version: 66.10
glider: 169
mission: 6
dive: 128
start: 5 14 112 22 32 2
data:
$ID,169
$MISSION,6
$DIVE,128
$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,1
$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,-15499.856
$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,49
$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
$GPS1,140512,222307,2322.226,12407.654,35,1.2,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.6
$GPS2,140512,223138,2322.296,12407.618,12,1.6,12,-3.3
$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,156.1,208386,-13.5,-7.857
$D_GRID,4398
$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,19,-0.55,-170.3,0.0,0.0,0,106,0.00,0.00,-85.30,0.000,2,0.000,0.000,121,2445,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.55,-170.3,4.4,-12.2,15,129,7.85,2.20,-4.25,0.000,4,0.229,0.040,2081,3845,3676,0,0,0,0,0,0,25.42,26.06,26.35
$GC,142,-0.30,-170.3,22.6,-54.4,20,149,0.30,2.10,0.00,0.000,6,0.168,0.024,2171,2465,3679,0,0,0,0,0,0,25.59,26.06,28.83
$GC,335,-0.28,-170.3,58.2,-15.2,57,341,0.00,2.25,0.00,0.000,4,0.000,0.024,2175,1028,3679,0,0,0,0,0,0,28.83,26.17,28.83
$GC,424,-0.31,-170.3,68.7,-9.2,74,432,0.00,2.42,0.00,0.000,6,0.000,0.031,2164,2530,3680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,617,-0.28,-170.3,93.7,-12.5,111,624,0.00,1.98,0.00,0.000,4,0.000,0.041,2154,3828,3680,0,0,0,0,0,0,28.83,26.21,28.83
$GC,663,-0.27,-170.3,99.0,-11.1,119,670,0.10,2.05,0.00,0.000,6,0.135,0.019,2183,2435,3680,0,0,0,0,0,0,26.15,26.35,28.83
$GC,854,-0.27,-170.3,112.1,-6.1,156,861,0.00,2.15,0.00,0.000,4,0.000,0.024,2183,1029,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,884,-0.29,-170.3,114.0,-5.9,161,891,0.00,2.40,0.00,0.000,6,0.000,0.030,2183,2524,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1075,-0.30,-170.3,126.8,-8.8,198,1083,0.00,2.00,0.00,0.000,4,0.000,0.040,2173,3831,3680,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1101,-0.31,-170.3,129.1,-8.6,202,1109,0.00,2.05,0.00,0.000,6,0.000,0.018,2173,2424,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1294,-0.31,-170.3,147.8,-10.1,239,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2424,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-0.32,-170.3,163.7,-7.3,276,1491,0.00,2.12,0.00,0.000,4,0.000,0.024,2173,1033,3679,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1526,-0.36,-170.3,166.7,-6.8,283,1532,0.00,2.38,0.00,0.000,6,0.000,0.030,2165,2516,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1717,-0.36,-170.3,182.1,-9.4,320,1724,0.00,2.03,0.00,0.000,4,0.000,0.040,2155,3845,3679,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1752,-0.37,-170.3,185.0,-7.9,326,1760,0.00,2.05,0.00,0.000,6,0.000,0.018,2155,2434,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1944,-0.36,-170.3,202.5,-9.6,361,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2433,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2245,-0.36,-170.3,228.2,-8.2,391,2254,0.00,2.20,0.00,0.000,4,0.000,0.040,2146,3814,3679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2288,-0.37,-170.3,231.6,-7.9,395,2296,0.00,2.00,0.00,0.000,6,0.000,0.020,2146,2435,3679,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2597,-0.37,-170.3,259.8,-8.9,426,2607,0.00,2.15,0.00,0.000,4,0.000,0.024,2146,1018,3679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2640,-0.37,-170.3,263.4,-8.4,430,2650,0.00,2.38,0.00,0.000,6,0.000,0.031,2137,2518,3679,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2950,-0.36,-170.3,295.2,-10.5,461,