version: 66.10
glider: 169
mission: 6
dive: 319
start: 6 27 112 3 15 1
data:
$ID,169
$MISSION,6
$DIVE,319
$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,250
$T_MISSION,290
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,140
$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,-15943.083
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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
$GPS1,270612,030624,2358.930,12246.686,25,1.2,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-71.7
$GPS2,270612,031438,2359.111,12246.663,13,1.8,13,-3.3
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2350.839,12254.253
$TGT_RADIUS,1852.000
$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,143.3,20000,-16.2,-13.200
$D_GRID,3628
$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,-0.76,-292.0,0.0,0.0,0,116,0.00,0.00,-96.18,0.000,2,0.000,0.000,117,2424,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.76,-292.0,3.9,-9.0,17,150,7.68,2.17,-15.23,0.000,4,0.227,0.045,1986,3844,3963,0,0,0,0,0,0,24.98,26.06,26.53
$GC,158,-0.55,-292.0,22.8,-48.8,23,165,0.28,2.00,0.00,0.000,6,0.190,0.019,2066,2425,3963,0,0,0,0,0,0,25.39,26.22,28.83
$GC,351,-0.51,-292.0,76.3,-19.6,60,358,0.00,2.38,0.00,0.000,4,0.000,0.024,2077,1010,3963,0,0,0,0,0,0,28.83,26.23,28.83
$GC,396,-0.52,-292.0,83.8,-12.4,68,403,0.00,2.62,0.00,0.000,6,0.000,0.030,2064,2501,3963,0,0,0,0,0,0,28.83,26.19,28.83
$GC,589,-0.48,-292.0,116.2,-18.3,105,596,0.10,2.58,0.00,0.000,4,0.168,0.023,2094,994,3963,0,0,0,0,0,0,26.29,26.29,28.83
$GC,644,-0.51,-292.0,123.5,-10.1,115,652,0.00,2.58,0.00,0.000,6,0.000,0.028,2083,2476,3963,0,0,0,0,0,0,28.83,26.27,28.83
$GC,836,-0.50,-292.0,151.4,-14.1,152,843,0.00,2.00,0.00,0.000,4,0.000,0.039,2073,3843,3964,0,0,0,0,0,0,28.83,26.26,28.83
$GC,858,-0.49,-292.0,154.2,-13.7,155,864,0.00,2.00,0.00,0.000,6,0.000,0.018,2074,2405,3963,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1049,-0.47,-292.0,182.3,-14.6,192,1056,0.00,2.33,0.00,0.000,4,0.000,0.024,2074,1008,3963,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1104,-0.50,-292.0,188.9,-10.2,202,1111,0.00,2.47,0.00,0.000,6,0.000,0.029,2063,2451,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1297,-0.48,-292.0,214.5,-12.8,239,1304,0.10,2.45,0.00,0.000,4,0.163,0.021,2091,992,3963,0,0,0,0,0,0,26.39,26.38,28.83
$GC,1324,-0.49,-292.0,217.7,-12.5,243,1331,0.00,2.45,0.00,0.000,6,0.000,0.028,2089,2429,3963,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1637,-0.50,-292.0,249.0,-10.0,304,1643,0.00,2.12,0.00,0.000,4,0.000,0.041,2078,3830,3963,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1682,-0.53,-292.0,253.5,-9.2,312,1689,0.00,2.10,0.00,0.000,6,0.000,0.018,2078,2360,3963,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1994,-0.53,-292.0,285.7,-9.8,373,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2360,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.54,-292.0,315.1,-8.9,434,2312,0.00,2.33,0.00,0.000,4,0.000,0.040,2067,3828,3961,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2369,-0.57,-292.0,320.9,-8.8,446,2377,0.00,2.05,-0.05,0.000,6,0.000,0.018,2068,2378,3971,0,0,0,0,0,0,28.83,26.51,25.77
