version: 66.10
glider: 169
mission: 6
dive: 297
start: 6 22 112 21 23 12
data:
$ID,169
$MISSION,6
$DIVE,297
$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,-15915.4
$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
$GPS1,220612,211231,2334.539,12214.213,37,1.9,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.8
$GPS2,220612,212246,2334.929,12214.128,15,2.2,34,-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,128.9,173148,-16.1,-10.312
$D_GRID,3839
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-86.22,0.000,2,0.000,0.000,114,2370,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.64,-194.6,3.6,-9.7,15,136,7.82,2.45,-11.20,0.000,4,0.222,0.050,2046,3830,3776,0,0,0,0,0,0,24.97,26.00,26.48
$GC,180,-0.55,-194.6,34.6,-33.7,27,188,0.15,2.12,0.00,0.000,6,0.161,0.019,2097,2386,3777,0,0,0,0,0,0,25.74,26.19,28.83
$GC,372,-0.51,-194.6,75.3,-16.9,64,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2385,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,562,-0.47,-194.6,110.6,-16.6,101,568,0.00,2.35,0.00,0.000,4,0.000,0.039,2085,3839,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,607,-0.46,-194.6,117.5,-13.5,109,614,0.15,2.08,0.00,0.000,6,0.126,0.019,2131,2398,3777,0,0,0,0,0,0,26.04,26.36,28.83
$GC,799,-0.46,-194.6,135.7,-8.6,146,807,0.00,2.33,0.00,0.000,4,0.000,0.024,2131,956,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,824,-0.47,-194.6,137.8,-8.5,150,833,0.00,2.58,0.00,0.000,6,0.000,0.031,2125,2476,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1019,-0.47,-194.6,156.4,-10.8,187,1025,0.00,2.08,0.00,0.000,4,0.000,0.041,2115,3840,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1044,-0.48,-194.6,159.0,-10.5,191,1050,0.00,2.05,0.00,0.000,6,0.000,0.019,2115,2405,3778,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1236,-0.48,-194.6,181.2,-11.4,228,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2404,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-0.49,-194.6,200.9,-9.4,265,1434,0.00,2.25,0.00,0.000,4,0.000,0.041,2105,3829,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1459,-0.50,-194.6,203.7,-8.9,270,1467,0.00,2.03,0.00,0.000,6,0.000,0.018,2104,2408,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1772,-0.50,-194.6,234.0,-8.5,331,1778,0.00,2.25,0.00,0.000,4,0.000,0.039,2095,3831,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1797,-0.50,-194.6,236.3,-8.6,335,1803,0.00,2.00,0.00,0.000,6,0.000,0.018,2095,2424,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2109,-0.50,-194.6,268.1,-10.6,396,2115,0.00,2.40,0.00,0.000,4,0.000,0.024,2095,953,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2173,-0.54,-194.6,274.1,-8.4,408,2180,0.00,2.58,0.00,0.000,6,0.000,0.030,2084,2478,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2485,-0.54,-194.6,309.4,-11.5,469,2492,0.00,2.53,0.00,0.000,4,0.000,0.025,2085,959,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2525,-0.56,-194.6,313.7,-10.5,476,2532,0.00,2.58,0.00,0.000,6,0.000,0.031,2076,2476,3775,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2839,-0.55,-194.6,348.6,-10.1,537,2846,0.00,2.08,0.00,0.000,4,0.000,0.042,2066,3835,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2868,-0.55,-194.6,351.8,-9.8,542,2876,0.10,2.08,0.00,0.000,6,0.129,0.019,2097,2400,3773,0,0,0,0,0,0,26.25,26.46,28.83
