version: 66.10
glider: 169
mission: 6
dive: 73
start: 5 2 112 16 52 17
data:
$ID,169
$MISSION,6
$DIVE,73
$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,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,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,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,-15370.97
$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,2200
$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
$GPS1,020512,164427,2313.758,12248.029,40,2.2,59,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-70.9
$GPS2,020512,165152,2313.707,12247.991,13,2.2,32,-3.2
$SPEED_LIMITS,0.159,0.302
$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,89.4,131924,-13.6,-9.167
$D_GRID,5413
$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,-0.61,-219.0,0.0,0.0,0,101,0.00,0.00,-81.70,0.000,2,0.000,0.000,116,2543,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.61,-219.0,4.0,-11.9,14,133,7.43,2.42,-8.55,0.000,4,0.231,0.035,2005,1019,3875,0,0,0,0,0,0,25.60,26.11,26.37
$GC,199,-0.49,-219.0,48.9,-39.6,30,206,0.17,2.45,0.00,0.000,6,0.172,0.034,2038,2522,3876,0,0,0,0,0,0,25.85,26.10,28.83
$GC,396,-0.38,-219.0,116.4,-37.6,67,403,0.12,2.35,0.00,0.000,4,0.201,0.029,2084,1048,3877,0,0,0,0,0,0,25.98,26.22,28.83
$GC,488,-0.35,-219.0,139.6,-17.4,84,495,0.00,2.38,0.00,0.000,6,0.000,0.035,2073,2505,3877,0,0,0,0,0,0,28.83,26.24,28.83
$GC,686,-0.28,-219.0,189.1,-27.5,121,695,0.12,2.30,0.00,0.000,4,0.175,0.028,2121,1048,3877,0,0,0,0,0,0,26.12,26.32,28.83
$GC,777,-0.29,-219.0,203.4,-10.5,134,784,0.00,2.22,0.00,0.000,6,0.000,0.034,2110,2443,3877,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1087,-0.26,-219.0,250.6,-15.0,165,1098,0.00,2.17,0.00,0.000,4,0.000,0.029,2116,1046,3878,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1121,-0.24,-219.0,255.6,-14.4,168,1125,0.00,2.22,0.00,0.000,6,0.000,0.035,2107,2437,3878,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1433,-0.21,-219.0,298.5,-13.8,199,1442,0.00,2.15,0.00,0.000,4,0.000,0.044,2097,3843,3878,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1457,-0.19,-219.0,301.6,-14.0,201,1467,0.15,2.17,0.00,0.000,6,0.125,0.021,2143,2361,3878,0,0,0,0,0,0,26.30,26.50,28.83
$GC,1767,-0.20,-219.0,326.9,-7.4,232,1776,0.00,2.28,0.00,0.000,4,0.000,0.042,2132,3817,3878,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1822,-0.23,-219.0,330.7,-6.9,237,1829,0.00,2.10,0.00,0.000,6,0.000,0.021,2132,2376,3878,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2131,-0.24,-219.0,355.2,-7.8,268,2139,0.00,2.28,0.00,0.000,4,0.000,0.042,2124,3817,3877,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2166,-0.25,-219.0,357.7,-7.5,271,2174,0.00,2.08,0.00,0.000,6,0.000,0.021,2124,2387,3878,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2474,-0.25,-219.0,385.0,-9.7,302,2482,0.00,2.22,0.00,0.000,4,0.000,0.043,2114,3807,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2506,-0.26,-219.0,388.1,-9.6,305,2516,0.00,2.08,0.00,0.000,6,0.000,0.021,2114,2392,3877,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2816,-0.26,-219.0,421.3,-11.5,336,2824,0.00,2.05,0.00,0.000,4,0.000,0.028,2114,1041,3876,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2850,-0.26,-219.0,424.8,-11.0,339,2857,0.00,2.25,0.00,0.000,6,0.000,0.033,2112,2464,3876,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3158,-0.26,-219.0,455.2,-9.4,370,3162,0.00,2.08,0.00,0.000,4,0.000,0.044,2102,3820,3875,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3221,-0.27,-219.0,459.9,-6.9,376,3225,0.00,2.05,0.00,0.000,6,0.000,0.022,2102,2409,3874,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3535,-0.27,-219.0,486.5,-9.0,407,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2408,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3844,-0.27,-219.0,515.2,-9.6,438,3848,0.00,2.10,0.00,0.000,4,0.000,0.028,2102,1031,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3867,-0.27,-219.0,517.4,-9.7,440,3876,0.00,2.30,0.00,0.000,6,0.000,0.034,2098,2479,3871,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4178,-0.27,-219.0,545.9,-8.8,471,4186,0.00,2.05,0.00,0.000,4,0.000,0.047,2089,3819,3870,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4202,-0.27,-219.0,547.9,-8.8,473,4209,0.00,2.08,0.00,0.000,6,0.000,0.022,2089,2404,3870,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4510,-0.26,-219.0,576.2,-9.3,504,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2403,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.26,-219.0,606.2,-9.6,531,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2403,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5109,-0.26,-219.0,636.0,-10.0,546,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2403,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5409,-0.26,-219.0,665.2,-9.5,561,5415,0.00,2.33,0.00,0.000,4,0.000,0.046,2080,3815,3862,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5442,-0.26,-219.0,667.1,-9.5,562,5452,0.12,2.10,0.00,0.000,6,0.116,0.025,2121,2401,3862,0,0,0,0,0,0,26.42,26.58,28.83
