version: 66.10
glider: 169
mission: 6
dive: 300
start: 6 23 112 12 19 57
data:
$ID,169
$MISSION,6
$DIVE,300
$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,-15919.178
$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
$GPS1,230612,121007,2339.340,12217.139,27,1.1,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.0
$GPS2,230612,121931,2339.614,12217.244,12,1.3,12,-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,131.6,166719,-16.1,-10.312
$D_GRID,3145
$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,-194.6,0.0,0.0,0,104,0.00,0.00,-84.00,0.000,2,0.000,0.000,109,2436,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.64,-194.6,3.8,-10.2,15,133,7.88,2.17,-10.45,0.000,4,0.222,0.043,2051,3837,3775,0,0,0,0,0,0,24.94,26.03,26.47
$GC,167,-0.52,-194.6,31.8,-42.1,25,175,0.15,2.17,0.00,0.000,6,0.163,0.021,2100,2390,3776,0,0,0,0,0,0,25.69,26.12,28.83
$GC,360,-0.47,-194.6,76.4,-19.9,62,367,0.00,2.33,0.00,0.000,4,0.000,0.024,2109,945,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,406,-0.47,-194.6,84.3,-14.0,70,413,0.00,2.50,0.00,0.000,6,0.000,0.034,2097,2426,3776,0,0,0,0,0,0,28.83,26.12,28.83
$GC,598,-0.43,-194.6,115.0,-14.3,107,605,0.12,2.15,0.00,0.000,4,0.153,0.037,2126,3837,3777,0,0,0,0,0,0,26.15,26.17,28.83
$GC,634,-0.44,-194.6,119.0,-9.8,113,642,0.00,2.12,0.00,0.000,6,0.000,0.018,2127,2383,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,827,-0.44,-194.6,138.4,-10.0,150,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2383,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1017,-0.44,-194.6,156.5,-9.1,187,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2383,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1207,-0.44,-194.6,173.5,-9.0,224,1214,0.00,2.33,0.00,0.000,4,0.000,0.041,2115,3835,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1238,-0.45,-194.6,176.2,-8.6,229,1246,0.00,2.08,0.00,0.000,6,0.000,0.018,2115,2393,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1433,-0.46,-194.6,196.0,-10.3,266,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2393,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1625,-0.47,-194.6,215.4,-8.9,303,1632,0.00,2.30,0.00,0.000,4,0.000,0.039,2105,3838,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1655,-0.48,-194.6,218.1,-8.6,308,1662,0.00,2.00,0.00,0.000,6,0.000,0.018,2105,2427,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1968,-0.49,-194.6,243.4,-8.0,369,1976,0.00,2.40,0.00,0.000,4,0.000,0.025,2105,959,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2010,-0.52,-194.6,246.8,-7.5,376,2017,0.00,2.58,0.00,0.000,6,0.000,0.030,2097,2487,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2324,-0.52,-194.6,276.2,-9.8,437,2331,0.00,2.05,0.00,0.000,4,0.000,0.041,2087,3841,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2375,-0.55,-194.6,281.0,-8.3,446,2382,0.00,2.00,0.00,0.000,6,0.000,0.019,2087,2438,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2687,-0.55,-194.6,312.6,-9.8,507,2694,0.00,2.42,0.00,0.000,4,0.000,0.025,2087,950,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2728,-0.58,-194.6,316.7,-9.3,514,2735,0.00,2.62,0.00,0.000,6,0.000,0.031,2085,2498,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3040,-0.58,-194.6,348.4,-10.6,575,3047,0.00,2.03,0.00,0.000,4,0.000,0.042,2076,3822,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3067,-0.58,-194.6,350.9,-10.6,579,3074,0.00,2.03,0.00,0.000,6,0.000,0.018,2076,2419,3773,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3378,-0.58,-194.6,383.5,-10.3,640,3385,0.00,2.38,0.00,0.000,4,0.000,0.024,2076,947,3772,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3444,-0.60,-194.6,389.7,-8.6,652,3451,0.00,2.58,0.00,0.000,6,0.000,0.031,2064,2481,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3758,-0.59,-194.6,423.6,-11.2,713,3765,0.00,2.05,0.00,0.000,4,0.000,0.041,2054,3825,3769,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3793,-0.59,-194.6,427.5,-11.3,719,3800,0.10,2.00,0.00,0.000,6,0.132,0.019,2085,2426,3768,0,0,0,0,0,0,26.25,26.48,28.83
