version: 66.10
glider: 169
mission: 6
dive: 192
start: 5 30 112 9 37 12
data:
$ID,169
$MISSION,6
$DIVE,192
$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,-15701.563
$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
$GPS1,300512,092537,2153.473,12330.663,40,1.0,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.3
$GPS2,300512,093645,2153.506,12330.919,13,3.7,32,-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,271.1,249557,-12.5,-7.857
$D_GRID,4756
$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,-194.6,0.0,0.0,0,90,0.00,0.00,-70.05,0.000,2,0.000,0.000,116,2440,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.55,-194.6,4.0,-9.9,12,119,7.90,2.33,-12.30,0.000,4,0.226,0.037,2102,1017,3775,0,0,1,0,0,0,25.27,25.62,26.46
$GC,238,-0.49,-194.6,54.0,-24.6,39,246,0.00,2.53,0.00,0.000,6,0.000,0.037,2090,2510,3776,0,0,0,0,0,0,28.83,26.07,28.83
$GC,431,-0.38,-194.6,116.3,-32.5,76,437,0.20,0.00,0.00,0.000,6,0.171,0.000,2147,2509,3776,0,0,0,0,0,0,25.79,28.83,28.83
$GC,622,-0.33,-194.6,158.7,-17.5,113,629,0.00,2.40,0.00,0.000,4,0.000,0.024,2157,1033,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,707,-0.36,-194.6,169.5,-9.0,129,714,0.00,2.45,0.00,0.000,6,0.000,0.031,2147,2503,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,898,-0.33,-194.6,193.3,-12.9,166,905,0.00,1.98,0.00,0.000,4,0.000,0.040,2136,3834,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,918,-0.31,-194.6,195.7,-12.0,169,926,0.12,2.00,0.00,0.000,6,0.122,0.018,2176,2423,3777,0,0,0,0,0,0,26.21,26.46,28.83
$GC,1117,-0.33,-194.6,210.8,-7.7,193,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2421,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1428,-0.38,-194.6,230.9,-6.0,224,1438,0.00,2.17,0.00,0.000,4,0.000,0.039,2176,3821,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1594,-0.44,-194.6,247.0,-9.9,240,1604,0.12,1.95,0.00,0.000,6,0.063,0.018,2123,2429,3776,0,0,0,0,0,0,26.35,26.54,28.83
$GC,1903,-0.51,-194.6,272.2,-7.4,271,1913,0.00,2.20,0.00,0.000,4,0.000,0.025,2133,1039,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2030,-0.58,-194.6,282.6,-8.6,283,2039,0.15,2.38,0.00,0.000,6,0.102,0.028,2081,2500,3776,0,0,0,0,0,0,26.27,26.41,28.83
$GC,2339,-0.60,-194.6,303.9,-7.1,314,2348,0.00,2.33,0.00,0.000,4,0.000,0.022,2081,1035,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2374,-0.61,-194.6,306.3,-7.4,317,2380,0.00,2.17,0.00,0.000,6,0.000,0.031,2070,2402,3774,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2681,-0.56,-194.6,348.1,-14.6,348,2685,0.00,2.20,0.00,0.000,4,0.000,0.041,2059,3830,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2735,-0.53,-194.6,355.8,-14.6,353,2743,0.15,2.20,0.00,0.000,6,0.126,0.020,2105,2328,3772,0,0,0,0,0,0,26.20,26.51,28.83
$GC,3043,-0.51,-194.6,390.0,-10.6,384,3047,0.00,2.00,0.00,0.000,4,0.000,0.025,2105,1039,3771,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3068,-0.50,-194.6,392.3,-10.3,386,3075,0.00,2.20,0.00,0.000,6,0.000,0.031,2098,2414,3771,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3377,-0.49,-194.6,426.2,-10.9,417,3386,0.00,2.17,0.00,0.000,4,0.000,0.041,2087,3831,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3412,-0.48,-194.6,429.8,-11.0,420,3421,0.10,2.17,0.00,0.000,6,0.129,0.019,2119,2344,3767,0,0,0,0,0,0,26.31,26.51,28.83
