version: 66.10
glider: 169
mission: 6
dive: 188
start: 5 29 112 11 37 34
data:
$ID,169
$MISSION,6
$DIVE,188
$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,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,-15696.25
$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,2275
$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,49
$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
$GPS1,290512,112907,2149.757,12336.000,31,1.0,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.8
$GPS2,290512,113708,2149.707,12336.106,12,1.3,12,-2.9
$SPEED_LIMITS,0.136,0.271
$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,287.4,260771,-12.5,-7.857
$D_GRID,4630
$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,-0.55,-194.6,0.0,0.0,0,112,0.00,0.00,-92.22,0.000,2,0.000,0.000,116,2554,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.55,-194.6,3.6,-8.6,16,143,7.93,1.92,-13.52,0.000,4,0.226,0.050,2080,3833,3776,0,0,1,0,0,0,25.21,25.53,26.42
$GC,246,-0.48,-194.6,52.0,-25.3,40,253,0.12,1.98,0.00,0.000,6,0.177,0.020,2119,2455,3776,0,0,0,0,0,0,25.79,26.18,28.83
$GC,439,-0.40,-194.6,106.8,-23.7,77,446,0.00,2.28,0.00,0.000,4,0.000,0.024,2130,1042,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,493,-0.38,-194.6,118.1,-14.2,87,502,0.12,2.45,0.00,0.000,6,0.134,0.032,2156,2514,3777,0,0,0,0,0,0,26.01,26.19,28.83
$GC,687,-0.35,-194.6,141.6,-11.1,124,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2513,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-0.33,-194.6,163.0,-11.7,161,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2513,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.32,-194.6,183.3,-10.2,198,1074,0.00,2.42,0.00,0.000,4,0.000,0.024,2156,1032,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1125,-0.36,-194.6,188.2,-7.8,208,1131,0.00,2.45,0.00,0.000,6,0.000,0.031,2152,2510,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1317,-0.35,-194.6,206.3,-10.4,239,1326,0.00,2.00,0.00,0.000,4,0.000,0.041,2142,3833,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1340,-0.35,-194.6,208.7,-10.1,241,1344,0.00,1.98,0.00,0.000,6,0.000,0.020,2143,2433,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1653,-0.34,-194.6,240.3,-10.1,272,1661,0.00,2.22,0.00,0.000,4,0.000,0.027,2143,1036,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1698,-0.35,-194.6,244.1,-8.8,276,1704,0.00,2.40,0.00,0.000,6,0.000,0.031,2138,2499,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2004,-0.34,-194.6,271.8,-9.3,307,2014,0.00,2.00,0.00,0.000,4,0.000,0.041,2128,3833,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2050,-0.35,-194.6,275.5,-8.8,311,2059,0.12,2.00,0.00,0.000,6,0.104,0.018,2172,2419,3776,0,0,0,0,0,0,26.33,26.53,28.83
$GC,2358,-0.43,-194.6,295.2,-7.7,342,2367,0.12,2.15,0.00,0.000,4,0.093,0.039,2105,3816,3774,0,0,0,0,0,0,26.54,26.34,28.83
$GC,2393,-0.50,-194.6,298.3,-9.4,345,2401,0.00,1.92,0.00,0.000,6,0.000,0.018,2106,2433,3774,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2701,-0.54,-194.6,320.7,-6.6,376,2704,0.00,2.12,0.00,0.000,4,0.000,0.038,2105,3828,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2807,-0.62,-194.6,328.2,-7.6,386,2810,0.00,2.05,0.00,0.000,6,0.000,0.021,2105,2396,3772,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3120,-0.66,-194.6,350.8,-7.6,417,3131,0.12,2.10,0.00,0.000,4,0.089,0.021,2022,1038,3771,0,0,0,0,0,0,26.59,26.46,28.83
$GC,3164,-0.65,-194.6,356.1,-11.8,421,3175,0.12,2.35,0.00,0.000,6,0.113,0.031,2058,2470,3771,0,0,0,0,0,0,26.12,26.39,28.83
