version: 66.10
glider: 169
mission: 6
dive: 142
start: 5 18 112 8 30 0
data:
$ID,169
$MISSION,6
$DIVE,142
$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,-15517.468
$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
$GPS1,180512,082137,2256.998,12407.808,36,0.9,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.5
$GPS2,180512,082937,2256.952,12407.798,10,1.1,15,-3.2
$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,178.5,161596,-13.5,-7.857
$D_GRID,5559
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.55,-170.3,0.0,0.0,0,112,0.00,0.00,-92.18,0.000,2,0.000,0.000,133,2523,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.55,-170.3,4.3,-11.5,16,136,7.80,2.45,-5.35,0.000,4,0.229,0.034,2101,1015,3677,0,0,0,0,0,0,25.32,26.06,26.35
$GC,366,-0.50,-170.3,66.9,-17.0,64,373,0.00,2.47,0.00,0.000,6,0.000,0.034,2089,2519,3680,0,0,0,0,0,0,28.83,26.10,28.83
$GC,559,-0.44,-170.3,109.9,-21.1,101,567,0.12,2.38,0.00,0.000,4,0.171,0.024,2138,1033,3681,0,0,0,0,0,0,26.01,26.22,28.83
$GC,620,-0.43,-170.3,119.9,-11.7,112,627,0.00,2.42,0.00,0.000,6,0.000,0.032,2126,2510,3681,0,0,0,0,0,0,28.83,26.20,28.83
$GC,811,-0.39,-170.3,148.9,-15.2,149,818,0.00,2.03,0.00,0.000,4,0.000,0.041,2116,3826,3681,0,0,0,0,0,0,28.83,26.21,28.83
$GC,852,-0.37,-170.3,154.9,-14.6,156,861,0.12,2.05,0.00,0.000,6,0.134,0.020,2155,2439,3681,0,0,0,0,0,0,26.10,26.36,28.83
$GC,1045,-0.36,-170.3,176.3,-10.2,193,1052,0.00,2.20,0.00,0.000,4,0.000,0.027,2155,1040,3681,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1086,-0.37,-170.3,180.2,-8.8,200,1093,0.00,2.40,0.00,0.000,6,0.000,0.032,2150,2510,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1277,-0.36,-170.3,199.4,-10.4,237,1284,0.00,2.00,0.00,0.000,4,0.000,0.042,2140,3820,3681,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1304,-0.35,-170.3,202.1,-10.9,240,1312,0.00,2.00,0.00,0.000,6,0.000,0.019,2141,2436,3681,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1613,-0.33,-170.3,231.6,-10.3,271,1622,0.00,2.17,0.00,0.000,4,0.000,0.026,2141,1042,3681,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1669,-0.34,-170.3,236.3,-8.4,276,1676,0.00,2.35,0.00,0.000,6,0.000,0.032,2137,2491,3681,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1976,-0.32,-170.3,269.6,-11.7,307,1986,0.12,2.28,0.00,0.000,4,0.148,0.023,2181,1034,3681,0,0,0,0,0,0,26.32,26.41,28.83
$GC,2000,-0.32,-170.3,271.9,-11.1,309,2009,0.00,2.33,0.00,0.000,6,0.000,0.031,2179,2475,3681,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2311,-0.35,-170.3,289.3,-5.1,340,2319,0.00,2.08,0.00,0.000,4,0.000,0.041,2170,3820,3679,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2346,-0.39,-170.3,290.9,-4.8,343,2355,0.00,2.03,0.00,0.000,6,0.000,0.018,2171,2416,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2653,-0.47,-170.3,313.5,-8.8,374,2663,0.12,2.22,0.00,0.000,4,0.114,0.037,2117,3818,3677,0,0,0,0,0,0,26.47,26.35,28.83
$GC,2697,-0.55,-170.3,317.3,-8.8,378,2708,0.00,2.00,0.00,0.000,6,0.000,0.019,2122,2433,3677,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3008,-0.60,-170.3,339.0,-6.5,409,3018,0.12,2.17,0.00,0.000,4,0.093,0.024,2044,1040,3676,0,0,0,0,0,0,26.57,26.44,28.83
$GC,3241,-0.56,-170.3,372.4,-15.6,432,3253,0.17,2.30,0.00,0.000,6,0.131,0.033,2093,2462,3675,0,0,0,0,0,0,26.13,26.39,28.83
$GC,3552,-0.53,-170.3,412.2,-11.7,463,3560,0.00,2.20,0.00,0.000,4,0.000,0.025,2094,1047,3674,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3604,-0.52,-170.3,417.9,-10.8,468,3612,0.00,2.28,0.00,0.000,6,0.000,0.034,2085,2464,3674,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3914,-0.49,-170.3,457.4,-13.5,499,3923,0.12,2.12,0.00,0.000,4,0.153,0.042,2117,3833,3672,0,0,0,0,0,0,26.32,26.32,28.83
