version: 66.10
glider: 169
mission: 6
dive: 10
start: 4 21 112 5 13 16
data:
$ID,169
$MISSION,6
$DIVE,10
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,380
$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,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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-14337.853
$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,2050
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2500
$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,0
$ROLL_ADJ_DBAND,0
$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,3
$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
$GPS1,210412,050331,2210.928,12108.346,38,1.8,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-73.0
$GPS2,210412,051252,2211.306,12108.580,15,4.1,34,-2.8
$SPEED_LIMITS,0.159,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,16.0,101216,-15.6,-9.167
$D_GRID,1173
$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,-170.3,0.0,0.0,0,90,0.00,0.00,-70.70,0.000,2,0.000,0.000,128,2209,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.60,-170.3,3.5,-7.9,11,117,6.93,2.17,-9.30,0.000,4,0.239,0.041,1855,790,3677,0,0,0,0,0,0,25.60,26.01,26.29
$GC,228,-0.55,-170.3,47.6,-20.4,35,235,0.00,2.30,0.00,0.000,6,0.000,0.039,1844,2275,3678,0,0,0,0,0,0,28.83,26.07,28.83
$GC,425,-0.40,-170.3,118.9,-36.3,72,433,0.22,2.17,0.00,0.000,4,0.177,0.023,1922,788,3678,0,0,0,0,0,0,25.97,26.22,28.83
$GC,466,-0.38,-170.3,128.9,-17.7,79,472,0.00,2.28,0.00,0.000,6,0.000,0.036,1921,2277,3678,0,0,0,0,0,0,28.83,26.21,28.83
$GC,662,-0.41,-170.3,146.1,-7.0,116,669,0.00,2.22,0.00,0.000,4,0.000,0.046,1911,3694,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,774,-0.47,-170.3,154.8,-8.7,137,783,0.00,2.22,0.00,0.000,6,0.000,0.023,1911,2190,3679,0,0,0,0,0,0,28.83,26.38,28.83
$GC,970,-0.50,-170.3,172.5,-9.3,174,977,0.00,2.38,0.00,0.000,4,0.000,0.044,1901,3691,3680,0,0,0,0,0,0,28.83,26.35,28.83
$GC,996,-0.54,-170.3,174.6,-7.9,178,1003,0.00,2.22,0.00,0.000,6,0.000,0.024,1901,2197,3680,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1192,-0.58,-170.3,188.5,-5.7,215,1200,0.12,2.38,0.00,0.000,4,0.076,0.043,1801,3700,3680,0,0,0,0,0,0,26.53,26.39,28.83
$GC,1244,-0.49,-170.3,195.5,-16.8,224,1251,0.28,2.25,0.00,0.000,6,0.133,0.028,1886,2212,3680,0,0,0,0,0,0,26.25,26.46,28.83
$GC,1441,-0.49,-170.3,219.0,-13.0,246,1449,0.00,2.33,0.00,0.000,4,0.000,0.045,1875,3682,3680,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1516,-0.52,-170.3,228.3,-11.8,253,1525,0.00,2.20,0.00,0.000,6,0.000,0.024,1875,2195,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1824,-0.54,-170.3,253.7,-6.0,284,1832,0.00,2.38,0.00,0.000,4,0.000,0.046,1864,3691,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1921,-0.57,-170.3,261.0,-7.7,293,1928,0.00,2.22,0.00,0.000,6,0.000,0.024,1864,2201,3680,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2227,-0.59,-170.3,288.3,-9.1,324,2236,0.00,2.33,0.00,0.000,4,0.000,0.047,1853,3682,3679,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2263,-0.60,-170.3,291.4,-9.3,327,2270,0.00,2.22,0.00,0.000,6,0.000,0.024,1853,2191,3679,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2571,-0.60,-170.3,321.7,-10.1,358,2580,0.00,2.38,0.00,0.000,4,0.000,0.048,1842,3688,3678,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2707,-0.61,-170.3,336.2,-10.6,371,2716,0.00,2.20,0.00,0.000,6,0.000,0.027,1841,2206,3677,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3017,-0.60,-170.3,368.8,-9.7,402,3025,0.00,2.35,0.00,0.000,4,0.000,0.049,1830,3686,3675,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3101,-0.60,-170.3,376.8,-9.3,410,3110,0.00,2.22,0.00,0.000,6,0.000,0.027,1830,2201,3674,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3409,-0.57,-170.3,410.4,-12.5,441,3421,0.12,2.35,0.00,0.000,4,0.143,0.047,1862,3682,3672,0,0,0,0,0,0,26.51,26.54,28.83
