version: 66.10
glider: 169
mission: 6
dive: 296
start: 6 22 112 16 16 1
data:
$ID,169
$MISSION,6
$DIVE,296
$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,320
$T_MISSION,360
$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,-15914.142
$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,2425
$C_ROLL_CLIMB,2520
$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,48
$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
$GPS1,220612,160525,2333.197,12213.027,39,2.0,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.4
$GPS2,220612,161535,2333.583,12212.990,15,1.9,30,-3.2
$SPEED_LIMITS,0.179,0.299
$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,128.2,175466,-16.1,-10.312
$D_GRID,3983
$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,-0.64,-194.6,0.0,0.0,0,112,0.00,0.00,-92.38,0.000,2,0.000,0.000,118,2347,3058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.64,-194.6,3.6,-8.6,16,142,8.02,2.47,-13.20,0.000,4,0.231,0.049,2046,3834,3776,0,0,0,0,0,0,24.94,26.00,26.49
$GC,213,-0.56,-194.6,43.2,-32.0,33,220,0.12,2.12,0.00,0.000,6,0.174,0.019,2087,2390,3776,0,0,0,0,0,0,25.79,26.20,28.83
$GC,405,-0.52,-194.6,83.3,-18.0,70,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2390,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,596,-0.48,-194.6,115.6,-18.9,107,604,0.12,2.33,0.00,0.000,4,0.167,0.022,2136,951,3776,0,0,0,0,0,0,26.10,26.27,28.83
$GC,622,-0.46,-194.6,119.9,-16.2,111,630,0.00,2.58,0.00,0.000,6,0.000,0.031,2124,2474,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,815,-0.46,-194.6,142.8,-11.6,148,822,0.00,2.50,0.00,0.000,4,0.000,0.023,2124,947,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,845,-0.49,-194.6,145.9,-10.5,153,851,0.00,2.55,0.00,0.000,6,0.000,0.030,2118,2461,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1036,-0.49,-194.6,164.8,-10.3,190,1043,0.00,2.08,0.00,0.000,4,0.000,0.041,2108,3825,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1076,-0.51,-194.6,168.7,-9.7,197,1083,0.00,2.05,0.00,0.000,6,0.000,0.018,2108,2389,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1267,-0.51,-194.6,188.8,-10.6,234,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2388,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1458,-0.52,-194.6,206.5,-9.1,271,1466,0.00,2.30,0.00,0.000,4,0.000,0.039,2098,3837,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1494,-0.53,-194.6,209.9,-9.9,277,1500,0.00,2.05,0.00,0.000,6,0.000,0.018,2098,2404,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1805,-0.53,-194.6,241.1,-9.7,338,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2404,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.53,-194.6,271.0,-9.7,399,2124,0.00,2.28,0.00,0.000,4,0.000,0.040,2088,3835,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2142,-0.55,-194.6,273.6,-9.6,403,2150,0.00,2.05,0.00,0.000,6,0.000,0.018,2088,2401,3776,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2456,-0.55,-194.6,303.6,-9.7,464,2463,0.00,2.33,0.00,0.000,4,0.000,0.024,2088,947,3774,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2492,-0.58,-194.6,306.7,-8.3,470,2498,0.00,2.58,0.00,0.000,6,0.000,0.031,2085,2481,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2804,-0.58,-194.6,334.0,-8.3,531,2811,0.00,2.03,0.00,0.000,4,0.000,0.041,2076,3833,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2845,-0.59,-194.6,337.4,-7.8,538,2852,0.00,2.03,0.00,0.000,6,0.000,0.018,2076,2409,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3160,-0.59,-194.6,367.5,-9.5,599,3167,0.00,2.33,0.00,0.000,4,0.000,0.024,2075,957,3770,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3191,-0.61,-194.6,370.