version: 66.10
glider: 169
mission: 6
dive: 56
start: 4 29 112 9 59 33
data:
$ID,169
$MISSION,6
$DIVE,56
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,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,-15285.356
$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,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
$GPS1,290412,094401,2316.057,12221.177,40,1.1,40,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.4
$GPS2,290412,095908,2316.228,12221.267,12,1.3,12,-3.1
$SPEED_LIMITS,0.159,0.302
$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,71.6,170665,-13.6,-9.167
$D_GRID,5155
$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,-0.61,-219.0,0.0,0.0,0,109,0.00,0.00,-89.35,0.000,2,0.000,0.000,117,2422,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.61,-219.0,3.6,-9.2,16,137,6.70,2.35,-9.18,0.000,4,0.227,0.052,1819,3825,3875,0,0,0,0,0,0,25.64,25.99,26.32
$GC,212,-0.52,-219.0,52.1,-38.6,34,220,0.15,2.05,0.00,0.000,6,0.142,0.024,1866,2462,3876,0,0,0,0,0,0,25.92,26.12,28.83
$GC,404,-0.46,-219.0,98.1,-23.8,71,411,0.00,2.22,0.00,0.000,4,0.000,0.025,1870,1037,3876,0,0,0,0,0,0,28.83,26.22,28.83
$GC,500,-0.45,-219.0,114.9,-12.7,89,507,0.00,2.40,0.00,0.000,6,0.000,0.034,1859,2522,3877,0,0,0,0,0,0,28.83,26.25,28.83
$GC,690,-0.39,-219.0,154.9,-22.4,126,697,0.12,2.33,0.00,0.000,4,0.162,0.024,1911,1030,3876,0,0,0,0,0,0,26.17,26.34,28.83
$GC,741,-0.41,-219.0,162.9,-11.4,135,748,0.00,2.35,0.00,0.000,6,0.000,0.033,1908,2498,3877,0,0,0,0,0,0,28.83,26.33,28.83
$GC,932,-0.40,-219.0,185.6,-12.8,172,939,0.00,2.03,0.00,0.000,4,0.000,0.041,1898,3820,3877,0,0,0,0,0,0,28.83,26.36,28.83
$GC,987,-0.42,-219.0,192.2,-10.9,182,993,0.00,2.05,0.00,0.000,6,0.000,0.020,1904,2378,3877,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1178,-0.41,-219.0,213.3,-12.3,208,1188,0.00,2.28,0.00,0.000,4,0.000,0.042,1893,3819,3876,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1211,-0.41,-219.0,217.1,-11.1,211,1220,0.00,2.05,0.00,0.000,6,0.000,0.021,1893,2432,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1522,-0.40,-219.0,253.7,-12.9,242,1531,0.00,2.15,0.00,0.000,4,0.000,0.040,1882,3812,3876,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1548,-0.39,-219.0,256.7,-12.6,244,1554,0.00,2.00,0.00,0.000,6,0.000,0.021,1882,2436,3876,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1854,-0.37,-219.0,297.4,-12.7,275,1863,0.10,2.12,0.00,0.000,4,0.147,0.024,1917,1038,3876,0,0,0,0,0,0,26.48,26.53,28.83
$GC,1900,-0.39,-219.0,301.8,-10.3,279,1906,0.00,2.33,0.00,0.000,6,0.000,0.032,1917,2522,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2207,-0.41,-219.0,324.0,-7.0,310,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2521,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-0.43,-219.0,342.6,-5.6,340,2518,0.00,2.28,0.00,0.000,4,0.000,0.026,1917,1032,3875,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2532,-0.46,-219.0,343.9,-5.2,342,2540,0.00,2.28,0.00,0.000,6,0.000,0.032,1915,2505,3875,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2843,-0.54,-219.0,366.5,-8.8,373,2852,0.12,1.98,0.00,0.000,4,0.109,0.040,1855,3822,3873,0,0,0,0,0,0,26.56,26.54,28.83
