version: 66.10
glider: 169
mission: 6
dive: 64
start: 4 30 112 22 12 20
data:
$ID,169
$MISSION,6
$DIVE,64
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,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,-15359.644
$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,2135
$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,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
$GPS1,300412,215507,2311.835,12234.300,41,1.0,41,-3.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.6
$GPS2,300412,221155,2311.543,12234.668,15,1.5,32,-3.1
$SPEED_LIMITS,0.152,0.297
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,65.5,153599,-13.0,-8.796
$D_GRID,5410
$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,15,begin dive
$GC,17,-0.60,-219.0,0.0,0.0,0,98,0.00,0.00,-77.65,0.000,2,0.000,0.000,116,2533,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-219.0,3.9,-10.7,14,126,7.12,2.33,-10.70,0.000,4,0.228,0.030,1946,970,3873,0,0,0,0,0,0,25.62,26.17,26.40
$GC,355,-0.48,-219.0,109.7,-39.5,63,363,0.17,2.53,0.00,0.000,6,0.202,0.037,1975,2528,3874,0,0,0,0,0,0,25.89,26.22,28.83
$GC,548,-0.33,-219.0,199.2,-39.1,100,556,0.17,2.35,0.00,0.000,4,0.209,0.027,2033,1042,3875,0,0,0,0,0,0,25.98,26.32,28.83
$GC,784,-0.28,-219.0,256.2,-22.0,124,793,0.00,2.33,0.00,0.000,6,0.000,0.034,2021,2487,3875,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1095,-0.18,-219.0,351.7,-29.8,155,1104,0.15,2.20,0.00,0.000,4,0.180,0.023,2077,1038,3875,0,0,0,0,0,0,26.20,26.45,28.83
$GC,1222,-0.17,-219.0,371.6,-12.6,167,1229,0.00,2.25,0.00,0.000,6,0.000,0.033,2066,2468,3875,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1527,-0.12,-219.0,431.8,-18.7,198,1536,0.00,2.20,0.00,0.000,4,0.000,0.028,2069,1033,3875,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1623,-0.10,-219.0,444.7,-12.2,207,1630,0.15,2.25,0.00,0.000,6,0.136,0.034,2104,2454,3875,0,0,0,0,0,0,26.34,26.49,28.83
$GC,1929,-0.08,-219.0,479.4,-12.1,238,1933,0.00,2.12,0.00,0.000,4,0.000,0.043,2093,3829,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1975,-0.07,-219.0,484.5,-12.1,242,1982,0.00,2.12,0.00,0.000,6,0.000,0.021,2093,2384,3873,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2281,-0.05,-219.0,524.1,-11.9,273,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2383,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.03,-219.0,559.7,-11.7,303,2594,0.10,2.28,0.00,0.000,4,0.155,0.041,2110,3814,3868,0,0,0,0,0,0,26.50,26.51,28.83
$GC,2637,-0.03,-219.0,565.3,-9.7,308,2646,0.00,2.12,0.00,0.000,6,0.000,0.024,2111,2387,3868,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2947,-0.03,-219.0,593.6,-9.5,339,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2387,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-0.03,-219.0,623.4,-10.1,358,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2387,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3558,-0.03,-219.0,651.0,-8.4,373,3563,0.00,2.30,0.00,0.000,4,0.000,0.044,2100,3814,3861,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3600,-0.03,-219.0,654.1,-8.0,375,3604,0.00,2.12,0.00,0.000,6,0.000,0.024,2100,2390,3860,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3913,-0.03,-219.0,678.6,-8.0,391,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2389,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-0.02,-219.0,705.2,-9.0,406,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2389,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.02,-219.0,734.1,-9.5,421,4518,0.00,2.30,0.00,0.000,4,0.000,0.046,2091,3827,3853,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4554,-0.02,-219.0,738.0,-9.6,423,4559,0.12,2.12,0.00,0.000,6,0.119,0.023,2131,2398,3852,0,0,0,0,0,0,26.44,26.60,28.83
