version: 66.10
glider: 169
mission: 6
dive: 281
start: 6 19 112 5 44 14
data:
$ID,169
$MISSION,6
$DIVE,281
$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,-15832.579
$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
$GPS1,190612,053325,2316.149,12151.854,61,1.0,61,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-71.2
$GPS2,190612,054349,2316.399,12151.874,11,1.1,11,-3.1
$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,96.2,217668,-13.8,-8.684
$D_GRID,3849
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-77.82,0.000,2,0.000,0.000,116,2488,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-194.6,3.0,-7.0,13,133,8.25,2.05,-15.88,0.000,4,0.232,0.047,2070,3849,3774,0,0,0,0,0,0,24.98,26.01,26.47
$GC,176,-0.49,-194.6,34.0,-36.0,26,184,0.12,2.08,0.00,0.000,6,0.163,0.020,2111,2417,3774,0,0,0,0,0,0,25.78,26.14,28.83
$GC,369,-0.44,-194.6,78.6,-16.3,63,377,0.00,2.38,0.00,0.000,4,0.000,0.024,2111,974,3774,0,0,0,0,0,0,28.83,26.19,28.83
$GC,451,-0.45,-194.6,89.1,-9.3,78,458,0.00,2.55,0.00,0.000,6,0.000,0.031,2100,2462,3775,0,0,0,0,0,0,28.83,26.16,28.83
$GC,644,-0.40,-194.6,118.0,-17.2,115,652,0.12,2.47,0.00,0.000,4,0.156,0.020,2148,969,3775,0,0,0,0,0,0,26.15,26.28,28.83
$GC,661,-0.37,-194.6,120.7,-16.9,117,667,0.00,2.50,0.00,0.000,6,0.000,0.030,2137,2440,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,852,-0.36,-194.6,141.2,-10.7,154,858,0.00,2.10,0.00,0.000,4,0.000,0.037,2126,3842,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,892,-0.37,-194.6,145.2,-10.0,161,899,0.00,2.10,0.00,0.000,6,0.000,0.018,2126,2380,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1083,-0.37,-194.6,164.0,-9.0,198,1090,0.00,2.25,0.00,0.000,4,0.000,0.022,2126,980,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1104,-0.37,-194.6,165.8,-9.1,201,1110,0.00,2.47,0.00,0.000,6,0.000,0.029,2125,2446,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1294,-0.37,-194.6,181.8,-8.3,238,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2444,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1486,-0.37,-194.6,198.2,-9.0,275,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2444,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1677,-0.37,-194.6,214.6,-8.9,312,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2444,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1987,-0.37,-194.6,240.6,-8.1,373,1994,0.00,2.08,0.00,0.000,4,0.000,0.038,2115,3829,3775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2022,-0.39,-194.6,243.5,-8.8,379,2031,0.12,2.10,0.00,0.000,6,0.101,0.018,2160,2368,3775,0,0,0,0,0,0,26.30,26.51,28.83
$GC,2337,-0.47,-194.6,268.9,-8.7,440,2344,0.12,2.33,0.00,0.000,4,0.101,0.036,2100,3834,3772,0,0,0,0,0,0,26.50,26.29,28.83
$GC,2406,-0.55,-194.6,274.7,-8.0,452,2413,0.00,2.03,0.00,0.000,6,0.000,0.018,2101,2398,3772,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2722,-0.56,-194.6,299.9,-8.3,513,2728,0.00,2.33,0.00,0.000,4,0.000,0.022,2101,959,3770,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2742,-0.59,-194.6,301.7,-8.2,516,2750,0.00,2.83,0.00,0.000,6,0.000,0.030,2099,2575,3770,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3058,-0.58,-194.6,331.7,-10.1,577,3065,0.00,2.75,0.00,0.000,4,0.000,0.023,2099,980,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3124,-0.60,-194.6,337.7,-8.9,589,3131,0.00,2.75,0.00,0.000,6,0.000,0.031,2098,2540,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3437,-0.59,-194.6,367.3,-8.7,650,3444,0.00,2.67,0.00,0.000,4,0.000,0.023,2098,970,3766,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3494,-0.61,-194.6,371.9,-7.4,660,3502,0.00,2.72,0.00,0.000,6,0.000,0.032,2098,2529,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3808,-0.61,-194.6,398.1,-8.2,721,3815,0.00,2.67,-0.10,0.000,4,0.000,0.034,2099,974,3784,0,0,0,0,0,0,28.83,26.33,26.00
