version: 66.10
glider: 169
mission: 6
dive: 98
start: 5 7 112 22 11 50
data:
$ID,169
$MISSION,6
$DIVE,98
$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,360
$T_MISSION,390
$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,2
$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,-15402.43
$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,48
$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
$GPS1,070512,215906,2344.118,12350.049,38,1.4,43,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.5
$GPS2,070512,221126,2344.277,12350.114,12,1.9,12,-3.4
$SPEED_LIMITS,0.159,0.287
$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,86.4,13448,-14.5,-9.167
$D_GRID,3314
$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,-0.60,-194.6,0.0,0.0,0,108,0.00,0.00,-89.07,0.000,2,0.000,0.000,123,2426,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.60,-194.6,3.8,-10.1,16,139,7.75,2.28,-9.45,0.000,4,0.231,0.047,2063,3838,3775,0,0,0,0,0,0,25.53,26.05,26.37
$GC,185,-0.52,-194.6,38.2,-31.8,28,193,0.12,2.05,0.00,0.000,6,0.174,0.024,2103,2460,3776,0,0,0,0,0,0,25.84,26.13,28.83
$GC,382,-0.45,-194.6,86.3,-23.8,65,389,0.00,2.22,0.00,0.000,4,0.000,0.025,2113,1041,3776,0,0,0,0,0,0,28.83,26.24,28.83
$GC,448,-0.44,-194.6,99.2,-14.5,77,455,0.12,2.42,0.00,0.000,6,0.144,0.034,2137,2519,3777,0,0,0,0,0,0,26.07,26.23,28.83
$GC,644,-0.40,-194.6,130.8,-17.0,114,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2519,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,840,-0.38,-194.6,163.2,-16.6,151,848,0.00,2.35,0.00,0.000,4,0.000,0.026,2147,1037,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,887,-0.40,-194.6,169.7,-11.2,159,896,0.00,2.40,0.00,0.000,6,0.000,0.033,2138,2511,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1084,-0.39,-194.6,195.4,-14.4,196,1091,0.00,2.03,0.00,0.000,4,0.000,0.041,2127,3833,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1131,-0.39,-194.6,201.6,-12.0,203,1140,0.00,2.03,0.00,0.000,6,0.000,0.021,2127,2445,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1440,-0.37,-194.6,242.9,-13.3,234,1449,0.00,2.15,0.00,0.000,4,0.000,0.027,2128,1045,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1514,-0.39,-194.6,251.2,-9.2,241,1523,0.00,2.35,0.00,0.000,6,0.000,0.031,2119,2515,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1827,-0.38,-194.6,289.3,-12.6,272,1833,0.12,0.00,0.00,0.000,6,0.154,0.000,2160,2514,3777,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2134,-0.40,-194.6,310.1,-5.9,303,2145,0.00,2.28,0.00,0.000,4,0.000,0.025,2160,1046,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2159,-0.43,-194.6,311.6,-5.9,305,2167,0.00,2.33,0.00,0.000,6,0.000,0.031,2156,2503,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2469,-0.52,-194.6,336.1,-9.6,336,2478,0.12,2.00,0.00,0.000,4,0.100,0.040,2095,3821,3774,0,0,0,0,0,0,26.56,26.48,28.83
$GC,2514,-0.59,-194.6,340.0,-9.2,340,2521,0.00,2.03,0.00,0.000,6,0.000,0.019,2096,2419,3774,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2822,-0.58,-194.6,371.3,-12.5,371,2830,0.00,2.20,0.00,0.000,4,0.000,0.041,2085,3812,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2971,-0.58,-194.6,389.0,-10.7,385,2980,0.00,2.00,0.00,0.000,6,0.000,0.023,2085,2444,3772,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3278,-0.56,-194.6,431.8,-13.3,416,3287,0.00,2.12,0.00,0.000,4,0.000,0.027,2085,1046,3771,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3374,-0.57,-194.6,442.7,-10.7,425,3383,0.00,2.35,0.00,0.000,6,0.000,0.033,2075,2518,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3682,-0.55,-194.6,483.2,-12.4,456,3691,0.00,2.28,0.00,0.000,4,0.000,0.026,2076,1036,3768,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3707,-0.53,-194.6,486.1,-12.3,458,3715,0.12,2.33,0.00,0.000,6,0.135,0.033,2103,2502,3769,0,0,0,0,0,0,26.35,26.51,28.83
