0.00,2.80,0.00,0.000,6,0.000,0.040,2472,2549,2157,0,0,0,0,0,0,28.83,25.07,28.83
$GC,10901,0.48,194.6,904.8,20.5,1512,10911,0.12,2.58,0.00,0.000,4,0.180,0.027,2449,1097,2153,0,0,0,0,0,0,25.72,25.96,28.83
$GC,10979,0.46,194.6,892.9,14.5,1519,10985,0.00,2.75,0.00,0.000,6,0.000,0.037,2449,2588,2151,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11285,0.41,194.6,840.2,17.5,1550,11294,0.12,1.83,0.00,0.000,4,0.173,0.041,2410,3825,2149,0,0,0,0,0,0,25.91,26.05,28.83
$GC,11368,0.37,194.6,826.7,16.1,1558,11372,0.00,1.83,0.00,0.000,6,0.000,0.021,2420,2537,2149,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11680,0.34,194.6,782.8,13.6,1589,11690,0.12,2.55,0.00,0.000,4,0.173,0.028,2395,1086,2148,0,0,0,0,0,0,25.98,26.13,28.83
$GC,11705,0.31,194.6,779.9,13.2,1591,11712,0.00,2.72,0.00,0.000,6,0.000,0.032,2395,2593,2146,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12013,0.30,194.6,746.8,10.7,1622,12022,0.00,2.67,0.00,0.000,4,0.000,0.029,2409,1088,2147,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12035,0.29,194.6,744.5,10.5,1624,12045,0.10,2.70,0.00,0.000,6,0.112,0.033,2370,2586,2146,0,0,0,0,0,0,25.89,26.14,28.83
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$STATE,19075,end climb,SURFACE_DEPTH_REACHED
$STATE,19075,begin surface coast
$FINISH,-0.4,1.002392
$STATE,19122,end surface coast,CONTROL_FINISHED_OK
$STATE,19122,begin surface
$SM_CCo,19200,0.00,0.000,0,0,876,515.87
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$IRIDIUM_FIX,2307.44,12153.36,190612,111108
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.81
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.1,57.422
$10V_AH,10.0,36.259
$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
$DEVICE_SECS,18.625,213.450,694.850,0.000,0.000,50.032,86.540,381.441,0.000,0.000,51.290,6553.721,6963.233,960.551,4836.667,633.333,0.000,3156.817,0.000,4122.932,0.000,0.544,0.000
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$MEM,324592
$DATA_FILE_SIZE,170234,2749
$CAP_FILE_SIZE,272892,0
$CFSIZE,260165632,190193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,297.1,1
$GPS,190612,165725,2317.435,12155.868,58,1.4,58,-3.1