$GC,4108,-0.59,-194.6,456.1,-9.7,780,4115,0.00,2.22,0.00,0.000,4,0.000,0.041,2074,3829,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4145,-0.61,-194.6,459.6,-9.8,786,4152,0.00,2.00,0.00,0.000,6,0.000,0.019,2074,2430,3766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4457,-0.61,-194.6,491.0,-9.7,847,4465,0.00,2.42,-0.10,0.000,4,0.000,0.035,2074,953,3787,0,0,0,0,0,0,28.83,26.32,25.98
$GC,4513,-0.63,-194.6,496.0,-8.5,857,4520,0.00,2.60,0.00,0.000,6,0.000,0.031,2063,2492,3787,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4828,-0.63,-194.6,528.7,-10.4,892,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2491,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5131,-0.63,-194.6,561.3,-11.1,922,5139,0.00,2.00,0.00,0.000,4,0.000,0.044,2053,3818,3783,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5163,-0.63,-194.6,565.2,-11.4,925,5173,0.00,2.00,0.00,0.000,6,0.000,0.021,2053,2437,3783,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5474,-0.62,-194.6,600.3,-10.9,956,5483,0.00,2.40,0.00,0.000,4,0.000,0.025,2053,951,3780,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5500,-0.62,-194.6,602.7,-10.8,958,5507,0.12,2.60,0.00,0.000,6,0.124,0.031,2083,2494,3780,0,0,0,0,0,0,26.08,26.23,28.83
$GC,5806,-0.63,-194.6,626.3,-7.4,989,5810,0.00,2.05,0.00,0.000,4,0.000,0.044,2073,3833,3778,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5853,-0.65,-194.6,629.4,-7.2,993,5861,0.00,2.03,0.00,0.000,6,0.000,0.019,2073,2429,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6160,-0.66,-194.6,654.6,-8.3,1024,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2429,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6464,-0.67,-194.6,680.3,-9.0,1054,6473,0.00,2.22,0.00,0.000,4,0.000,0.043,2062,3820,3773,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6491,-0.68,-194.6,682.7,-8.6,1056,6498,0.00,2.00,0.00,0.000,6,0.000,0.020,2062,2429,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6796,-0.68,-194.6,712.9,-9.9,1087,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2429,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7098,-0.68,-194.6,742.3,-9.4,1117,7108,0.00,2.40,0.00,0.000,4,0.000,0.026,2062,946,3769,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7123,-0.69,-194.6,744.6,-9.4,1119,7131,0.00,2.65,0.00,0.000,6,0.000,0.033,2052,2501,3769,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7432,-0.69,-194.6,775.8,-10.0,1150,7440,0.00,2.58,0.00,0.000,4,0.000,0.026,2052,953,3767,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7466,-0.69,-194.6,778.9,-10.1,1153,7474,0.00,2.62,0.00,0.000,6,0.000,0.034,2041,2491,3767,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7773,-0.68,-194.6,811.7,-11.0,1184,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2490,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8077,-0.67,-194.6,843.9,-10.8,1214,8085,0.00,2.53,0.00,0.000,4,0.000,0.027,2042,966,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8111,-0.67,-194.6,847.5,-10.5,1217,8119,0.00,2.62,0.00,0.000,6,0.000,0.036,2031,2489,3764,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8420,-0.65,-194.6,881.6,-11.2,1248,8428,0.10,0.00,0.00,0.000,6,0.160,0.000,2060,2488,3762,0,0,0,0,0,0,26.35,28.83,28.83
