version: 66.10
glider: 169
mission: 6
dive: 516
start: 8 8 112 14 12 10
data:
$ID,169
$MISSION,6
$DIVE,516
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,145
$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,200
$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,-18667.209
$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,2235
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,080812,140129,2253.098,12207.002,38,1.2,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.3
$GPS2,080812,141145,2253.386,12207.074,12,4.8,31,-3.0
$SPEED_LIMITS,0.173,0.296
$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,243.1,72766,-15.7,-10.000
$D_GRID,4948
$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,-0.63,-194.6,0.0,0.0,0,100,0.00,0.00,-80.50,0.000,2,0.000,0.000,117,2392,2981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.63,-194.6,3.2,-5.6,12,137,8.05,2.53,-15.75,0.000,4,0.232,0.037,2033,930,3776,0,0,0,0,0,0,24.87,25.99,26.55
$GC,166,-0.58,-194.6,21.9,-20.9,22,176,0.00,2.55,0.00,0.000,6,0.000,0.029,2020,2427,3776,0,0,0,0,0,0,28.83,25.93,28.83
$GC,308,-0.50,-194.6,53.2,-22.6,47,316,0.15,2.28,0.00,0.000,4,0.173,0.039,2053,3837,3776,0,0,0,0,0,0,25.84,25.82,28.83
$GC,365,-0.46,-194.6,66.0,-19.6,57,372,0.10,2.22,0.00,0.000,6,0.164,0.018,2080,2362,3776,0,0,0,0,0,0,25.86,26.20,28.83
$GC,504,-0.42,-194.6,84.6,-12.6,82,513,0.00,2.38,0.00,0.000,4,0.000,0.023,2081,921,3776,0,0,0,0,0,0,28.83,26.06,28.83
$GC,562,-0.40,-194.6,91.7,-10.8,92,569,0.12,2.45,0.00,0.000,6,0.136,0.027,2105,2385,3776,0,0,0,0,0,0,25.76,26.01,28.83
$GC,702,-0.43,-194.6,104.6,-9.2,117,708,0.00,2.35,0.00,0.000,4,0.000,0.037,2095,3844,3776,0,0,0,0,0,0,28.83,25.89,28.83
$GC,779,-0.43,-194.6,112.6,-10.5,131,786,0.00,2.12,0.00,0.000,6,0.000,0.018,2095,2404,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,917,-0.45,-194.6,125.9,-9.3,156,924,0.00,2.33,0.00,0.000,4,0.000,0.037,2085,3830,3777,0,0,0,0,0,0,28.83,25.89,28.83
$GC,978,-0.44,-194.6,132.3,-10.5,167,987,0.00,1.80,0.00,0.000,6,0.000,0.017,2089,2508,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1117,-0.45,-194.6,144.6,-8.2,192,1124,0.00,2.72,0.00,0.000,4,0.000,0.021,2088,915,3777,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1191,-0.46,-194.6,151.3,-8.4,205,1198,0.00,2.83,0.00,0.000,6,0.000,0.026,2076,2533,3777,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1328,-0.47,-194.6,162.6,-8.3,230,1335,0.00,2.78,0.00,0.000,4,0.000,0.020,2076,916,3777,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1385,-0.47,-194.6,167.9,-9.2,240,1392,0.00,2.55,0.00,0.000,6,0.000,0.026,2065,2439,3777,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1522,-0.46,-194.6,180.4,-9.5,265,1529,0.00,2.22,0.00,0.000,4,0.000,0.037,2053,3835,3777,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1578,-0.44,-194.6,186.6,-10.9,275,1588,0.12,2.17,0.00,0.000,6,0.138,0.017,2089,2368,3777,0,0,0,0,0,0,25.92,26.29,28.83
$GC,1720,-0.46,-194.6,199.1,-9.2,300,1727,0.00,2.40,0.00,0.000,4,0.000,0.036,2081,3836,3777,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1791,-0.46,-194.6,206.5,-9.7,313,1797,0.00,1.88,0.00,0.000,6,0.000,0.016,2084,2491,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1927,-0.47,-194.6,218.8,-8.9,338,1934,0.00,2.65,0.00,0.000,4,0.000,0.021,2084,919,3776,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2008,-0.48,-194.6,226.9,-10.0,353,2015,0.00,2.62,0.00,0.000,6,0.000,0.027,2074,2472,3777,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