version: 66.10
glider: 169
mission: 6
dive: 324
start: 6 28 112 0 30 54
data:
$ID,169
$MISSION,6
$DIVE,324
$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,-11
$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,165
$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,-15949.373
$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
$GPS1,280612,002224,2400.684,12251.028,38,1.5,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-70.7
$GPS2,280612,003031,2400.837,12250.899,12,1.8,12,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2350.406,12253.955
$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,168.4,20000,-16.2,-13.200
$D_GRID,2645
$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,-292.0,0.0,0.0,0,111,0.00,0.00,-90.72,0.000,2,0.000,0.000,116,2520,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.76,-292.0,3.6,-9.2,16,145,7.57,2.67,-17.50,0.000,4,0.223,0.031,2008,996,3964,0,0,0,0,0,0,24.97,26.15,26.53
$GC,270,-0.72,-292.0,51.5,-22.2,45,277,0.00,2.58,0.00,0.000,6,0.000,0.031,1995,2489,3966,0,0,0,0,0,0,28.83,26.15,28.83
$GC,462,-0.64,-292.0,105.5,-27.8,82,470,0.15,2.53,0.00,0.000,4,0.170,0.020,2053,996,3966,0,0,0,0,0,0,26.00,26.29,28.83
$GC,509,-0.62,-292.0,115.8,-17.6,90,516,0.00,2.58,0.00,0.000,6,0.000,0.031,2040,2483,3966,0,0,0,0,0,0,28.83,26.24,28.83
$GC,701,-0.57,-292.0,154.4,-21.1,127,707,0.00,2.53,0.00,0.000,4,0.000,0.023,2042,995,3967,0,0,0,0,0,0,28.83,26.32,28.83
$GC,742,-0.56,-292.0,161.6,-15.6,134,749,0.12,2.55,0.00,0.000,6,0.128,0.030,2071,2467,3966,0,0,0,0,0,0,26.12,26.29,28.83
$GC,935,-0.55,-292.0,189.1,-12.9,171,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2466,3966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1125,-0.54,-292.0,213.0,-11.7,208,1132,0.00,2.47,0.00,0.000,4,0.000,0.024,2072,1014,3966,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1160,-0.55,-292.0,216.6,-9.6,214,1167,0.00,2.50,0.00,0.000,6,0.000,0.029,2061,2464,3966,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1473,-0.54,-292.0,253.7,-12.7,275,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2463,3966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1785,-0.54,-292.0,295.0,-12.9,336,1792,0.00,2.47,0.00,0.000,4,0.000,0.024,2062,992,3965,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1826,-0.57,-292.0,299.9,-10.9,343,1833,0.00,2.53,0.00,0.000,6,0.000,0.030,2055,2460,3965,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2138,-0.57,-292.0,340.0,-11.6,404,2145,0.00,2.08,0.00,0.000,4,0.000,0.040,2045,3837,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2183,-0.58,-292.0,345.4,-10.9,412,2190,0.00,2.08,0.00,0.000,6,0.000,0.019,2045,2399,3963,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2496,-0.58,-292.0,382.8,-11.7,473,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2398,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2808,-0.57,-292.0,418.4,-11.9,534,2815,0.00,2.28,0.00,0.000,4,0.000,0.041,2034,3834,3960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2833,-0.57,-292.0,421.6,-11.9,538,2843,0.10,2.05,-0.05,0.000,6,0.129,0.019,2066,2396,3973,0,0,0,0,0,0,26.28,26.50,25.62