$GC,8729,-0.66,-194.6,907.0,-8.0,1279,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2488,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9032,-0.67,-194.6,930.8,-7.6,1309,9041,0.00,2.53,0.00,0.000,4,0.000,0.027,2060,965,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9067,-0.69,-194.6,933.6,-7.8,1312,9074,0.00,2.62,0.00,0.000,6,0.000,0.037,2052,2488,3760,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9375,-0.69,-194.6,958.8,-8.4,1343,9379,0.00,2.10,0.00,0.000,4,0.000,0.047,2042,3825,3758,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9399,-0.69,-194.6,960.7,-8.5,1345,9406,0.00,2.08,0.00,0.000,6,0.000,0.021,2042,2426,3758,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9707,-0.69,-194.6,988.3,-9.1,1376,9716,0.00,2.25,0.00,0.000,4,0.000,0.047,2032,3826,3757,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,9727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9727,begin apogee
$GC,9734,-0.20,0.0,990.1,-9.0,1378,9933,0.50,0.15,192.80,1.099,4,0.093,0.070,2206,2542,2977,0,0,0,0,0,0,25.77,24.74,23.42
$STATE,9934,end apogee,CONTROL_FINISHED_OK
$STATE,9934,begin climb
$GC,9936,0.64,194.6,997.2,0.0,1398,10147,0.70,0.10,204.73,1.124,6,0.036,0.073,2492,2475,2184,0,0,0,0,0,0,24.94,25.00,23.03
$GC,10449,0.58,194.6,906.2,21.5,1449,10457,0.00,2.12,0.00,0.000,4,0.000,0.042,2492,3832,2144,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10613,0.50,194.6,866.5,24.7,1465,10620,0.22,1.92,0.00,0.000,6,0.184,0.021,2442,2509,2142,0,0,0,0,0,0,25.51,26.12,28.83
$GC,10922,0.47,194.6,814.5,15.9,1496,10931,0.00,2.03,0.00,0.000,4,0.000,0.041,2442,3820,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10994,0.43,194.6,801.7,17.5,1503,11004,0.15,1.88,0.00,0.000,6,0.174,0.020,2413,2518,2140,0,0,0,0,0,0,25.76,26.24,28.83
$GC,11305,0.41,194.6,762.0,12.7,1534,11314,0.00,2.47,0.00,0.000,4,0.000,0.029,2426,1057,2139,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11337,0.40,194.6,758.0,12.5,1537,11346,0.00,2.62,0.00,0.000,6,0.000,0.032,2426,2552,2138,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11647,0.37,194.6,715.9,14.1,1568,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2551,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11948,0.35,194.6,676.1,13.6,1598,11955,0.15,0.00,0.00,0.000,6,0.161,0.000,2384,2551,2137,0,0,0,0,0,0,26.03,28.83,28.83
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$STATE,17594,end climb,SURFACE_DEPTH_REACHED
$STATE,17594,begin surface coast
$FINISH,0.4,1.021930
$STATE,17610,end surface coast,CONTROL_FINISHED_OK
$STATE,17610,begin surface
$SM_CCo,17687,0.00,0.000,0,0,615,579.89
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$IRIDIUM_FIX,2328.57,12215.28,230612,070739
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.83
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.0,61.470
$10V_AH,9.9,39.193
$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,18.000,186.200,827.150,0.000,0.000,28.517,19.396,338.959,0.000,0.000,13.023,5902.845,6404.229,1032.010,4283.676,581.938,0.000,3064.557,0.000,3761.777,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,92.565,1123.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,156793,2519
$CAP_FILE_SIZE,246129,0
$CFSIZE,260165632,187617280
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.285,344.3,1
$GPS,230612,171555,2340.795,12218.617,41,1.2,41,-3.2