2147,-0.50,-194.6,239.3,-9.4,378,2154,0.00,2.58,0.00,0.000,4,0.000,0.021,2074,906,3777,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2210,-0.51,-194.6,245.6,-9.9,389,2217,0.00,2.97,0.00,0.000,6,0.000,0.028,2060,2577,3777,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2347,-0.49,-194.6,259.5,-10.8,414,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2575,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.50,-194.6,273.0,-9.6,439,2491,0.00,2.90,0.00,0.000,4,0.000,0.021,2060,914,3776,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2555,-0.49,-194.6,281.0,-11.0,452,2564,0.00,2.90,0.00,0.000,6,0.000,0.028,2046,2550,3776,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2698,-0.47,-194.6,296.6,-11.5,477,2705,0.12,2.85,0.00,0.000,4,0.145,0.019,2091,906,3776,0,0,0,0,0,0,26.13,26.07,28.83
$GC,2755,-0.49,-194.6,302.9,-10.0,487,2762,0.00,2.65,0.00,0.000,6,0.000,0.027,2085,2462,3775,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2892,-0.52,-194.6,314.8,-8.6,512,2899,0.00,2.58,0.00,0.000,4,0.000,0.021,2085,910,3775,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2985,-0.54,-194.6,323.4,-9.2,529,2993,0.00,2.88,0.00,0.000,6,0.000,0.028,2085,2538,3774,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3123,-0.59,-194.6,332.7,-6.3,554,3130,0.12,1.98,0.00,0.000,4,0.076,0.035,1989,3850,3773,0,0,0,0,0,0,26.43,25.90,28.83
$GC,3195,-0.55,-194.6,340.9,-12.5,567,3202,0.22,1.85,0.00,0.000,6,0.135,0.018,2055,2516,3773,0,0,0,0,0,0,25.60,26.28,28.83
$GC,3333,-0.56,-194.6,352.5,-8.1,592,3340,0.00,2.72,0.00,0.000,4,0.000,0.021,2055,917,3772,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3353,-0.57,-194.6,354.6,-9.0,595,3360,0.00,2.67,0.00,0.000,6,0.000,0.026,2043,2483,3772,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,3406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3406,begin apogee
$GC,3414,-0.20,0.0,360.1,-9.5,605,3619,0.35,0.25,196.07,0.722,4,0.093,0.050,2166,2438,2973,0,0,0,0,0,0,25.80,25.37,24.24
$STATE,3620,end apogee,CONTROL_FINISHED_OK
$STATE,3620,begin climb
$GC,3623,0.63,194.6,373.2,0.0,638,3808,0.85,2.33,170.48,0.761,4,0.095,0.038,2440,3850,2171,0,0,0,0,0,0,25.21,25.52,24.19
$GC,3870,0.61,194.6,357.6,10.7,678,3877,0.00,2.33,0.00,0.000,6,0.000,0.020,2452,2369,2157,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4005,0.59,194.6,344.1,10.5,703,4012,0.00,2.38,0.00,0.000,4,0.000,0.027,2464,933,2152,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4114,0.59,194.6,332.5,10.4,723,4121,0.15,2.62,0.00,0.000,6,0.142,0.025,2421,2469,2149,0,0,0,0,0,0,25.67,26.02,28.83
$GC,4251,0.67,245.0,321.0,8.3,748,4306,0.00,2.17,47.83,0.694,4,0.000,0.034,2421,3847,1973,0,0,0,0,0,0,28.83,25.71,24.48
$GC,4539,0.83,312.2,299.9,7.7,801,4609,0.20,2.22,60.85,0.718,6,0.063,0.018,2516,2388,1694,0,0,0,0,0,0,26.03,26.16,24.35
$GC,4739,0.85,328.3,280.9,9.4,836,4761,0.00,2.45,13.82,0.685,4,0.000,0.035,2516,3837,1629,0,0,0,0,0,0,28.83,25.86,24.49
$GC,4849,0.83,328.3,268.4,12.2,855,4856,0.00,2.08,0.00,0.000,6,0.000,0.018,2526,2464,1620,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4988,0.82,328.3,252.9,12.1,880,4995,0.00,2.60,0.00,0.000,4,0.000,0.026,2540,927,1616,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5013,0.81,328.3,249.7,10.7,884,5020,0.15,2.80,0.00,0.000,6,0.142,0.025,2497,2532,1614,0,0,0,0,0,0,25.69,26.03,28.83
$GC,5152,0.85,345.5,236.7,9.4,909,5173,0.00,2.08,15.25,0.669,4,0.000,0.037,2497,3851,1562,0,0,0,0,0,0,28.83,25.96,24.65
