version: 66.10
glider: 169
mission: 6
dive: 191
start: 5 30 112 4 8 34
data:
$ID,169
$MISSION,6
$DIVE,191
$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,-15700.307
$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
$GPS1,300512,040037,2152.337,12332.081,30,1.0,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.2
$GPS2,300512,040808,2152.364,12332.196,14,2.0,14,-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,278.7,252518,-12.5,-7.857
$D_GRID,4831
$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,-194.6,0.0,0.0,0,88,0.00,0.00,-68.40,0.000,2,0.000,0.000,117,2436,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.55,-194.6,4.0,-10.5,12,119,7.97,2.22,-12.18,0.000,4,0.230,0.048,2076,3834,3775,0,0,1,0,0,0,25.25,25.58,26.45
$GC,126,-0.29,-194.6,22.8,-52.1,17,133,0.38,1.98,0.00,0.000,6,0.219,0.018,2174,2426,3776,0,0,0,0,0,0,25.27,26.22,28.83
$GC,319,-0.22,-194.6,80.6,-24.1,54,325,0.00,2.22,0.00,0.000,4,0.000,0.038,2163,3832,3776,0,0,0,0,0,0,28.83,26.09,28.83
$GC,383,-0.23,-194.6,91.8,-10.6,66,391,0.08,1.98,0.00,0.000,6,0.086,0.018,2211,2456,3777,0,0,0,0,0,0,26.06,26.30,28.83
$GC,576,-0.22,-194.6,113.8,-14.0,103,585,0.00,2.28,0.00,0.000,4,0.000,0.025,2216,1046,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,623,-0.27,-194.6,118.4,-6.5,111,631,0.00,2.42,0.00,0.000,6,0.000,0.028,2214,2509,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,816,-0.34,-194.6,136.6,-9.2,148,824,0.12,1.95,0.00,0.000,4,0.103,0.037,2154,3827,3778,0,0,0,0,0,0,26.40,26.25,28.83
$GC,944,-0.40,-194.6,148.2,-9.7,172,951,0.00,2.00,0.00,0.000,6,0.000,0.019,2159,2421,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1137,-0.50,-194.6,164.4,-8.0,209,1144,0.12,2.17,0.00,0.000,4,0.100,0.036,2097,3831,3778,0,0,0,0,0,0,26.47,26.29,28.83
$GC,1177,-0.54,-194.6,168.5,-9.2,216,1184,0.00,1.92,0.00,0.000,6,0.000,0.018,2097,2453,3778,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1369,-0.55,-194.6,186.7,-8.5,253,1376,0.00,2.10,0.00,0.000,4,0.000,0.038,2091,3833,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1425,-0.54,-194.6,191.7,-10.1,263,1432,0.00,1.80,0.00,0.000,6,0.000,0.019,2091,2525,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1622,-0.48,-194.6,222.8,-17.3,288,1631,0.00,2.38,0.00,0.000,4,0.000,0.025,2094,1046,3779,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1705,-0.48,-194.6,234.6,-11.4,296,1715,0.08,2.53,0.00,0.000,6,0.103,0.031,2117,2550,3779,0,0,0,0,0,0,26.19,26.37,28.83
$GC,2016,-0.45,-194.6,273.0,-12.6,327,2025,0.00,2.47,0.00,0.000,4,0.000,0.023,2118,1034,3779,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2078,-0.46,-194.6,279.9,-9.5,333,2087,0.00,2.45,0.00,0.000,6,0.000,0.031,2108,2520,3779,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2388,-0.44,-194.6,317.2,-12.5,364,2397,0.00,2.40,0.00,0.000,4,0.000,0.024,2111,1043,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2450,-0.44,-194.6,323.7,-9.3,370,2460,0.00,2.42,0.00,0.000,6,0.000,0.031,2102,2512,3779,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2760,-0.42,-194.6,360.1,-13.1,401,2762,0.12,0.00,0.00,0.000,6,0.146,0.000,2139,2512,3777,0,0,0,0,0,0,26.38,28.83,28.83
$GC,3061,-0.44,-194.6,379.7,-5.1,431,3070,0.00,2.38,0.00,0.000,4,0.000,0.023,2140,1042,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3084,-0.46,-194.6,380.8,-4.8,433,3093,0.00,2.42,0.00,0.000,6,0.000,0.031,2138,2508,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3394,-0.53,-194.6,401.9,-8.4,464,3398,0.12,1.95,0.00,0.000,4,0.106,0.039,2083,3826,3773,0,0,0,0,0,0,26.50,26.33,28.83
