version: 66.10
glider: 169
mission: 6
dive: 89
start: 5 6 112 0 22 26
data:
$ID,169
$MISSION,6
$DIVE,89
$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,225
$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,-15391.106
$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
$GPS1,060512,001406,2323.808,12325.466,34,1.0,34,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-75.4
$GPS2,060512,002202,2323.863,12325.443,10,1.8,10,-3.3
$SPEED_LIMITS,0.159,0.302
$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,94.3,69643,-13.6,-9.167
$D_GRID,3388
$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,16,begin dive
$GC,19,-0.61,-219.0,0.0,0.0,0,104,0.00,0.00,-82.38,0.000,2,0.000,0.000,123,2483,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.61,-219.0,3.0,-6.9,15,136,7.95,2.40,-13.20,0.000,4,0.242,0.041,2081,1035,3874,0,0,0,0,0,0,25.56,26.07,26.38
$GC,266,-0.57,-219.0,55.9,-19.7,43,273,0.00,2.47,0.00,0.000,6,0.000,0.036,2069,2526,3876,0,0,0,0,0,0,28.83,26.13,28.83
$GC,465,-0.48,-219.0,111.6,-31.2,80,472,0.15,2.38,0.00,0.000,4,0.177,0.027,2123,1048,3877,0,0,0,0,0,0,26.00,26.25,28.83
$GC,559,-0.49,-219.0,128.4,-10.2,97,565,0.00,2.33,0.00,0.000,6,0.000,0.031,2112,2483,3878,0,0,0,0,0,0,28.83,26.29,28.83
$GC,754,-0.45,-219.0,161.0,-18.5,134,763,0.00,2.08,0.00,0.000,4,0.000,0.042,2101,3829,3877,0,0,0,0,0,0,28.83,26.31,28.83
$GC,782,-0.40,-219.0,166.0,-18.6,138,791,0.12,2.08,0.00,0.000,6,0.146,0.020,2143,2421,3878,0,0,0,0,0,0,26.17,26.41,28.83
$GC,982,-0.39,-219.0,191.7,-12.8,175,989,0.00,2.12,0.00,0.000,4,0.000,0.025,2143,1040,3877,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1011,-0.39,-219.0,195.3,-12.2,180,1018,0.00,2.33,0.00,0.000,6,0.000,0.030,2135,2497,3878,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1206,-0.38,-219.0,217.6,-12.4,203,1214,0.00,2.25,0.00,0.000,4,0.000,0.024,2135,1038,3877,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1260,-0.39,-219.0,223.3,-9.8,208,1268,0.00,2.28,0.00,0.000,6,0.000,0.030,2134,2473,3877,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1569,-0.39,-219.0,251.7,-9.3,239,1578,0.00,2.00,0.00,0.000,4,0.000,0.039,2125,3817,3877,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1591,-0.39,-219.0,253.9,-9.3,241,1600,0.00,2.10,0.00,0.000,6,0.000,0.019,2125,2384,3877,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1902,-0.38,-219.0,285.6,-10.9,272,1910,0.00,2.05,0.00,0.000,4,0.000,0.026,2125,1035,3877,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1936,-0.38,-219.0,289.0,-10.6,275,1944,0.12,2.28,0.00,0.000,6,0.120,0.032,2160,2466,3877,0,0,0,0,0,0,26.39,26.49,28.83
$GC,2245,-0.42,-219.0,306.7,-4.8,306,2248,0.00,2.08,0.00,0.000,4,0.000,0.041,2150,3831,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2289,-0.46,-219.0,308.7,-4.5,310,2297,0.00,2.08,0.00,0.000,6,0.000,0.018,2151,2372,3877,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2597,-0.54,-219.0,333.5,-9.4,341,2606,0.12,2.05,0.00,0.000,4,0.110,0.023,2108,1030,3876,0,0,0,0,0,0,26.53,26.55,28.83
$GC,2649,-0.62,-219.0,338.7,-9.8,346,2659,0.10,2.33,0.00,0.000,6,0.090,0.030,2024,2495,3876,0,0,0,0,0,0,26.52,26.54,28.83
$GC,2961,-0.56,-219.0,404.4,-22.7,377,2970,0.20,2.25,0.00,0.000,4,0.147,0.026,2100,1041,3875,0,0,0,0,0,0,26.27,26.54,28.83
