version: 66.10
glider: 169
mission: 6
dive: 109
start: 5 10 112 7 46 15
data:
$ID,169
$MISSION,6
$DIVE,109
$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,420
$T_MISSION,460
$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,175
$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,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,-15416.27
$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
$GPS1,100512,073736,2339.237,12358.382,28,1.0,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.6
$GPS2,100512,074552,2339.170,12358.176,13,3.2,32,-3.4
$SPEED_LIMITS,0.136,0.256
$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,137.6,239244,-13.5,-7.857
$D_GRID,2655
$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,-0.55,-170.3,0.0,0.0,0,105,0.00,0.00,-83.70,0.000,2,0.000,0.000,102,2448,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.55,-170.3,3.7,-9.9,15,131,7.75,2.28,-6.28,0.000,4,0.223,0.036,2103,1022,3677,0,0,0,0,0,0,25.53,26.11,26.39
$GC,253,-0.49,-170.3,46.8,-21.5,41,262,0.00,2.45,0.00,0.000,6,0.000,0.032,2091,2526,3680,0,0,0,0,0,0,28.83,26.13,28.83
$GC,455,-0.41,-170.3,93.6,-26.5,78,462,0.15,2.35,0.00,0.000,4,0.169,0.023,2146,1040,3679,0,0,0,0,0,0,25.98,26.26,28.83
$GC,563,-0.42,-170.3,109.2,-9.4,98,570,0.00,2.33,0.00,0.000,6,0.000,0.031,2135,2485,3681,0,0,0,0,0,0,28.83,26.27,28.83
$GC,756,-0.37,-170.3,141.5,-18.7,135,762,0.00,2.03,0.00,0.000,4,0.000,0.041,2124,3823,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,787,-0.33,-170.3,147.2,-18.9,140,794,0.12,2.05,0.00,0.000,6,0.137,0.020,2164,2418,3681,0,0,0,0,0,0,26.16,26.41,28.83
$GC,982,-0.32,-170.3,174.8,-13.8,177,991,0.00,2.12,0.00,0.000,4,0.000,0.024,2165,1036,3681,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1036,-0.34,-170.3,181.5,-10.8,186,1042,0.00,2.33,0.00,0.000,6,0.000,0.032,2156,2483,3681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1229,-0.33,-170.3,207.4,-13.3,218,1238,0.00,2.25,0.00,0.000,4,0.000,0.024,2159,1034,3681,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1252,-0.32,-170.3,210.5,-13.3,220,1260,0.00,2.28,0.00,0.000,6,0.000,0.031,2150,2471,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1563,-0.31,-170.3,249.5,-12.0,251,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2470,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,-0.30,-170.3,284.3,-10.0,282,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2470,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.30,-170.3,311.5,-7.4,313,2195,0.00,2.22,0.00,0.000,4,0.000,0.026,2150,1033,3680,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2242,-0.32,-170.3,315.4,-6.7,318,2249,0.00,2.28,0.00,0.000,6,0.000,0.032,2144,2469,3680,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2548,-0.32,-170.3,339.4,-8.7,349,2559,0.00,2.08,0.00,0.000,4,0.000,0.043,2134,3826,3680,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2573,-0.32,-170.3,341.4,-8.6,351,2582,0.12,2.10,0.00,0.000,6,0.118,0.020,2181,2380,3679,0,0,0,0,0,0,26.36,26.58,28.83
$GC,2883,-0.39,-170.3,362.0,-8.4,382,2892,0.00,2.28,0.00,0.000,4,0.000,0.041,2181,3833,3678,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3018,-0.46,-170.3,373.5,-9.1,395,3028,0.20,2.10,0.00,0.000,6,0.084,0.020,2111,2383,3677,0,0,0,0,0,0,26.44,26.58,28.83
