version: 66.10
glider: 169
mission: 6
dive: 252
start: 6 12 112 17 54 15
data:
$ID,169
$MISSION,6
$DIVE,252
$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,-8
$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,-15779.327
$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,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,120612,174307,2247.694,12205.292,37,1.0,37,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.6
$GPS2,120612,175350,2247.789,12205.339,10,1.5,10,-3.0
$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,251.5,73401,-13.8,-8.684
$D_GRID,4727
$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,-0.58,-194.6,0.0,0.0,0,94,0.00,0.00,-73.88,0.000,2,0.000,0.000,116,2439,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-194.6,3.3,-7.4,13,129,8.05,2.45,-15.07,0.000,4,0.225,0.037,2089,991,3775,0,0,0,0,0,0,25.06,26.10,26.49
$GC,173,-0.50,-194.6,38.1,-35.2,26,180,0.12,2.53,0.00,0.000,6,0.151,0.035,2110,2468,3777,0,0,0,0,0,0,25.82,26.06,28.83
$GC,365,-0.44,-194.6,95.3,-19.1,63,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2468,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,556,-0.40,-194.6,131.2,-15.4,100,566,0.12,2.45,0.00,0.000,4,0.159,0.022,2153,976,3777,0,0,0,0,0,0,26.17,26.29,28.83
$GC,634,-0.43,-194.6,138.8,-8.3,114,641,0.00,2.53,0.00,0.000,6,0.000,0.029,2149,2484,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,826,-0.43,-194.6,155.4,-9.2,151,833,0.00,2.03,0.00,0.000,4,0.000,0.041,2139,3835,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,851,-0.44,-194.6,157.7,-9.5,155,858,0.00,2.08,0.00,0.000,6,0.000,0.017,2139,2378,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1042,-0.44,-194.6,175.2,-8.2,192,1050,0.00,2.22,0.00,0.000,4,0.000,0.024,2139,974,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1076,-0.47,-194.6,177.7,-7.5,197,1082,0.00,2.47,0.00,0.000,6,0.000,0.028,2138,2471,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1267,-0.47,-194.6,193.5,-8.9,234,1274,0.00,2.03,0.00,0.000,4,0.000,0.039,2128,3826,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1317,-0.51,-194.6,197.9,-7.5,243,1324,0.00,2.03,0.00,0.000,6,0.000,0.018,2128,2397,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1515,-0.54,-194.6,213.5,-7.3,264,1526,0.00,2.22,0.00,0.000,4,0.000,0.023,2128,987,3777,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1572,-0.58,-194.6,217.9,-7.7,269,1579,0.12,2.78,0.00,0.000,6,0.077,0.029,2039,2609,3776,0,0,0,0,0,0,26.36,26.36,28.83
$GC,1879,-0.52,-194.6,274.5,-19.7,300,1890,0.20,2.72,0.00,0.000,4,0.137,0.022,2118,988,3776,0,0,0,0,0,0,26.14,26.40,28.83
$GC,1963,-0.55,-194.6,283.5,-7.9,308,1973,0.00,2.70,0.00,0.000,6,0.000,0.030,2112,2564,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2274,-0.55,-194.6,309.5,-8.6,339,2282,0.00,2.62,0.00,0.000,4,0.000,0.023,2112,978,3775,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2328,-0.57,-194.6,314.0,-8.1,344,2336,0.00,2.65,0.00,0.000,6,0.000,0.030,2112,2542,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2635,-0.57,-194.6,343.1,-9.3,375,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2541,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2937,-0.57,-194.6,370.5,-9.0,405,2946,0.00,2.60,0.00,0.000,4,0.000,0.024,2111,978,3770,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3003,-0.60,-194.6,375.7,-8.0,411,3010,0.00,2.62,0.00,0.000,6,0.000,0.031,2111,2530,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3310,-0.65,-194.6,397.3,-6.5,442,3320,0.12,2.55,0.00,0.000,4,0.078,0.023,2033,989,3767,0,0,0,0,0,0,26.58,26.41,28.83
