version: 66.10
glider: 169
mission: 6
dive: 515
start: 8 8 112 10 26 13
data:
$ID,169
$MISSION,6
$DIVE,515
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,9
$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,-18665.951
$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,2235
$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,2400
$C_ROLL_CLIMB,2400
$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
$GPS1,080812,101635,2251.182,12206.894,26,1.0,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-68.3
$GPS2,080812,102548,2251.418,12206.984,20,1.9,31,-3.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,245.8,73652,-15.7,-10.000
$D_GRID,4951
$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,-0.63,-194.6,0.0,0.0,0,109,0.00,0.00,-89.35,0.000,2,0.000,0.000,113,2428,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.63,-194.6,3.7,-8.4,14,140,8.07,2.62,-10.32,0.000,4,0.229,0.035,2036,927,3776,0,0,0,0,0,0,24.86,26.01,26.55
$GC,176,-0.58,-194.6,26.2,-22.8,24,182,0.00,2.60,0.00,0.000,6,0.000,0.031,2023,2421,3777,0,0,0,0,0,0,28.83,25.92,28.83
$GC,315,-0.49,-194.6,56.7,-25.1,49,322,0.15,2.25,0.00,0.000,4,0.181,0.036,2056,3842,3777,0,0,0,0,0,0,25.81,25.86,28.83
$GC,345,-0.43,-194.6,63.6,-20.4,54,355,0.12,2.25,0.00,0.000,6,0.161,0.019,2097,2343,3777,0,0,0,0,0,0,25.77,26.19,28.83
$GC,488,-0.41,-194.6,82.5,-12.9,79,495,0.00,2.35,0.00,0.000,4,0.000,0.024,2098,916,3777,0,0,0,0,0,0,28.83,26.06,28.83
$GC,543,-0.41,-194.6,90.4,-12.9,89,550,0.00,2.53,0.00,0.000,6,0.000,0.028,2085,2394,3777,0,0,0,0,0,0,28.83,26.01,28.83
$GC,680,-0.39,-194.6,107.0,-12.1,114,689,0.00,2.30,0.00,0.000,4,0.000,0.040,2075,3842,3777,0,0,0,0,0,0,28.83,25.87,28.83
$GC,776,-0.37,-194.6,118.6,-11.9,131,783,0.12,2.08,0.00,0.000,6,0.135,0.018,2111,2415,3777,0,0,0,0,0,0,25.92,26.27,28.83
$GC,915,-0.40,-194.6,130.7,-8.5,156,922,0.00,2.50,0.00,0.000,4,0.000,0.022,2111,914,3778,0,0,0,0,0,0,28.83,26.10,28.83
$GC,998,-0.43,-194.6,138.1,-8.7,171,1004,0.00,2.62,0.00,0.000,6,0.000,0.026,2100,2436,3778,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1134,-0.46,-194.6,149.8,-8.9,196,1141,0.00,2.17,0.00,0.000,4,0.000,0.037,2091,3831,3778,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1159,-0.49,-194.6,152.3,-8.5,200,1166,0.00,1.95,0.00,0.000,6,0.000,0.015,2091,2446,3778,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1297,-0.52,-194.6,164.8,-8.6,225,1304,0.00,2.58,0.00,0.000,4,0.000,0.021,2091,923,3778,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1374,-0.53,-194.6,172.3,-9.2,239,1383,0.00,3.00,0.00,0.000,6,0.000,0.028,2078,2592,3778,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1513,-0.55,-194.6,183.9,-8.6,264,1520,0.00,2.95,0.00,0.000,4,0.000,0.021,2078,910,3778,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1599,-0.55,-194.6,192.3,-10.2,280,1606,0.00,2.67,0.00,0.000,6,0.000,0.029,2066,2457,3778,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1737,-0.57,-194.6,204.8,-9.9,305,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2455,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,-0.58,-194.6,219.1,-10.3,330,1877,0.00,2.12,0.00,0.000,4,0.000,0.037,2056,3836,3778,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1947,-0.57,-194.6,227.7,-12.1,344,1956,0.00,2.28,0.00,0.000,6,0.000,0.017,2056,2327,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2090,-0.55,-194.6,242.8,-10.6,369,2097,0.00,2.45,0.00,0.000,4,0.000,0.036,2044,3831,3777,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2141,-0.53,-194.6,248.8,-11.7,378,2147,0.00,2.03,0.00,0.000,6,0.000,0.017,2044,2429,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2278,-0.51,-194.6,263.5,-10.6,403,2285,0.00,2.55,0.00,0.000,4,0.000,0.023,2043,919,3778,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2303,-0.50,-194.6,266.5,-10.9,407,2311,0.15,2.83,0.00,0.000,6,0.129,0.028,2076,2512,3777,0,0,0,0,0,0,25.72,26.00,28.83
