version: 66.10
glider: 169
mission: 6
dive: 9
start: 4 21 112 0 0 20
data:
$ID,169
$MISSION,6
$DIVE,9
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,380
$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,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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-14336.594
$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,2050
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2500
$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,0
$ROLL_ADJ_DBAND,0
$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,3
$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
$GPS1,200412,235306,2208.013,12106.988,34,1.1,35,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-73.0
$GPS2,200412,235956,2208.169,12107.051,14,1.7,14,-2.8
$SPEED_LIMITS,0.159,0.271
$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,10.6,107535,-15.6,-9.167
$D_GRID,1242
$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,-0.60,-170.3,0.0,0.0,0,90,0.00,0.00,-71.32,0.000,2,0.000,0.000,121,2039,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.60,-170.3,4.3,-13.3,12,116,6.80,1.85,-7.35,0.000,4,0.232,0.039,1854,753,3676,0,0,0,0,0,0,25.72,26.15,26.39
$GC,239,-0.57,-170.3,51.7,-20.0,38,246,0.00,2.33,0.00,0.000,6,0.000,0.041,1843,2271,3677,0,0,0,0,0,0,28.83,26.17,28.83
$GC,439,-0.39,-170.3,114.1,-34.6,75,445,0.25,0.00,0.00,0.000,6,0.174,0.000,1917,2271,3678,0,0,0,0,0,0,26.06,28.83,28.83
$GC,636,-0.41,-170.3,138.3,-10.6,112,645,0.00,2.22,0.00,0.000,4,0.000,0.045,1906,3687,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,732,-0.46,-170.3,147.3,-8.1,129,738,0.00,2.20,0.00,0.000,6,0.000,0.024,1906,2200,3679,0,0,0,0,0,0,28.83,26.44,28.83
$GC,930,-0.49,-170.3,165.0,-8.6,166,937,0.00,2.38,0.00,0.000,4,0.000,0.045,1895,3698,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,961,-0.52,-170.3,167.7,-9.0,171,968,0.00,2.25,0.00,0.000,6,0.000,0.023,1895,2192,3680,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1157,-0.55,-170.3,186.5,-9.7,208,1166,0.00,2.38,0.00,0.000,4,0.000,0.045,1884,3694,3680,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1246,-0.59,-170.3,194.4,-8.1,224,1255,0.00,2.22,0.00,0.000,6,0.000,0.024,1884,2194,3680,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1448,-0.61,-170.3,208.8,-6.7,250,1457,0.00,2.35,0.00,0.000,4,0.000,0.046,1873,3682,3680,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1501,-0.64,-170.3,212.9,-7.7,255,1510,0.00,2.17,0.00,0.000,6,0.000,0.024,1873,2201,3680,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1813,-0.66,-170.3,236.8,-6.7,286,1822,0.10,2.35,0.00,0.000,4,0.092,0.044,1792,3683,3680,0,0,0,0,0,0,26.65,26.52,28.83
$GC,1908,-0.61,-170.3,249.3,-14.2,295,1917,0.15,2.17,0.00,0.000,6,0.116,0.026,1847,2213,3680,0,0,0,0,0,0,26.40,26.58,28.83
$GC,2218,-0.59,-170.3,287.1,-12.2,326,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2212,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.59,-170.3,319.5,-9.8,357,2540,0.00,2.35,0.00,0.000,4,0.000,0.047,1836,3683,3679,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2657,-0.59,-170.3,332.1,-9.7,369,2667,0.00,2.22,0.00,0.000,6,0.000,0.026,1836,2200,3679,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2965,-0.58,-170.3,367.7,-12.1,400,2974,0.00,2.35,0.00,0.000,4,0.000,0.048,1824,3689,3677,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3039,-0.57,-170.3,376.8,-12.4,407,3048,0.10,2.17,0.00,0.000,6,0.108,0.027,1864,2210,3676,0,0,0,0,0,0,26.48,26.63,28.83
