version: 66.10
glider: 169
mission: 6
dive: 212
start: 6 3 112 22 40 28
data:
$ID,169
$MISSION,6
$DIVE,212
$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,380
$T_MISSION,420
$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,1
$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,-15727.213
$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
$GPS1,030612,223100,2207.955,12309.938,36,1.0,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.0
$GPS2,030612,224004,2208.006,12310.014,16,2.4,35,-2.9
$SPEED_LIMITS,0.150,0.281
$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,275.1,205212,-13.8,-8.684
$D_GRID,5399
$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,16,-0.58,-194.6,0.0,0.0,0,108,0.00,0.00,-88.50,0.000,2,0.000,0.000,116,2520,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.58,-194.6,3.2,-7.4,15,144,8.10,1.98,-15.55,0.000,4,0.229,0.046,2071,3842,3776,0,0,1,0,0,0,25.20,25.46,26.47
$GC,197,-0.52,-194.6,36.4,-25.6,30,204,0.00,2.00,0.00,0.000,6,0.000,0.019,2080,2460,3776,0,0,0,0,0,0,28.83,26.19,28.83
$GC,390,-0.41,-194.6,100.0,-35.6,67,397,0.17,2.33,0.00,0.000,4,0.181,0.022,2141,1027,3776,0,0,0,0,0,0,25.78,26.22,28.83
$GC,507,-0.43,-194.6,120.7,-9.9,89,515,0.00,2.42,0.00,0.000,6,0.000,0.031,2129,2482,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,700,-0.39,-194.6,154.1,-18.8,126,707,0.00,2.03,0.00,0.000,4,0.000,0.040,2119,3827,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,749,-0.37,-194.6,162.9,-15.2,135,756,0.10,2.05,0.00,0.000,6,0.144,0.019,2153,2413,3777,0,0,0,0,0,0,26.17,26.41,28.83
$GC,942,-0.36,-194.6,184.7,-9.2,172,949,0.00,2.17,0.00,0.000,4,0.000,0.023,2153,1026,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,988,-0.40,-194.6,188.2,-6.7,180,995,0.00,2.33,0.00,0.000,6,0.000,0.030,2150,2446,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1180,-0.40,-194.6,202.6,-8.0,214,1184,0.00,2.10,0.00,0.000,4,0.000,0.040,2140,3832,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1234,-0.42,-194.6,206.6,-7.5,219,1242,0.00,2.05,0.00,0.000,6,0.000,0.018,2140,2384,3776,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1545,-0.46,-194.6,227.1,-6.6,250,1554,0.00,2.10,0.00,0.000,4,0.000,0.022,2140,1022,3777,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1781,-0.54,-194.6,245.8,-8.8,273,1789,0.12,2.60,0.00,0.000,6,0.080,0.031,2073,2563,3776,0,0,0,0,0,0,26.35,26.37,28.83
$GC,2089,-0.49,-194.6,286.4,-16.5,304,2099,0.12,2.50,0.00,0.000,4,0.139,0.021,2125,1043,3775,0,0,0,0,0,0,26.36,26.42,28.83
$GC,2184,-0.53,-194.6,296.2,-8.1,313,2193,0.00,2.58,0.00,0.000,6,0.000,0.031,2124,2561,3774,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2493,-0.53,-194.6,323.2,-8.3,344,2502,0.00,2.53,0.00,0.000,4,0.000,0.024,2125,1032,3772,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2545,-0.55,-194.6,327.4,-7.7,349,2554,0.00,2.53,0.00,0.000,6,0.000,0.032,2124,2541,3773,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2856,-0.56,-194.6,349.1,-7.2,380,2865,0.00,2.45,0.00,0.000,4,0.000,0.023,2124,1034,3770,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2899,-0.59,-194.6,352.2,-7.2,384,2908,0.08,2.50,0.00,0.000,6,0.043,0.032,2032,2532,3770,0,0,0,0,0,0,26.32,26.36,28.83
$GC,3208,-0.53,-194.6,406.2,-19.1,415,3218,0.20,1.92,0.00,0.000,4,0.138,0.038,2088,3847,3767,0,0,0,0,0,0,26.13,26.32,28.83
$GC,3262,-0.53,-194.6,413.1,-11.6,420,3271,0.00,1.92,0.00,0.000,6,0.000,0.018,2088,2466,3767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3572,-0.52,-194.6,446.6,-10.7,451,3583,0.00,2.30,-0.10,0.000,4,0.000,0.035,2088,1035,3786,0,0,0,0,0,0,28.83,26.40,26.03