$GC,2685,-0.57,-292.0,351.3,-9.7,507,2692,0.00,2.30,0.00,0.000,4,0.000,0.039,2057,3831,3970,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2726,-0.60,-292.0,355.4,-9.3,514,2733,0.00,2.05,0.00,0.000,6,0.000,0.018,2057,2382,3970,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3038,-0.60,-292.0,387.4,-10.4,575,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2382,3968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,-0.60,-292.0,419.3,-10.4,636,3355,0.00,2.30,0.00,0.000,4,0.000,0.040,2046,3835,3965,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3390,-0.62,-292.0,423.1,-9.8,643,3396,0.00,2.03,0.00,0.000,6,0.000,0.019,2046,2400,3964,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3701,-0.62,-292.0,455.2,-10.5,704,3708,0.00,2.33,0.00,0.000,4,0.000,0.025,2046,1013,3962,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3732,-0.63,-292.0,458.1,-9.8,709,3738,0.00,2.53,0.00,0.000,6,0.000,0.031,2037,2465,3962,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4044,-0.63,-292.0,493.3,-11.5,770,4052,0.00,2.08,-0.05,0.000,4,0.000,0.054,2027,3830,3973,0,0,0,0,0,0,28.83,26.24,25.96
$GC,4065,-0.62,-292.0,495.8,-11.8,773,4072,0.00,2.05,0.00,0.000,6,0.000,0.019,2027,2402,3973,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4375,-0.61,-292.0,534.4,-12.2,807,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2401,3971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.60,-292.0,571.3,-12.2,837,4686,0.10,0.00,0.00,0.000,6,0.139,0.000,2058,2401,3968,0,0,0,0,0,0,26.44,28.83,28.83
$GC,4985,-0.61,-292.0,602.0,-10.0,868,4994,0.00,2.22,0.00,0.000,4,0.000,0.041,2047,3829,3965,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5028,-0.63,-292.0,606.0,-9.9,872,5037,0.00,2.00,0.00,0.000,6,0.000,0.019,2047,2404,3964,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5337,-0.63,-292.0,639.9,-10.8,903,5346,0.00,2.33,0.00,0.000,4,0.000,0.025,2047,1004,3962,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5380,-0.65,-292.0,644.0,-10.0,907,5389,0.00,2.50,0.00,0.000,6,0.000,0.032,2044,2467,3961,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5689,-0.65,-292.0,676.3,-10.5,938,5697,0.00,2.10,0.00,0.000,4,0.000,0.045,2034,3836,3958,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5722,-0.66,-292.0,679.7,-10.8,941,5731,0.00,2.05,0.00,0.000,6,0.000,0.021,2034,2413,3958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6031,-0.66,-292.0,714.0,-11.3,972,6041,0.00,2.35,0.00,0.000,4,0.000,0.028,2034,1005,3955,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6068,-0.67,-292.0,717.5,-10.6,975,6075,0.00,2.55,0.00,0.000,6,0.000,0.034,2030,2462,3955,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6374,-0.67,-292.0,751.4,-11.4,1006,6378,0.00,2.10,0.00,0.000,4,0.000,0.045,2020,3836,3952,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6396,-0.67,-292.0,754.0,-11.6,1008,6405,0.00,2.10,0.00,0.000,6,0.000,0.020,2020,2405,3952,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6707,-0.66,-292.0,789.9,-11.5,1039,6715,0.00,2.25,0.00,0.000,4,0.000,0.045,2009,3820,3950,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6732,-0.65,-292.0,792.4,-11.5,1041,6739,0.10,2.08,0.00,0.000,6,0.138,0.021,2037,2406,3949,0,0,0,0,0,0,26.16,26.39,28.83
$GC,7039,-0.65,-292.0,822.7,-9.8,1072,7048,0.00,2.33,0.00,0.000,4,0.000,0.028,2038,1007,3948,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7075,-0.67,-292.0,825.6,-9.2,1075,7081,0.00,2.50,0.00,0.000,6,0.000,0.034,2033,2461,3947,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7381,-0.67,-292.0,857.5,-10.8,1106,7390,0.00,2.10,0.00,0.000,4,0.000,0.047,2023,3830,3946,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7414,-0.68,-292.0,860.9,-10.8,1109,7422,0.00,2.10,0.00,0.000,6,0.000,0.021,2022,2398,3945,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7723,-0.68,-292.0,894.4,-10.8,1140,7732,0.00,2.28,0.00,0.000,4,0.000,0.027,2023,1021,3944,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7759,-0.68,-292.