$GC,3350,-0.59,-170.3,407.1,-8.8,438,3359,0.00,2.33,0.00,0.000,4,0.000,0.050,1852,3676,3675,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3426,-0.62,-170.3,414.0,-9.5,445,3435,0.00,2.20,0.00,0.000,6,0.000,0.028,1852,2211,3674,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3734,-0.64,-170.3,443.7,-9.0,476,3743,0.00,2.35,0.00,0.000,4,0.000,0.051,1842,3683,3672,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3861,-0.66,-170.3,455.2,-8.7,488,3869,0.00,2.17,0.00,0.000,6,0.000,0.027,1842,2210,3672,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4169,-0.66,-170.3,483.5,-9.0,519,4178,0.00,2.38,0.00,0.000,4,0.000,0.052,1831,3694,3669,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4263,-0.67,-170.3,492.2,-9.2,528,4272,0.00,2.22,0.00,0.000,6,0.000,0.028,1831,2205,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4573,-0.67,-170.3,520.8,-8.6,559,4581,0.00,2.38,0.00,0.000,4,0.000,0.050,1821,3686,3667,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4689,-0.67,-170.3,531.1,-9.1,570,4696,0.00,2.25,0.00,0.000,6,0.000,0.028,1821,2199,3666,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4997,-0.65,-170.3,563.0,-10.9,601,5008,0.00,2.35,0.00,0.000,4,0.000,0.051,1810,3685,3664,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5082,-0.64,-170.3,573.3,-11.9,609,5094,0.12,2.22,0.00,0.000,6,0.138,0.029,1848,2206,3665,0,0,0,0,0,0,26.48,26.64,28.83
$GC,5392,-0.66,-170.3,602.0,-8.8,639,5398,0.00,2.35,0.00,0.000,4,0.000,0.051,1836,3687,3663,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5486,-0.68,-170.3,609.0,-8.7,643,5493,0.00,2.22,0.00,0.000,6,0.000,0.028,1836,2209,3662,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5793,-0.68,-170.3,635.1,-8.4,659,5799,0.00,2.35,0.00,0.000,4,0.000,0.054,1825,3673,3660,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5901,-0.68,-170.3,643.9,-8.8,664,5905,0.00,2.20,0.00,0.000,6,0.000,0.030,1826,2213,3659,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6209,-0.68,-170.3,675.2,-10.5,679,6214,0.00,2.35,0.00,0.000,4,0.000,0.052,1816,3690,3658,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6297,-0.68,-170.3,684.0,-10.9,683,6301,0.00,2.22,0.00,0.000,6,0.000,0.029,1815,2211,3657,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6606,-0.67,-170.3,718.8,-10.7,698,6612,0.00,2.35,0.00,0.000,4,0.000,0.054,1806,3684,3656,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6730,-0.67,-170.3,732.2,-10.9,704,6734,0.00,2.25,0.00,0.000,6,0.000,0.030,1806,2210,3654,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7042,-0.64,-170.3,767.1,-11.1,720,7049,0.12,2.38,0.00,0.000,4,0.142,0.054,1839,3687,3654,0,0,0,0,0,0,26.52,26.53,28.83
$GC,7126,-0.67,-170.3,773.8,-8.1,724,7131,0.00,2.20,0.00,0.000,6,0.000,0.029,1838,2214,3653,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7445,-0.69,-170.3,799.0,-7.5,740,7450,0.00,2.35,0.00,0.000,4,0.000,0.054,1829,3679,3652,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7546,-0.71,-170.3,807.0,-8.0,745,7551,0.00,2.20,0.00,0.000,6,0.000,0.030,1829,2210,3652,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7865,-0.71,-170.3,832.9,-8.2,761,7870,0.00,2.35,0.00,0.000,4,0.000,0.055,1819,3679,3650,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7979,-0.71,-170.3,841.3,-8.5,766,7986,0.00,2.25,0.00,0.000,6,0.000,0.032,1820,2208,3650,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8287,-0.71,-170.3,867.7,-8.2,782,8293,0.00,2.38,0.00,0.000,4,0.000,0.055,1809,3684,3649,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8396,-0.71,-170.3,876.2,-8.5,787,8400,0.00,2.22,0.00,0.000,6,0.000,0.031,1809,2213,3648,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8704,-0.69,-170.3,903.8,-8.5,802,8709,0.00,2.35,0.00,0.000,4,0.000,0.054,1798,3679,3647,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8828,-0.68,-170.3,914.2,-8.4,808,8835,0.10,2.25,0.00,0.000,6,0.148,0.032,1833,2205,3647,0,0,0,0,0,0,26.43,26.60,28.83