$GC,3440,-0.61,-194.6,405.5,-8.1,468,3448,0.00,1.98,0.00,0.000,6,0.000,0.020,2086,2434,3773,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3748,-0.66,-194.6,427.4,-6.7,499,3752,0.00,2.17,0.00,0.000,4,0.000,0.041,2086,3834,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3854,-0.74,-194.6,434.6,-7.1,509,3863,0.10,2.10,0.00,0.000,6,0.063,0.019,2031,2369,3769,0,0,0,0,0,0,26.35,26.55,28.83
$GC,4161,-0.68,-194.6,477.8,-17.0,540,4171,0.00,2.10,0.00,0.000,4,0.000,0.025,2032,1018,3767,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4197,-0.63,-194.6,483.3,-16.6,543,4205,0.17,2.28,0.00,0.000,6,0.120,0.033,2078,2430,3766,0,0,0,0,0,0,26.13,26.35,28.83
$GC,4506,-0.60,-194.6,519.1,-10.9,574,4514,0.00,2.15,0.00,0.000,4,0.000,0.044,2067,3830,3764,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4548,-0.58,-194.6,523.8,-11.0,578,4556,0.00,2.12,0.00,0.000,6,0.000,0.021,2067,2389,3764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4858,-0.55,-194.6,559.7,-11.8,609,4867,0.00,2.10,0.00,0.000,4,0.000,0.026,2068,1048,3761,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4880,-0.53,-194.6,562.3,-11.9,611,4889,0.12,2.30,0.00,0.000,6,0.122,0.032,2104,2445,3761,0,0,0,0,0,0,26.19,26.33,28.83
$GC,5190,-0.53,-194.6,585.7,-7.1,642,5199,0.00,2.10,0.00,0.000,4,0.000,0.044,2094,3812,3758,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5223,-0.53,-194.6,588.2,-7.6,645,5232,0.00,2.08,0.00,0.000,6,0.000,0.020,2094,2387,3758,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5533,-0.53,-194.6,613.5,-8.2,668,5538,0.00,2.28,0.00,0.000,4,0.000,0.044,2085,3812,3756,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5565,-0.53,-194.6,615.0,-8.2,669,5572,0.00,2.05,0.00,0.000,6,0.000,0.020,2085,2398,3755,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5873,-0.53,-194.6,642.6,-8.3,685,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2397,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6173,-0.52,-194.6,668.2,-8.8,700,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2397,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6473,-0.51,-194.6,696.4,-9.8,715,6478,0.00,2.30,0.00,0.000,4,0.000,0.044,2076,3819,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6506,-0.51,-194.6,698.4,-9.8,716,6514,0.12,2.05,0.00,0.000,6,0.111,0.021,2118,2406,3748,0,0,0,0,0,0,26.24,26.48,28.83
$GC,6815,-0.52,-194.6,722.0,-6.9,732,6819,0.00,2.25,0.00,0.000,4,0.000,0.044,2109,3824,3746,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6838,-0.55,-194.6,723.6,-6.8,733,6844,0.00,2.05,0.00,0.000,6,0.000,0.021,2109,2407,3746,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7160,-0.62,-194.6,748.3,-8.3,749,7166,0.10,2.20,0.00,0.000,4,0.110,0.042,2066,3816,3744,0,0,0,0,0,0,26.55,26.17,28.83
$GC,7267,-0.68,-194.6,756.1,-7.3,754,7271,0.00,2.00,0.00,0.000,6,0.000,0.019,2066,2416,3743,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7576,-0.71,-194.6,777.1,-6.4,769,7581,0.00,2.17,0.00,0.000,4,0.000,0.025,2066,1046,3741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7604,-0.74,-194.6,778.4,-6.4,770,7613,0.00,2.22,0.00,0.000,6,0.000,0.033,2057,2419,3741,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7917,-0.72,-194.6,807.8,-9.8,786,7923,0.00,2.17,0.00,0.000,4,0.000,0.046,2046,3822,3739,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