version: 66.10
glider: 169
mission: 6
dive: 28
start: 4 23 112 21 38 14
data:
$ID,169
$MISSION,6
$DIVE,28
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,175
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,-15248.054
$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,2035
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,50
$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
$GPS1,230412,213125,2251.282,12133.101,10,1.6,15,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.4
$GPS2,230412,213750,2251.368,12133.153,12,1.7,12,-3.0
$SPEED_LIMITS,0.159,0.271
$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,289.2,25855,-15.6,-9.167
$D_GRID,1255
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.60,-170.3,0.0,0.0,0,110,0.00,0.00,-90.30,0.000,2,0.000,0.000,117,2434,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.60,-170.3,3.1,-3.4,15,143,6.40,2.17,-16.20,0.000,4,0.216,0.053,1820,3829,3676,0,0,0,0,0,0,26.13,26.55,26.89
$GC,193,-0.48,-170.3,39.8,-43.5,28,200,0.20,2.00,0.00,0.000,6,0.160,0.024,1881,2456,3676,0,0,0,0,0,0,26.32,26.60,28.83
$GC,392,-0.40,-170.3,94.2,-29.7,65,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2454,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,590,-0.36,-170.3,129.6,-15.1,102,601,0.12,2.12,0.00,0.000,4,0.155,0.024,1924,1029,3676,0,0,0,0,0,0,26.54,26.69,28.83
$GC,660,-0.40,-170.3,136.4,-6.9,114,667,0.00,2.30,0.00,0.000,6,0.000,0.032,1922,2536,3676,0,0,0,0,0,0,28.83,26.67,28.83
$GC,856,-0.42,-170.3,153.4,-9.3,151,862,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2535,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1052,-0.43,-170.3,170.0,-6.6,188,1059,0.00,2.25,0.00,0.000,4,0.000,0.025,1922,1038,3676,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1088,-0.47,-170.3,172.3,-6.2,194,1098,0.12,2.28,0.00,0.000,6,0.078,0.032,1837,2531,3676,0,0,0,0,0,0,26.70,26.70,28.83
$GC,1289,-0.43,-170.3,204.1,-17.0,229,1299,0.17,1.92,0.00,0.000,4,0.146,0.041,1884,3827,3675,0,0,0,0,0,0,26.51,26.68,28.83
$GC,1388,-0.44,-170.3,215.2,-8.5,238,1395,0.00,1.98,0.00,0.000,6,0.000,0.021,1884,2439,3675,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1695,-0.44,-170.3,241.4,-7.8,269,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2437,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2006,-0.45,-170.3,265.8,-7.8,300,2017,0.00,2.08,0.00,0.000,4,0.000,0.028,1884,1041,3670,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2063,-0.47,-170.3,270.0,-7.0,305,2072,0.00,2.28,0.00,0.000,6,0.000,0.034,1878,2530,3670,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2370,-0.47,-170.3,298.1,-9.5,336,2381,0.00,2.25,0.00,0.000,4,0.000,0.028,1878,1035,3667,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2404,-0.48,-170.3,301.3,-9.6,339,2414,0.00,2.33,0.00,0.000,6,0.000,0.036,1871,2533,3667,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2714,-0.48,-170.3,329.8,-9.3,370,2724,0.00,2.28,-0.12,0.000,4,0.000,0.040,1871,1045,3692,0,0,0,0,0,0,28.83,26.69,26.58
$GC,2740,-0.49,-170.3,331.9,-9.5,372,2749,0.00,2.30,0.00,0.000,6,0.000,0.037,1863,2528,3692,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3047,-0.49,-170.3,358.4,-8.7,403,3056,0.00,1.98,0.00,0.000,4,0.000,0.046,1853,3827,3689,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3072,-0.49,-170.3,360.4,-8.8,405,3081,0.00,1.98,0.00,0.000,6,0.000,0.023,1853,2450,3689,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3378,-0.49,-170.3,392.6,-10.1,436,3389,0.00,2.12,0.00,0.000,4,0.000,0.029,1854,1045,3686,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3437,-0.50,-170.3,397