$GC,4870,-0.04,-219.0,757.0,-5.5,439,4875,0.00,2.28,0.00,0.000,4,0.000,0.046,2122,3822,3850,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4909,-0.07,-219.0,759.3,-5.5,441,4914,0.00,2.08,0.00,0.000,6,0.000,0.023,2122,2402,3849,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5230,-0.14,-219.0,781.6,-7.8,457,5236,0.12,2.25,0.00,0.000,4,0.109,0.043,2068,3820,3847,0,0,0,0,0,0,26.55,26.49,28.83
$GC,5309,-0.22,-219.0,787.2,-6.9,461,5315,0.00,2.05,0.00,0.000,6,0.000,0.023,2069,2422,3846,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5630,-0.25,-219.0,806.3,-5.9,477,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2423,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,-0.27,-219.0,824.2,-6.0,492,5935,0.00,2.12,0.00,0.000,4,0.000,0.030,2069,1045,3843,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5957,-0.30,-219.0,825.4,-6.0,493,5961,0.00,2.17,0.00,0.000,6,0.000,0.035,2059,2423,3842,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6265,-0.28,-219.0,855.0,-10.1,508,6270,0.00,2.17,0.00,0.000,4,0.000,0.047,2048,3818,3840,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6337,-0.26,-219.0,861.6,-10.9,511,6344,0.00,2.20,0.00,0.000,6,0.000,0.026,2048,2362,3839,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6645,-0.23,-219.0,899.3,-12.3,527,6650,0.00,2.33,0.00,0.000,4,0.000,0.048,2037,3808,3838,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6672,-0.20,-219.0,901.7,-12.3,528,6677,0.12,2.20,0.00,0.000,6,0.142,0.025,2073,2357,3838,0,0,0,0,0,0,26.33,26.56,28.83
$GC,6980,-0.18,-219.0,931.3,-8.8,543,6985,0.00,2.33,0.00,0.000,4,0.000,0.048,2061,3820,3836,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7033,-0.17,-219.0,934.9,-8.8,545,7040,0.00,2.20,0.00,0.000,6,0.000,0.025,2062,2366,3836,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,7178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7178,begin apogee
$GC,7184,-0.20,0.0,950.1,-9.9,553,7407,0.00,0.05,218.30,1.041,4,0.000,0.125,2060,2488,2978,0,0,0,0,0,0,28.83,24.68,24.04
$STATE,7409,end apogee,CONTROL_FINISHED_OK
$STATE,7409,begin climb
$GC,7411,0.60,219.0,969.6,0.0,564,7643,0.93,2.25,222.77,1.076,4,0.145,0.048,2319,3814,2085,0,0,0,0,0,0,24.77,24.86,23.84
$GC,7716,0.74,309.3,951.5,6.4,580,7819,0.12,2.08,96.30,1.045,6,0.076,0.025,2398,2484,1717,0,0,0,0,0,0,25.19,25.20,23.87
$GC,8130,0.86,345.9,920.6,7.8,601,8176,0.00,2.45,38.72,1.028,4,0.000,0.038,2405,1079,1557,0,0,0,0,0,0,28.83,25.14,24.44
$GC,8290,0.94,345.9,905.1,11.0,609,8295,0.00,2.45,0.00,0.000,6,0.000,0.036,2405,2547,1545,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8609,1.03,345.9,872.9,10.2,625,8615,0.15,2.00,0.00,0.000,4,0.131,0.049,2449,3824,1542,0,0,0,0,0,0,25.89,25.96,28.83
$GC,8657,1.08,345.9,868.0,10.7,627,8661,0.00,2.00,0.00,0.000,6,0.000,0.026,2459,2513,1542,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8966,1.04,345.9,799.3,23.3,642,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2511,1541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,1.01,345.9,732.3,21.5,657,9270,0.00,2.10,0.00,0.000,4,0.000,0.047,2459,3824,1540,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9318,0.97,345.9,723.3,22.2,659,9324,0.00,1.95,0.00,0.000,6,0.000,0.027,2469,2531,1540,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9624,0.93,345.9,652.3,21.8,675,9630,0.12,2.33,0.00,0.000,4,0.189,0.034,2444,1082,1540,0,0,0,0,0,0,26.09,26.28,28.83
$GC,9657,0.89,345.9,648.2,21.2,676,9665,0.00,2.42,0.00,0.000,6,0.000,0.036,2444,2564,1539,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9966,0.86,345.9,599.0,15.0,692,9975,0.12,1.88,0.00,0.000,4,0.165,0.044,2404,3809,1539,0,0,0,0,0,0,26.17,26.31,28.83