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2517,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.35,-170.3,326.3,-10.1,491,3262,0.00,2.30,0.00,0.000,4,0.000,0.024,2137,1030,3677,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3306,-0.37,-170.3,331.5,-9.0,496,3315,0.00,2.35,0.00,0.000,6,0.000,0.031,2129,2501,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3619,-0.36,-170.3,362.8,-9.6,527,3628,0.00,2.00,0.00,0.000,4,0.000,0.040,2119,3831,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3633,-0.35,-170.3,364.0,-9.7,528,3641,0.15,2.08,0.00,0.000,6,0.116,0.019,2166,2401,3675,0,0,0,0,0,0,26.29,26.58,28.83
$GC,3943,-0.38,-170.3,384.9,-6.1,559,3952,0.00,2.25,0.00,0.000,4,0.000,0.040,2157,3822,3674,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3979,-0.42,-170.3,386.8,-6.0,562,3987,0.00,2.05,0.00,0.000,6,0.000,0.019,2157,2404,3674,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4286,-0.49,-170.3,410.3,-8.5,593,4296,0.12,2.25,0.00,0.000,4,0.102,0.037,2097,3820,3672,0,0,0,0,0,0,26.56,26.41,28.83
$GC,4340,-0.56,-170.3,414.7,-8.1,598,4349,0.00,2.03,0.00,0.000,6,0.000,0.018,2097,2399,3672,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4650,-0.57,-170.3,439.7,-8.1,629,4654,0.00,2.05,0.00,0.000,4,0.000,0.025,2097,1039,3671,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4723,-0.57,-170.3,445.9,-9.0,636,4733,0.00,2.47,0.00,0.000,6,0.000,0.032,2086,2583,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5032,-0.55,-170.3,482.1,-11.9,667,5041,0.00,2.42,0.00,0.000,4,0.000,0.024,2086,1032,3669,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5134,-0.55,-170.3,493.0,-10.0,677,5143,0.00,2.42,0.00,0.000,6,0.000,0.032,2075,2560,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5444,-0.52,-170.3,531.6,-12.3,708,5446,0.12,0.00,0.00,0.000,6,0.149,0.000,2111,2559,3667,0,0,0,0,0,0,26.41,28.83,28.83
$GC,5744,-0.52,-170.3,556.1,-7.6,738,5753,0.00,2.38,0.00,0.000,4,0.000,0.027,2112,1049,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5791,-0.53,-170.3,559.1,-7.1,742,5798,0.00,2.45,0.00,0.000,6,0.000,0.034,2101,2567,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6098,-0.52,-170.3,581.6,-7.0,773,6107,0.00,2.40,0.00,0.000,4,0.000,0.025,2102,1041,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6131,-0.52,-170.3,584.0,-7.4,776,6141,0.00,2.42,0.00,0.000,6,0.000,0.035,2099,2553,3664,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6452,-0.51,-170.3,608.4,-7.8,803,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2553,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,-0.51,-170.3,635.2,-9.7,818,6757,0.00,2.38,0.00,0.000,4,0.000,0.026,2099,1034,3659,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6811,-0.51,-170.3,641.1,-9.9,821,6816,0.00,2.42,0.00,0.000,6,0.000,0.036,2091,2538,3659,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7132,-0.50,-170.3,673.6,-10.0,837,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2537,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7430,-0.49,-170.3,702.3,-9.3,852,7436,0.00,2.35,0.00,0.000,4,0.000,0.027,2091,1021,3654,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7498,-0.49,-170.3,707.6,-9.0,855,7502,0.00,2.45,0.00,0.000,6,0.000,0.037,2085,2541,3654,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7805,-0.48,-170.3,736.3,-9.1,870,7811,0.12,2.35,0.00,0.000,4,0.145,0.025,2135,1046,3652,0,0,0,0,0,0,26.35,26.40,28.83
$GC,7868,-0.50,-170.3,740.2,-7.1,873,7873,0.00,2.35,0.00,0.000,6,0.000,0.034,2134,2525,3652,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8190,-0.58,-170.3,759.4,-6.5,889,8196,0.12,2.00,0.00,0.000,4,0.109,0.043,2080,3821,3649,0,0,0,0,0,0,26.50,26.29,28.83