$GC,3499,-0.63,-170.3,418.0,-7.7,449,3508,0.00,2.22,0.00,0.000,6,0.000,0.027,1862,2199,3672,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3808,-0.65,-170.3,442.2,-6.5,480,3817,0.00,2.35,0.00,0.000,4,0.000,0.049,1852,3682,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3915,-0.70,-170.3,448.7,-5.6,490,3921,0.00,2.22,0.00,0.000,6,0.000,0.027,1852,2200,3669,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4222,-0.71,-170.3,474.1,-8.9,521,4230,0.00,2.35,0.00,0.000,4,0.000,0.050,1842,3682,3667,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4277,-0.73,-170.3,479.5,-10.3,526,4284,0.00,2.22,0.00,0.000,6,0.000,0.027,1842,2204,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4584,-0.73,-170.3,511.3,-9.4,557,4593,0.00,2.38,0.00,0.000,4,0.000,0.050,1831,3697,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4679,-0.74,-170.3,519.7,-8.6,566,4687,0.00,2.20,0.00,0.000,6,0.000,0.028,1831,2216,3664,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4987,-0.74,-170.3,552.8,-11.6,597,4996,0.00,2.35,0.00,0.000,4,0.000,0.050,1820,3682,3663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5050,-0.74,-170.3,560.4,-11.9,603,5061,0.00,2.22,0.00,0.000,6,0.000,0.028,1821,2211,3662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5361,-0.73,-170.3,595.4,-10.2,634,5370,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,3685,3660,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5439,-0.70,-170.3,602.2,-10.9,640,5445,0.00,2.22,0.00,0.000,6,0.000,0.028,1809,2204,3659,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5746,-0.67,-170.3,636.1,-10.4,656,5752,0.00,2.35,0.00,0.000,4,0.000,0.052,1797,3681,3658,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5788,-0.64,-170.3,640.8,-11.0,658,5793,0.15,2.20,0.00,0.000,6,0.130,0.028,1844,2207,3658,0,0,0,0,0,0,26.46,26.63,28.83
$GC,6103,-0.65,-170.3,665.2,-7.4,674,6109,0.00,2.33,0.00,0.000,4,0.000,0.052,1832,3681,3656,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6206,-0.66,-170.3,672.9,-7.3,679,6210,0.00,2.20,0.00,0.000,6,0.000,0.029,1832,2212,3655,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6519,-0.66,-170.3,699.5,-8.5,695,6524,0.00,2.33,0.00,0.000,4,0.000,0.051,1822,3680,3653,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6622,-0.66,-170.3,708.7,-9.1,700,6626,0.00,2.22,0.00,0.000,6,0.000,0.029,1823,2201,3653,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6942,-0.73,-170.3,742.2,-9.5,716,6947,0.00,2.30,0.00,0.000,4,0.000,0.045,1822,3684,3651,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6981,-0.80,-170.3,744.1,-4.6,718,6986,0.00,2.22,0.00,0.000,6,0.000,0.028,1822,2202,3651,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7301,-0.72,-170.3,753.0,-1.8,734,7305,0.00,2.10,0.00,0.000,4,0.000,0.044,1822,810,3650,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7346,-0.74,-170.3,753.9,-2.3,736,7352,0.00,2.15,0.00,0.000,6,0.000,0.026,1822,2291,3649,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7668,-0.64,-170.3,763.7,-2.4,752,7673,0.00,2.25,0.00,0.000,4,0.000,0.043,1822,809,3648,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,7845,end dive,NO_VERTICAL_VELOCITY
$STATE,7845,begin apogee
$GC,7853,-0.20,0.0,764.0,0.0,761,8010,0.50,0.10,142.25,1.309,6,0.132,0.081,1976,2460,2981,0,0,0,0,1,0,26.36,24.56,23.68
$STATE,8011,end apogee,CONTROL_FINISHED_OK
$STATE,8011,begin climb