.8,-9.6,441,3443,0.00,2.30,0.00,0.000,6,0.000,0.037,1846,2530,3686,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3745,-0.50,-170.3,431.5,-10.6,472,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2529,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4055,-0.50,-170.3,465.5,-10.3,503,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2529,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.50,-170.3,496.5,-10.4,534,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2529,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-0.50,-170.3,527.1,-9.6,564,4677,0.00,2.28,0.00,0.000,4,0.000,0.030,1846,1043,3675,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4713,-0.51,-170.3,531.2,-8.9,568,4723,0.12,2.33,0.00,0.000,6,0.132,0.039,1882,2525,3674,0,0,0,0,0,0,26.49,26.60,28.83
$GC,5022,-0.53,-170.3,550.8,-6.0,599,5030,0.00,2.00,0.00,0.000,4,0.000,0.050,1871,3829,3671,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5054,-0.56,-170.3,552.6,-5.6,602,5063,0.00,2.03,0.00,0.000,6,0.000,0.024,1871,2435,3670,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5366,-0.58,-170.3,573.6,-7.6,633,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2435,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5677,-0.60,-170.3,598.4,-8.0,664,5688,0.00,2.20,0.00,0.000,4,0.000,0.048,1862,3810,3666,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5730,-0.62,-170.3,602.2,-8.1,667,5734,0.00,2.00,0.00,0.000,6,0.000,0.025,1862,2447,3665,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6039,-0.63,-170.3,627.3,-7.8,682,6044,0.00,2.17,0.00,0.000,4,0.000,0.050,1853,3817,3662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6067,-0.65,-170.3,628.9,-7.8,683,6076,0.00,2.03,0.00,0.000,6,0.000,0.027,1853,2448,3662,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6380,-0.65,-170.3,656.5,-8.5,699,6385,0.00,2.15,0.00,0.000,4,0.000,0.049,1844,3811,3660,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6412,-0.66,-170.3,658.3,-8.7,700,6419,0.00,2.00,0.00,0.000,6,0.000,0.025,1844,2450,3659,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6718,-0.66,-170.3,686.0,-8.3,716,6724,0.00,2.15,0.00,0.000,4,0.000,0.050,1835,3812,3658,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6761,-0.66,-170.3,689.4,-8.3,718,6765,0.00,2.00,0.00,0.000,6,0.000,0.026,1835,2455,3657,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7074,-0.66,-170.3,716.7,-8.6,734,7080,0.00,2.12,0.00,0.000,4,0.000,0.050,1825,3807,3655,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7097,-0.65,-170.3,718.6,-8.7,735,7101,0.00,2.00,0.00,0.000,6,0.000,0.026,1825,2455,3655,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7412,-0.64,-170.3,748.1,-9.2,751,7417,0.00,2.15,0.00,0.000,4,0.000,0.050,1815,3815,3654,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7470,-0.63,-170.3,753.9,-9.2,754,7474,0.00,2.00,0.00,0.000,6,0.000,0.026,1815,2460,3653,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7792,-0.62,-170.3,788.2,-11.5,770,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2459,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8093,-0.60,-170.3,824.7,-12.5,785,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2459,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.59,-170.3,860.0,-11.7,800,8398,0.00,2.15,0.00,0.000,4,0.000,0.032,1815,1049,3649,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8426,-0.58,-170.3,862.5,-12.0,801,8433,0.12,2.33,0.00,0.000,6,0.136,0.043,1852,2520,3649,0,0,0,0,0,0,26.34,26.46,28.83