$GC,4014,-0.53,-194.6,515.1,-9.4,489,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2501,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4317,-0.53,-194.6,544.4,-9.9,519,4326,0.00,2.28,0.00,0.000,4,0.000,0.027,2104,1037,3765,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4363,-0.54,-194.6,548.6,-9.5,523,4370,0.00,2.33,0.00,0.000,6,0.000,0.033,2099,2496,3765,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4672,-0.54,-194.6,578.8,-9.6,554,4681,0.00,2.03,0.00,0.000,4,0.000,0.043,2088,3825,3762,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4699,-0.54,-194.6,581.1,-9.5,556,4705,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2416,3762,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5017,-0.53,-194.6,611.5,-9.1,582,5023,0.00,2.10,0.00,0.000,4,0.000,0.027,2089,1035,3759,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5078,-0.53,-194.6,617.2,-9.3,585,5083,0.00,2.33,0.00,0.000,6,0.000,0.037,2085,2483,3759,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5392,-0.53,-194.6,649.2,-10.5,601,5398,0.00,2.22,0.00,0.000,4,0.000,0.028,2086,1046,3757,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5434,-0.53,-194.6,653.4,-10.4,603,5438,0.00,2.28,0.00,0.000,6,0.000,0.034,2076,2469,3757,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5748,-0.51,-194.6,688.7,-11.3,619,5749,0.10,0.00,0.00,0.000,6,0.162,0.000,2105,2468,3755,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6048,-0.52,-194.6,711.6,-7.0,634,6052,0.00,2.10,0.00,0.000,4,0.000,0.049,2095,3822,3752,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6079,-0.54,-194.6,713.2,-6.8,635,6083,0.00,2.10,0.00,0.000,6,0.000,0.021,2094,2388,3751,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6388,-0.54,-194.6,738.8,-8.5,650,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2386,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,-0.55,-194.6,765.9,-8.9,665,6692,0.00,2.30,0.00,0.000,4,0.000,0.045,2084,3828,3747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6750,-0.56,-194.6,771.3,-9.0,668,6754,0.00,2.12,0.00,0.000,6,0.000,0.021,2084,2393,3747,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7063,-0.56,-194.6,799.8,-8.6,684,7068,0.00,2.28,0.00,0.000,4,0.000,0.045,2074,3822,3745,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7102,-0.56,-194.6,803.2,-8.5,686,7107,0.00,2.05,0.00,0.000,6,0.000,0.023,2074,2419,3744,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7422,-0.55,-194.6,833.1,-9.1,702,7427,0.00,2.12,0.00,0.000,4,0.000,0.028,2074,1038,3743,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7470,-0.55,-194.6,836.9,-9.2,704,7475,0.10,2.30,0.00,0.000,6,0.143,0.035,2094,2473,3743,0,0,0,0,0,0,26.31,26.44,28.83
$GC,7780,-0.56,-194.6,860.8,-7.2,719,7786,0.00,2.05,0.00,0.000,4,0.000,0.046,2083,3813,3740,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7808,-0.57,-194.6,862.4,-7.3,720,7812,0.00,2.08,0.00,0.000,6,0.000,0.022,2084,2417,3740,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8116,-0.57,-194.6,887.3,-7.8,735,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2416,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8415,-0.57,-194.6,911.2,-7.7,750,8420,0.00,2.28,0.00,0.000,4,0.000,0.046,2074,3820,3737,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8456,-0.58,-194.6,914.2,-7.6,752,8462,0.00,2.05,0.00,0.000,6,0.000,0.022,2