$GC,3474,-0.60,-194.6,407.9,-16.1,452,3483,0.00,2.28,0.00,0.000,4,0.000,0.024,2068,1036,3769,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3546,-0.59,-194.6,417.4,-12.0,459,3555,0.00,2.33,0.00,0.000,6,0.000,0.033,2057,2456,3769,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3857,-0.55,-194.6,465.2,-15.3,490,3859,0.12,0.00,0.00,0.000,6,0.147,0.000,2094,2455,3766,0,0,0,0,0,0,26.37,28.83,28.83
$GC,4158,-0.54,-194.6,496.6,-9.1,520,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2455,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.52,-194.6,522.7,-8.9,550,4468,0.00,2.28,0.00,0.000,4,0.000,0.026,2094,1031,3762,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4503,-0.52,-194.6,526.4,-8.1,554,4510,0.00,2.33,0.00,0.000,6,0.000,0.034,2085,2451,3762,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4811,-0.51,-194.6,557.8,-10.7,585,4815,0.00,2.10,0.00,0.000,4,0.000,0.044,2075,3830,3759,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4846,-0.49,-194.6,561.4,-11.1,588,4855,0.10,2.10,0.00,0.000,6,0.085,0.022,2117,2390,3759,0,0,0,0,0,0,26.24,26.48,28.83
$GC,5154,-0.50,-194.6,584.0,-6.5,619,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2389,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,-0.51,-194.6,602.9,-5.9,648,5472,0.00,2.33,0.00,0.000,4,0.000,0.045,2106,3822,3754,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5494,-0.52,-194.6,604.2,-5.9,649,5498,0.00,2.08,0.00,0.000,6,0.000,0.021,2107,2396,3754,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5801,-0.52,-194.6,623.7,-6.5,664,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2395,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6102,-0.53,-194.6,644.3,-7.1,679,6107,0.00,2.25,0.00,0.000,4,0.000,0.044,2098,3819,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6154,-0.54,-194.6,647.0,-7.0,681,6162,0.00,2.05,0.00,0.000,6,0.000,0.021,2098,2405,3748,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6464,-0.54,-194.6,670.2,-6.9,697,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2405,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6761,-0.54,-194.6,690.0,-6.6,712,6766,0.00,2.28,0.00,0.000,4,0.000,0.044,2088,3826,3743,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6793,-0.54,-194.6,691.4,-6.7,713,6801,0.00,2.05,0.00,0.000,6,0.000,0.021,2088,2417,3743,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7102,-0.53,-194.6,715.9,-7.9,729,7107,0.00,2.17,0.00,0.000,4,0.000,0.026,2088,1046,3741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7148,-0.53,-194.6,719.1,-8.1,731,7152,0.00,2.35,0.00,0.000,6,0.000,0.035,2085,2470,3741,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7456,-0.53,-194.6,747.2,-9.2,746,7462,0.00,2.08,0.00,0.000,4,0.000,0.045,2075,3819,3739,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7485,-0.52,-194.6,748.9,-9.0,747,7494,0.10,2.08,0.00,0.000,6,0.122,0.021,2106,2403,3738,0,0,0,0,0,0,26.25,26.44,28.83
$GC,7798,-0.53,-194.6,772.1,-6.9,763,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2403,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8097,-0.54,-194.6,790.4,-5.6,778,8103,0.00,2.28,0.00,0.000,4,0.000,0.045,2098,3823,3735,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8119,-0.55,-194.6,791.6,-5.5,779,8123,0.00,2.08,0.00,0.000,6,0.000,0.021,2098,2411,3734,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8432,-0.55,-194.6,808.3,-5.0,795,8437,0.00,2.17,0.00,0.000,4,0.000,0.028,2098,1043,3732,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8461,-0.56,-194.6,809