version: 66.10
glider: 169
mission: 6
dive: 102
start: 5 8 112 18 37 2
data:
$ID,169
$MISSION,6
$DIVE,102
$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,-15407.462
$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
$GPS1,080512,182837,2349.827,12356.144,26,1.2,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.1
$GPS2,080512,183638,2349.956,12356.227,15,1.9,15,-3.4
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,179.7,259279,-14.5,-9.167
$D_GRID,2875
$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,15,begin dive
$GC,17,-0.60,-194.6,0.0,0.0,0,94,0.00,0.00,-73.75,0.000,2,0.000,0.000,105,2428,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.60,-194.6,3.3,-7.2,13,125,7.85,0.00,-11.40,0.000,6,0.233,0.000,2071,2428,3777,0,0,0,0,0,0,25.53,28.83,26.42
$GC,318,-0.50,-194.6,89.4,-34.9,53,325,0.12,2.15,0.00,0.000,4,0.192,0.020,2115,1029,3778,0,0,0,0,0,0,25.96,26.26,28.83
$GC,388,-0.50,-194.6,104.3,-13.6,65,394,0.00,2.40,0.00,0.000,6,0.000,0.033,2104,2527,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,586,-0.44,-194.6,148.7,-23.1,102,593,0.00,2.33,0.00,0.000,4,0.000,0.024,2115,1038,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,611,-0.39,-194.6,154.1,-20.9,106,619,0.15,2.38,0.00,0.000,6,0.142,0.033,2147,2515,3778,0,0,0,0,0,0,26.10,26.31,28.83
$GC,811,-0.38,-194.6,182.5,-13.4,143,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2514,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1012,-0.36,-194.6,207.6,-11.5,175,1020,0.00,2.00,0.00,0.000,4,0.000,0.042,2137,3823,3778,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1076,-0.37,-194.6,214.0,-9.4,181,1084,0.00,2.00,0.00,0.000,6,0.000,0.020,2137,2437,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1384,-0.36,-194.6,248.8,-12.4,212,1396,0.00,2.15,0.00,0.000,4,0.000,0.024,2137,1024,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1421,-0.36,-194.6,252.9,-11.9,215,1428,0.00,2.35,0.00,0.000,6,0.000,0.032,2134,2509,3778,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1728,-0.36,-194.6,288.3,-11.3,246,1737,0.00,2.03,0.00,0.000,4,0.000,0.043,2125,3823,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1781,-0.37,-194.6,293.7,-10.3,251,1790,0.00,2.03,0.00,0.000,6,0.000,0.020,2124,2427,3778,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2091,-0.36,-194.6,326.0,-9.8,282,2095,0.10,2.12,0.00,0.000,4,0.148,0.025,2156,1047,3778,0,0,0,0,0,0,26.49,26.51,28.83
$GC,2127,-0.38,-194.6,328.3,-7.9,285,2134,0.00,2.30,0.00,0.000,6,0.000,0.032,2155,2502,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2435,-0.40,-194.6,346.0,-6.0,316,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2501,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2736,-0.43,-194.6,364.8,-6.4,346,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2501,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3049,-0.46,-194.6,385.5,-6.8,377,3057,0.00,2.05,0.00,0.000,4,0.000,0.042,2148,3821,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3081,-0.49,-194.6,387.9,-6.6,380,3092,0.08,2.03,0.00,0.000,6,0.050,0.018,2085,2399,3774,0,0,0,0,0,0,26.52,26.63,28.83
$GC,3391,-0.47,-194.6,429.8,-15.3,411,3400,0.12,2.28,0.00,0.000,4,0.138,0.041,2117,3813,3772,0,0,0,0,0,0,26.44,26.47,28.83