$GC,3848,-0.63,-194.6,401.3,-7.1,728,3857,0.00,2.67,0.00,0.000,6,0.000,0.034,2098,2510,3784,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4163,-0.63,-194.6,425.7,-7.8,789,4170,0.00,1.95,0.00,0.000,4,0.000,0.042,2090,3824,3782,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4183,-0.63,-194.6,427.3,-7.8,792,4191,0.00,1.92,0.00,0.000,6,0.000,0.018,2090,2445,3782,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4497,-0.63,-194.6,454.7,-8.7,853,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2445,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4809,-0.63,-194.6,480.7,-8.4,914,4815,0.00,2.45,0.00,0.000,4,0.000,0.025,2090,979,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4840,-0.64,-194.6,483.4,-8.6,919,4847,0.00,2.67,0.00,0.000,6,0.000,0.032,2085,2512,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5152,-0.63,-194.6,511.8,-9.5,968,5161,0.00,2.58,0.00,0.000,4,0.000,0.024,2086,991,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5178,-0.63,-194.6,513.9,-9.2,970,5185,0.00,2.62,0.00,0.000,6,0.000,0.033,2086,2502,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5485,-0.63,-194.6,541.9,-9.2,1001,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2500,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.63,-194.6,566.0,-7.5,1031,5795,0.00,2.58,0.00,0.000,4,0.000,0.027,2085,982,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5829,-0.64,-194.6,569.3,-7.6,1035,5837,0.00,2.60,0.00,0.000,6,0.000,0.034,2085,2483,3771,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6139,-0.64,-194.6,593.3,-7.8,1066,6147,0.00,2.03,0.00,0.000,4,0.000,0.044,2076,3820,3768,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6181,-0.64,-194.6,596.6,-8.1,1070,6189,0.00,1.98,0.00,0.000,6,0.000,0.019,2076,2436,3768,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6491,-0.64,-194.6,624.6,-9.3,1101,6500,0.00,2.40,0.00,0.000,4,0.000,0.026,2076,982,3766,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6525,-0.64,-194.6,627.4,-9.0,1104,6533,0.00,2.60,0.00,0.000,6,0.000,0.034,2067,2489,3766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6833,-0.62,-194.6,656.3,-9.8,1135,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2487,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7135,-0.61,-194.6,685.2,-9.4,1165,7143,0.00,2.03,0.00,0.000,4,0.000,0.045,2056,3822,3761,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7170,-0.60,-194.6,688.4,-9.3,1168,7178,0.00,1.98,0.00,0.000,6,0.000,0.019,2056,2433,3761,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7477,-0.58,-194.6,719.8,-10.7,1199,7486,0.10,2.40,0.00,0.000,4,0.142,0.024,2086,978,3760,0,0,0,0,0,0,26.42,26.25,28.83