.3,-5.0,796,8470,0.00,2.38,0.00,0.000,6,0.000,0.035,2098,2468,3733,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8772,-0.57,-194.6,826.5,-5.7,812,8778,0.00,2.10,0.00,0.000,4,0.000,0.049,2089,3815,3731,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8815,-0.58,-194.6,828.9,-5.9,814,8819,0.00,2.08,0.00,0.000,6,0.000,0.021,2089,2407,3731,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9127,-0.58,-194.6,851.6,-7.4,830,9133,0.00,2.15,0.00,0.000,4,0.000,0.028,2089,1051,3729,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9155,-0.58,-194.6,853.1,-7.3,831,9159,0.00,2.38,0.00,0.000,6,0.000,0.036,2086,2470,3729,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9464,-0.58,-194.6,875.7,-7.5,846,9469,0.00,2.10,0.00,0.000,4,0.000,0.047,2076,3820,3728,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9490,-0.58,-194.6,877.2,-7.4,847,9494,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2412,3727,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9799,-0.57,-194.6,902.5,-7.8,862,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2411,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10098,-0.56,-194.6,927.4,-8.4,877,10103,0.00,2.33,0.00,0.000,4,0.000,0.047,2066,3810,3726,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10130,-0.55,-194.6,929.0,-8.2,878,10137,0.00,2.08,0.00,0.000,6,0.000,0.023,2066,2414,3725,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10439,-0.54,-194.6,957.7,-8.8,894,10445,0.12,2.20,0.00,0.000,4,0.121,0.028,2115,1047,3724,0,0,0,0,0,0,26.36,26.17,28.83
$GC,10461,-0.54,-194.6,959.4,-8.6,895,10465,0.00,2.40,0.00,0.000,6,0.000,0.036,2114,2474,3725,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10775,-0.56,-194.6,976.6,-5.6,911,10781,0.00,2.10,0.00,0.000,4,0.000,0.049,2105,3813,3723,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10816,-0.58,-194.6,978.9,-5.7,913,10820,0.00,2.05,0.00,0.000,6,0.000,0.023,2105,2422,3723,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10987,begin apogee
$GC,10993,-0.20,0.0,990.1,-6.4,922,11191,0.28,0.05,192.10,1.141,4,0.050,0.045,2242,2486,2974,0,0,0,0,0,0,26.41,24.54,23.70
$STATE,11192,end apogee,CONTROL_FINISHED_OK
$STATE,11193,begin climb
$GC,11195,0.55,194.6,1000.0,0.0,932,11413,0.52,0.10,210.77,1.131,6,0.024,0.088,2478,2548,2180,0,0,0,0,0,0,24.85,24.81,23.21
$GC,11733,0.47,194.6,899.8,22.5,959,11739,0.15,1.95,0.00,0.000,4,0.187,0.042,2430,3815,2144,0,0,0,0,0,0,25.43,25.72,28.83
$GC,11867,0.41,194.6,874.6,20.0,965,11874,0.12,1.92,0.00,0.000,6,0.188,0.023,2410,2515,2142,0,0,0,0,0,0,25.58,25.94,28.83
$GC,12173,0.37,194.6,824.8,14.9,981,12176,0.00,2.05,0.00,0.000,4,0.000,0.046,2410,3822,2140,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,20146,end climb,SURFACE_DEPTH_REACHED
$STATE,20146,begin surface coast
$FINISH,-0.2,1.021188
$STATE,20162,end surface coast,CONTROL_FINISHED_OK
$STATE,20162,begin surface
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$IRIDIUM_FIX,2138.81,12339.47,290512,050530
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.2,23.077
$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
$DEVICE_SECS,17.975,202.575,719.300,0.000,0.000,30.238,48.351,244.928,0.000,0.000,14.668,4601.052,11088.657,908.211,3580.416,501.802,0.000,2672.894,0.000,3069.453,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,113660,1841
$CAP_FILE_SIZE,236902,0
$CFSIZE,260165632,201924608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,2,0,0
$CURRENT,0.191, 56.4,1
$GPS,290512,171606,2151.195,12334.681,41,0.9,46,-2.9