version: 66.10
glider: 169
mission: 6
dive: 103
start: 5 8 112 23 47 30
data:
$ID,169
$MISSION,6
$DIVE,103
$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,-15408.719
$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
$GPS1,080512,233907,2347.967,12356.479,43,1.0,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.5
$GPS2,080512,234706,2347.948,12356.509,17,1.3,27,-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,181.4,255550,-14.5,-9.167
$D_GRID,2973
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.60,-194.6,0.0,0.0,0,110,0.00,0.00,-90.40,0.000,2,0.000,0.000,118,2455,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.60,-194.6,3.2,-7.1,15,143,7.80,2.20,-12.70,0.000,4,0.233,0.055,2061,3839,3776,0,0,0,0,0,0,25.53,26.05,26.40
$GC,172,-0.46,-194.6,30.1,-45.9,24,180,0.20,2.08,0.00,0.000,6,0.171,0.025,2123,2462,3777,0,0,0,0,0,0,25.75,26.11,28.83
$GC,371,-0.40,-194.6,79.7,-22.7,61,380,0.00,2.20,0.00,0.000,4,0.000,0.022,2132,1036,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,465,-0.40,-194.6,94.3,-10.1,78,472,0.00,2.33,0.00,0.000,6,0.000,0.033,2121,2487,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,663,-0.33,-194.6,132.7,-22.0,115,670,0.12,2.25,0.00,0.000,4,0.180,0.024,2168,1036,3777,0,0,0,0,0,0,26.08,26.34,28.83
$GC,694,-0.31,-194.6,138.7,-18.3,120,701,0.00,2.30,0.00,0.000,6,0.000,0.034,2158,2470,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,890,-0.30,-194.6,162.4,-11.4,157,898,0.00,2.08,0.00,0.000,4,0.000,0.040,2147,3828,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,936,-0.32,-194.6,167.3,-8.1,165,945,0.00,2.08,0.00,0.000,6,0.000,0.019,2147,2400,3778,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1135,-0.30,-194.6,189.2,-12.4,202,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2400,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1326,-0.29,-194.6,215.0,-12.9,228,1331,0.12,2.05,0.00,0.000,4,0.140,0.022,2192,1037,3778,0,0,0,0,0,0,26.32,26.46,28.83
$GC,1360,-0.30,-194.6,218.3,-10.5,231,1369,0.00,2.28,0.00,0.000,6,0.000,0.030,2192,2485,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1671,-0.38,-194.6,246.1,-10.2,262,1681,0.12,2.03,0.00,0.000,4,0.113,0.037,2139,3831,3777,0,0,0,0,0,0,26.46,26.44,28.83
$GC,1797,-0.46,-194.6,258.8,-10.5,274,1805,0.00,2.03,0.00,0.000,6,0.000,0.018,2150,2417,3778,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2104,-0.54,-194.6,286.1,-8.2,305,2114,0.12,2.22,0.00,0.000,4,0.103,0.036,2088,3828,3777,0,0,0,0,0,0,26.54,26.47,28.83
$GC,2160,-0.63,-194.6,290.1,-7.3,310,2167,0.00,2.03,0.00,0.000,6,0.000,0.019,2089,2411,3777,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2468,-0.66,-194.6,313.5,-8.0,341,2477,0.00,2.17,0.00,0.000,4,0.000,0.040,2080,3821,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2494,-0.67,-194.6,315.6,-8.5,343,2501,0.00,2.05,0.00,0.000,6,0.000,0.019,2080,2401,3775,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2801,-0.62,-194.6,370.4,-18.7,374,2812,0.00,2.25,0.00,0.000,4,0.000,0.041,2069,3824,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2889,-0.61,-194.6,383.6,-13.3,382,2898,0.00,2.10,0.00,0.000,6,0.000,0.020,2075,2387,3775,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3196,-0.57,-194.6,430.7,-15.8,413,3205,0.00,2.28,0.00,0.000,4,0.000,0.040,2063,3834,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3250,-0.54,-194.6,439.3,-16.3,418,3262,0.08,2.05,0.00,0.000,6,0.122,0.021,2096,2405,3774,0,0,0,0,0,0,26.35,26.59,28.83