$GC,3327,-0.48,-170.3,394.8,-6.8,426,3335,0.00,2.25,0.00,0.000,4,0.000,0.041,2102,3818,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3413,-0.48,-170.3,401.5,-8.3,434,3416,0.00,1.83,0.00,0.000,6,0.000,0.021,2102,2530,3676,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3724,-0.47,-170.3,436.4,-11.8,465,3733,0.00,2.30,0.00,0.000,4,0.000,0.027,2102,1048,3675,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3831,-0.48,-170.3,446.8,-9.2,475,3840,0.00,2.45,0.00,0.000,6,0.000,0.034,2096,2564,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4141,-0.46,-170.3,483.7,-12.2,506,4150,0.12,2.40,0.00,0.000,4,0.151,0.027,2140,1038,3673,0,0,0,0,0,0,26.39,26.51,28.83
$GC,4206,-0.49,-170.3,489.5,-7.7,512,4214,0.00,2.40,0.00,0.000,6,0.000,0.033,2138,2542,3673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4515,-0.50,-170.3,509.7,-5.7,543,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2541,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-0.52,-170.3,527.5,-5.8,574,4834,0.00,2.35,0.00,0.000,4,0.000,0.026,2138,1040,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4862,-0.54,-170.3,529.4,-5.7,577,4869,0.12,2.40,0.00,0.000,6,0.077,0.034,2046,2531,3669,0,0,0,0,0,0,26.48,26.46,28.83
$GC,5168,-0.50,-170.3,571.9,-15.2,608,5180,0.17,2.33,0.00,0.000,4,0.138,0.026,2117,1042,3667,0,0,0,0,0,0,26.29,26.48,28.83
$GC,5235,-0.51,-170.3,578.5,-8.2,614,5244,0.00,2.38,0.00,0.000,6,0.000,0.035,2112,2529,3667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5547,-0.51,-170.3,604.1,-8.7,643,5552,0.00,1.98,0.00,0.000,4,0.000,0.045,2102,3834,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5589,-0.52,-170.3,607.7,-8.7,645,5593,0.00,2.03,0.00,0.000,6,0.000,0.021,2102,2443,3664,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5901,-0.52,-170.3,635.7,-8.7,661,5906,0.00,2.17,0.00,0.000,4,0.000,0.027,2102,1038,3662,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5941,-0.52,-170.3,639.3,-8.8,663,5947,0.00,2.40,0.00,0.000,6,0.000,0.035,2099,2522,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6262,-0.52,-170.3,667.5,-8.7,679,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2521,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,-0.52,-170.3,692.3,-8.0,694,6568,0.00,2.33,0.00,0.000,4,0.000,0.027,2099,1042,3657,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6603,-0.52,-170.3,695.7,-8.1,696,6609,0.00,2.40,0.00,0.000,6,0.000,0.037,2091,2524,3657,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6924,-0.51,-170.3,722.3,-8.2,712,6930,0.00,1.98,0.00,0.000,4,0.000,0.048,2081,3810,3655,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6951,-0.51,-170.3,724.0,-8.3,713,6955,0.00,2.00,0.00,0.000,6,0.000,0.022,2081,2449,3654,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7259,-0.50,-170.3,754.0,-9.8,728,7265,0.12,2.15,0.00,0.000,4,0.131,0.026,2130,1043,3653,0,0,0,0,0,0,26.42,26.46,28.83
$GC,7327,-0.51,-170.3,758.5,-7.9,731,7331,0.00,2.38,0.00,0.000,6,0.000,0.034,2125,2518,3653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7635,-0.57,-170.3,779.4,-6.4,746,7641,0.10,2.30,0.00,0.000,4,0.093,0.024,2078,1039,3650,0,0,0,0,0,0,26.65,26.47,28.83
$GC,7745,-0.58,-170.3,787.0,-7.9,751,7754,0.00,2.42,0.00,0.000,6,0.000,0.037,2068,2544,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8056,-0.57,-170.3,816.9,-9.3,767,8062,0.00,2.35,0.00,0.000,4,0.000,0.029,2068,1042,3647,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8119,-0.55,-170.3,822.3,-9.0,770,8126,0.12,2.42,0.00,0.000,6,0.133,0.038,2096,2530,3647,0,0,0,0,0,0,26.22,26.36,28.83