$GC,3444,-0.48,-194.6,435.9,-11.0,416,3455,0.00,2.03,0.00,0.000,6,0.000,0.021,2117,2439,3772,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3754,-0.48,-194.6,463.9,-8.0,447,3763,0.00,2.15,0.00,0.000,4,0.000,0.026,2117,1037,3770,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3797,-0.49,-194.6,467.5,-8.2,451,3806,0.00,2.33,0.00,0.000,6,0.000,0.031,2111,2513,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4107,-0.49,-194.6,496.6,-9.9,482,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2513,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.49,-194.6,525.7,-9.0,512,4420,0.00,2.30,0.00,0.000,4,0.000,0.028,2111,1037,3766,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4436,-0.50,-194.6,528.2,-9.1,514,4443,0.00,2.33,0.00,0.000,6,0.000,0.033,2104,2501,3766,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4745,-0.50,-194.6,555.2,-8.3,545,4749,0.00,2.03,0.00,0.000,4,0.000,0.044,2095,3826,3764,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4770,-0.50,-194.6,557.4,-8.6,547,4777,0.00,2.05,0.00,0.000,6,0.000,0.021,2094,2420,3764,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5078,-0.50,-194.6,585.6,-9.3,578,5087,0.00,2.20,0.00,0.000,4,0.000,0.042,2085,3824,3762,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5104,-0.50,-194.6,587.6,-9.3,580,5113,0.00,2.05,0.00,0.000,6,0.000,0.021,2085,2417,3762,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5411,-0.49,-194.6,620.4,-10.9,602,5413,0.10,0.00,0.00,0.000,6,0.142,0.000,2115,2417,3760,0,0,0,0,0,0,26.54,28.83,28.83
$GC,5713,-0.50,-194.6,643.8,-7.2,617,5719,0.00,2.22,0.00,0.000,4,0.000,0.043,2104,3822,3758,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5760,-0.52,-194.6,646.8,-7.4,619,5764,0.00,2.03,0.00,0.000,6,0.000,0.021,2104,2431,3757,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6069,-0.53,-194.6,670.3,-7.1,634,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2430,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-0.54,-194.6,690.4,-6.7,649,6373,0.00,2.17,0.00,0.000,4,0.000,0.045,2096,3812,3753,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6401,-0.55,-194.6,691.7,-6.6,650,6408,0.00,2.03,0.00,0.000,6,0.000,0.023,2096,2437,3752,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6710,-0.55,-194.6,715.1,-7.7,666,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2436,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7008,-0.55,-194.6,738.2,-7.7,681,7012,0.00,2.22,0.00,0.000,4,0.000,0.044,2086,3822,3749,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7059,-0.56,-194.6,741.6,-7.8,683,7063,0.00,2.00,0.00,0.000,6,0.000,0.021,2086,2444,3748,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7367,-0.56,-194.6,767.6,-8.3,698,7371,0.00,2.17,0.00,0.000,4,0.000,0.028,2086,1035,3746,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7390,-0.56,-194.6,769.6,-8.3,699,7395,0.00,2.38,0.00,0.000,6,0.000,0.035,2078,2526,3746,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7711,-0.56,-194.6,797.1,-8.5,715,7716,0.00,2.30,0.00,0.000,4,0.000,0.027,2078,1044,3744,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7752,-0.56,-194.6,800.5,-8.3,717,7756,0.00,2.38,0.00,0.000,6,0.000,0.034,2069,2519,3744,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8065,-0.55,-194.6,828.4,-8.9,733,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2518,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.54,-194.6,856.4,-9.5,748,8372,0.10,2.30,0.00,0.000,4,0.155,0.027,2098,1045,3741,0,0,0,0,0,0,26.48,26.44,28.83