$GC,3153,-0.59,-292.0,454.2,-10.8,599,3159,0.00,2.25,0.00,0.000,4,0.000,0.040,2056,3827,3971,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3179,-0.60,-292.0,457.3,-10.7,603,3186,0.00,2.03,0.00,0.000,6,0.000,0.018,2056,2400,3971,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3492,-0.61,-292.0,491.8,-10.8,664,3499,0.00,2.33,0.00,0.000,4,0.000,0.025,2056,998,3968,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3528,-0.64,-292.0,495.5,-10.6,670,3535,0.00,2.55,0.00,0.000,6,0.000,0.031,2052,2471,3968,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3843,-0.64,-292.0,529.1,-10.3,705,3847,0.00,2.05,0.00,0.000,4,0.000,0.043,2042,3829,3964,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3886,-0.66,-292.0,533.4,-10.2,709,3894,0.00,2.05,0.00,0.000,6,0.000,0.019,2043,2398,3964,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4195,-0.66,-292.0,566.0,-10.6,740,4204,0.00,2.28,0.00,0.000,4,0.000,0.024,2043,1002,3962,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4221,-0.66,-292.0,568.3,-10.4,742,4228,0.00,2.50,0.00,0.000,6,0.000,0.031,2034,2467,3961,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4528,-0.65,-292.0,603.4,-11.4,773,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2466,3958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4831,-0.65,-292.0,636.4,-11.1,803,4839,0.00,2.47,0.00,0.000,4,0.000,0.025,2034,1013,3956,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4855,-0.65,-292.0,639.1,-10.8,805,4861,0.00,2.50,0.00,0.000,6,0.000,0.032,2031,2464,3956,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5163,-0.64,-292.0,674.5,-11.8,836,5171,0.00,2.08,0.00,0.000,4,0.000,0.043,2020,3827,3952,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5217,-0.65,-292.0,680.4,-11.6,841,5224,0.00,2.05,0.00,0.000,6,0.000,0.020,2020,2403,3952,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5525,-0.64,-292.0,719.8,-12.4,872,5533,0.00,2.28,0.00,0.000,4,0.000,0.025,2021,1017,3950,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5567,-0.64,-292.0,724.7,-11.8,876,5576,0.00,2.53,0.00,0.000,6,0.000,0.032,2017,2466,3949,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5877,-0.63,-292.0,763.8,-13.3,907,5886,0.10,2.03,0.00,0.000,4,0.164,0.042,2035,3821,3947,0,0,0,0,0,0,26.35,26.17,28.83
$GC,5903,-0.62,-292.0,766.6,-12.5,909,5909,0.00,2.08,0.00,0.000,6,0.000,0.021,2035,2400,3946,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6209,-0.62,-292.0,798.6,-10.2,940,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2399,3945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6513,-0.62,-292.0,828.6,-9.5,970,6521,0.00,2.25,0.00,0.000,4,0.000,0.043,2023,3824,3943,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6556,-0.62,-292.0,833.0,-9.7,974,6564,0.00,2.05,0.00,0.000,6,0.000,0.021,2024,2403,3943,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6866,-0.62,-292.0,865.3,-11.0,1005,6874,0.00,2.22,0.00,0.000,4,0.000,0.044,2013,3825,3941,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6893,-0.62,-292.0,867.8,-10.9,1007,6900,0.12,2.05,0.00,0.000,6,0.125,0.021,2052,2408,3941,0,0,0,0,0,0,26.13,26.41,28.83
$GC,7199,-0.64,-292.0,894.0,-8.6,1038,7207,0.00,2.25,0.00,0.000,4,0.000,0.043,2041,3833,3939,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7232,-0.67,-292.0,896.6,-8.1,1041,7236,0.00,2.05,0.00,0.000,6,0.000,0.021,2041,2413,3939,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7544,-0.68,-292.0,926.2,-9.6,1072,7553,0.00,2.33,0.00,0.000,4,0.000,0.026,2041,1017,3937,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7581,-0.70,-292.0,929.3,-9.6,1075,7587,0.00,2.55,0.00,0.000,6,0.000,0.032,2039,2480,3937,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7886,-0.71,-292.0,956.2,-8.6,1106,7895,0.00,2.03,0.00,0.000,4,0.000,0.044,2030,3830,3935,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7920,-0.72,-292.0,958.7,-8.1,1109,7928,0.00,2.03,0.00,0.000,6,0.000,0.020,2030,2416,3935,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8229,-0.73,-292.0,985.1,-8.9,1140,8237,0.00,2.35,0.00,0.000,4,0.000,0.026,2030,1011,3934,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8272,-0.75,-292.0,988.3,-7.8,1144,8280,0.00,2.55,0.00,0.000,6,0.000,0.034,2030,2472,3933,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,8298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8298,begin apogee