$GC,2444,-0.51,-194.6,278.3,-8.1,432,2453,0.00,2.78,0.00,0.000,4,0.000,0.022,2076,914,3777,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2524,-0.53,-194.6,286.0,-9.5,446,2531,0.00,2.55,0.00,0.000,6,0.000,0.028,2065,2418,3777,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2660,-0.54,-194.6,298.8,-9.2,471,2669,0.00,2.22,0.00,0.000,4,0.000,0.038,2054,3833,3776,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2682,-0.56,-194.6,301.4,-10.0,474,2689,0.00,2.05,0.00,0.000,6,0.000,0.016,2054,2417,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2819,-0.58,-194.6,314.9,-9.4,499,2828,0.00,2.50,0.00,0.000,4,0.000,0.023,2054,915,3776,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2893,-0.58,-194.6,323.0,-10.5,512,2900,0.00,2.95,0.00,0.000,6,0.000,0.028,2040,2551,3775,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3032,-0.56,-194.6,337.2,-10.2,537,3039,0.00,2.90,0.00,0.000,4,0.000,0.023,2040,919,3774,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3095,-0.56,-194.6,344.1,-10.8,548,3102,0.00,2.72,0.00,0.000,6,0.000,0.029,2028,2478,3774,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3230,-0.53,-194.6,357.6,-10.1,573,3237,0.12,2.10,0.00,0.000,4,0.148,0.037,2060,3842,3774,0,0,0,0,0,0,26.13,25.86,28.83
$GC,3287,-0.53,-194.6,362.8,-8.7,583,3296,0.00,2.03,0.00,0.000,6,0.000,0.019,2060,2451,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3424,-0.54,-194.6,373.2,-8.1,608,3431,0.00,2.17,0.00,0.000,4,0.000,0.037,2050,3829,3773,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3476,-0.54,-194.6,377.7,-8.9,617,3483,0.00,1.83,0.00,0.000,6,0.000,0.017,2051,2502,3772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3613,-0.56,-194.6,389.1,-7.8,642,3620,0.00,2.03,0.00,0.000,4,0.000,0.039,2041,3845,3771,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3698,-0.54,-194.6,397.0,-10.1,657,3705,0.00,2.10,0.00,0.000,6,0.000,0.018,2041,2416,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3836,-0.54,-194.6,409.8,-8.9,682,3843,0.00,2.28,0.00,0.000,4,0.000,0.039,2031,3839,3770,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3900,-0.52,-194.6,415.8,-10.4,693,3908,0.12,1.83,0.00,0.000,6,0.132,0.018,2068,2507,3769,0,0,0,0,0,0,25.92,26.27,28.83
$GC,4037,-0.56,-194.6,427.4,-8.0,718,4044,0.00,2.78,0.00,0.000,4,0.000,0.022,2068,905,3769,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4080,-0.58,-194.6,431.0,-8.9,725,4089,0.00,3.08,0.00,0.000,6,0.000,0.028,2054,2613,3768,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4217,-0.60,-194.6,442.5,-8.5,750,4224,0.00,3.00,0.00,0.000,4,0.000,0.023,2055,918,3768,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4296,-0.61,-194.6,449.5,-9.2,764,4303,0.00,2.72,0.00,0.000,6,0.000,0.028,2042,2481,3767,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4429,-0.62,-194.6,461.1,-9.0,789,4436,0.00,2.67,0.00,0.000,4,0.000,0.024,2043,923,3766,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4470,-0.62,-194.6,465.2,-9.5,796,4479,0.00,2.53,0.00,0.000,6,0.000,0.028,2031,2412,3765,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4610,-0.61,-194.6,478.0,-10.0,821,4618,0.00,2.35,-0.10,0.000,4,0.000,0.049,2019,3842,3786,0,0,0,0,0,0,28.83,25.75,25.79