$GC,7513,-0.58,-194.6,722.6,-9.3,1202,7520,0.00,2.62,0.00,0.000,6,0.000,0.034,2085,2493,3760,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7820,-0.58,-194.6,747.9,-8.6,1233,7829,0.00,2.53,0.00,0.000,4,0.000,0.026,2085,992,3759,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7842,-0.58,-194.6,749.9,-8.7,1235,7851,0.00,2.58,0.00,0.000,6,0.000,0.035,2085,2478,3759,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8152,-0.59,-194.6,776.5,-8.1,1266,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2477,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,-0.60,-194.6,801.0,-8.0,1296,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2477,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8766,-0.60,-194.6,825.7,-7.9,1327,8774,0.00,2.53,0.00,0.000,4,0.000,0.029,2085,990,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8809,-0.62,-194.6,829.3,-8.0,1331,8817,0.00,2.60,0.00,0.000,6,0.000,0.037,2085,2481,3753,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9118,-0.65,-194.6,850.7,-6.4,1362,9126,0.00,2.08,0.00,0.000,4,0.000,0.048,2082,3831,3751,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9171,-0.68,-194.6,854.2,-7.0,1367,9174,0.00,1.80,0.00,0.000,6,0.000,0.021,2083,2527,3751,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9483,-0.71,-194.6,874.1,-6.3,1398,9492,0.12,2.58,0.00,0.000,4,0.078,0.024,1986,990,3749,0,0,0,0,0,0,26.51,26.20,28.83
$GC,9601,-0.69,-194.6,887.0,-12.5,1409,9608,0.25,2.58,0.00,0.000,6,0.116,0.034,2055,2478,3748,0,0,0,0,0,0,25.75,26.08,28.83
$GC,9910,-0.67,-194.6,916.0,-8.4,1440,9919,0.00,2.50,0.00,0.000,4,0.000,0.026,2055,988,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9942,-0.67,-194.6,918.9,-8.2,1443,9951,0.00,2.55,0.00,0.000,6,0.000,0.034,2045,2471,3748,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10254,-0.65,-194.6,946.5,-8.9,1474,10263,0.00,2.10,0.00,0.000,4,0.000,0.046,2035,3831,3745,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10287,-0.64,-194.6,949.6,-9.4,1477,10296,0.00,2.08,0.00,0.000,6,0.000,0.021,2039,2418,3746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10596,-0.61,-194.6,980.2,-9.7,1508,10606,0.12,2.35,0.00,0.000,4,0.131,0.028,2085,995,3745,0,0,0,0,0,0,26.26,26.13,28.83
$GC,10664,-0.65,-194.6,984.9,-6.5,1514,10670,0.00,2.50,0.00,0.000,6,0.000,0.035,2082,2448,3745,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10747,begin apogee
$GC,10753,-0.20,0.0,990.6,-6.3,1523,10949,0.35,0.00,188.68,1.141,4,0.074,0.000,2217,2557,2971,0,0,0,0,0,0,26.10,28.83,23.46
$STATE,10950,end apogee,CONTROL_FINISHED_OK
$STATE,10951,begin climb
$GC,10953,0.58,194.6,999.7,0.0,1543,11169,0.65,1.95,203.55,1.100,4,0.041,0.046,2477,3822,2171,0,0,0,0,0,0,24.93,24.87,23.04
$GC,11195,0.50,194.6,963.3,23.0,1567,11202,0.17,1.95,0.00,0.000,6,0.176,0.021,2443,2529,2157,0,0,0,0,0,0,24.51,24.86,28.83
$GC,11503,0.45,194.6,907.8,17.7,1598,11512,0.00,1.98,0.00,0.000,4,0.000,0.044,2443,3831,2147,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,20099,end climb,SURFACE_DEPTH_REACHED
$STATE,20100,begin surface coast
$FINISH,-0.2,1.021441
$STATE,20141,end surface coast,CONTROL_FINISHED_OK
$STATE,20141,begin surface
$SM_CCo,20219,0.00,0.000,0,0,1078,466.32
$SM_GC,0.63,6.32,2.47,0.00,0.029,0.030,0.000,132,2462,1078,-6.60,-0.42,466.32,0,0,0,0,0,0,26.25,26.14,28.83
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.19
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.0,57.221
$10V_AH,10.0,36.089
$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
$DEVICE_SECS,18.275,231.575,692.800,0.000,0.000,29.997,28.397,380.889,0.000,0.000,13.998,6910.338,7260.071,987.948,4963.133,666.489,0.000,3304.797,0.000,4359.434,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,180122,2899
$CAP_FILE_SIZE,286663,0
$CFSIZE,260165632,190332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,335.4,1
$GPS,190612,112208,2317.294,12154.166,27,1.7,27,-3.1