$GC,3640,-0.53,-194.6,452.3,-8.0,457,3647,0.00,2.50,0.00,0.000,6,0.000,0.033,2085,2526,3786,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3946,-0.52,-194.6,481.7,-9.9,488,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2525,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4248,-0.51,-194.6,511.7,-10.4,518,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2525,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.50,-194.6,541.7,-9.5,549,4568,0.00,2.45,0.00,0.000,4,0.000,0.028,2086,1054,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4604,-0.50,-194.6,545.9,-9.2,553,4610,0.00,2.50,0.00,0.000,6,0.000,0.033,2086,2531,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4912,-0.49,-194.6,575.3,-9.6,584,4920,0.00,2.45,0.00,0.000,4,0.000,0.024,2086,1034,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4965,-0.51,-194.6,579.9,-8.4,589,4974,0.00,2.47,0.00,0.000,6,0.000,0.034,2085,2507,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5286,-0.51,-194.6,610.8,-10.3,616,5291,0.00,2.38,0.00,0.000,4,0.000,0.026,2086,1042,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5327,-0.51,-194.6,614.8,-10.3,618,5331,0.00,2.47,0.00,0.000,6,0.000,0.035,2085,2507,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5640,-0.51,-194.6,645.7,-9.1,634,5645,0.00,2.00,0.00,0.000,4,0.000,0.046,2076,3823,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5671,-0.51,-194.6,647.3,-8.9,635,5680,0.12,2.00,0.00,0.000,6,0.111,0.020,2119,2422,3768,0,0,0,0,0,0,26.25,26.49,28.83
$GC,5982,-0.53,-194.6,665.4,-5.4,651,5987,0.00,2.17,0.00,0.000,4,0.000,0.044,2110,3813,3765,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6004,-0.56,-194.6,666.5,-5.3,652,6007,0.00,1.98,0.00,0.000,6,0.000,0.020,2109,2434,3765,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6319,-0.65,-194.6,687.6,-7.8,668,6321,0.12,0.00,0.00,0.000,6,0.103,0.000,2059,2433,3763,0,0,0,0,0,0,26.49,28.83,28.83
$GC,6616,-0.66,-194.6,710.4,-7.7,683,6621,0.00,2.17,0.00,0.000,4,0.000,0.044,2050,3825,3760,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6690,-0.66,-194.6,715.8,-8.5,686,6696,0.00,2.00,0.00,0.000,6,0.000,0.022,2054,2442,3760,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6998,-0.64,-194.6,749.0,-10.5,702,7004,0.00,2.28,0.00,0.000,4,0.000,0.027,2054,1035,3758,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7057,-0.64,-194.6,754.7,-9.8,705,7062,0.00,2.45,0.00,0.000,6,0.000,0.034,2044,2499,3758,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7378,-0.62,-194.6,788.7,-11.0,721,7380,0.10,0.00,0.00,0.000,6,0.158,0.000,2073,2498,3756,0,0,0,0,0,0,26.40,28.83,28.83
$GC,7678,-0.62,-194.6,814.0,-8.4,736,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2498,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7977,-0.62,-194.6,839.4,-8.4,751,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2498,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8278,-0.62,-194.6,863.9,-8.2,766,8283,0.00,2.38,0.00,0.000,4,0.000,0.028,2073,1046,3751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8305,-0.62,-194.6,865.5,-8.1,767,8309,0.00,2.42,0.00,0.000,6,0.000,0.036,2065,2488,3751,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8612,-0.62,-194.6,894.0,-9.7,782,8618,0.00,2.03,0.00,0.000,4,0.000,0.047,2055,3812,3749,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8631,-0.62,-194.6,896.0,-9.6,783,8635,0.00,2.05,0.00,0.000,6,0.000,0.022,2056,2422,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8953,-0.61,-194.6,929.5,-10.5,799,8957,0.00,2.20,0.00,0.000,4,0.000,0.026,2055,1050,3747,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8975,-0.60,-194.6,931.7,-10.5,800,8981,0.08,2.42,0.00,0.000,6,0.102,0.035,2080,2485,3747,0,0,0,0,0,0,25.94,26.14,28.83