$GC,3560,-0.53,-194.6,473.1,-10.2,449,3569,0.00,2.05,0.00,0.000,4,0.000,0.024,2096,1041,3773,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3612,-0.53,-194.6,478.2,-9.7,454,3624,0.00,2.25,0.00,0.000,6,0.000,0.031,2086,2478,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3923,-0.52,-194.6,513.4,-11.7,485,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2478,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4225,-0.51,-194.6,546.9,-10.9,515,4234,0.00,2.17,0.00,0.000,4,0.000,0.025,2086,1043,3768,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4261,-0.50,-194.6,550.7,-10.8,518,4271,0.12,2.28,0.00,0.000,6,0.129,0.032,2117,2483,3768,0,0,0,0,0,0,26.36,26.51,28.83
$GC,4569,-0.52,-194.6,574.0,-6.9,549,4573,0.00,2.05,0.00,0.000,4,0.000,0.042,2107,3821,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4603,-0.53,-194.6,576.4,-7.1,552,4607,0.00,2.05,0.00,0.000,6,0.000,0.020,2107,2402,3765,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4915,-0.54,-194.6,600.4,-7.8,583,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2401,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,-0.55,-194.6,621.6,-6.5,598,5222,0.00,2.33,0.00,0.000,4,0.000,0.043,2098,3822,3760,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5263,-0.57,-194.6,624.3,-6.8,600,5267,0.00,2.08,0.00,0.000,6,0.000,0.021,2098,2409,3759,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5571,-0.57,-194.6,648.6,-7.9,615,5577,0.00,2.22,0.00,0.000,4,0.000,0.043,2089,3816,3757,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5593,-0.57,-194.6,650.3,-7.9,616,5597,0.00,2.05,0.00,0.000,6,0.000,0.023,2089,2420,3757,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5908,-0.57,-194.6,677.8,-8.7,632,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2418,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6206,-0.57,-194.6,703.9,-8.6,647,6210,0.00,2.28,0.00,0.000,4,0.000,0.043,2079,3816,3752,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6238,-0.57,-194.6,705.9,-8.6,648,6242,0.00,2.05,0.00,0.000,6,0.000,0.021,2079,2423,3751,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6545,-0.56,-194.6,734.6,-8.9,663,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2422,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.56,-194.6,759.7,-8.2,678,6849,0.00,2.25,0.00,0.000,4,0.000,0.044,2068,3817,3748,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6870,-0.56,-194.6,761.7,-8.3,679,6874,0.00,2.03,0.00,0.000,6,0.000,0.021,2068,2432,3747,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7183,-0.55,-194.6,794.0,-10.9,695,7188,0.00,2.15,0.00,0.000,4,0.000,0.028,2068,1033,3746,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7227,-0.55,-194.6,798.5,-11.0,697,7232,0.12,2.35,0.00,0.000,6,0.125,0.037,2098,2498,3745,0,0,0,0,0,0,26.29,26.42,28.83
$GC,7542,-0.56,-194.6,825.7,-8.4,713,7546,0.00,2.05,0.00,0.000,4,0.000,0.047,2088,3818,3743,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7568,-0.57,-194.6,827.7,-8.6,714,7572,0.00,2.03,0.00,0.000,6,0.000,0.024,2088,2436,3743,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7881,-0.58,-194.6,856.0,-8.9,730,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2435,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8184,-0.58,-194.6,882.7,-8.8,745,8189,0.00,2.17,0.00,0.000,4,0.000,0.046,2078,3815,3740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8225,-0.59,-194.6,886.2,-8.6,747,8229,0.00,2.03,0.00,0.000,6,0.000,0.024,2078,2444,3739,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8538,-0.59,-194.6,913.8,-8.4,763