version: 66.10
glider: 169
mission: 6
dive: 107
start: 5 9 112 20 20 49
data:
$ID,169
$MISSION,6
$DIVE,107
$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,-15413.751
$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
$GPS1,090512,201254,2342.395,12357.354,25,0.9,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.4
$GPS2,090512,202025,2342.377,12357.252,12,1.4,17,-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,159.7,245207,-13.5,-7.857
$D_GRID,3004
$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,-0.55,-170.3,0.0,0.0,0,112,0.00,0.00,-93.00,0.000,2,0.000,0.000,130,2413,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.55,-170.3,4.3,-12.2,16,136,7.78,2.30,-5.20,0.000,4,0.230,0.044,2081,3843,3676,0,0,0,0,0,0,25.52,26.09,26.39
$GC,244,-0.48,-170.3,51.6,-22.1,39,253,0.00,2.05,0.00,0.000,6,0.000,0.021,2090,2458,3678,0,0,0,0,0,0,28.83,26.20,28.83
$GC,445,-0.39,-170.3,102.5,-27.2,76,452,0.17,2.20,0.00,0.000,4,0.174,0.025,2151,1040,3678,0,0,0,0,0,0,25.93,26.26,28.83
$GC,562,-0.39,-170.3,120.3,-10.3,98,569,0.00,2.35,0.00,0.000,6,0.000,0.031,2139,2510,3679,0,0,0,0,0,0,28.83,26.28,28.83
$GC,755,-0.35,-170.3,149.0,-15.6,135,764,0.00,2.30,0.00,0.000,4,0.000,0.024,2141,1029,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,788,-0.32,-170.3,154.0,-15.8,140,796,0.12,2.35,0.00,0.000,6,0.138,0.033,2167,2499,3679,0,0,0,0,0,0,26.17,26.34,28.83
$GC,983,-0.31,-170.3,175.5,-11.4,177,990,0.00,2.03,0.00,0.000,4,0.000,0.039,2157,3832,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1004,-0.29,-170.3,177.7,-10.3,180,1011,0.00,2.05,0.00,0.000,6,0.000,0.019,2165,2417,3679,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1201,-0.28,-170.3,195.0,-9.1,217,1208,0.00,2.10,0.00,0.000,4,0.000,0.023,2165,1027,3679,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1248,-0.30,-170.3,198.6,-6.0,225,1254,0.00,2.33,0.00,0.000,6,0.000,0.031,2161,2491,3679,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1438,-0.30,-170.3,212.0,-7.7,246,1447,0.00,2.00,0.00,0.000,4,0.000,0.040,2151,3824,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1481,-0.31,-170.3,215.1,-7.4,250,1485,0.00,2.03,0.00,0.000,6,0.000,0.019,2151,2414,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1793,-0.30,-170.3,243.2,-8.8,281,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2413,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,-0.30,-170.3,271.2,-9.4,311,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2413,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2407,-0.30,-170.3,297.5,-8.5,342,2418,0.00,2.20,0.00,0.000,4,0.000,0.039,2142,3823,3678,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2431,-0.31,-170.3,299.9,-8.4,344,2435,0.10,2.03,0.00,0.000,6,0.125,0.020,2176,2416,3678,0,0,0,0,0,0,26.42,26.59,28.83
$GC,2744,-0.34,-170.3,316.8,-5.0,375,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2414,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,-0.37,-170.3,330.9,-4.8,405,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2415,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-0.40,-170.3,347.2,-5.9,436,3365,0.00,2.20,0.00,0.000,4,0.000,0.039,2166,3827,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3382,-0.43,-170.3,348.6,-5.7,438,3389,0.00,2.03,0.00,0.000,6,0.000,0.019,2166,2410,3674,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3689,-0.51,-170.3,374.3,-8.5,469,3691,0.17,0.00,0.00,0.000,6,0.083,0.000,2094,2410,3673,0,0,0,0,0,0,26.56,28.83,28.83
$GC,3989,-0.49,-170.3,403.5,-12.5,499,3998,0.00,2.28,0.00,0.000,4,0.000,0.041,2083,3831,3672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4116,-0.47,-170.3,417.9,-10.9,511,4125,0.10,2.03,0.00,0.000,6,0.102,0.020,2123,2426,3671,0,0,0,0,0,0,26.36,26.60,28.83
$GC,4426,-0.47,-170.3,444.8,-7.4,542,4434,0.00,2.12,0.00,0.000,4,0.000,0.027,2122,1035,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4458,-0.47,-170.3,447.4,-7.9,545,4469,0.00,2.33,0.00,0.000,6,0.000,0.031,2115,2512,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4768,-0.46,-170.3,472.0,-8.2,576,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2511,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5070,-0.46,-170.3,497.1,-8.2,606,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2511,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5380,-0.46,-170.3,524.0,-9.0,637,5390,0.00,2.28,0.00,0.000,4,0.000,0.025,2115,1044,3665,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5415,-0.46,-170.3,527.0,-8.3,640,5423,0.00,2.35,0.00,0.000,6,0.000,0.033,2112,2509,3665,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5724,-0.46,-170.3,551.0,-7.6,671,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2509,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6025,-0.46,-170.3,572.4,-6.7,701,6036,0.00,2.28,0.00,0.000,4,0.000,0.027,2112,1045,3661,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6053,-0.46,-170.3,574.1,-6.6,703,6059,0.00,2.33,0.00,0.000,6,0.000,0.033,2104,2501,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6360,-0.46,-170.3,594.9,-6.7,734,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2501,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,-0.46,-170.3,617.4,-7.1,754,6686,0.00,2.25,0.00,0.000,4,0.000,0.026,2104,1037,3658,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6722,-0.46,-170.3,620.4,-7.5,756,6726,0.00,2.33,0.00,0.000,6,0.000,0.034,2099,2496,3657,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7035,-0.46,-170.3,644.6,-7.9,772,7040,0.00,2.03,0.00,0.000,4,0.000,0.046,2089,3816,3655,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7068,-0.46,-170.3,646.2,-8.0,773,7078,0.12,2.05,0.00,0.000,6,0.124,0.022,2128,2414,3654,0,0,0,0,0,0,26.34,26.57,28.83