0,897.8,-10.9,1143,7765,0.00,2.47,0.00,0.000,6,0.000,0.034,2017,2448,3944,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8066,-0.68,-292.0,931.1,-10.8,1174,8069,0.00,2.12,0.00,0.000,4,0.000,0.046,2007,3836,3943,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8107,-0.68,-292.0,935.7,-11.0,1178,8116,0.00,2.15,0.00,0.000,6,0.000,0.021,2006,2387,3943,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8418,-0.67,-292.0,973.5,-13.0,1209,8427,0.00,2.30,0.00,0.000,4,0.000,0.044,1996,3822,3941,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8440,-0.66,-292.0,976.4,-12.5,1211,8449,0.10,2.10,0.00,0.000,6,0.107,0.021,2034,2397,3941,0,0,0,0,0,0,26.03,26.36,28.83
$STATE,8569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8569,begin apogee
$GC,8576,-0.20,0.0,990.8,-10.6,1224,8830,0.43,0.05,243.25,1.115,4,0.091,0.041,2184,2437,2967,0,0,0,0,0,0,25.94,24.61,23.46
$STATE,8831,end apogee,CONTROL_FINISHED_OK
$STATE,8831,begin climb
$GC,8835,0.76,292.0,1006.8,0.0,1250,9154,0.82,2.30,309.67,1.115,4,0.046,0.042,2501,3830,1787,0,0,0,0,0,0,25.03,25.02,23.25
$GC,9162,0.69,292.0,951.7,25.7,1282,9170,0.15,2.15,0.00,0.000,6,0.186,0.022,2477,2459,1762,0,0,0,0,0,0,24.52,24.80,28.83
$GC,9471,0.65,292.0,884.6,19.8,1313,9480,0.00,2.47,0.00,0.000,4,0.000,0.029,2490,1025,1746,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9535,0.63,292.0,873.3,16.7,1319,9543,0.12,2.67,0.00,0.000,6,0.149,0.034,2455,2518,1745,0,0,0,0,0,0,25.80,26.01,28.83
$GC,9844,0.60,292.0,818.7,17.5,1350,9852,0.00,1.95,0.00,0.000,4,0.000,0.045,2454,3835,1743,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9945,0.58,292.0,799.8,17.0,1360,9949,0.00,1.92,0.00,0.000,6,0.000,0.021,2464,2500,1743,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10257,0.54,292.0,743.9,18.0,1391,10267,0.12,2.00,0.00,0.000,4,0.184,0.041,2427,3830,1742,0,0,0,0,0,0,25.98,26.13,28.83
$GC,10313,0.52,292.0,735.1,16.4,1396,10320,0.00,1.85,0.00,0.000,6,0.000,0.021,2437,2518,1742,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10621,0.52,301.4,693.2,12.9,1427,10629,0.00,2.58,0.00,0.000,4,0.000,0.030,2450,1032,1742,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10643,0.53,316.4,690.5,12.7,1429,10682,0.00,2.72,26.80,0.770,6,0.000,0.032,2451,2549,1686,0,0,0,0,1,0,28.83,26.19,23.97
$GC,10983,0.51,316.4,639.2,16.1,1463,10992,0.12,1.85,0.00,0.000,4,0.167,0.041,2411,3834,1687,0,0,0,0,0,0,25.94,26.03,28.83
$GC,11038,0.51,316.4,631.6,13.9,1468,11045,0.00,1.85,0.00,0.000,6,0.000,0.021,2421,2529,1687,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11345,0.56,361.8,594.5,11.8,1499,11406,0.00,2.80,49.30,0.915,4,0.000,0.029,2434,1013,1512,0,0,0,0,1,0,28.83,25.56,23.96
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$STATE,15022,end climb,SURFACE_DEPTH_REACHED
$STATE,15022,begin surface coast
$FINISH,0.1,1.021214
$STATE,15033,end surface coast,CONTROL_FINISHED_OK
$STATE,15033,begin surface
$SM_CCo,15112,0.00,0.000,0,0,427,626.01
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$IRIDIUM_FIX,2349.77,12243.83,260612,232305
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.2,66.403
$10V_AH,10.0,41.852
$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
$DEVICE_SECS,17.600,183.525,982.875,0.000,0.000,26.343,22.817,285.065,0.000,0.000,14.495,4686.851,5523.370,1100.420,3746.904,510.978,0.000,2962.688,0.000,3280.156,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,133555,2136
$CAP_FILE_SIZE,218691,0
$CFSIZE,260165632,185253888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270612,072800,2359.736,12248.038,39,1.2,39,-3.3