6,-9.0,604,3198,0.00,2.58,0.00,0.000,6,0.000,0.031,2065,2487,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3503,-0.60,-194.6,402.7,-10.2,665,3509,0.00,2.53,0.00,0.000,4,0.000,0.025,2065,957,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3547,-0.62,-194.6,407.0,-8.5,673,3554,0.00,2.55,0.00,0.000,6,0.000,0.031,2054,2474,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3860,-0.61,-194.6,440.3,-9.7,734,3867,0.00,2.08,0.00,0.000,4,0.000,0.041,2044,3840,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3886,-0.60,-194.6,443.1,-10.7,738,3894,0.12,2.10,-0.10,0.000,6,0.127,0.019,2083,2398,3787,0,0,0,0,0,0,26.18,26.46,25.70
$GC,4202,-0.61,-194.6,468.4,-8.6,799,4210,0.00,2.30,0.00,0.000,4,0.000,0.041,2072,3835,3785,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4234,-0.62,-194.6,471.4,-8.8,804,4240,0.00,2.05,0.00,0.000,6,0.000,0.019,2072,2409,3785,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4551,-0.63,-194.6,501.3,-8.7,865,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2410,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.63,-194.6,529.8,-9.3,895,4863,0.00,2.28,0.00,0.000,4,0.000,0.042,2062,3832,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4880,-0.64,-194.6,532.2,-9.2,897,4886,0.00,2.03,0.00,0.000,6,0.000,0.019,2062,2419,3780,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5188,-0.64,-194.6,563.8,-10.0,928,5197,0.00,2.38,0.00,0.000,4,0.000,0.025,2062,956,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5241,-0.67,-194.6,568.9,-9.4,933,5249,0.00,2.58,0.00,0.000,6,0.000,0.031,2051,2482,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5552,-0.66,-194.6,604.7,-11.7,964,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2480,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,-0.65,-194.6,641.6,-11.9,995,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2480,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6174,-0.65,-194.6,675.7,-10.5,1026,6182,0.00,2.05,0.00,0.000,4,0.000,0.043,2041,3831,3771,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6197,-0.65,-194.6,678.5,-10.6,1028,6200,0.00,2.10,0.00,0.000,6,0.000,0.021,2041,2405,3771,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6510,-0.65,-194.6,712.5,-10.9,1059,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2404,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6822,-0.64,-194.6,746.0,-10.6,1090,6830,0.00,2.33,0.00,0.000,4,0.000,0.045,2030,3824,3766,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6857,-0.63,-194.6,750.1,-11.2,1093,6864,0.12,2.10,0.00,0.000,6,0.125,0.021,2068,2400,3765,0,0,0,0,0,0,26.13,26.41,28.83
$GC,7167,-0.64,-194.6,776.1,-8.3,1124,7176,0.00,2.30,0.00,0.000,4,0.000,0.042,2057,3824,3764,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7193,-0.66,-194.6,778.0,-8.3,1126,7200,0.00,2.08,0.00,0.000,6,0.000,0.020,2057,2407,3763,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7499,-0.66,-194.6,804.9,-8.6,1157,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2406,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,-0.67,-194.6,831.8,-9.5,1187,7813,0.00,2.33,0.00,0.000,4,0.000,0.045,2046,3831,3761,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7846,-0.68,-194.6,836.3,-9.4,1191,7856,0.00,2.05,0.00,0.000,6,0.000,0.021,2046,2420,3760,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8155,-0.68,-194.6,868.7,-10.9,1222,8164,0.00,2.40,0.00,0.000,4,0.000,0.029,2046,965,3759,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8190,-0.69,-194.6,872.2,-11.4,1225,8197,0.00,2.60,0.00,0.000,6,0.000,0.037,2040,2480,3759,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8498,-0.69,-194.6,909.1,-12.3,1256,8502,0.00,2.10,0.00,0.000,4,0.000,0.047,2029,3830,3757,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8521,-0.69,-194.6,911.8,-12.0,1258,8530,0.00,2.08,0.00,0.000,6,0.000,0.021,2029,2421,3756,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8830,-0.68,-194.6,950.3,-12.1,1289,8838,0.00,2.38,0.00,0.000,4,0.000,0.028,2029,959,3756,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8865,-0.68,-194.6,954.3,-12.1,1292,8872,0.12,2.60,0.00,0.000,6,0.125,0.035,2062,2483,3756,0,0,0,0,0,0,25.95,26.10,28.83