$GC,9298,-0.60,-194.6,956.6,-7.6,816,9304,0.00,2.08,0.00,0.000,4,0.000,0.047,2070,3817,3746,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9345,-0.61,-194.6,959.8,-7.6,818,9349,0.00,2.05,0.00,0.000,6,0.000,0.021,2070,2423,3745,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9654,-0.61,-194.6,986.3,-8.4,833,9659,0.00,2.22,0.00,0.000,4,0.000,0.046,2059,3810,3744,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9675,-0.61,-194.6,988.0,-8.4,834,9679,0.00,2.03,0.00,0.000,6,0.000,0.021,2059,2431,3744,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9706,begin apogee
$GC,9712,-0.20,0.0,991.2,-8.9,836,9912,0.43,0.05,191.75,1.170,4,0.097,0.048,2206,2496,2972,0,0,0,0,0,0,25.84,24.52,23.61
$STATE,9913,end apogee,CONTROL_FINISHED_OK
$STATE,9913,begin climb
$GC,9915,0.58,194.6,1000.2,0.0,846,10139,0.65,2.50,215.40,1.118,4,0.036,0.029,2478,1069,2185,0,0,0,0,0,0,24.85,24.84,23.26
$GC,10217,0.53,194.6,965.3,17.2,861,10227,0.08,2.62,0.00,0.000,6,0.158,0.037,2454,2535,2155,0,0,0,0,0,0,24.87,25.07,28.83
$GC,10529,0.47,194.6,901.9,19.6,877,10534,0.00,2.47,0.00,0.000,4,0.000,0.032,2467,1081,2151,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10600,0.42,194.6,890.9,18.6,880,10609,0.20,2.60,0.00,0.000,6,0.155,0.037,2411,2556,2150,0,0,0,0,0,0,25.59,25.91,28.83
$GC,10909,0.38,194.6,841.2,15.3,896,10914,0.00,1.90,0.00,0.000,4,0.000,0.045,2411,3823,2149,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11001,0.34,194.6,827.7,16.7,900,11009,0.12,1.85,0.00,0.000,6,0.176,0.021,2389,2531,2147,0,0,0,0,0,0,25.80,26.18,28.83
$GC,11309,0.32,194.6,789.2,11.0,916,11314,0.00,2.00,0.00,0.000,4,0.000,0.046,2389,3838,2146,0,0,1,0,0,0,28.83,26.06,28.83
$GC,11341,0.30,194.6,786.8,11.2,917,11348,0.00,1.85,0.00,0.000,6,0.000,0.022,2398,2540,2146,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11650,0.27,194.6,749.8,10.9,933,11652,0.12,0.00,0.00,0.000,6,0.170,0.000,2365,2539,2146,0,0,0,0,0,0,26.07,28.83,28.83
$GC,11948,0.30,216.4,725.3,8.0,948,11979,0.00,2.03,25.80,0.889,4,0.000,0.047,2365,3826,2093,0,0,1,0,0,0,28.83,25.86,24.83
$GC,12001,0.32,233.5,722.0,8.2,950,12030,0.00,1.85,23.85,0.897,6,0.000,0.024,2375,2546,2025,0,0,0,0,0,0,28.83,25.97,24.60
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$STATE,18790,end climb,SURFACE_DEPTH_REACHED
$STATE,18790,begin surface coast
$FINISH,0.3,1.021215
$STATE,18808,end surface coast,CONTROL_FINISHED_OK
$STATE,18808,begin surface
$SM_CCo,18886,0.00,0.000,0,0,689,561.49
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$IRIDIUM_FIX,2159.71,12309.14,030612,161603
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.51
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.3,42.607
$10V_AH,10.1,26.188
$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,18.425,199.300,802.275,0.000,0.000,33.780,42.514,285.252,0.000,0.000,36.975,4230.813,10248.911,932.669,3506.633,471.112,0.000,2644.728,0.000,2939.342,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,58.905,1170.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330404
$DATA_FILE_SIZE,106707,1709
$CAP_FILE_SIZE,219825,0
$CFSIZE,260165632,199200768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$CURRENT,0.165, 27.2,1
$GPS,040612,035636,2209.580,12308.071,51,1.1,51,-2.9