$GC,9145,-0.70,-170.3,934.0,-5.9,824,9151,0.00,2.35,0.00,0.000,4,0.000,0.054,1822,3674,3646,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9246,-0.72,-170.3,940.5,-6.4,829,9251,0.00,2.20,0.00,0.000,6,0.000,0.031,1821,2212,3645,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9565,-0.72,-170.3,962.9,-7.3,845,9570,0.00,2.38,0.00,0.000,4,0.000,0.056,1813,3678,3644,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9668,-0.72,-170.3,970.6,-7.7,850,9673,0.00,2.22,0.00,0.000,6,0.000,0.032,1812,2218,3644,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9923,begin apogee
$GC,9929,-0.20,0.0,991.5,-7.9,863,10153,0.47,0.05,212.27,0.982,6,0.106,0.056,1980,2469,2976,0,0,0,0,1,0,26.37,24.52,23.69
$STATE,10154,end apogee,CONTROL_FINISHED_OK
$STATE,10154,begin climb
$GC,10156,0.60,170.3,996.4,0.0,874,10331,0.70,2.33,160.30,1.448,4,0.030,0.048,2275,3813,2287,0,0,0,0,1,0,24.87,24.39,23.35
$GC,10426,0.36,170.3,946.4,30.8,888,10433,0.40,2.10,1.88,0.164,6,0.196,0.030,2176,2469,2282,0,0,0,0,0,0,25.12,25.32,25.16
$GC,10744,0.26,170.3,889.9,16.5,904,10750,0.12,2.17,0.00,0.000,4,0.187,0.050,2140,3811,2290,0,0,0,0,0,0,25.72,25.84,28.83
$GC,10832,0.18,170.3,876.9,15.7,908,10836,0.15,2.05,0.00,0.000,6,0.173,0.030,2112,2465,2289,0,0,0,0,0,0,25.77,25.97,28.83
$GC,11139,0.16,170.3,845.8,9.4,923,11145,0.00,2.15,0.00,0.000,4,0.000,0.051,2112,3817,2289,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11254,0.12,170.3,834.5,11.3,928,11261,0.12,2.05,0.00,0.000,6,0.173,0.029,2091,2467,2289,0,0,0,0,0,0,25.97,26.18,28.83
$GC,11561,0.21,245.9,812.2,6.4,944,11642,0.00,2.30,70.20,1.290,4,0.000,0.052,2090,3806,1980,0,0,0,0,1,0,28.83,24.82,23.80
$GC,11686,0.30,308.0,804.0,6.9,950,11765,0.15,2.10,60.15,1.243,6,0.065,0.030,2177,2468,1722,0,0,0,0,1,0,25.34,25.32,23.63
$GC,12063,0.26,308.0,745.2,16.4,969,12065,0.15,0.00,0.00,0.000,6,0.164,0.000,2137,2468,1726,0,0,0,0,0,0,25.68,28.83,28.83
$GC,12362,0.26,308.0,707.5,12.3,984,12366,0.00,2.15,0.00,0.000,4,0.000,0.051,2137,3811,1726,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12406,0.26,308.0,701.9,12.7,986,12412,0.00,2.05,0.00,0.000,6,0.000,0.031,2147,2470,1725,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12727,0.26,308.0,658.0,13.6,1002,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2469,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13024,0.26,308.0,617.9,12.6,1017,13030,0.00,2.15,0.00,0.000,4,0.000,0.052,2148,3824,1725,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,18030,end climb,SURFACE_DEPTH_REACHED
$STATE,18030,begin surface coast
$FINISH,-0.1,1.021670
$STATE,18047,end surface coast,CONTROL_FINISHED_OK
$STATE,18047,begin surface
$SM_CCo,18125,0.00,0.000,0,0,1213,433.20
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$IRIDIUM_FIX,2159.71,12105.81,200412,202005
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.10
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.4,1.394
$10V_AH,10.3,0.947
$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,16.325,195.825,627.925,0.000,0.000,30.968,37.845,208.912,0.000,0.000,15.342,4428.304,9384.971,819.455,3464.714,415.212,0.000,2523.189,0.000,3011.641,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,55.845,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.236,2089.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,103548,1644
$CAP_FILE_SIZE,208868,0
$CFSIZE,260165632,220991488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.121,188.5,1
$GPS,210412,050331,2210.928,12108.346,38,1.8,38,-2.8