$GC,3719,-0.48,-194.6,454.1,-7.3,451,3728,0.00,2.35,0.00,0.000,4,0.000,0.041,2108,3824,3765,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3755,-0.49,-194.6,456.4,-7.0,454,3762,0.00,2.15,0.00,0.000,6,0.000,0.020,2108,2353,3764,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4062,-0.49,-194.6,479.6,-7.5,485,4072,0.00,2.35,-0.08,0.000,4,0.000,0.052,2099,3829,3790,0,0,0,0,0,0,28.83,26.29,25.56
$GC,4087,-0.49,-194.6,481.3,-7.6,487,4094,0.00,2.15,0.00,0.000,6,0.000,0.020,2099,2365,3790,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4398,-0.48,-194.6,505.5,-7.5,518,4406,0.00,2.08,0.00,0.000,4,0.000,0.025,2099,1032,3788,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4432,-0.48,-194.6,508.2,-7.7,521,4439,0.00,2.28,0.00,0.000,6,0.000,0.033,2099,2430,3788,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4741,-0.48,-194.6,532.0,-7.9,552,4745,0.00,2.15,0.00,0.000,4,0.000,0.045,2088,3832,3785,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4763,-0.48,-194.6,533.7,-7.7,554,4773,0.10,2.17,0.00,0.000,6,0.125,0.020,2121,2358,3785,0,0,0,0,0,0,26.29,26.49,28.83
$GC,5075,-0.49,-194.6,551.1,-5.7,585,5083,0.00,2.33,0.00,0.000,4,0.000,0.044,2111,3816,3782,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5119,-0.52,-194.6,553.8,-6.3,589,5126,0.00,2.10,0.00,0.000,6,0.000,0.020,2111,2374,3782,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5428,-0.56,-194.6,576.1,-7.4,620,5438,0.00,2.08,0.00,0.000,4,0.000,0.024,2111,1036,3780,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5514,-0.63,-194.6,583.0,-8.8,628,5522,0.12,2.47,0.00,0.000,6,0.099,0.034,2065,2526,3778,0,0,0,0,0,0,26.22,26.32,28.83
$GC,5832,-0.65,-194.6,608.0,-7.7,655,5838,0.00,2.42,0.00,0.000,4,0.000,0.025,2065,1023,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5895,-0.66,-194.6,612.8,-7.7,658,5899,0.00,2.25,0.00,0.000,6,0.000,0.035,2056,2412,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6208,-0.63,-194.6,647.2,-10.9,674,6213,0.00,2.20,0.00,0.000,4,0.000,0.044,2045,3821,3773,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6260,-0.60,-194.6,651.7,-10.9,676,6268,0.12,2.20,0.00,0.000,6,0.132,0.021,2083,2344,3773,0,0,0,0,0,0,26.15,26.44,28.83
$GC,6569,-0.60,-194.6,678.8,-8.2,692,6574,0.00,2.38,0.00,0.000,4,0.000,0.044,2071,3811,3771,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6608,-0.59,-194.6,682.3,-8.3,694,6613,0.00,2.17,0.00,0.000,6,0.000,0.022,2071,2360,3770,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6928,-0.58,-194.6,710.7,-9.0,710,6933,0.00,2.33,0.00,0.000,4,0.000,0.044,2060,3812,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6961,-0.56,-194.6,712.6,-9.1,711,6969,0.12,2.15,0.00,0.000,6,0.122,0.022,2100,2366,3768,0,0,0,0,0,0,26.17,26.42,28.83
$GC,7270,-0.57,-194.6,732.8,-5.9,727,7276,0.00,2.33,0.00,0.000,4,0.000,0.044,2090,3821,3766,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7302,-0.58,-194.6,734.0,-5.7,728,7309,0.00,2.15,0.00,0.000,6,0.000,0.021,2090,2374,3766,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7610,-0.58,-194.6,755.4,-6.9,744,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2374,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7909,-0.58,-194.6,776.6,-7.1,759,7915,0.00,2.33,0.00,0.000,4,0.000,0.046,2084,3823,3762,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7950,-0.59,-194.6,779.3,-6.7,761,7956,0.00,2.12,0.00,0.000,6,0.000,0.021,2084,2389,3762,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8269,-0.59,-194.6,800.5,-6.2,777,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2387,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,-0.59,-194.6,818.0,-5.8,792,8575,0.00,2.30,0.00,0.000