$GC,10011,0.85,345.9,593.5,12.7,696,10018,0.00,1.92,0.00,0.000,6,0.000,0.025,2414,2526,1538,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10321,0.85,345.9,562.2,11.1,727,10329,0.00,2.28,0.00,0.000,4,0.000,0.037,2426,1078,1538,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10355,0.86,345.9,558.8,10.4,730,10362,0.00,2.42,0.00,0.000,6,0.000,0.037,2426,2564,1538,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10662,0.85,345.9,521.0,11.8,761,10666,0.00,1.92,0.00,0.000,4,0.000,0.047,2426,3829,1538,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10684,0.84,345.9,518.3,12.1,763,10694,0.12,1.95,0.00,0.000,6,0.157,0.025,2401,2523,1537,0,0,0,0,0,0,26.20,26.44,28.83
$GC,10995,0.95,419.3,495.0,6.8,794,11078,0.12,2.42,77.18,0.835,4,0.077,0.035,2498,1081,1261,0,0,0,0,0,0,26.53,25.33,24.70
$GC,11123,0.92,419.3,470.5,21.6,806,11132,0.17,2.45,0.00,0.000,6,0.114,0.037,2437,2539,1242,0,0,0,0,0,0,25.44,25.55,28.83
$GC,11432,0.92,419.3,423.6,14.4,837,11436,0.00,2.03,0.00,0.000,4,0.000,0.045,2437,3817,1239,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11457,0.92,419.3,420.2,14.7,839,11464,0.00,2.03,0.00,0.000,6,0.000,0.024,2447,2482,1238,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11766,0.91,419.3,372.4,15.5,870,11774,0.00,2.25,0.00,0.000,4,0.000,0.035,2459,1077,1238,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11810,0.91,419.3,366.6,13.7,874,11817,0.12,2.40,0.00,0.000,6,0.120,0.035,2418,2540,1236,0,0,0,0,0,0,26.07,26.16,28.83
$GC,12118,1.03,483.8,344.4,7.1,905,12188,0.12,0.00,62.72,0.737,6,0.076,0.000,2526,2539,995,0,0,0,0,0,0,26.36,28.83,24.86
$GC,12488,0.96,483.8,232.4,32.6,942,12497,0.25,2.03,0.00,0.000,4,0.174,0.041,2451,3828,973,0,0,0,0,0,0,25.75,25.96,28.83
$GC,12560,0.96,483.8,215.2,18.2,949,12569,0.00,2.10,0.00,0.000,6,0.000,0.025,2460,2462,972,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12872,1.16,618.2,193.7,5.2,991,13008,0.12,0.00,128.50,0.633,6,0.076,0.000,2561,2460,453,0,0,0,0,0,0,26.29,28.83,24.60
$GC,13197,1.10,618.2,90.4,33.2,1051,13204,0.22,2.22,0.00,0.000,4,0.168,0.041,2496,3821,435,0,0,0,0,0,0,25.60,25.77,28.83
$GC,13389,1.21,618.2,59.9,14.0,1088,13395,0.00,1.98,0.00,0.000,6,0.000,0.023,2506,2499,431,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13580,1.30,618.2,35.2,13.0,1125,13587,0.12,2.30,0.00,0.000,4,0.096,0.029,2567,1066,428,0,0,0,0,0,0,26.15,26.13,28.83
$GC,13816,1.38,618.2,3.1,13.0,1171,13823,0.00,2.38,0.00,0.000,6,0.000,0.030,2562,2548,422,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,13828,end climb,SURFACE_DEPTH_REACHED
$STATE,13828,begin surface coast
$FINISH,-0.4,1.009444
$STATE,13850,end surface coast,CONTROL_FINISHED_OK
$STATE,13850,begin surface
$SM_CCo,13927,0.00,0.000,0,0,421,627.48
$SM_GC,0.46,6.07,0.15,0.00,0.024,0.062,0.000,118,2435,421,-6.19,0.17,627.48,0,0,0,0,0,0
$IRIDIUM_FIX,2305.10,12234.39,300412,222216
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.51
$INTERNAL_PRESSURE,8.207
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.8,12.406
$10V_AH,10.2,6.938
$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,17.175,123.800,844.500,0.000,0.000,144.122,113.348,313.727,0.000,0.000,33.254,2737.547,8135.389,812.413,2888.393,334.618,0.000,2103.535,0.000,2148.344,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,125.460,1075.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.396,1552.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,73700,1177
$CAP_FILE_SIZE,158022,0
$CFSIZE,260165632,215908352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010512,020554,2310.931,12236.110,41,1.2,58,-3.1