$GC,3956,-0.48,-170.3,462.1,-11.4,503,3965,0.00,2.12,0.00,0.000,6,0.000,0.021,2116,2405,3673,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4267,-0.48,-170.3,492.1,-9.5,534,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2405,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.48,-170.3,519.8,-8.8,564,4579,0.00,2.25,0.00,0.000,4,0.000,0.044,2105,3811,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4611,-0.48,-170.3,523.9,-8.9,568,4620,0.00,2.08,0.00,0.000,6,0.000,0.021,2106,2407,3669,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4923,-0.47,-170.3,552.0,-9.0,599,4932,0.00,2.10,0.00,0.000,4,0.000,0.028,2106,1037,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4955,-0.47,-170.3,554.9,-8.9,602,4964,0.00,2.30,0.00,0.000,6,0.000,0.034,2099,2465,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5265,-0.46,-170.3,583.7,-9.3,633,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2464,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5578,-0.45,-170.3,611.1,-8.6,658,5584,0.10,2.22,0.00,0.000,4,0.162,0.027,2128,1050,3663,0,0,0,0,0,0,26.45,26.39,28.83
$GC,5610,-0.44,-170.3,613.0,-8.5,659,5617,0.00,2.33,0.00,0.000,6,0.000,0.037,2125,2468,3663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5919,-0.45,-170.3,633.8,-6.8,675,5923,0.00,2.12,0.00,0.000,4,0.000,0.047,2115,3816,3660,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5954,-0.46,-170.3,635.5,-6.8,676,5961,0.00,2.08,0.00,0.000,6,0.000,0.021,2115,2411,3660,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6261,-0.46,-170.3,660.1,-7.9,692,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2411,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6562,-0.47,-170.3,680.6,-6.4,707,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2411,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6862,-0.48,-170.3,698.8,-6.2,722,6867,0.00,2.30,0.00,0.000,4,0.000,0.045,2106,3819,3654,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6884,-0.48,-170.3,700.0,-6.3,723,6888,0.00,2.10,0.00,0.000,6,0.000,0.022,2106,2411,3653,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7196,-0.48,-170.3,724.3,-8.1,739,7202,0.00,2.28,0.00,0.000,4,0.000,0.045,2098,3820,3652,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7224,-0.48,-170.3,725.9,-8.2,740,7228,0.00,2.05,0.00,0.000,6,0.000,0.022,2098,2427,3652,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7532,-0.48,-170.3,752.8,-8.5,755,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2426,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7832,-0.48,-170.3,776.8,-7.8,770,7837,0.00,2.20,0.00,0.000,4,0.000,0.030,2098,1039,3648,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7854,-0.48,-170.3,778.4,-7.9,771,7858,0.00,2.38,0.00,0.000,6,0.000,0.036,2091,2479,3648,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8167,-0.48,-170.3,804.1,-8.1,787,8173,0.00,2.10,0.00,0.000,4,0.000,0.045,2081,3816,3646,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8189,-0.47,-170.3,805.7,-8.1,788,8194,0.15,2.05,0.00,0.000,6,0.116,0.022,2128,2420,3646,0,0,0,0,0,0,26.15,26.44,28.83