$GC,8303,-0.20,0.0,990.6,-7.5,1147,8640,0.45,0.00,327.38,0.915,4,0.096,0.000,2187,2471,2971,0,0,0,0,0,0,25.86,28.83,23.64
$STATE,8643,end apogee,CONTROL_FINISHED_OK
$STATE,8643,begin climb
$GC,8645,0.76,292.0,1006.2,0.0,1181,8992,0.82,2.60,330.38,1.009,4,0.042,0.026,2509,1005,1778,0,0,0,0,0,0,25.19,25.20,23.69
$GC,9008,0.74,292.0,955.8,16.6,1217,9015,0.00,2.75,0.00,0.000,6,0.000,0.037,2509,2491,1766,0,0,0,0,0,0,28.83,25.18,28.83
$GC,9317,0.68,292.0,879.4,24.6,1248,9326,0.12,2.00,0.00,0.000,4,0.181,0.041,2472,3823,1757,0,0,0,0,0,0,25.79,25.98,28.83
$GC,9464,0.63,292.0,846.9,21.7,1262,9471,0.00,1.95,0.00,0.000,6,0.000,0.022,2482,2484,1755,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9770,0.58,292.0,780.3,21.8,1293,9779,0.12,2.08,0.00,0.000,4,0.186,0.040,2445,3835,1754,0,0,0,0,0,0,25.93,26.11,28.83
$GC,9856,0.55,292.0,763.2,19.4,1301,9863,0.00,1.95,0.00,0.000,6,0.000,0.021,2456,2483,1753,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10163,0.52,292.0,707.0,19.0,1332,10172,0.12,2.10,0.00,0.000,4,0.178,0.039,2418,3851,1753,0,0,0,0,0,0,26.01,26.14,28.83
$GC,10219,0.51,292.0,697.7,17.2,1337,10226,0.00,1.90,0.00,0.000,6,0.000,0.021,2428,2505,1752,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10526,0.50,292.7,654.4,13.2,1368,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2504,1753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10829,0.51,306.1,616.2,12.8,1398,10854,0.00,2.03,15.93,0.842,4,0.000,0.041,2428,3824,1723,0,0,0,0,0,0,28.83,26.01,24.48
$GC,10900,0.50,306.1,606.2,14.7,1405,10907,0.00,1.88,0.00,0.000,6,0.000,0.021,2438,2514,1714,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11208,0.55,348.7,567.2,11.9,1436,11269,0.00,2.67,48.00,0.879,4,0.000,0.031,2452,1020,1553,0,0,0,0,1,0,28.83,25.58,24.09
$GC,11316,0.62,399.7,554.3,11.7,1446,11383,0.00,2.78,52.97,0.827,6,0.000,0.033,2452,2541,1349,0,0,0,0,1,0,28.83,25.74,23.69
$GC,11684,0.62,399.7,504.4,13.2,1483,11693,0.00,1.92,3.25,0.584,4,0.000,0.041,2452,3833,1344,0,0,0,0,0,0,28.83,25.93,23.87
$GC,11726,0.62,399.7,498.0,14.9,1488,11733,0.00,1.90,0.00,0.000,6,0.000,0.021,2462,2513,1352,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12040,0.63,409.4,454.6,12.9,1549,12076,0.00,2.70,25.23,0.705,4,0.000,0.031,2475,1022,1305,0,0,0,0,1,0,28.83,25.87,24.61
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$GC,12971,0.86,567.0,278.5,25.6,1723,12978,0.17,1.90,0.00,0.000,4,0.171,0.039,2534,3827,631,0,0,0,0,0,0,25.66,25.97,28.83
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$STATE,14940,end climb,SURFACE_DEPTH_REACHED
$STATE,14941,begin surface coast
$FINISH,-0.1,1.021303
$STATE,14958,end surface coast,CONTROL_FINISHED_OK
$STATE,14958,begin surface
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$IRIDIUM_FIX,2352.12,12252.33,270612,202011
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,10.0,42.503
$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
$DEVICE_SECS,16.950,174.775,1048.550,0.000,0.000,24.948,18.114,283.487,0.000,0.000,12.832,4581.534,5560.242,1131.683,3692.135,517.260,0.000,2983.704,0.000,3242.064,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325460
$DATA_FILE_SIZE,130229,2097
$CAP_FILE_SIZE,214198,0
$CFSIZE,260165632,184668160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280612,044236,2400.958,12251.626,38,1.0,38,-3.4