$GC,7377,-0.48,-170.3,665.0,-5.9,789,7382,0.00,2.17,0.00,0.000,4,0.000,0.044,2118,3815,3652,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7405,-0.49,-170.3,666.2,-5.9,790,7409,0.00,2.03,0.00,0.000,6,0.000,0.021,2118,2430,3652,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7711,-0.51,-170.3,686.5,-6.7,805,7715,0.00,2.12,0.00,0.000,4,0.000,0.028,2118,1033,3650,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7734,-0.52,-170.3,688.1,-6.7,806,7739,0.00,2.33,0.00,0.000,6,0.000,0.036,2113,2500,3650,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8055,-0.53,-170.3,709.8,-6.7,822,8060,0.00,2.03,0.00,0.000,4,0.000,0.046,2103,3812,3648,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8109,-0.54,-170.3,712.5,-6.9,824,8116,0.00,2.03,0.00,0.000,6,0.000,0.022,2102,2437,3648,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8416,-0.54,-170.3,736.4,-7.6,840,8420,0.00,2.12,0.00,0.000,4,0.000,0.028,2102,1041,3646,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8451,-0.54,-170.3,738.3,-7.8,841,8458,0.00,2.35,0.00,0.000,6,0.000,0.035,2099,2516,3646,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8758,-0.54,-170.3,765.1,-8.6,857,8764,0.00,2.00,0.00,0.000,4,0.000,0.046,2089,3818,3644,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8792,-0.54,-170.3,766.8,-8.7,858,8798,0.00,2.03,0.00,0.000,6,0.000,0.023,2089,2446,3644,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9098,-0.53,-170.3,797.3,-9.3,874,9104,0.00,2.17,0.00,0.000,4,0.000,0.030,2089,1038,3642,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9141,-0.53,-170.3,801.0,-9.3,876,9146,0.00,2.38,0.00,0.000,6,0.000,0.036,2086,2522,3642,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9455,-0.52,-170.3,827.4,-7.7,892,9460,0.00,1.98,0.00,0.000,4,0.000,0.046,2076,3817,3640,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9495,-0.51,-170.3,830.7,-7.9,894,9501,0.12,2.03,0.00,0.000,6,0.125,0.023,2114,2447,3640,0,0,0,0,0,0,26.28,26.53,28.83
$GC,9818,-0.52,-170.3,845.9,-4.5,910,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2446,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10117,-0.54,-170.3,860.2,-5.0,925,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2446,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10415,-0.55,-170.3,875.9,-5.3,940,10421,0.00,2.17,0.00,0.000,4,0.000,0.049,2104,3819,3636,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10445,-0.56,-170.3,877.0,-5.3,941,10449,0.00,2.03,0.00,0.000,6,0.000,0.023,2105,2452,3636,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10752,-0.57,-170.3,897.3,-6.7,956,10757,0.00,2.17,0.00,0.000,4,0.000,0.029,2104,1038,3635,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10782,-0.58,-170.3,898.6,-6.7,957,10790,0.00,2.33,0.00,0.000,6,0.000,0.035,2099,2516,3635,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11093,-0.58,-170.3,922.8,-7.9,973,11098,0.00,2.00,0.00,0.000,4,0.000,0.048,2089,3815,3634,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11113,-0.58,-170.3,924.4,-7.9,974,11117,0.00,2.08,0.00,0.000,6,0.000,0.024,2089,2445,3634,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11432,-0.58,-170.3,952.3,-8.6,990,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2444,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11731,-0.58,-170.3,976.8,-7.8,1005,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2444,3632,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11929,begin apogee
$GC,11936,-0.20,0.0,991.0,-6.9,1015,12105,0.32,0.10,160.50,1.154,4,0.100,0.074,2204,2468,2973,0,0,0,0,0,0,26.15,24.79,24.00
$STATE,12106,end apogee,CONTROL_FINISHED_OK
$STATE,12106,begin climb
$GC,12108,0.55,170.3,995.3,0.0,1023,12295,0.68,2.28,175.93,1.147,4,0.047,0.044,2463,3825,2283,0,0,0,0,0,0,24.99,24.96,23.72
$GC,12444,0.46,170.3,932.2,23.8,1040,12449,0.17,2.05,0.00,0.000,6,0.190,0.024,2431,2491,2251,0,0,0,0,0,0,25.15,25.47,28.83
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$STATE,20615,end climb,SURFACE_DEPTH_REACHED
$STATE,20615,begin surface coast
$FINISH,0.2,1.022652
$STATE,20663,end surface coast,CONTROL_FINISHED_OK
$STATE,20664,begin surface
$SM_CCo,20739,0.00,0.000,0,0,1019,480.79
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$IRIDIUM_FIX,2335.63,12355.11,090512,151524
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.21
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.7,21.739
$10V_AH,10.2,12.135
$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,17.700,196.450,620.475,0.000,0.000,30.702,24.677,244.608,0.000,0.000,18.155,4954.860,11301.173,830.236,3581.079,488.973,0.000,2573.247,0.000,3090.946,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,74.205,1154.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,113561,1857
$CAP_FILE_SIZE,226511,0
$CFSIZE,260165632,211386368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.300,327.0,1
$GPS,100512,020736,2340.272,12357.627,40,0.9,40,-3.4