$GC,8270,-0.64,-170.3,764.3,-6.0,893,8275,0.00,1.98,0.00,0.000,6,0.000,0.021,2080,2436,3648,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8592,-0.66,-170.3,781.7,-5.5,909,8597,0.00,2.20,0.00,0.000,4,0.000,0.046,2071,3815,3646,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8611,-0.69,-170.3,783.0,-5.6,910,8617,0.00,2.15,0.00,0.000,6,0.000,0.024,2071,2380,3646,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8932,-0.67,-170.3,809.6,-9.1,926,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2379,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,-0.66,-170.3,840.2,-10.7,941,9236,0.00,2.33,0.00,0.000,4,0.000,0.046,2060,3820,3642,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9293,-0.64,-170.3,846.8,-10.9,944,9297,0.00,2.15,0.00,0.000,6,0.000,0.024,2060,2393,3642,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9607,-0.62,-170.3,881.5,-11.1,960,9612,0.00,2.33,0.00,0.000,4,0.000,0.047,2048,3814,3640,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9648,-0.60,-170.3,886.2,-11.6,962,9653,0.12,2.15,0.00,0.000,6,0.134,0.024,2085,2396,3640,0,0,0,0,0,0,26.15,26.44,28.83
$GC,9964,-0.59,-170.3,914.7,-8.9,978,9969,0.00,2.28,0.00,0.000,4,0.000,0.044,2074,3819,3638,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10002,-0.59,-170.3,918.5,-9.0,980,10007,0.00,2.12,0.00,0.000,6,0.000,0.021,2074,2404,3638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10322,-0.58,-170.3,949.3,-9.8,996,10328,0.00,2.28,0.00,0.000,4,0.000,0.046,2064,3812,3636,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10365,-0.57,-170.3,953.4,-9.9,998,10369,0.00,2.10,0.00,0.000,6,0.000,0.023,2064,2414,3636,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10683,-0.56,-170.3,986.0,-10.1,1014,10685,0.10,0.00,0.00,0.000,6,0.145,0.000,2093,2413,3635,0,0,0,0,0,0,26.46,28.83,28.83
$STATE,10740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10740,begin apogee
$GC,10747,-0.20,0.0,990.8,-8.5,1017,10911,0.32,0.08,157.73,1.181,4,0.097,0.092,2208,2498,2979,0,0,0,0,0,0,26.09,24.76,23.96
$STATE,10912,end apogee,CONTROL_FINISHED_OK
$STATE,10912,begin climb
$GC,10914,0.55,170.3,997.2,0.0,1025,11097,0.62,2.28,171.32,1.171,4,0.036,0.045,2464,3823,2280,0,0,0,0,0,0,24.99,24.95,23.66
$GC,11326,0.46,170.3,919.9,23.7,1046,11332,0.15,2.05,0.00,0.000,6,0.177,0.024,2430,2495,2252,0,0,0,0,0,0,25.29,25.69,28.83
$GC,11647,0.41,170.3,866.4,16.4,1062,11653,0.00,2.28,0.00,0.000,4,0.000,0.031,2442,1079,2247,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,19930,end climb,SURFACE_DEPTH_REACHED
$STATE,19931,begin surface coast
$FINISH,-0.1,1.022381
$STATE,19947,end surface coast,CONTROL_FINISHED_OK
$STATE,19947,begin surface
$SM_CCo,19963,9.52,0.129,0,0,1142,450.13
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$IRIDIUM_FIX,2316.83,12406.81,140512,161601
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.74
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.7,25.616
$10V_AH,10.2,14.868
$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
$DEVICE_SECS,17.600,204.100,539.325,9.525,0.000,27.189,42.963,280.454,0.000,0.000,12.998,4826.762,10525.815,765.649,3812.174,512.947,0.000,2589.330,0.000,3274.801,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,120393,1924
$CAP_FILE_SIZE,238049,0
$CFSIZE,260165632,208977920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.174,331.9,1
$GPS,150512,040607,2321.292,12408.197,40,1.0,40,-3.3