,4,0.000,0.046,2075,3815,3760,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8594,-0.59,-194.6,819.3,-5.9,793,8600,0.00,2.10,0.00,0.000,6,0.000,0.021,2075,2392,3759,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8909,-0.58,-194.6,842.8,-8.1,809,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2392,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9210,-0.58,-194.6,869.0,-9.2,824,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2392,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,-0.58,-194.6,897.2,-9.3,839,9516,0.00,2.30,0.00,0.000,4,0.000,0.047,2065,3813,3755,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9549,-0.58,-194.6,901.0,-9.4,841,9554,0.00,2.12,0.00,0.000,6,0.000,0.021,2065,2391,3755,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9870,-0.57,-194.6,932.1,-9.4,857,9876,0.00,2.12,0.00,0.000,4,0.000,0.028,2065,1050,3754,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9893,-0.56,-194.6,934.0,-9.3,858,9898,0.12,2.33,0.00,0.000,6,0.119,0.036,2101,2449,3754,0,0,0,0,0,0,26.01,26.12,28.83
$GC,10208,-0.58,-194.6,954.7,-6.4,874,10212,0.00,2.15,0.00,0.000,4,0.000,0.047,2091,3817,3754,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10234,-0.59,-194.6,956.2,-6.5,875,10238,0.00,2.12,0.00,0.000,6,0.000,0.021,2091,2386,3753,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10547,-0.60,-194.6,978.4,-7.0,891,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2385,3752,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10723,begin apogee
$GC,10730,-0.20,0.0,990.9,-7.0,900,10933,0.32,0.05,195.40,1.150,4,0.086,0.045,2210,2488,2972,0,0,0,0,0,0,26.06,24.54,23.69
$STATE,10934,end apogee,CONTROL_FINISHED_OK
$STATE,10934,begin climb
$GC,10937,0.55,194.6,999.8,0.0,910,11153,0.62,2.25,207.73,1.136,4,0.041,0.045,2462,3823,2185,0,0,0,0,0,0,24.87,24.81,23.23
$GC,11382,0.47,194.6,912.8,24.4,933,11388,0.17,2.00,0.00,0.000,6,0.185,0.022,2429,2501,2145,0,0,0,0,0,0,25.26,25.70,28.83
$GC,11705,0.42,194.6,858.3,15.8,949,11710,0.00,2.38,0.00,0.000,4,0.000,0.032,2441,1065,2141,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11806,0.38,194.6,843.7,14.0,954,11811,0.15,2.55,0.00,0.000,6,0.148,0.035,2399,2550,2138,0,0,0,0,0,0,25.70,25.98,28.83
$GC,12122,0.35,194.6,801.6,13.3,970,12127,0.00,1.95,0.00,0.000,4,0.000,0.045,2400,3824,2137,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12163,0.32,194.6,795.1,14.4,972,12168,0.12,1.92,0.00,0.000,6,0.166,0.024,2376,2512,2137,0,0,0,0,0,0,25.82,26.16,28.83
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$STATE,19632,end climb,SURFACE_DEPTH_REACHED
$STATE,19632,begin surface coast
$FINISH,0.0,1.021225
$STATE,19665,end surface coast,CONTROL_FINISHED_OK
$STATE,19665,begin surface
$SM_CCo,19741,0.00,0.000,0,0,1019,480.79
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$IRIDIUM_FIX,2143.45,12327.23,300512,090903
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.2,38.221
$10V_AH,10.2,23.599
$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,18.600,206.250,759.350,0.000,0.000,56.397,65.837,299.486,0.000,0.000,35.822,4490.367,10745.657,894.226,3724.181,516.768,0.000,2667.931,0.000,3092.335,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,74.205,1149.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,113696,1795
$CAP_FILE_SIZE,237368,0
$CFSIZE,260165632,201457664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0,0
$CURRENT,0.259, 70.3,1
$GPS,300512,150707,2154.667,12330.233,26,1.3,26,-2.9