$GC,5264,0.85,345.5,225.0,10.6,929,5271,0.00,2.35,0.00,0.000,6,0.000,0.018,2509,2352,1552,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5400,0.89,354.5,212.1,9.7,954,5410,0.00,2.55,2.70,0.383,4,0.000,0.037,2509,3837,1531,0,0,0,0,0,0,28.83,25.98,24.56
$GC,5496,0.89,354.5,201.4,11.4,971,5505,0.00,2.05,0.00,0.000,6,0.000,0.018,2521,2473,1538,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5637,0.89,354.5,186.5,10.3,996,5643,0.00,2.62,0.00,0.000,4,0.000,0.026,2533,928,1537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5720,0.93,367.2,177.9,9.6,1011,5747,0.00,2.60,19.30,0.662,6,0.000,0.024,2533,2464,1473,0,0,0,0,0,0,28.83,26.06,24.63
$GC,5877,0.96,381.1,161.3,9.5,1039,5899,0.00,2.65,11.73,0.638,4,0.000,0.024,2546,933,1417,0,0,0,0,0,0,28.83,26.03,24.63
$GC,5986,1.05,429.8,151.8,8.3,1058,6038,0.00,2.40,45.75,0.643,6,0.000,0.023,2546,2378,1222,0,0,0,0,0,0,28.83,26.06,24.49
$GC,6169,1.11,429.8,133.4,10.7,1090,6177,0.12,2.40,0.00,0.000,4,0.076,0.024,2628,933,1202,0,0,0,0,0,0,26.22,25.96,28.83
$GC,6205,1.13,429.8,129.1,12.6,1096,6212,0.00,2.33,0.00,0.000,6,0.000,0.024,2628,2340,1202,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6341,1.09,429.8,108.9,15.8,1121,6351,0.12,2.42,0.00,0.000,4,0.158,0.034,2590,3832,1202,0,0,0,0,0,0,25.98,25.93,28.83
$GC,6436,1.08,429.8,93.8,14.8,1138,6443,0.00,2.33,0.00,0.000,6,0.000,0.021,2601,2354,1201,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6573,1.07,431.6,78.3,9.9,1163,6580,0.00,2.35,0.00,0.000,4,0.000,0.027,2614,929,1201,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6620,1.10,446.4,73.4,9.5,1171,6641,0.00,2.50,9.95,0.210,6,0.000,0.024,2614,2430,1170,0,0,0,0,0,0,28.83,26.07,24.88
$GC,6770,1.17,480.0,58.5,8.8,1198,6814,0.00,2.35,38.03,0.232,4,0.000,0.035,2614,3842,1026,0,0,0,0,0,0,28.83,25.99,25.11
$GC,6902,1.18,480.0,46.6,10.0,1221,6912,0.00,2.22,2.38,0.153,6,0.000,0.018,2625,2389,1023,0,0,0,0,0,0,28.83,26.17,25.08
$GC,7045,1.28,557.1,33.9,7.3,1246,7114,0.00,2.45,61.50,0.183,4,0.000,0.025,2638,929,710,0,0,0,0,0,0,28.83,26.02,25.25
$GC,7171,1.33,557.1,23.8,10.7,1267,7178,0.00,2.53,1.98,0.154,6,0.000,0.021,2638,2439,704,0,0,0,0,0,0,28.83,26.06,25.23
$GC,7309,1.42,584.1,9.6,9.1,1292,7337,0.12,2.58,17.85,0.135,4,0.081,0.024,2712,927,596,0,0,0,0,0,0,26.34,26.01,25.21
$GC,7373,1.41,584.1,3.4,14.2,1302,7380,0.00,2.38,0.00,0.000,6,0.000,0.022,2712,2360,600,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,7385,end climb,SURFACE_DEPTH_REACHED
$STATE,7385,begin surface coast
$FINISH,0.1,1.021581
$STATE,7413,end surface coast,CONTROL_FINISHED_OK
$STATE,7413,begin surface
$SM_CCo,7490,0.00,0.000,0,0,600,583.57
$SM_GC,0.87,6.47,0.10,0.00,0.024,0.099,0.000,101,2430,600,-6.50,-0.40,583.57,0,0,0,0,0,0
$IRIDIUM_FIX,2241.69,12204.78,080812,101015
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,8.40232
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.2,114.583
$10V_AH,10.0,73.603
$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,17.575,152.050,715.450,0.000,0.000,30.627,43.218,346.443,0.000,0.000,33.010,3208.860,1178.224,894.550,2356.210,425.673,0.000,1985.011,0.000,1872.631,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,99.450,761.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.098,995.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,83545,1309
$CAP_FILE_SIZE,146280,0
$CFSIZE,260165632,156127232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.688, 24.0,1
$GPS,080812,161806,2255.369,12207.763,37,1.8,37,-3.0