7998,-0.70,-194.6,815.9,-10.1,790,8002,0.00,2.20,0.00,0.000,6,0.000,0.022,2054,2360,3738,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8312,-0.68,-194.6,848.1,-10.7,806,8318,0.00,2.35,0.00,0.000,4,0.000,0.045,2042,3823,3737,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8344,-0.66,-194.6,850.2,-10.7,807,8351,0.00,2.15,0.00,0.000,6,0.000,0.022,2042,2379,3737,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8651,-0.63,-194.6,887.8,-12.1,823,8655,0.10,2.10,0.00,0.000,4,0.142,0.026,2078,1050,3735,0,0,0,0,0,0,26.44,26.26,28.83
$GC,8696,-0.61,-194.6,892.1,-11.3,825,8701,0.00,2.25,0.00,0.000,6,0.000,0.036,2068,2419,3735,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9015,-0.60,-194.6,922.1,-9.2,841,9020,0.00,2.20,0.00,0.000,4,0.000,0.047,2057,3816,3733,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9057,-0.59,-194.6,926.0,-9.5,843,9061,0.00,2.17,0.00,0.000,6,0.000,0.022,2057,2369,3733,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9370,-0.58,-194.6,957.9,-10.2,859,9372,0.10,0.00,0.00,0.000,6,0.135,0.000,2090,2368,3731,0,0,0,0,0,0,26.45,28.83,28.83
$GC,9669,-0.58,-194.6,982.8,-8.3,874,9675,0.00,2.35,0.00,0.000,4,0.000,0.047,2078,3816,3730,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9703,-0.59,-194.6,984.5,-8.2,875,9711,0.00,2.15,0.00,0.000,6,0.000,0.021,2078,2370,3729,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,9767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9767,begin apogee
$GC,9773,-0.20,0.0,991.3,-8.6,879,9971,0.35,0.08,185.50,1.167,4,0.086,0.091,2205,2482,2963,0,0,0,0,0,0,26.04,24.66,23.73
$STATE,9972,end apogee,CONTROL_FINISHED_OK
$STATE,9972,begin climb
$GC,9975,0.55,194.6,1001.4,0.0,889,10191,0.60,2.42,206.98,1.141,4,0.034,0.028,2465,1072,2182,0,0,0,0,0,0,24.96,24.95,23.35
$GC,10270,0.50,194.6,971.0,15.6,903,10278,0.00,2.60,0.00,0.000,6,0.000,0.038,2465,2534,2152,0,0,0,0,0,0,28.83,25.08,28.83
$GC,10575,0.42,194.6,905.1,22.1,919,10581,0.15,2.45,0.00,0.000,4,0.181,0.029,2433,1079,2149,0,0,0,0,0,0,25.57,25.86,28.83
$GC,10655,0.38,194.6,892.4,15.6,923,10661,0.10,2.55,0.00,0.000,6,0.130,0.037,2398,2552,2146,0,0,0,0,0,0,25.67,25.91,28.83
$GC,10976,0.35,194.6,848.8,13.2,939,10982,0.00,1.92,0.00,0.000,4,0.000,0.044,2398,3833,2145,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11056,0.30,194.6,836.7,15.0,943,11062,0.12,1.90,0.00,0.000,6,0.168,0.022,2370,2527,2144,0,0,0,0,0,0,25.79,26.15,28.83
$GC,11377,0.29,194.6,803.4,10.0,959,11382,0.00,2.42,0.00,0.000,4,0.000,0.034,2383,1082,2143,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,18862,end climb,SURFACE_DEPTH_REACHED
$STATE,18863,begin surface coast
$FINISH,-0.1,1.021118
$STATE,18879,end surface coast,CONTROL_FINISHED_OK
$STATE,18879,begin surface
$SM_CCo,18955,0.00,0.000,0,0,1114,457.48
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$IRIDIUM_FIX,2143.45,12332.39,290512,222255
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.4,37.992
$10V_AH,10.1,23.462
$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
$DEVICE_SECS,19.150,209.150,675.725,0.000,0.000,31.563,22.184,241.174,0.000,0.000,15.368,4423.612,10119.154,868.253,3460.138,499.920,0.000,2585.118,0.000,2983.213,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,110147,1749
$CAP_FILE_SIZE,235843,0
$CFSIZE,260165632,201580544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.227, 80.5,1
$GPS,300512,092537,2153.473,12330.663,40,1.0,40,-2.9