$GC,8506,-0.49,-170.3,823.2,-5.2,804,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2419,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8803,-0.51,-170.3,837.3,-4.6,819,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2419,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,-0.53,-170.3,850.2,-4.3,834,9109,0.00,2.28,0.00,0.000,4,0.000,0.047,2123,3810,3641,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9146,-0.56,-170.3,852.2,-4.5,836,9150,0.00,2.05,0.00,0.000,6,0.000,0.021,2123,2414,3641,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9460,-0.61,-170.3,869.0,-5.3,852,9466,0.12,2.15,0.00,0.000,4,0.079,0.027,2046,1041,3639,0,0,0,0,0,0,26.58,26.29,28.83
$GC,9514,-0.63,-170.3,871.9,-6.1,854,9521,0.12,2.55,0.00,0.000,6,0.133,0.037,2073,2562,3639,0,0,0,0,0,0,26.01,26.17,28.83
$GC,9820,-0.61,-170.3,899.0,-8.5,870,9826,0.00,2.47,0.00,0.000,4,0.000,0.029,2083,1044,3637,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9861,-0.61,-170.3,902.3,-8.4,872,9866,0.00,2.47,0.00,0.000,6,0.000,0.037,2072,2539,3638,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10180,-0.59,-170.3,930.7,-9.1,888,10185,0.00,2.42,0.00,0.000,4,0.000,0.031,2077,1048,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10220,-0.58,-170.3,934.3,-9.1,890,10226,0.00,2.50,0.00,0.000,6,0.000,0.037,2067,2544,3636,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10541,-0.56,-170.3,964.1,-9.2,906,10547,0.00,2.42,0.00,0.000,4,0.000,0.028,2068,1048,3635,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10622,-0.55,-170.3,971.3,-9.0,910,10627,0.12,2.47,0.00,0.000,6,0.125,0.037,2097,2531,3635,0,0,0,0,0,0,26.00,26.15,28.83
$STATE,10893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10893,begin apogee
$GC,10900,-0.20,0.0,990.8,-7.1,924,11067,0.32,0.00,159.98,1.168,4,0.100,0.000,2213,2530,2973,0,0,0,0,0,0,26.01,28.83,23.90
$STATE,11068,end apogee,CONTROL_FINISHED_OK
$STATE,11068,begin climb
$GC,11072,0.55,170.3,997.1,0.0,932,11258,0.62,0.00,173.52,1.168,6,0.037,0.000,2474,2529,2269,0,0,0,0,0,0,24.95,28.83,23.46
$GC,11556,0.47,170.3,913.4,20.4,957,11562,0.15,2.05,0.00,0.000,4,0.188,0.041,2428,3819,2250,0,0,0,0,0,0,25.39,25.66,28.83
$GC,11777,0.41,170.3,872.3,17.9,968,11783,0.08,1.98,0.00,0.000,6,0.174,0.024,2415,2525,2247,0,0,0,0,0,0,25.63,25.94,28.83
$GC,12099,0.37,170.3,824.5,14.8,984,12103,0.00,2.10,0.00,0.000,4,0.000,0.044,2415,3819,2245,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12169,0.33,170.3,813.8,16.2,987,12173,0.15,1.90,0.00,0.000,6,0.169,0.023,2384,2531,2244,0,0,0,0,0,0,25.72,26.11,28.83
$GC,12479,0.31,170.3,775.5,11.2,1002,12484,0.00,2.03,0.00,0.000,4,0.000,0.046,2384,3822,2243,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,14541,0.30,216.3,584.1,7.5,1115,14551,0.00,2.00,4.47,0.766,4,0.000,0.045,2363,3827,2097,0,0,1,0,0,0,28.83,25.99,24.90
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$STATE,19415,end climb,SURFACE_DEPTH_REACHED
$STATE,19415,begin surface coast
$FINISH,-0.2,1.022456
$STATE,19444,end surface coast,CONTROL_FINISHED_OK
$STATE,19444,begin surface
$SM_CCo,19522,0.00,0.000,0,0,1049,473.67
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$IRIDIUM_FIX,2246.36,12409.30,180512,020230
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.5,28.176
$10V_AH,10.2,16.796
$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,18.150,202.725,614.225,0.000,0.000,26.744,19.010,267.522,0.000,0.000,16.685,4366.354,10859.022,769.856,3480.583,483.613,0.000,2476.705,0.000,2970.912,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,47.430,1168.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1177.741,2241.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330484
$DATA_FILE_SIZE,106884,1733
$CAP_FILE_SIZE,227719,0
$CFSIZE,260165632,207343616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.145,328.4,1
$GPS,180512,135631,2254.843,12407.644,41,1.0,41,-3.2