$GC,3048,-0.58,-219.0,415.3,-7.8,385,3054,0.00,2.22,0.00,0.000,6,0.000,0.034,2094,2449,3874,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3355,-0.56,-219.0,447.4,-10.7,416,3366,0.00,2.12,0.00,0.000,4,0.000,0.044,2083,3818,3873,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3382,-0.55,-219.0,450.3,-11.4,418,3389,0.00,2.12,0.00,0.000,6,0.000,0.021,2083,2369,3873,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3690,-0.54,-219.0,487.1,-11.8,449,3694,0.00,2.05,0.00,0.000,4,0.000,0.027,2083,1028,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3727,-0.53,-219.0,490.9,-11.8,452,3736,0.00,2.22,0.00,0.000,6,0.000,0.033,2073,2439,3872,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4034,-0.51,-219.0,524.7,-10.3,483,4044,0.12,2.17,0.00,0.000,4,0.150,0.025,2121,1026,3870,0,0,0,0,0,0,26.41,26.55,28.83
$GC,4060,-0.50,-219.0,526.7,-9.7,485,4067,0.00,2.25,0.00,0.000,6,0.000,0.034,2120,2442,3870,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4369,-0.53,-219.0,543.9,-6.2,516,4377,0.00,2.10,0.00,0.000,4,0.000,0.044,2110,3821,3868,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4422,-0.56,-219.0,547.3,-6.2,521,4425,0.00,2.12,0.00,0.000,6,0.000,0.020,2110,2365,3868,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4734,-0.64,-219.0,573.4,-8.9,552,4744,0.12,2.30,0.00,0.000,4,0.115,0.040,2056,3821,3866,0,0,0,0,0,0,26.53,26.49,28.83
$GC,4767,-0.71,-219.0,576.5,-9.2,555,4776,0.00,2.10,0.00,0.000,6,0.000,0.020,2056,2367,3865,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5077,-0.72,-219.0,601.7,-7.7,585,5081,0.00,2.03,0.00,0.000,4,0.000,0.027,2057,1035,3863,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5108,-0.74,-219.0,603.5,-7.9,586,5112,0.00,2.40,0.00,0.000,6,0.000,0.034,2046,2532,3862,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5416,-0.71,-219.0,644.2,-14.1,601,5421,0.00,2.33,0.00,0.000,4,0.000,0.027,2046,1050,3862,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5456,-0.69,-219.0,649.7,-13.8,603,5461,0.00,2.35,0.00,0.000,6,0.000,0.035,2035,2517,3861,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5776,-0.66,-219.0,697.1,-14.9,619,5782,0.00,2.33,0.00,0.000,4,0.000,0.028,2036,1039,3860,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5831,-0.64,-219.0,702.9,-14.5,621,5838,0.15,2.38,0.00,0.000,6,0.138,0.034,2073,2510,3859,0,0,0,0,0,0,26.31,26.50,28.83
$GC,6136,-0.63,-219.0,735.7,-9.7,637,6141,0.00,2.33,0.00,0.000,4,0.000,0.028,2073,1037,3857,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6178,-0.63,-219.0,739.5,-9.6,639,6183,0.00,2.35,0.00,0.000,6,0.000,0.037,2064,2485,3856,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6499,-0.62,-219.0,771.7,-10.2,655,6504,0.00,2.05,0.00,0.000,4,0.000,0.044,2053,3816,3855,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6540,-0.62,-219.0,776.0,-10.2,657,6544,0.00,2.05,0.00,0.000,6,0.000,0.023,2056,2422,3854,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6853,-0.60,-219.0,809.6,-10.5,673,6858,0.00,2.15,0.00,0.000,4,0.000,0.031,2055,1042,3851,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6880,-0.59,-219.0,811.7,-10.5,674,6885,0.12,2.35,0.00,0.000,6,0.129,0.036,2085,2490,3851,0,0,0,0,0,0,26.34,26.47,28.83
$GC,7190,-0.60,-219.0,835.4,-7.5,689,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2487,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7488,-0.61,-219.0,859.0,-7.7,704,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2488,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7789,-0.61,-219.0,882.1,-7.8,719,7793,0.00,2.05,0.00,0.000,4,0.000,0.047,2075,3818,3846,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7815,-0.62,-219.0,884.0,-7.9,720,7819,0.00,2.08,0.00,0.000,6,0.000,0.023,2076,2413,3846,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