version: 66.10
glider: 169
mission: 6
dive: 21
start: 4 22 112 22 13 39
data:
$ID,169
$MISSION,6
$DIVE,21
$N_DIVES,0
$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,-14351.778
$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,2035
$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,2450
$C_ROLL_CLIMB,2550
$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,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,40
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,220412,220400,2232.643,12120.629,39,1.3,44,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-71.9
$GPS2,220412,221315,2232.814,12120.584,12,3.6,31,-2.9
$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,47.9,57715,-15.6,-9.167
$D_GRID,1379
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-170.3,0.0,0.0,0,109,0.00,0.00,-86.97,0.000,2,0.000,0.000,126,2388,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.60,-170.3,3.8,-9.5,15,135,6.70,2.20,-10.93,0.000,4,0.230,0.041,1840,986,3676,0,0,0,0,0,0,25.66,26.03,26.29
$GC,180,-0.40,-170.3,37.1,-41.1,26,190,0.25,2.35,0.00,0.000,6,0.160,0.036,1899,2471,3678,0,0,0,0,0,0,25.84,26.04,28.83
$GC,384,-0.30,-170.3,91.0,-17.9,63,391,0.12,2.28,0.00,0.000,4,0.179,0.028,1947,1001,3679,0,0,0,0,0,0,26.04,26.20,28.83
$GC,420,-0.27,-170.3,97.9,-17.0,69,427,0.00,2.33,0.00,0.000,6,0.000,0.038,1936,2471,3679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,616,-0.27,-170.3,120.8,-10.3,106,625,0.00,2.25,0.00,0.000,4,0.000,0.028,1936,999,3680,0,0,0,0,0,0,28.83,26.30,28.83
$GC,638,-0.29,-170.3,122.8,-9.8,109,645,0.00,2.30,0.00,0.000,6,0.000,0.037,1935,2469,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,834,-0.33,-170.3,138.8,-7.4,146,843,0.00,2.10,0.00,0.000,4,0.000,0.047,1925,3820,3680,0,0,0,0,0,0,28.83,26.33,28.83
$GC,882,-0.38,-170.3,142.2,-6.4,154,891,0.00,2.10,0.00,0.000,6,0.000,0.023,1925,2385,3680,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1081,-0.43,-170.3,157.0,-7.6,191,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2385,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-0.48,-170.3,170.0,-6.0,228,1285,0.12,2.30,0.00,0.000,4,0.075,0.042,1818,3823,3680,0,0,0,0,0,0,26.55,26.43,28.83
$GC,1362,-0.38,-170.3,182.6,-18.6,243,1369,0.30,2.10,0.00,0.000,6,0.137,0.025,1910,2404,3680,0,0,0,0,0,0,26.28,26.50,28.83
$GC,1560,-0.42,-170.3,204.1,-7.7,275,1569,0.00,2.22,0.00,0.000,4,0.000,0.044,1899,3819,3680,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1595,-0.45,-170.3,206.8,-7.7,278,1604,0.00,2.08,0.00,0.000,6,0.000,0.023,1899,2398,3680,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1902,-0.48,-170.3,234.5,-8.7,309,1911,0.00,2.08,0.00,0.000,4,0.000,0.028,1899,1000,3680,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1935,-0.52,-170.3,237.2,-8.4,312,1944,0.00,2.25,0.00,0.000,6,0.000,0.035,1892,2471,3680,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2245,-0.54,-170.3,260.8,-7.8,343,2256,0.00,2.05,0.00,0.000,4,0.000,0.047,1881,3820,3678,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2292,-0.58,-170.3,264.6,-8.5,347,2301,0.00,2.08,0.00,0.000,6,0.000,0.024,1881,2402,3678,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2600,-0.59,-170.3,290.1,-6.9,378,2609,0.12,2.20,0.00,0.000,4,0.078,0.044,1783,3814,3677,0,0,0,0,0,0,26.66,26.55,28.83
$GC,2645,-0.55,-170.3,295.5,-12.3,382,2652,0.25,2.08,0.00,0.000,6,0.132,0.024,1860,2399,3677,0,0,0,0,0,0,26.41,26.62,28.83