$GC,8733,-0.59,-170.3,890.3,-8.5,817,8738,0.00,2.00,0.00,0.000,4,0.000,0.052,1842,3806,3647,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8781,-0.60,-170.3,893.9,-8.7,819,8785,0.00,2.00,0.00,0.000,6,0.000,0.028,1842,2457,3647,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9089,-0.61,-170.3,920.2,-8.0,834,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2456,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-0.62,-170.3,943.9,-7.7,849,9392,0.00,2.15,0.00,0.000,4,0.000,0.053,1834,3812,3644,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9419,-0.62,-170.3,945.5,-7.7,850,9423,0.00,2.03,0.00,0.000,6,0.000,0.028,1834,2454,3644,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9725,-0.62,-170.3,970.8,-8.2,865,9731,0.00,2.17,0.00,0.000,4,0.000,0.053,1824,3812,3643,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9774,-0.62,-170.3,974.1,-8.2,867,9778,0.00,2.00,0.00,0.000,6,0.000,0.028,1823,2460,3643,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,9963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9963,begin apogee
$GC,9970,-0.20,0.0,991.1,-8.4,877,10135,0.40,0.10,152.75,1.410,6,0.102,0.080,1967,2481,2979,0,0,0,0,1,0,26.25,24.70,23.76
$STATE,10136,end apogee,CONTROL_FINISHED_OK
$STATE,10136,begin climb
$GC,10139,0.60,170.3,997.5,0.0,885,10333,0.68,2.38,183.43,1.134,4,0.028,0.034,2279,1083,2273,0,0,0,0,0,0,25.02,24.83,24.04
$GC,10415,0.52,170.3,953.5,23.7,899,10421,0.28,2.40,0.00,0.000,6,0.181,0.041,2207,2541,2252,0,0,0,0,0,0,25.36,25.52,28.83
$GC,10732,0.46,170.3,888.9,20.0,915,10736,0.00,2.00,0.00,0.000,4,0.000,0.050,2206,3815,2249,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10835,0.39,170.3,866.3,21.5,920,10841,0.15,2.00,0.00,0.000,6,0.171,0.028,2170,2495,2246,0,0,0,0,0,0,25.86,26.14,28.83
$GC,11156,0.35,170.3,814.8,15.2,936,11162,0.00,2.10,0.00,0.000,4,0.000,0.050,2170,3819,2245,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11195,0.30,170.3,807.7,16.3,938,11201,0.17,2.03,0.00,0.000,6,0.164,0.027,2132,2489,2244,0,0,0,0,0,0,26.03,26.30,28.83
$GC,11517,0.29,170.3,769.3,11.5,954,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2487,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11815,0.27,170.3,732.9,12.1,969,11820,0.00,2.08,0.00,0.000,4,0.000,0.050,2132,3808,2243,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11916,0.25,170.3,718.5,14.3,974,11921,0.00,2.00,0.00,0.000,6,0.000,0.028,2142,2486,2242,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12236,0.23,170.3,672.2,14.5,990,12242,0.12,2.08,0.00,0.000,4,0.177,0.048,2105,3815,2242,0,0,0,0,0,0,26.24,26.39,28.83
$GC,12277,0.21,170.3,667.0,13.5,992,12283,0.00,2.00,0.00,0.000,6,0.000,0.027,2116,2478,2241,0,0,0,0,0,0,28.83,26.47,28.83
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$STATE,18315,end climb,SURFACE_DEPTH_REACHED
$STATE,18315,begin surface coast
$FINISH,-0.5,1.021763
$STATE,18331,end surface coast,CONTROL_FINISHED_OK
$STATE,18332,begin surface
$SM_CCo,18408,0.00,0.000,0,0,1095,461.90
$SM_GC,0.54,5.50,0.12,0.00,0.031,0.070,0.000,131,2450,1095,-5.86,0.48,461.90,0,0,0,0,0,0
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.76
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.8,4.561
$10V_AH,10.3,2.871
$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
$DEVICE_SECS,15.950,175.425,646.225,0.000,0.000,0.000,0.000,0.000,4.500,0.000,14.087,4423.920,9792.493,844.999,3037.825,371.625,0.000,2470.176,0.000,2830.865,0.000,29.354,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,103803,1665
$CAP_FILE_SIZE,375556,0
$CFSIZE,260165632,219217920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,114.9,1
$GPS,240412,024607,2251.741,12130.435,37,1.0,37,-3.0