074,2418,3736,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8777,-0.58,-194.6,941.9,-8.7,768,8783,0.00,2.08,0.00,0.000,4,0.000,0.028,2074,1049,3735,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8799,-0.58,-194.6,943.9,-8.7,769,8803,0.00,2.33,0.00,0.000,6,0.000,0.036,2064,2489,3735,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9112,-0.57,-194.6,972.8,-9.2,785,9117,0.00,2.05,0.00,0.000,4,0.000,0.050,2053,3813,3733,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9134,-0.56,-194.6,974.8,-9.3,786,9139,0.12,2.05,0.00,0.000,6,0.131,0.024,2091,2423,3733,0,0,0,0,0,0,26.26,26.51,28.83
$STATE,9364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9364,begin apogee
$GC,9370,-0.20,0.0,990.7,-6.5,798,9560,0.32,0.08,180.77,1.163,4,0.099,0.092,2208,2480,2972,0,0,0,0,0,0,26.23,24.74,24.01
$STATE,9561,end apogee,CONTROL_FINISHED_OK
$STATE,9562,begin climb
$GC,9564,0.60,194.6,996.4,0.0,807,9772,0.68,2.38,199.18,1.144,4,0.037,0.028,2486,1067,2182,0,0,0,0,0,0,25.00,24.98,23.76
$GC,9885,0.55,194.6,949.4,19.6,823,9893,0.12,2.53,0.00,0.000,6,0.174,0.040,2456,2541,2149,0,0,0,0,0,0,25.15,25.33,28.83
$GC,10192,0.49,194.6,878.6,22.6,839,10197,0.00,2.38,0.00,0.000,4,0.000,0.028,2468,1069,2144,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10240,0.44,194.6,870.5,21.2,841,10245,0.17,2.50,0.00,0.000,6,0.167,0.037,2421,2563,2143,0,0,0,0,0,0,25.67,25.92,28.83
$GC,10548,0.40,194.6,815.6,16.8,856,10553,0.00,1.92,0.00,0.000,4,0.000,0.046,2421,3817,2142,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10628,0.35,194.6,800.1,19.2,860,10634,0.15,1.92,0.00,0.000,6,0.184,0.023,2393,2532,2141,0,0,0,0,0,0,25.83,26.18,28.83
$GC,10950,0.33,194.6,756.0,13.4,876,10955,0.00,2.03,0.00,0.000,4,0.000,0.045,2393,3811,2141,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11075,0.30,194.6,736.8,16.0,882,11081,0.00,1.83,0.00,0.000,6,0.000,0.022,2402,2557,2140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11390,0.27,194.6,688.9,14.3,898,11396,0.12,2.00,0.00,0.000,4,0.176,0.044,2363,3835,2140,0,0,0,0,0,0,26.09,26.23,28.83
$GC,11439,0.26,194.6,683.5,13.9,900,11442,0.00,1.88,0.00,0.000,6,0.000,0.024,2372,2567,2139,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11750,0.26,194.6,648.2,10.8,916,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2565,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12051,0.26,194.6,616.1,10.6,931,12056,0.00,2.40,0.00,0.000,4,0.000,0.031,2385,1067,2138,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12091,0.26,194.6,611.9,10.6,933,12097,0.00,2.58,0.00,0.000,6,0.000,0.036,2385,2608,2137,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,17774,end climb,SURFACE_DEPTH_REACHED
$STATE,17774,begin surface coast
$FINISH,0.0,1.022048
$STATE,17806,end surface coast,CONTROL_FINISHED_OK
$STATE,17806,begin surface
$SM_CCo,17821,50.92,0.121,0,0,1141,450.13
$SM_GC,0.66,5.90,0.22,50.92,0.027,0.044,0.121,131,2393,1141,-6.61,0.23,450.13,0,0,1,0,0,0
$IRIDIUM_FIX,2335.63,12351.85,070512,222218
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.8,20.079
$10V_AH,10.2,11.004
$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,16.600,190.100,535.450,50.925,0.000,51.008,60.734,379.729,0.000,0.000,13.588,4435.651,9371.171,793.845,3520.413,460.754,0.000,2407.116,0.000,2835.461,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,91.800,1162.800,120.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,103527,1656
$CAP_FILE_SIZE,208922,0
$CFSIZE,260165632,212361216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.331,301.4,1
$GPS,080512,031054,2346.334,12351.990,39,1.0,39,-3.4