$GC,2888,-0.62,-219.0,370.0,-8.1,377,2895,0.00,2.03,0.00,0.000,6,0.000,0.021,1858,2418,3872,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3196,-0.65,-219.0,392.1,-7.2,408,3205,0.00,2.10,0.00,0.000,4,0.000,0.027,1858,1033,3872,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3301,-0.66,-219.0,400.6,-8.2,418,3308,0.00,2.60,0.00,0.000,6,0.000,0.035,1850,2635,3871,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3608,-0.65,-219.0,433.4,-10.7,449,3617,0.00,2.53,0.00,0.000,4,0.000,0.029,1850,1053,3869,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3701,-0.66,-219.0,441.7,-8.2,458,3709,0.00,2.53,0.00,0.000,6,0.000,0.037,1840,2601,3869,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4011,-0.64,-219.0,476.7,-11.8,489,4019,0.00,2.45,0.00,0.000,4,0.000,0.027,1840,1047,3868,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4065,-0.63,-219.0,482.3,-10.8,494,4072,0.00,2.50,0.00,0.000,6,0.000,0.034,1831,2594,3867,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4373,-0.61,-219.0,520.4,-12.3,525,4381,0.00,2.42,0.00,0.000,4,0.000,0.027,1831,1046,3865,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4438,-0.61,-219.0,527.1,-10.1,531,4444,0.00,2.50,0.00,0.000,6,0.000,0.037,1825,2588,3865,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4747,-0.59,-219.0,565.3,-12.7,562,4755,0.00,2.45,0.00,0.000,4,0.000,0.031,1826,1047,3863,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4811,-0.59,-219.0,572.7,-10.9,568,4818,0.00,2.50,0.00,0.000,6,0.000,0.039,1825,2582,3862,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5131,-0.57,-219.0,613.2,-12.8,595,5136,0.00,2.40,0.00,0.000,4,0.000,0.028,1826,1050,3861,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5192,-0.56,-219.0,620.4,-12.0,598,5196,0.00,2.45,0.00,0.000,6,0.000,0.039,1825,2567,3860,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5505,-0.54,-219.0,657.5,-11.8,614,5511,0.12,2.38,0.00,0.000,4,0.141,0.028,1876,1044,3858,0,0,0,0,0,0,26.49,26.58,28.83
$GC,5528,-0.53,-219.0,659.6,-11.6,615,5534,0.00,2.45,0.00,0.000,6,0.000,0.037,1871,2566,3858,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5845,-0.54,-219.0,682.2,-6.8,631,5851,0.00,2.38,0.00,0.000,4,0.000,0.028,1871,1034,3855,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5879,-0.56,-219.0,683.5,-6.9,632,5886,0.00,2.45,0.00,0.000,6,0.000,0.037,1871,2557,3855,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6185,-0.57,-219.0,704.4,-6.8,648,6190,0.00,1.95,0.00,0.000,4,0.000,0.049,1862,3825,3853,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6206,-0.59,-219.0,705.8,-6.8,649,6211,0.00,1.95,0.00,0.000,6,0.000,0.023,1862,2481,3853,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6527,-0.60,-219.0,729.8,-7.4,665,6532,0.00,2.22,0.00,0.000,4,0.000,0.031,1862,1050,3850,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6565,-0.61,-219.0,732.7,-7.3,667,6571,0.00,2.42,0.00,0.000,6,0.000,0.039,1855,2549,3849,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6888,-0.62,-219.0,757.3,-7.7,683,6893,0.00,2.35,0.00,0.000,4,0.000,0.030,1855,1052,3847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6909,-0.63,-219.0,758.9,-7.6,684,6914,0.00,2.40,0.00,0.000,6,0.000,0.038,1855,2549,3847,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7223,-0.63,-219.0,781.7,-7.3,700,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2547,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.64,-219.0,803.5,-7.3,715,7528,0.00,2.35,0.00,0.000,4,0.000,0.031,1855,1050,3844,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7565,-0.65,-219.0,806.4,-7.5,717,7569,0.00,2.42,0.00,0.000,6,0.000,0.041,1855,2542,3844,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7878,-0.66,-219.0,830.1,-7.7,733,7884,0.00,1.95,0.00,0.000,4,0.000,0.050,1846,3825,3842,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7910,-0.67,-219.0,831.6,-7.6,734,7917,0.00,1.98,0.00,0.000,6,0.000,0.024,1846,2463,3842,