$GC,2953,-0.55,-170.3,326.1,-9.1,413,2961,0.00,2.25,0.00,0.000,4,0.000,0.045,1849,3818,3675,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2987,-0.55,-170.3,329.4,-10.0,416,2994,0.00,2.12,0.00,0.000,6,0.000,0.024,1849,2384,3675,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3297,-0.53,-170.3,363.5,-11.1,447,3308,0.00,2.25,0.00,0.000,4,0.000,0.048,1839,3810,3673,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3362,-0.53,-170.3,370.9,-10.9,453,3371,0.00,2.08,0.00,0.000,6,0.000,0.024,1838,2394,3672,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3674,-0.51,-170.3,405.6,-10.6,484,3683,0.12,2.08,0.00,0.000,4,0.135,0.026,1884,996,3670,0,0,0,0,0,0,26.53,26.63,28.83
$GC,3737,-0.58,-170.3,410.5,-6.1,490,3746,0.00,2.25,0.00,0.000,6,0.000,0.036,1877,2467,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4047,-0.62,-170.3,431.9,-7.3,521,4052,0.12,2.08,0.00,0.000,4,0.076,0.045,1775,3824,3668,0,0,0,0,0,0,26.71,26.58,28.83
$GC,4156,-0.54,-170.3,447.7,-17.1,531,4166,0.28,2.10,0.00,0.000,6,0.129,0.027,1860,2404,3666,0,0,0,0,0,0,26.44,26.65,28.83
$GC,4464,-0.55,-170.3,476.9,-8.6,562,4474,0.00,2.22,-0.08,0.000,4,0.000,0.061,1849,3818,3693,0,0,0,0,0,0,28.83,26.58,26.28
$GC,4490,-0.56,-170.3,479.1,-8.8,564,4497,0.00,2.10,0.00,0.000,6,0.000,0.025,1849,2395,3693,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4797,-0.56,-170.3,507.0,-8.4,595,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2394,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.56,-170.3,529.1,-6.8,625,5109,0.00,2.25,0.00,0.000,4,0.000,0.048,1838,3814,3689,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5175,-0.59,-170.3,534.3,-6.6,632,5184,0.00,2.08,0.00,0.000,6,0.000,0.025,1839,2403,3688,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5483,-0.59,-170.3,560.2,-9.2,663,5494,0.00,2.20,0.00,0.000,4,0.000,0.050,1828,3814,3687,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5527,-0.59,-170.3,564.4,-9.7,667,5538,0.00,2.10,0.00,0.000,6,0.000,0.026,1828,2398,3686,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5837,-0.57,-170.3,596.3,-10.1,698,5846,0.00,2.28,0.00,0.000,4,0.000,0.049,1817,3828,3684,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5886,-0.55,-170.3,600.6,-10.0,702,5891,0.12,2.12,0.00,0.000,6,0.134,0.026,1855,2394,3683,0,0,0,0,0,0,26.50,26.66,28.83
$GC,6202,-0.57,-170.3,624.7,-7.6,718,6207,0.00,2.25,0.00,0.000,4,0.000,0.049,1844,3820,3681,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6242,-0.59,-170.3,627.7,-7.3,720,6248,0.00,2.08,0.00,0.000,6,0.000,0.027,1844,2412,3681,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6562,-0.59,-170.3,652.8,-7.8,736,6567,0.00,2.20,0.00,0.000,4,0.000,0.050,1833,3811,3679,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6616,-0.59,-170.3,656.0,-7.9,738,6622,0.00,2.10,0.00,0.000,6,0.000,0.026,1833,2399,3679,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6921,-0.59,-170.3,684.4,-9.1,754,6926,0.00,2.25,0.00,0.000,4,0.000,0.050,1823,3824,3677,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6953,-0.59,-170.3,686.3,-9.3,755,6962,0.00,2.10,0.00,0.000,6,0.000,0.027,1823,2405,3677,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7262,-0.57,-170.3,718.1,-10.1,771,7267,0.00,2.22,0.00,0.000,4,0.000,0.053,1812,3813,3675,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7324,-0.55,-170.3,724.4,-10.4,774,7329,0.15,2.10,0.00,0.000,6,0.128,0.026,1859,2396,3674,0,0,0,0,0,0,26.48,26.66,28.83
