version: 66.10
glider: 169
mission: 6
dive: 273
start: 6 17 112 9 4 31
data:
$ID,169
$MISSION,6
$DIVE,273
$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,-15818.196
$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
$GPS1,170612,085325,2310.014,12136.267,39,1.7,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-75.0
$GPS2,170612,090408,2310.421,12136.229,14,1.7,14,-3.0
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,120.7,246249,-13.8,-8.684
$D_GRID,1268
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.6,0.0,0.0,0,88,0.00,0.00,-67.35,0.000,2,0.000,0.000,121,2493,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.58,-194.6,3.1,-7.8,12,124,8.10,2.58,-15.18,0.000,4,0.230,0.031,2090,955,3777,0,0,0,0,0,0,25.05,26.09,26.45
$GC,194,-0.56,-194.6,36.5,-16.4,30,201,0.00,2.62,0.00,0.000,6,0.000,0.031,2077,2470,3778,0,0,0,0,0,0,28.83,26.02,28.83
$GC,386,-0.50,-194.6,77.8,-20.4,67,395,0.12,2.03,0.00,0.000,4,0.164,0.038,2105,3839,3778,0,0,0,0,0,0,26.03,26.08,28.83
$GC,429,-0.46,-194.6,86.0,-20.0,74,435,0.00,2.08,0.00,0.000,6,0.000,0.020,2108,2404,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,620,-0.44,-194.6,112.5,-11.3,111,627,0.00,2.35,0.00,0.000,4,0.000,0.023,2108,974,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,661,-0.46,-194.6,116.9,-9.0,118,668,0.00,2.53,0.00,0.000,6,0.000,0.030,2099,2457,3780,0,0,0,0,0,0,28.83,26.21,28.83
$GC,853,-0.44,-194.6,136.3,-10.6,155,861,0.12,2.03,0.00,0.000,4,0.142,0.037,2131,3828,3780,0,0,0,0,0,0,26.25,26.20,28.83
$GC,900,-0.48,-194.6,140.2,-6.2,163,909,0.00,2.05,0.00,0.000,6,0.000,0.017,2132,2381,3780,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1096,-0.52,-194.6,153.4,-6.4,200,1102,0.00,2.28,0.00,0.000,4,0.000,0.040,2131,3830,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1278,-0.58,-194.6,167.5,-8.5,235,1286,0.17,1.85,0.00,0.000,6,0.122,0.018,2086,2463,3780,0,0,0,0,0,0,26.09,26.48,28.83
$GC,1473,-0.59,-194.6,182.5,-7.1,272,1480,0.00,2.47,0.00,0.000,4,0.000,0.023,2086,968,3780,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1560,-0.60,-194.6,189.6,-7.9,288,1567,0.00,2.92,0.00,0.000,6,0.000,0.031,2082,2639,3780,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1751,-0.58,-194.6,210.6,-11.4,325,1758,0.00,2.85,0.00,0.000,4,0.000,0.024,2083,984,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1807,-0.59,-194.6,216.6,-9.5,335,1815,0.00,2.88,0.00,0.000,6,0.000,0.031,2072,2602,3779,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2120,-0.56,-194.6,254.4,-13.1,396,2127,0.00,2.80,0.00,0.000,4,0.000,0.025,2072,993,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2186,-0.57,-194.6,261.5,-8.6,408,2194,0.10,2.85,0.00,0.000,6,0.139,0.034,2091,2591,3777,0,0,0,0,0,0,26.13,26.27,28.83
$GC,2500,-0.56,-194.6,293.4,-10.2,469,2507,0.00,2.78,0.00,0.000,4,0.000,0.024,2091,990,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2557,-0.58,-194.6,299.0,-8.9,479,2565,0.00,2.78,0.00,0.000,6,0.000,0.031,2085,2550,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2870,-0.57,-194.6,331.8,-10.4,540,2877,0.00,2.70,0.00,0.000,4,0.000,0.024,2086,983,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2899,-0.57,-194.6,334.8,-10.1,545,2906,0.00,2.75,0.00,0.000,6,0.000,0.032,2085,2534,3772,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3211,-0.55,-194.6,365.5,-10.3,606,3218,0.00,2.67,0.00,0.000,4,0.000,0.024,2086,980,3770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3261,-0.57,-194.6,370.1,-8.4,615,3269,0.00,2.72,0.00,