$GC,3184,-0.56,-194.6,377.4,-8.4,603,3191,0.00,2.33,0.00,0.000,4,0.000,0.026,2097,959,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3220,-0.59,-194.6,380.6,-8.3,609,3226,0.00,2.55,0.00,0.000,6,0.000,0.031,2089,2466,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3532,-0.59,-194.6,410.5,-10.1,670,3540,0.00,2.10,0.00,0.000,4,0.000,0.043,2079,3833,3768,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3575,-0.61,-194.6,414.4,-9.5,677,3581,0.00,2.10,0.00,0.000,6,0.000,0.019,2079,2394,3767,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3888,-0.61,-194.6,447.0,-10.6,738,3895,0.00,2.30,0.00,0.000,4,0.000,0.041,2068,3822,3766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3919,-0.61,-194.6,450.4,-10.7,743,3926,0.00,2.05,0.00,0.000,6,0.000,0.019,2068,2410,3765,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4231,-0.60,-194.6,486.3,-10.9,804,4238,0.00,0.00,-0.10,0.000,6,0.000,0.000,2067,2410,3786,0,0,0,0,0,0,28.83,28.83,25.97
$GC,4543,-0.60,-194.6,520.0,-10.7,847,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2410,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.60,-194.6,550.1,-10.0,877,4853,0.00,2.30,0.00,0.000,4,0.000,0.043,2056,3827,3782,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4868,-0.60,-194.6,552.4,-10.1,879,4875,0.00,2.05,0.00,0.000,6,0.000,0.020,2057,2412,3781,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5176,-0.59,-194.6,586.4,-10.8,910,5185,0.00,2.33,0.00,0.000,4,0.000,0.027,2056,968,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5230,-0.61,-194.6,591.6,-9.8,915,5239,0.08,2.55,0.00,0.000,6,0.100,0.034,2079,2470,3779,0,0,0,0,0,0,26.05,26.22,28.83
$GC,5539,-0.61,-194.6,617.8,-8.8,946,5548,0.00,2.08,0.00,0.000,4,0.000,0.044,2068,3819,3776,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5584,-0.63,-194.6,621.5,-8.8,950,5593,0.00,2.05,0.00,0.000,6,0.000,0.021,2068,2416,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5892,-0.63,-194.6,650.7,-9.1,981,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2416,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6195,-0.63,-194.6,677.6,-8.8,1011,6204,0.00,2.25,0.00,0.000,4,0.000,0.044,2057,3821,3772,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6238,-0.64,-194.6,681.5,-8.8,1015,6247,0.00,2.03,0.00,0.000,6,0.000,0.020,2057,2420,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6548,-0.64,-194.6,711.7,-10.5,1046,6557,0.00,2.38,0.00,0.000,4,0.000,0.026,2057,951,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6570,-0.64,-194.6,714.0,-10.2,1048,6580,0.00,2.58,0.00,0.000,6,0.000,0.033,2046,2477,3770,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6881,-0.62,-194.6,749.4,-11.5,1079,6890,0.00,2.05,0.00,0.000,4,0.000,0.046,2036,3827,3768,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6924,-0.62,-194.6,754.2,-11.7,1083,6933,0.10,2.03,0.00,0.000,6,0.099,0.021,2077,2426,3767,0,0,0,0,0,0,26.10,26.41,28.83
$GC,7233,-0.63,-194.6,782.3,-9.3,1114,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2425,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7536,-0.64,-194.6,811.2,-9.9,1144,7539,0.00,2.20,0.00,0.000,4,0.000,0.045,2066,3825,3764,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7589,-0.66,-194.6,816.5,-10.0,1149,7598,0.00,2.03,0.00,0.000,6,0.000,0.021,2066,2428,3763,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7898,-0.67,-194.6,848.4,-10.0,1180,7907,0.00,2.40,0.00,0.000,4,0.000,0.027,2066,953,3762,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7943,-0.69,-194.6,852.5,-9.7,1184,7950,0.00,2.60,0.00,0.000,6,0.000,0.033,2056,2489,3762,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