$GC,7639,-0.58,-170.3,747.2,-7.0,790,7645,0.00,2.25,0.00,0.000,4,0.000,0.050,1849,3821,3673,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7687,-0.62,-170.3,750.1,-7.0,792,7691,0.00,2.12,0.00,0.000,6,0.000,0.027,1848,2399,3673,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7994,-0.63,-170.3,774.8,-8.2,807,8000,0.00,2.20,0.00,0.000,4,0.000,0.047,1839,3812,3671,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8043,-0.65,-170.3,778.2,-8.3,809,8047,0.00,2.10,0.00,0.000,6,0.000,0.024,1839,2397,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8351,-0.65,-170.3,806.6,-8.8,824,8356,0.00,2.25,0.00,0.000,4,0.000,0.049,1828,3822,3669,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8413,-0.65,-170.3,812.1,-9.1,827,8417,0.00,2.12,0.00,0.000,6,0.000,0.028,1828,2405,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8725,-0.65,-170.3,840.8,-8.9,843,8731,0.00,2.25,0.00,0.000,4,0.000,0.051,1817,3814,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8748,-0.65,-170.3,842.6,-8.9,844,8752,0.00,2.10,0.00,0.000,6,0.000,0.026,1818,2406,3668,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9061,-0.63,-170.3,873.6,-10.3,860,9066,0.00,2.22,0.00,0.000,4,0.000,0.051,1808,3810,3667,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9083,-0.61,-170.3,875.8,-10.5,861,9087,0.00,2.10,0.00,0.000,6,0.000,0.025,1808,2404,3667,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9398,-0.58,-170.3,910.7,-11.3,877,9400,0.12,0.00,0.00,0.000,6,0.139,0.000,1846,2402,3666,0,0,0,0,0,0,26.53,28.83,28.83
$GC,9697,-0.60,-170.3,935.5,-8.4,892,9702,0.00,2.22,0.00,0.000,4,0.000,0.051,1835,3805,3664,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9758,-0.63,-170.3,940.8,-8.6,895,9763,0.00,2.08,0.00,0.000,6,0.000,0.026,1835,2403,3664,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10078,-0.65,-170.3,972.1,-10.1,911,10084,0.00,2.22,0.00,0.000,4,0.000,0.050,1825,3810,3663,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10110,-0.66,-170.3,974.1,-10.2,912,10119,0.00,2.10,0.00,0.000,6,0.000,0.026,1825,2398,3663,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,10254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10254,begin apogee
$GC,10261,-0.20,0.0,990.2,-9.9,920,10441,0.40,0.08,168.45,1.137,6,0.102,0.093,1968,2516,2968,0,0,0,0,0,0,26.45,24.64,23.91
$STATE,10442,end apogee,CONTROL_FINISHED_OK
$STATE,10442,begin climb
$GC,10445,0.60,170.3,997.8,0.0,929,10632,0.68,2.38,177.05,1.126,4,0.030,0.030,2287,1102,2271,0,0,0,0,0,0,24.98,24.58,23.80
$GC,10655,0.39,170.3,960.2,26.1,939,10661,0.43,2.42,0.00,0.000,6,0.174,0.037,2167,2555,2255,0,0,0,0,0,0,24.82,24.96,28.83
$GC,10977,0.31,170.3,900.8,17.8,955,10983,0.12,1.95,0.00,0.000,4,0.187,0.044,2130,3812,2244,0,0,0,0,0,0,25.67,25.81,28.83
$GC,11079,0.26,170.3,884.1,15.8,960,11084,0.00,1.98,0.00,0.000,6,0.000,0.026,2141,2515,2242,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,18470,end climb,SURFACE_DEPTH_REACHED
$STATE,18470,begin surface coast
$FINISH,0.4,1.020888
$STATE,18496,end surface coast,CONTROL_FINISHED_OK
$STATE,18496,begin surface
$SM_CCo,18574,0.00,0.000,0,0,1021,480.30
$SM_GC,0.56,5.53,2.20,0.00,0.026,0.028,0.000,123,2480,1021,-5.88,-0.34,480.30,0,0,0,0,0,0
$IRIDIUM_FIX,2225.34,12117.04,220412,171717
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.8,3.400
$10V_AH,10.3,2.228
$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,18.150,191.050,704.975,0.000,0.000,29.719,46.180,313.996,3.000,0.000,32.946,4474.122,9847.394,906.980,3426.028,441.263,0.000,2530.944,0.000,2838.750,0.000,27.042,0.000
$DEVICE_MAMPS,229.500,92.565,1136.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.475,2151.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,103653,1692
$CAP_FILE_SIZE,213957,0
$CFSIZE,260165632,219865088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.162,246.7,1
$GPS,230412,032407,2235.125,12122.908,26,2.0,26,-2.9