$GC,3404,-0.64,-194.6,406.6,-11.3,451,3414,0.10,2.50,0.00,0.000,6,0.102,0.034,2069,2479,3766,0,0,0,0,0,0,26.13,26.33,28.83
$GC,3714,-0.62,-194.6,443.1,-12.2,482,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2478,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-0.60,-194.6,478.4,-11.4,512,4026,0.00,2.45,-0.10,0.000,4,0.000,0.035,2070,985,3785,0,0,0,0,0,0,28.83,26.37,26.02
$GC,4062,-0.60,-194.6,482.9,-10.3,516,4070,0.00,2.50,0.00,0.000,6,0.000,0.033,2059,2479,3784,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4369,-0.57,-194.6,520.7,-12.4,547,4378,0.10,2.08,0.00,0.000,4,0.154,0.042,2079,3826,3782,0,0,0,0,0,0,26.44,26.24,28.83
$GC,4412,-0.57,-194.6,525.2,-10.4,551,4416,0.00,2.03,0.00,0.000,6,0.000,0.019,2079,2415,3782,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4724,-0.57,-194.6,555.0,-9.3,582,4733,0.00,2.28,0.00,0.000,4,0.000,0.024,2079,976,3779,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4758,-0.57,-194.6,558.1,-9.7,585,4766,0.00,2.50,0.00,0.000,6,0.000,0.032,2070,2481,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5067,-0.56,-194.6,590.6,-10.9,616,5077,0.00,2.05,0.00,0.000,4,0.000,0.045,2059,3819,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5120,-0.56,-194.6,596.4,-10.8,621,5130,0.10,2.08,0.00,0.000,6,0.125,0.021,2098,2405,3776,0,0,0,0,0,0,26.25,26.48,28.83
$GC,5435,-0.57,-194.6,619.1,-6.9,639,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2405,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5731,-0.59,-194.6,638.8,-6.5,654,5736,0.00,2.25,0.00,0.000,4,0.000,0.043,2087,3822,3771,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5754,-0.60,-194.6,640.2,-6.6,655,5760,0.00,2.05,0.00,0.000,6,0.000,0.019,2087,2414,3771,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6071,-0.61,-194.6,664.1,-7.5,671,6076,0.00,2.28,0.00,0.000,4,0.000,0.025,2087,988,3769,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6095,-0.62,-194.6,665.7,-7.6,672,6101,0.00,2.53,0.00,0.000,6,0.000,0.033,2086,2491,3769,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6411,-0.62,-194.6,688.9,-7.0,688,6416,0.00,2.03,0.00,0.000,4,0.000,0.045,2078,3829,3767,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6439,-0.63,-194.6,690.3,-7.1,689,6443,0.00,2.08,0.00,0.000,6,0.000,0.020,2078,2413,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6746,-0.63,-194.6,714.9,-8.1,704,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2412,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,-0.63,-194.6,738.1,-7.5,719,7051,0.00,2.28,0.00,0.000,4,0.000,0.026,2078,988,3762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7068,-0.64,-194.6,739.8,-7.6,720,7073,0.00,2.53,0.00,0.000,6,0.000,0.034,2069,2487,3762,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7382,-0.64,-194.6,767.4,-9.0,736,7387,0.00,2.05,0.00,0.000,4,0.000,0.046,2059,3816,3760,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7408,-0.64,-194.6,769.2,-9.0,737,7412,0.00,2.05,0.00,0.000,6,0.000,0.021,2059,2420,3760,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7717,-0.63,-194.6,799.6,-9.7,752,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2420,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8016,-0.62,-194.6,828.9,-9.9,767,8022,0.00,2.28,0.00,0.000,4,0.000,0.043,2049,3823,3757,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8039,-0.62,-194.6,830.9,-10.0,768,8043,0.00,2.08,0.00,0.000,6,0.000,0.021,2049,2419,3757,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8352,-0.60,-194.6,866.9,-11.7,784,8358,0.10,2.30,0.00,0.000,4,0.137,0.024,2080,989,3755,0,0,0,0,0,0,26.44,26.25,28.83