,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2444,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,-0.59,-194.6,937.3,-7.1,778,8844,0.00,2.20,0.00,0.000,4,0.000,0.047,2069,3818,3735,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8865,-0.59,-194.6,938.7,-7.2,779,8869,0.00,2.00,0.00,0.000,6,0.000,0.023,2069,2444,3735,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9173,-0.59,-194.6,964.8,-8.5,794,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2443,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9475,-0.59,-194.6,990.0,-8.3,809,9480,0.00,2.10,0.00,0.000,4,0.000,0.028,2069,1049,3732,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,9491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9491,begin apogee
$GC,9499,-0.20,0.0,991.6,-8.2,810,9687,0.43,0.00,181.15,1.161,4,0.096,0.000,2208,2540,2977,0,0,0,0,0,0,26.13,28.83,24.00
$STATE,9688,end apogee,CONTROL_FINISHED_OK
$STATE,9688,begin climb
$GC,9691,0.60,194.6,997.8,0.0,819,9898,0.70,2.10,197.60,1.151,4,0.041,0.044,2483,3818,2182,0,0,0,0,0,0,24.97,24.93,23.71
$GC,10055,0.52,194.6,925.8,27.2,837,10065,0.20,2.05,0.00,0.000,6,0.188,0.026,2443,2495,2147,0,0,0,0,0,0,25.20,25.51,28.83
$GC,10363,0.46,194.6,858.9,19.7,853,10369,0.00,2.25,0.00,0.000,4,0.000,0.033,2455,1086,2142,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10512,0.43,194.6,834.0,16.8,860,10517,0.15,2.40,0.00,0.000,6,0.159,0.034,2415,2548,2139,0,0,0,0,0,0,25.77,26.01,28.83
$GC,10822,0.39,194.6,779.5,17.2,875,10825,0.00,1.98,0.00,0.000,4,0.000,0.044,2414,3818,2138,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10955,0.36,194.6,756.3,18.5,881,10967,0.10,1.95,0.00,0.000,6,0.161,0.024,2392,2517,2138,0,0,0,0,0,0,25.89,26.21,28.83
$GC,11266,0.34,194.6,709.5,14.1,897,11271,0.00,2.05,0.00,0.000,4,0.000,0.044,2392,3823,2138,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11289,0.32,194.6,706.7,14.1,898,11293,0.00,1.95,0.00,0.000,6,0.000,0.023,2402,2511,2137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11602,0.29,194.6,663.2,12.8,914,11607,0.12,2.05,0.00,0.000,4,0.174,0.042,2363,3827,2137,0,0,0,0,0,0,26.08,26.22,28.83
$GC,11647,0.28,194.6,657.6,12.7,916,11652,0.00,1.95,0.00,0.000,6,0.000,0.024,2373,2515,2136,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11966,0.28,200.6,627.6,9.0,932,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2514,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12266,0.31,220.8,601.4,8.5,947,12306,0.00,2.08,27.75,0.822,4,0.000,0.042,2373,3822,2069,0,0,0,0,0,0,28.83,25.96,25.30
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$STATE,16668,end climb,SURFACE_DEPTH_REACHED
$STATE,16668,begin surface coast
$FINISH,-0.3,1.011514
$STATE,16700,end surface coast,CONTROL_FINISHED_OK
$STATE,16700,begin surface
$SM_CCo,16776,0.00,0.000,0,0,848,522.73
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$IRIDIUM_FIX,2340.34,12357.74,080512,181850
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.7,20.956
$10V_AH,10.3,11.618
$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,17.475,168.550,702.425,0.000,0.000,28.907,49.776,236.113,0.000,0.000,28.311,3980.686,8911.756,834.014,3083.577,411.291,0.000,2346.490,0.000,2596.301,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,55.080,1160.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,93528,1498
$CAP_FILE_SIZE,192842,0
$CFSIZE,260165632,211865600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.312,347.5,1
$GPS,090512,042807,2346.744,12355.960,30,0.9,30,-3.4