8251,-0.69,-194.6,883.3,-9.6,1215,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2487,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8553,-0.69,-194.6,910.6,-8.8,1245,8561,0.00,2.53,0.00,0.000,4,0.000,0.028,2056,963,3760,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8577,-0.69,-194.6,912.8,-8.6,1247,8583,0.00,2.60,0.00,0.000,6,0.000,0.036,2046,2482,3760,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8885,-0.69,-194.6,941.6,-9.6,1278,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2481,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9186,-0.69,-194.6,970.3,-10.0,1308,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2480,3758,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9382,begin apogee
$GC,9389,-0.20,0.0,990.1,-9.8,1328,9595,0.47,0.08,195.40,1.112,4,0.101,0.037,2208,2484,2967,0,0,0,0,0,0,25.73,24.64,23.46
$STATE,9596,end apogee,CONTROL_FINISHED_OK
$STATE,9596,begin climb
$GC,9598,0.64,194.6,999.5,0.0,1349,9818,0.70,2.53,210.52,1.062,4,0.041,0.025,2489,1059,2183,0,0,0,0,0,0,24.99,24.98,23.20
$GC,9958,0.61,194.6,956.5,15.8,1385,9966,0.00,2.67,0.00,0.000,6,0.000,0.041,2488,2527,2150,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10267,0.55,194.6,895.4,19.9,1416,10278,0.12,2.00,0.00,0.000,4,0.186,0.041,2451,3837,2147,0,0,0,0,0,0,25.77,25.96,28.83
$GC,10368,0.50,194.6,877.1,18.8,1425,10375,0.00,1.92,0.00,0.000,6,0.000,0.021,2461,2509,2145,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10673,0.45,194.6,824.9,16.5,1456,10682,0.12,2.05,0.00,0.000,4,0.196,0.041,2426,3824,2144,0,0,0,0,0,0,25.86,26.06,28.83
$GC,10710,0.41,194.6,819.4,16.7,1459,10717,0.00,1.88,0.00,0.000,6,0.000,0.021,2436,2516,2144,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11017,0.38,194.6,777.9,13.2,1490,11027,0.12,2.03,0.00,0.000,4,0.183,0.041,2398,3832,2143,0,0,0,0,0,0,25.96,26.08,28.83
$GC,11072,0.36,194.6,771.4,11.7,1495,11079,0.00,1.88,0.00,0.000,6,0.000,0.022,2408,2523,2143,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11381,0.37,206.6,740.9,9.9,1526,11391,0.00,2.50,0.00,0.000,4,0.000,0.028,2421,1064,2142,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11396,0.38,224.1,740.0,9.7,1527,11446,0.00,2.67,42.90,0.800,6,0.000,0.032,2421,2562,2065,0,0,0,0,0,0,28.83,26.14,24.58
$GC,11755,0.37,224.1,699.1,11.3,1563,11764,0.00,1.88,0.00,0.000,4,0.000,0.044,2421,3831,2046,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11807,0.35,224.1,692.3,13.3,1568,11811,0.15,1.90,0.00,0.000,6,0.158,0.021,2390,2528,2045,0,0,0,0,0,0,25.72,26.14,28.83
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$STATE,17214,end climb,SURFACE_DEPTH_REACHED
$STATE,17214,begin surface coast
$FINISH,0.2,1.022083
$STATE,17233,end surface coast,CONTROL_FINISHED_OK
$STATE,17233,begin surface
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$IRIDIUM_FIX,2323.87,12214.03,220612,161611
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.26
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,9.9,38.733
$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
$DEVICE_SECS,17.950,195.400,846.100,0.000,0.000,25.702,42.692,342.050,0.000,0.000,36.185,5744.534,6233.682,1028.778,4285.986,583.787,0.000,3062.945,0.000,3717.883,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,150122,2443
$CAP_FILE_SIZE,243642,0
$CFSIZE,260165632,188039168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.289,338.7,1
$GPS,230612,021255,2336.054,12215.305,43,1.1,43,-3.2