0.000,6,0.000,0.031,2085,2525,3770,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3575,-0.56,-194.6,397.9,-8.3,676,3582,0.00,2.65,0.00,0.000,4,0.000,0.024,2086,985,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3611,-0.58,-194.6,400.8,-7.6,682,3617,0.00,2.67,0.00,0.000,6,0.000,0.033,2085,2508,3767,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3924,-0.57,-194.6,426.3,-8.0,743,3932,0.00,2.60,0.00,0.000,4,0.000,0.023,2085,984,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3962,-0.59,-194.6,429.3,-7.9,749,3968,0.00,2.65,0.00,0.000,6,0.000,0.033,2085,2497,3766,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4274,-0.59,-194.6,455.2,-8.6,810,4282,0.00,2.03,-0.08,0.000,4,0.000,0.056,2076,3836,3791,0,0,0,0,0,0,28.83,26.19,25.47
$GC,4294,-0.59,-194.6,457.0,-8.7,813,4300,0.00,2.00,0.00,0.000,6,0.000,0.019,2077,2420,3790,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4606,-0.58,-194.6,486.2,-8.7,874,4613,0.00,2.40,0.00,0.000,4,0.000,0.025,2076,972,3789,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4657,-0.61,-194.6,490.2,-7.6,883,4665,0.00,2.62,0.00,0.000,6,0.000,0.032,2067,2482,3789,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4968,-0.60,-194.6,517.2,-8.5,925,4972,0.00,2.00,0.00,0.000,4,0.000,0.044,2057,3822,3788,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4991,-0.58,-194.6,519.3,-8.6,927,5000,0.00,1.98,0.00,0.000,6,0.000,0.020,2057,2414,3787,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5301,-0.56,-194.6,549.5,-10.3,958,5310,0.12,2.35,0.00,0.000,4,0.125,0.024,2105,995,3785,0,0,0,0,0,0,26.36,26.30,28.83
$GC,5355,-0.59,-194.6,553.8,-7.7,963,5365,0.00,2.50,0.00,0.000,6,0.000,0.031,2104,2460,3785,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5664,-0.67,-194.6,577.5,-9.5,994,5674,0.12,2.05,0.00,0.000,4,0.117,0.040,2053,3830,3782,0,0,0,0,0,0,26.39,26.18,28.83
$GC,5801,-0.73,-194.6,589.7,-8.9,1007,5808,0.00,2.00,0.00,0.000,6,0.000,0.019,2054,2404,3781,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6109,-0.72,-194.6,617.9,-9.2,1038,6118,0.00,2.33,0.00,0.000,4,0.000,0.025,2054,988,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6161,-0.73,-194.6,622.8,-9.4,1043,6170,0.00,2.85,0.00,0.000,6,0.000,0.034,2042,2589,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6472,-0.70,-194.6,661.9,-12.9,1074,6481,0.00,2.75,0.00,0.000,4,0.000,0.028,2042,1000,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6528,-0.70,-194.6,668.2,-11.7,1079,6534,0.00,2.80,0.00,0.000,6,0.000,0.034,2030,2568,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6836,-0.66,-194.6,708.4,-12.3,1110,6845,0.10,2.75,0.00,0.000,4,0.163,0.025,2059,988,3774,0,0,0,0,0,0,26.37,26.22,28.83
$GC,6898,-0.68,-194.6,714.3,-7.7,1116,6907,0.00,2.75,0.00,0.000,6,0.000,0.034,2047,2536,3774,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7208,-0.66,-194.6,742.9,-9.1,1147,7217,0.00,2.67,0.00,0.000,4,0.000,0.027,2049,1001,3772,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7253,-0.66,-194.6,746.7,-9.1,1151,7259,0.00,2.72,0.00,0.000,6,0.000,0.034,2038,2529,3772,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7562,-0.64,-194.6,778.6,-10.3,1182,7571,0.10,2.65,0.00,0.000,4,0.158,0.025,2066,998,3770,0,0,0,0,0,0,26.38,26.22,28.83