$GC,8013,0.60,170.3,763.9,0.0,769,8216,0.80,2.30,191.68,0.968,4,0.112,0.042,2224,3803,2274,0,0,0,0,0,0,24.77,24.68,24.00
$GC,8442,1.04,423.7,763.5,0.0,790,8676,0.40,2.08,219.55,1.268,6,0.048,0.029,2394,2448,1249,0,0,0,0,1,0,25.72,25.75,23.56
$GC,8979,0.79,423.7,545.7,53.7,822,8989,0.30,2.17,0.00,0.000,4,0.215,0.037,2326,1059,1254,0,0,0,0,0,0,25.55,25.76,28.83
$GC,9034,0.65,423.7,522.6,42.1,827,9045,0.20,2.35,0.00,0.000,6,0.151,0.042,2262,2524,1253,0,0,0,0,0,0,25.67,25.82,28.83
$GC,9343,0.54,423.7,422.6,32.7,858,9347,0.12,2.03,0.00,0.000,4,0.197,0.047,2226,3813,1253,0,0,0,0,0,0,25.89,26.04,28.83
$GC,9460,0.50,423.7,394.1,20.6,869,9468,0.00,2.03,0.00,0.000,6,0.000,0.031,2237,2475,1252,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9769,0.42,423.7,318.4,25.7,900,9778,0.15,2.22,0.00,0.000,4,0.179,0.038,2203,1055,1252,0,0,0,0,0,0,26.06,26.21,28.83
$GC,9802,0.37,423.7,310.6,23.3,903,9814,0.12,2.33,0.00,0.000,6,0.140,0.037,2162,2531,1251,0,0,0,0,0,0,26.10,26.22,28.83
$GC,10112,0.40,423.7,273.6,11.3,934,10121,0.00,2.33,0.00,0.000,4,0.000,0.038,2173,1052,1251,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10148,0.45,423.7,270.2,10.7,937,10154,0.00,2.33,0.00,0.000,6,0.000,0.037,2173,2527,1251,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10456,0.48,423.7,234.0,12.4,968,10466,0.00,1.95,0.00,0.000,4,0.000,0.049,2173,3809,1251,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10490,0.51,423.7,229.6,12.8,971,10499,0.10,2.03,0.00,0.000,6,0.090,0.028,2255,2461,1251,0,0,0,0,0,0,26.37,26.39,28.83
$GC,10808,0.45,423.7,153.7,23.9,1020,10817,0.17,2.17,0.00,0.000,4,0.164,0.036,2211,1056,1251,0,0,0,0,0,0,26.22,26.40,28.83
$GC,10830,0.40,423.7,148.8,22.7,1023,10838,0.12,2.28,0.00,0.000,6,0.136,0.035,2174,2528,1251,0,0,0,0,0,0,26.29,26.41,28.83
$GC,11026,0.62,512.6,133.5,5.9,1060,11122,0.17,0.00,87.97,0.610,6,0.060,0.000,2297,2527,875,0,0,0,0,0,0,26.52,28.83,24.91
$GC,11312,0.58,512.6,74.3,18.0,1111,11319,0.17,2.35,0.00,0.000,4,0.149,0.034,2253,1053,858,0,0,0,0,0,0,25.79,25.91,28.83
$GC,11337,0.58,512.6,69.8,17.3,1115,11344,0.00,2.33,0.00,0.000,6,0.000,0.034,2253,2527,857,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11531,0.68,525.9,50.7,8.7,1152,11550,0.00,2.05,9.90,0.129,4,0.000,0.046,2253,3809,840,0,0,0,0,0,0,28.83,26.06,25.89
$GC,11579,0.81,537.1,46.5,8.8,1160,11601,0.15,2.03,12.15,0.205,6,0.070,0.025,2341,2448,795,0,0,0,0,0,0,26.13,26.15,25.76
$GC,11790,0.77,537.1,5.6,20.5,1199,11799,0.12,2.22,2.58,0.153,4,0.171,0.034,2314,1051,786,0,0,0,0,0,0,26.05,26.17,26.00
$STATE,11804,end climb,SURFACE_DEPTH_REACHED
$STATE,11804,begin surface coast
$FINISH,-0.1,1.021721
$STATE,11821,end surface coast,CONTROL_FINISHED_OK
$STATE,11821,begin surface
$SM_CCo,11899,0.00,0.000,0,0,796,535.49
$SM_GC,0.40,5.47,1.92,0.00,0.026,0.030,0.000,124,2285,796,-5.92,-0.42,535.49,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12107.80,200412,232304
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.79
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,1.614
$10V_AH,10.3,1.044
$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,16.925,143.725,666.075,0.000,0.000,26.470,31.561,314.553,0.000,0.000,36.624,3183.979,5402.231,778.408,2747.011,313.446,0.000,2064.543,0.000,2207.099,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,81.090,1308.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.818,1489.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324652
$DATA_FILE_SIZE,73527,1204
$CAP_FILE_SIZE,152513,0
$CFSIZE,260165632,220979200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.070, 44.0,1
$GPS,210412,083236,2213.955,12109.932,33,1.0,34,-2.8