$GC,4710,-0.59,-194.6,489.3,-11.6,839,4717,0.00,2.12,0.00,0.000,6,0.000,0.019,2019,2426,3786,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4848,-0.57,-194.6,503.2,-10.0,861,4857,0.12,2.53,0.00,0.000,4,0.134,0.024,2066,929,3785,0,0,0,0,0,0,26.16,25.98,28.83
$GC,4871,-0.55,-194.6,505.8,-9.8,863,4880,0.00,2.72,0.00,0.000,6,0.000,0.030,2055,2482,3785,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5183,-0.58,-194.6,531.8,-8.0,894,5186,0.00,2.12,0.00,0.000,4,0.000,0.042,2045,3839,3782,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5245,-0.59,-194.6,537.3,-8.8,900,5254,0.00,2.28,0.00,0.000,6,0.000,0.018,2045,2347,3782,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5556,-0.61,-194.6,562.2,-7.9,931,5569,0.00,2.47,0.00,0.000,4,0.000,0.040,2034,3829,3779,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5615,-0.61,-194.6,567.4,-9.2,936,5623,0.00,1.98,0.00,0.000,6,0.000,0.018,2035,2463,3779,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5923,-0.62,-194.6,593.5,-8.2,967,5934,0.00,2.62,0.00,0.000,4,0.000,0.025,2035,932,3777,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6001,-0.62,-194.6,600.3,-9.5,974,6008,0.00,3.08,0.00,0.000,6,0.000,0.032,2021,2613,3777,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6309,-0.60,-194.6,633.5,-11.2,1005,6317,0.00,3.03,0.00,0.000,4,0.000,0.026,2021,933,3774,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6396,-0.60,-194.6,643.1,-11.8,1013,6403,0.12,2.97,0.00,0.000,6,0.136,0.034,2046,2554,3774,0,0,0,0,0,0,25.56,25.77,28.83
$STATE,6559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6559,begin apogee
$GC,6565,-0.20,0.0,660.2,-9.4,1030,6748,0.35,0.20,173.62,0.960,4,0.086,0.036,2173,2432,2976,0,0,0,0,0,0,25.79,25.13,23.95
$STATE,6749,end apogee,CONTROL_FINISHED_OK
$STATE,6749,begin climb
$GC,6752,0.63,194.6,673.1,0.0,1048,6946,0.80,2.35,183.85,0.962,4,0.081,0.040,2438,3846,2181,0,0,0,0,0,0,25.15,25.34,23.89
$GC,7037,0.60,194.6,650.5,11.3,1077,7047,0.00,2.33,0.00,0.000,6,0.000,0.022,2451,2369,2149,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7346,0.58,194.6,615.9,11.3,1108,7354,0.00,2.40,0.00,0.000,4,0.000,0.029,2463,941,2142,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7430,0.57,194.6,607.0,10.8,1116,7439,0.12,2.58,0.00,0.000,6,0.133,0.030,2421,2443,2141,0,0,0,0,0,0,25.49,25.91,28.83
$GC,7740,0.60,222.3,577.7,9.0,1147,7779,0.00,2.60,31.12,0.818,4,0.000,0.028,2433,938,2064,0,0,0,0,0,0,28.83,25.72,24.37
$GC,7868,0.70,285.3,567.2,7.8,1159,7963,0.00,2.65,88.62,0.796,6,0.000,0.028,2433,2466,1812,0,0,0,0,0,0,28.83,25.85,24.08
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$STATE,12750,end climb,SURFACE_DEPTH_REACHED
$STATE,12750,begin surface coast
$FINISH,0.8,1.021551
$STATE,12773,end surface coast,CONTROL_FINISHED_OK
$STATE,12773,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.9,114.434
$10V_AH,9.9,73.516
$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,19.100,251.825,742.900,0.000,0.000,24.186,20.197,312.782,0.000,0.000,32.352,5050.488,3159.718,1052.819,3474.815,620.608,0.000,2765.556,0.000,2996.865,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,48.960,961.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,126981,1981
$CAP_FILE_SIZE,227480,0
$CFSIZE,260165632,156123136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.418, 22.5,1
$GPS,080812,140129,2253.098,12207.002,38,1.2,38,-3.0