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8218,-0.67,-219.0,857.5,-8.1,750,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2463,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,-0.67,-219.0,882.6,-8.5,765,8523,0.00,2.17,0.00,0.000,4,0.000,0.050,1838,3823,3839,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8545,-0.67,-219.0,884.5,-8.7,766,8549,0.00,1.98,0.00,0.000,6,0.000,0.024,1837,2479,3839,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8853,-0.67,-219.0,913.1,-8.9,781,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2478,3837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9154,-0.67,-219.0,938.3,-7.8,796,9159,0.00,2.22,0.00,0.000,4,0.000,0.032,1837,1050,3836,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9194,-0.67,-219.0,941.2,-7.6,798,9199,0.00,2.42,0.00,0.000,6,0.000,0.041,1831,2542,3835,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9514,-0.67,-219.0,966.5,-7.9,814,9520,0.00,2.35,0.00,0.000,4,0.000,0.031,1831,1047,3834,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9542,-0.67,-219.0,968.0,-7.9,815,9551,0.00,2.42,0.00,0.000,6,0.000,0.041,1827,2540,3834,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,9830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9830,begin apogee
$GC,9836,-0.20,0.0,990.4,-7.5,830,10059,0.40,0.00,216.32,1.107,4,0.100,0.000,1970,2539,2973,0,0,0,0,0,0,26.31,28.83,24.00
$STATE,10060,end apogee,CONTROL_FINISHED_OK
$STATE,10060,begin climb
$GC,10063,0.61,219.0,996.6,0.0,841,10297,0.70,2.12,225.23,1.114,4,0.042,0.047,2245,3818,2085,0,0,0,0,0,0,24.87,24.83,23.77
$GC,10372,0.53,219.0,934.9,27.0,857,10379,0.15,2.08,0.00,0.000,6,0.172,0.027,2213,2499,2046,0,0,0,0,0,0,24.98,25.16,28.83
$GC,10694,0.47,219.0,869.8,18.9,873,10699,0.00,2.10,0.00,0.000,4,0.000,0.044,2212,3807,2040,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10827,0.41,219.0,844.7,21.0,879,10835,0.20,1.95,0.00,0.000,6,0.162,0.023,2167,2519,2037,0,0,0,0,0,0,25.74,25.97,28.83
$GC,11132,0.39,219.0,799.3,13.1,895,11138,0.00,2.08,0.00,0.000,4,0.000,0.044,2167,3834,2037,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11176,0.36,219.0,793.4,13.9,897,11180,0.00,1.95,0.00,0.000,6,0.000,0.022,2176,2526,2036,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11488,0.33,219.0,748.6,14.5,913,11494,0.12,2.00,0.00,0.000,4,0.166,0.043,2138,3815,2036,0,0,0,0,0,0,26.06,26.18,28.83
$GC,11536,0.30,219.0,743.0,14.1,915,11539,0.00,1.88,0.00,0.000,6,0.000,0.023,2148,2544,2035,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11845,0.29,219.0,708.3,10.6,930,11850,0.00,2.33,0.00,0.000,4,0.000,0.034,2160,1076,2035,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,17656,end climb,SURFACE_DEPTH_REACHED
$STATE,17656,begin surface coast
$FINISH,0.0,1.022873
$STATE,17673,end surface coast,CONTROL_FINISHED_OK
$STATE,17673,begin surface
$SM_CCo,17748,0.00,0.000,0,0,755,545.55
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$IRIDIUM_FIX,2307.44,12222.70,290412,090911
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.8,10.446
$10V_AH,10.3,6.159
$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,15.725,200.475,741.050,0.000,0.000,84.831,109.649,391.207,0.000,0.000,15.854,3744.084,10008.851,870.465,3551.866,448.473,0.000,2498.183,0.000,2758.339,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,76.500,1113.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,100290,1591
$CAP_FILE_SIZE,212315,0
$CFSIZE,260165632,216522752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,290412,145632,2316.291,12224.192,42,1.2,42,-3.1