$GC,8435,-0.55,-170.3,845.1,-7.0,786,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2529,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8736,-0.55,-170.3,866.9,-7.4,801,8742,0.00,2.35,0.00,0.000,4,0.000,0.028,2096,1039,3643,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8768,-0.55,-170.3,868.6,-7.6,802,8777,0.00,2.42,0.00,0.000,6,0.000,0.037,2092,2533,3643,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9075,-0.55,-170.3,893.7,-8.0,818,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2532,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,-0.55,-170.3,917.2,-7.8,833,9381,0.00,2.35,0.00,0.000,4,0.000,0.028,2092,1042,3640,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9398,-0.55,-170.3,918.8,-7.9,834,9402,0.00,2.42,0.00,0.000,6,0.000,0.038,2085,2524,3640,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9710,-0.55,-170.3,944.6,-8.3,850,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2523,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10011,-0.55,-170.3,968.3,-7.7,865,10017,0.00,2.35,0.00,0.000,4,0.000,0.029,2086,1039,3638,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10054,-0.55,-170.3,971.4,-7.6,867,10058,0.00,2.42,0.00,0.000,6,0.000,0.041,2086,2521,3637,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10323,begin apogee
$GC,10330,-0.20,0.0,991.2,-7.1,881,10499,0.35,0.00,162.90,1.153,4,0.103,0.000,2209,2519,2977,0,0,0,0,0,0,26.11,28.83,24.01
$STATE,10500,end apogee,CONTROL_FINISHED_OK
$STATE,10500,begin climb
$GC,10502,0.55,170.3,996.8,0.0,889,10692,0.68,2.15,176.25,1.142,4,0.041,0.046,2471,3821,2276,0,0,0,0,0,0,24.98,24.93,23.71
$GC,10920,0.46,170.3,917.2,22.7,910,10925,0.22,2.05,0.00,0.000,6,0.188,0.024,2425,2488,2248,0,0,0,0,0,0,25.28,25.66,28.83
$GC,11235,0.40,170.3,867.8,15.0,926,11241,0.00,2.28,0.00,0.000,4,0.000,0.031,2436,1071,2243,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11309,0.36,170.3,859.4,14.1,929,11316,0.15,2.50,0.00,0.000,6,0.158,0.036,2396,2568,2241,0,0,0,0,0,0,25.74,25.98,28.83
$GC,11615,0.33,170.3,819.6,12.4,945,11619,0.00,1.90,0.00,0.000,4,0.000,0.044,2396,3820,2241,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11820,0.29,170.3,790.3,14.5,955,11826,0.12,1.88,0.00,0.000,6,0.171,0.022,2373,2540,2240,0,0,0,0,0,0,25.91,26.22,28.83
$GC,12142,0.27,170.3,755.0,11.2,971,12148,0.00,2.35,0.00,0.000,4,0.000,0.032,2385,1078,2239,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12195,0.25,170.3,750.5,11.1,973,12201,0.00,2.47,0.00,0.000,6,0.000,0.036,2385,2573,2238,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12502,0.23,170.3,713.4,11.7,989,12507,0.12,1.85,0.00,0.000,4,0.158,0.042,2344,3812,2238,0,0,0,0,0,0,26.10,26.20,28.83
$GC,12595,0.22,170.3,705.0,10.3,993,12602,0.00,1.85,0.00,0.000,6,0.000,0.023,2354,2537,2237,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,19198,end climb,SURFACE_DEPTH_REACHED
$STATE,19198,begin surface coast
$FINISH,-0.2,0.998742
$STATE,19260,end surface coast,CONTROL_FINISHED_OK
$STATE,19260,begin surface
$SM_CCo,19276,15.48,0.128,0,0,1142,450.13
$SM_GC,0.35,5.88,0.17,15.48,0.027,0.056,0.128,108,2424,1142,-6.62,0.42,450.13,0,0,0,0,0,0
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.33
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.7,22.109
$10V_AH,10.3,12.398
$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,18.050,195.575,578.150,15.475,0.000,31.375,40.820,251.015,0.000,0.000,34.681,4646.317,10261.155,830.830,3542.632,472.111,0.000,2525.005,0.000,3022.013,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,55.845,1152.855,127.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.904,2235.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,110204,1739
$CAP_FILE_SIZE,218377,0
$CFSIZE,260165632,211169280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.363,311.6,1
$GPS,100512,130900,2338.545,12358.589,36,1.0,41,-3.4