$GC,8405,-0.54,-194.6,859.6,-8.9,750,8411,0.00,2.38,0.00,0.000,6,0.000,0.036,2091,2518,3741,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8726,-0.55,-194.6,882.3,-7.0,766,8732,0.00,2.03,0.00,0.000,4,0.000,0.046,2081,3823,3739,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8774,-0.56,-194.6,885.2,-7.1,768,8778,0.00,2.03,0.00,0.000,6,0.000,0.022,2081,2449,3738,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9086,-0.56,-194.6,910.2,-8.0,784,9092,0.00,2.15,0.00,0.000,4,0.000,0.028,2081,1045,3736,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9110,-0.56,-194.6,911.8,-8.1,785,9114,0.00,2.38,0.00,0.000,6,0.000,0.035,2072,2524,3736,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9422,-0.56,-194.6,939.0,-8.4,801,9427,0.00,2.00,0.00,0.000,4,0.000,0.047,2062,3817,3735,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9455,-0.56,-194.6,940.8,-8.5,802,9464,0.00,2.03,0.00,0.000,6,0.000,0.024,2065,2452,3735,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9764,-0.55,-194.6,969.6,-9.1,818,9766,0.10,0.00,0.00,0.000,6,0.142,0.000,2096,2452,3733,0,0,0,0,0,0,26.50,28.83,28.83
$GC,10062,-0.57,-194.6,989.5,-6.4,833,10068,0.00,2.15,0.00,0.000,4,0.000,0.046,2086,3807,3732,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10079,begin apogee
$GC,10088,-0.20,0.0,990.8,-6.5,834,10284,0.35,0.12,187.88,1.130,4,0.089,0.050,2213,2553,2968,0,0,0,0,0,0,26.20,24.75,24.01
$STATE,10285,end apogee,CONTROL_FINISHED_OK
$STATE,10285,begin climb
$GC,10288,0.60,194.6,998.1,0.0,844,10494,0.62,2.50,197.48,1.143,4,0.028,0.028,2496,1062,2184,0,0,0,0,0,0,25.02,24.98,23.71
$GC,10526,0.53,194.6,966.6,19.8,855,10532,0.17,2.55,0.00,0.000,6,0.166,0.037,2451,2546,2155,0,0,0,0,0,0,24.75,24.90,28.83
$GC,10836,0.47,194.6,896.5,21.9,870,10841,0.00,2.40,0.00,0.000,4,0.000,0.031,2463,1079,2148,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10904,0.42,194.6,884.2,20.4,873,10909,0.17,2.45,0.00,0.000,6,0.158,0.036,2415,2558,2146,0,0,0,0,0,0,25.60,25.86,28.83
$GC,11213,0.38,194.6,827.7,17.4,888,11217,0.00,1.98,0.00,0.000,4,0.000,0.044,2415,3818,2145,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11399,0.34,194.6,791.3,19.5,897,11404,0.15,1.90,0.00,0.000,6,0.177,0.024,2385,2542,2143,0,0,0,0,0,0,25.82,26.17,28.83
$GC,11714,0.31,194.6,745.6,14.0,913,11719,0.00,2.33,0.00,0.000,4,0.000,0.032,2397,1082,2142,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11756,0.30,194.6,740.4,13.2,915,11760,0.00,2.45,0.00,0.000,6,0.000,0.036,2397,2575,2141,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12071,0.27,194.6,698.6,12.8,931,12077,0.12,1.90,0.00,0.000,4,0.160,0.042,2357,3818,2141,0,0,0,0,0,0,26.09,26.20,28.83
$GC,12118,0.26,194.6,693.7,12.2,933,12122,0.00,1.88,0.00,0.000,6,0.000,0.024,2367,2540,2141,0,0,0,0,0,0,28.83,26.31,28.83
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$STATE,17963,end climb,SURFACE_DEPTH_REACHED
$STATE,17964,begin surface coast
$FINISH,0.8,1.021971
$STATE,17975,end surface coast,CONTROL_FINISHED_OK
$STATE,17975,begin surface
$SM_CCo,18053,0.00,0.000,0,0,590,586.02
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$IRIDIUM_FIX,2340.34,12354.47,080512,131304
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.64
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.7,20.750
$10V_AH,10.3,11.501
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,96790,1576
$CAP_FILE_SIZE,201155,0
$CFSIZE,260165632,211951616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,357.9,1
$GPS,080512,233907,2347.967,12356.479,43,1.0,43,-3.4