$GC,7617,-0.65,-194.6,782.7,-7.3,1187,7624,0.00,2.67,0.00,0.000,6,0.000,0.035,2058,2510,3770,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7925,-0.64,-194.6,808.9,-8.6,1218,7934,0.00,2.58,0.00,0.000,4,0.000,0.025,2058,996,3768,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7959,-0.64,-194.6,811.7,-8.8,1221,7967,0.00,2.62,0.00,0.000,6,0.000,0.034,2048,2499,3768,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8268,-0.63,-194.6,840.8,-9.6,1252,8276,0.00,2.55,0.00,0.000,4,0.000,0.026,2049,986,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8309,-0.63,-194.6,844.9,-9.5,1256,8319,0.12,2.62,0.00,0.000,6,0.119,0.034,2081,2483,3767,0,0,0,0,0,0,25.98,26.12,28.83
$GC,8621,-0.64,-194.6,866.3,-7.2,1287,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2482,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8932,-0.65,-194.6,887.2,-6.7,1318,8941,0.00,2.55,0.00,0.000,4,0.000,0.028,2081,994,3763,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8967,-0.67,-194.6,889.5,-6.9,1321,8976,0.00,2.60,0.00,0.000,6,0.000,0.035,2076,2479,3763,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9274,-0.68,-194.6,908.9,-6.1,1352,9283,0.00,2.05,0.00,0.000,4,0.000,0.046,2066,3830,3762,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9300,-0.69,-194.6,910.1,-5.4,1354,9307,0.00,2.03,0.00,0.000,6,0.000,0.021,2066,2413,3761,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9606,-0.69,-194.6,932.9,-8.2,1385,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2413,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9909,-0.70,-194.6,956.5,-7.4,1415,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2413,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10219,-0.70,-194.6,978.5,-6.5,1446,10228,0.00,2.40,0.00,0.000,4,0.000,0.029,2066,990,3759,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10243,-0.71,-194.6,980.2,-6.2,1448,10252,0.00,2.60,0.00,0.000,6,0.000,0.035,2059,2479,3759,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10379,begin apogee
$GC,10385,-0.20,0.0,990.4,-7.4,1462,10582,0.43,0.10,188.93,1.120,4,0.092,0.074,2209,2504,2970,0,0,0,0,0,0,25.86,24.65,23.46
$STATE,10583,end apogee,CONTROL_FINISHED_OK
$STATE,10583,begin climb
$GC,10586,0.58,194.6,997.3,0.0,1482,10801,0.65,2.12,202.85,1.095,4,0.042,0.044,2472,3826,2174,0,0,0,0,0,0,24.93,24.87,23.03
$GC,10985,0.50,194.6,923.2,22.2,1522,10994,0.15,1.88,0.00,0.000,6,0.185,0.021,2441,2519,2151,0,0,0,0,0,0,25.33,25.75,28.83
$GC,11296,0.45,194.6,870.0,16.7,1553,11305,0.00,2.53,0.00,0.000,4,0.000,0.030,2455,1086,2146,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11421,0.43,194.6,851.9,13.5,1565,11431,0.10,2.72,0.00,0.000,6,0.138,0.035,2421,2568,2143,0,0,0,0,0,0,25.75,26.03,28.83
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$STATE,19369,end climb,SURFACE_DEPTH_REACHED
$STATE,19369,begin surface coast
$FINISH,0.3,1.021244
$STATE,19397,end surface coast,CONTROL_FINISHED_OK
$STATE,19397,begin surface
$SM_CCo,19414,18.58,0.126,0,0,1142,450.13
$SM_GC,0.13,6.20,0.00,18.58,0.028,0.000,0.126,128,2442,1142,-6.61,-0.23,450.13,0,0,0,0,0,0,26.25,28.83,25.57
$IRIDIUM_FIX,2300.41,12132.00,170612,030353
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.46
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.0,55.562
$10V_AH,10.0,34.717
$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
$DEVICE_SECS,17.975,245.400,602.200,18.575,0.000,24.426,19.818,412.399,0.000,0.000,15.674,6677.344,6900.061,948.579,4842.260,654.873,0.000,3193.719,0.000,4236.652,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,173450,2788
$CAP_FILE_SIZE,281664,0
$CFSIZE,260165632,191565824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,357.7,1
$GPS,170612,142936,2310.479,12138.588,35,1.6,41,-3.1