$GC,8373,-0.60,-194.6,869.0,-11.4,785,8378,0.00,2.53,0.00,0.000,6,0.000,0.033,2076,2488,3755,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8689,-0.60,-194.6,894.7,-8.0,801,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2486,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8987,-0.61,-194.6,917.7,-7.6,816,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2486,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9287,-0.62,-194.6,940.8,-7.6,831,9292,0.00,2.47,0.00,0.000,4,0.000,0.028,2076,987,3751,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9320,-0.63,-194.6,942.4,-7.6,832,9329,0.00,2.55,0.00,0.000,6,0.000,0.037,2070,2482,3751,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9626,-0.63,-194.6,966.2,-7.4,848,9632,0.00,2.12,0.00,0.000,4,0.000,0.047,2059,3825,3750,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9669,-0.64,-194.6,969.1,-7.2,850,9675,0.00,2.08,0.00,0.000,6,0.000,0.021,2059,2421,3748,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9945,begin apogee
$GC,9952,-0.20,0.0,990.4,-7.7,864,10150,0.43,0.00,192.40,1.162,4,0.090,0.000,2209,2561,2978,0,0,0,0,0,0,25.91,28.83,23.63
$STATE,10151,end apogee,CONTROL_FINISHED_OK
$STATE,10151,begin climb
$GC,10154,0.58,194.6,997.2,0.0,874,10374,0.65,2.00,209.85,1.081,4,0.040,0.045,2473,3819,2180,0,0,0,0,0,0,24.92,24.86,23.22
$GC,10601,0.50,194.6,911.0,23.7,896,10609,0.17,1.90,0.00,0.000,6,0.181,0.021,2438,2520,2144,0,0,0,0,0,0,25.42,25.86,28.83
$GC,10909,0.45,194.6,856.7,15.6,912,10914,0.00,2.45,0.00,0.000,4,0.000,0.029,2452,1088,2140,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11032,0.42,194.6,840.2,13.0,918,11038,0.15,2.60,0.00,0.000,6,0.161,0.034,2411,2557,2136,0,0,0,0,0,0,25.74,26.06,28.83
$GC,11350,0.38,194.6,797.4,13.5,934,11354,0.00,1.90,0.00,0.000,4,0.000,0.044,2411,3829,2136,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11400,0.35,194.6,790.7,14.4,936,11405,0.12,1.88,0.00,0.000,6,0.176,0.022,2389,2527,2135,0,0,0,0,0,0,25.85,26.25,28.83
$GC,11708,0.33,194.6,754.0,11.4,951,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2526,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12008,0.32,194.6,718.7,11.6,966,12013,0.00,2.42,0.00,0.000,4,0.000,0.031,2402,1088,2135,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12050,0.31,194.6,714.2,11.4,968,12055,0.00,2.55,0.00,0.000,6,0.000,0.033,2402,2550,2134,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,18485,end climb,SURFACE_DEPTH_REACHED
$STATE,18485,begin surface coast
$FINISH,-0.2,1.020903
$STATE,18512,end surface coast,CONTROL_FINISHED_OK
$STATE,18512,begin surface
$SM_CCo,18589,0.00,0.000,0,0,539,598.53
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$TT8_MAMPS,0.025466,0.025466
$HUMID,50.86
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.2,51.209
$10V_AH,10.0,31.299
$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
$DEVICE_SECS,18.700,202.625,841.975,0.000,0.000,54.182,77.978,282.680,0.000,0.000,11.118,4227.544,10023.874,941.896,3494.639,500.732,0.000,2647.047,0.000,2909.926,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,106799,1712
$CAP_FILE_SIZE,222337,0
$CFSIZE,260165632,194719744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.180, 21.3,1
$GPS,120612,230507,2248.603,12203.217,34,1.8,34,-3.0