$GC,9172,-0.70,-194.6,982.9,-9.0,1323,9182,0.00,2.53,0.00,0.000,4,0.000,0.027,2062,959,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9199,-0.72,-194.6,984.9,-8.9,1325,9206,0.00,2.60,0.00,0.000,6,0.000,0.035,2060,2480,3754,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9252,begin apogee
$GC,9258,-0.20,0.0,990.3,-9.2,1331,9457,0.43,0.08,193.27,1.117,4,0.090,0.035,2211,2479,2977,0,0,0,0,0,0,25.91,24.66,23.46
$STATE,9458,end apogee,CONTROL_FINISHED_OK
$STATE,9458,begin climb
$GC,9461,0.64,194.6,1000.2,0.0,1351,9677,0.75,2.20,207.27,1.088,4,0.040,0.044,2503,3820,2184,0,0,0,0,0,0,24.98,24.92,23.21
$GC,9731,0.56,194.6,952.5,26.2,1378,9740,0.17,2.03,0.00,0.000,6,0.187,0.022,2464,2500,2148,0,0,0,0,0,0,24.81,25.25,28.83
$GC,10043,0.51,194.6,887.4,20.5,1409,10052,0.00,2.08,0.00,0.000,4,0.000,0.044,2464,3822,2140,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10138,0.45,194.6,865.5,23.0,1418,10146,0.12,1.92,0.00,0.000,6,0.169,0.021,2425,2512,2139,0,0,0,0,0,0,25.58,26.13,28.83
$GC,10446,0.42,194.6,812.9,16.8,1449,10455,0.00,2.03,0.00,0.000,4,0.000,0.044,2425,3818,2138,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10508,0.38,194.6,800.8,19.8,1455,10517,0.15,1.88,0.00,0.000,6,0.169,0.021,2395,2520,2137,0,0,0,0,0,0,25.78,26.22,28.83
$GC,10818,0.37,194.6,757.0,12.7,1486,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2519,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11119,0.36,194.6,719.5,11.7,1516,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2519,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11431,0.36,194.6,685.6,10.8,1547,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2519,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11740,0.37,200.8,653.4,10.1,1578,11749,0.00,2.00,0.00,0.000,4,0.000,0.043,2395,3823,2135,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11762,0.38,210.6,650.9,10.0,1580,11782,0.00,1.88,10.20,0.904,6,0.000,0.019,2406,2508,2116,0,0,0,0,0,0,28.83,26.35,24.49
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$GC,14557,0.51,325.0,362.7,8.8,1985,14633,0.12,2.62,63.78,0.724,4,0.076,0.031,2493,1062,1654,0,0,0,0,1,0,26.22,25.46,24.01
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$STATE,17619,end climb,SURFACE_DEPTH_REACHED
$STATE,17619,begin surface coast
$FINISH,-0.1,1.021963
$STATE,17646,end surface coast,CONTROL_FINISHED_OK
$STATE,17646,begin surface
$SM_CCo,17723,0.00,0.000,0,0,794,535.98
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$IRIDIUM_FIX,2321.52,12212.77,220612,111150
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,60.589
$10V_AH,10.0,38.580
$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,17.250,185.525,842.325,0.000,0.000,31.423,40.971,342.338,0.000,0.000,30.839,5982.280,6260.906,1052.669,4404.309,586.791,0.000,3125.656,0.000,3825.492,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,86.445,1116.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,156865,2563
$CAP_FILE_SIZE,246192,0
$CFSIZE,260165632,188166144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.270,334.9,1
$GPS,220612,211231,2334.539,12214.213,37,1.9,37,-3.2