8127,-0.62,-219.0,910.5,-8.9,736,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2412,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,-0.62,-219.0,937.2,-8.5,751,8434,0.00,2.30,0.00,0.000,4,0.000,0.048,2066,3819,3842,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8468,-0.63,-219.0,940.8,-8.7,753,8473,0.00,2.05,0.00,0.000,6,0.000,0.022,2066,2424,3842,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8787,-0.63,-219.0,970.4,-9.0,769,8793,0.00,2.15,0.00,0.000,4,0.000,0.029,2066,1041,3841,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8821,-0.63,-219.0,972.2,-9.0,770,8830,0.00,2.38,0.00,0.000,6,0.000,0.037,2056,2503,3840,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,9005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9005,begin apogee
$GC,9011,-0.20,0.0,990.2,-9.1,780,9221,0.43,0.00,204.90,1.161,4,0.105,0.000,2205,2538,2978,0,0,0,0,0,0,26.19,28.83,23.97
$STATE,9222,end apogee,CONTROL_FINISHED_OK
$STATE,9222,begin climb
$GC,9224,0.61,219.0,998.5,0.0,790,9457,0.70,2.10,223.73,1.137,4,0.044,0.047,2479,3812,2085,0,0,0,0,0,0,24.87,24.83,23.69
$GC,9531,0.52,219.0,940.8,26.7,804,9540,0.15,2.08,0.00,0.000,6,0.197,0.024,2449,2495,2047,0,0,0,0,0,0,24.91,25.13,28.83
$GC,9842,0.46,219.0,872.8,20.3,820,9848,0.00,2.10,0.00,0.000,4,0.000,0.044,2449,3813,2040,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9993,0.40,219.0,841.9,21.6,827,10005,0.15,1.95,0.00,0.000,6,0.168,0.023,2412,2518,2039,0,0,0,0,0,0,25.68,26.01,28.83
$GC,10302,0.37,219.0,795.1,13.4,843,10307,0.00,2.05,0.00,0.000,4,0.000,0.046,2412,3820,2038,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10356,0.33,219.0,788.6,14.5,845,10363,0.15,1.92,0.00,0.000,6,0.164,0.022,2381,2517,2038,0,0,0,0,0,0,25.90,26.18,28.83
$GC,10662,0.32,219.0,749.4,12.0,861,10668,0.00,2.08,0.00,0.000,4,0.000,0.047,2381,3842,2036,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10706,0.30,219.0,744.1,12.7,863,10710,0.00,1.95,0.00,0.000,6,0.000,0.024,2391,2526,2036,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11018,0.28,219.0,702.4,13.3,879,11023,0.00,2.03,0.00,0.000,4,0.000,0.044,2391,3846,2035,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11051,0.26,219.0,699.5,13.6,880,11059,0.15,1.90,0.00,0.000,6,0.154,0.021,2358,2536,2035,0,0,0,0,0,0,26.05,26.33,28.83
$GC,11360,0.26,219.0,664.2,10.3,896,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2535,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11658,0.28,235.0,635.5,8.7,911,11671,0.00,0.00,10.32,0.867,6,0.000,0.000,2358,2535,2020,0,0,0,0,0,0,28.83,28.83,25.53
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$STATE,17361,end climb,SURFACE_DEPTH_REACHED
$STATE,17361,begin surface coast
$FINISH,-0.2,0.999093
$STATE,17370,end surface coast,CONTROL_FINISHED_OK
$STATE,17370,begin surface
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$IRIDIUM_FIX,2314.48,12323.18,050512,181854
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.7,18.100
$10V_AH,10.2,9.883
$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,18.675,189.500,765.425,0.000,0.000,25.592,48.914,253.168,0.000,0.000,10.995,4235.221,9069.926,924.072,3220.098,437.786,0.000,2525.644,0.000,2732.444,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,150.705,1161.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330400
$DATA_FILE_SIZE,100183,1603
$CAP_FILE_SIZE,206347,0
$CFSIZE,260165632,213327872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248,299.7,1
$GPS,060512,051424,2325.175,12328.550,24,0.8,41,-3.3