$GC,5752,-0.29,-219.0,688.6,-6.3,578,5758,0.00,2.28,0.00,0.000,4,0.000,0.047,2112,3813,3861,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5780,-0.31,-219.0,689.9,-6.2,579,5784,0.00,2.08,0.00,0.000,6,0.000,0.024,2112,2411,3861,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6088,-0.39,-219.0,713.1,-8.2,594,6094,0.12,2.20,0.00,0.000,4,0.105,0.044,2057,3808,3859,0,0,0,0,0,0,26.58,26.47,28.83
$GC,6190,-0.47,-219.0,721.2,-8.0,599,6195,0.00,2.03,0.00,0.000,6,0.000,0.023,2065,2426,3858,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6510,-0.50,-219.0,743.1,-7.0,615,6515,0.00,2.12,0.00,0.000,4,0.000,0.028,2066,1038,3856,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6619,-0.51,-219.0,751.7,-8.7,620,6628,0.00,2.58,0.00,0.000,6,0.000,0.037,2055,2597,3855,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6931,-0.49,-219.0,788.0,-11.9,636,6935,0.00,1.85,0.00,0.000,4,0.000,0.048,2045,3822,3854,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7046,-0.49,-219.0,799.1,-10.4,641,7055,0.00,1.83,0.00,0.000,6,0.000,0.024,2046,2540,3852,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7354,-0.47,-219.0,837.2,-12.2,657,7360,0.00,2.35,0.00,0.000,4,0.000,0.031,2046,1050,3851,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7434,-0.46,-219.0,845.9,-10.8,661,7440,0.00,2.50,0.00,0.000,6,0.000,0.040,2034,2572,3850,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7755,-0.43,-219.0,884.5,-12.0,677,7760,0.00,2.42,0.00,0.000,4,0.000,0.031,2034,1055,3848,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7835,-0.41,-219.0,893.2,-10.9,681,7841,0.10,2.45,0.00,0.000,6,0.121,0.038,2062,2558,3848,0,0,0,0,0,0,26.25,26.46,28.83
$GC,8158,-0.40,-219.0,922.2,-8.7,697,8163,0.00,2.38,0.00,0.000,4,0.000,0.031,2065,1051,3847,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8240,-0.41,-219.0,928.4,-7.6,701,8245,0.00,2.42,0.00,0.000,6,0.000,0.039,2054,2540,3846,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8553,-0.39,-219.0,956.6,-9.3,717,8558,0.00,2.35,0.00,0.000,4,0.000,0.031,2055,1053,3845,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8582,-0.38,-219.0,958.5,-9.4,718,8587,0.10,2.42,0.00,0.000,6,0.142,0.040,2075,2537,3845,0,0,0,0,0,0,26.32,26.44,28.83
$GC,8888,-0.38,-219.0,981.6,-7.1,733,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2536,3844,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9007,begin apogee
$GC,9013,-0.20,0.0,990.5,-7.4,739,9228,0.17,0.00,205.00,1.387,4,0.125,0.000,2135,2536,2978,0,0,0,0,1,0,26.34,28.83,23.57
$STATE,9229,end apogee,CONTROL_FINISHED_OK
$STATE,9229,begin climb
$GC,9232,0.61,219.0,998.5,0.0,750,9475,0.75,0.00,237.70,1.129,6,0.092,0.000,2387,2536,2085,0,0,0,0,0,0,24.53,28.83,23.53
$GC,9785,0.59,219.0,935.0,12.4,778,9791,0.00,2.03,0.00,0.000,4,0.000,0.047,2387,3816,2048,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9931,0.57,219.0,916.0,13.1,785,9936,0.00,1.98,0.00,0.000,6,0.000,0.025,2397,2517,2045,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10246,0.55,219.0,874.1,13.3,801,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2516,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10547,0.52,219.0,834.5,13.4,816,10553,0.00,2.10,0.00,0.000,4,0.000,0.049,2398,3813,2044,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10647,0.49,219.0,820.0,14.4,821,10653,0.17,1.95,0.00,0.000,6,0.155,0.024,2357,2522,2043,0,0,0,0,0,0,25.96,26.22,28.83
$GC,10967,0.51,227.5,789.4,8.9,837,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2520,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11267,0.51,227.5,761.1,9.8,852,11273,0.00,2.30,0.00,0.000,4,0.000,0.035,2370,1081,2041,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11294,0.51,227.5,759.1,9.9,853,11298,0.00,2.45,0.00,0.000,6,0.000,0.037,2369,2563,2040,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11604,0.51,227.5,724.3,11.1,868,11609,0.00,1.95,0.00,0.000,4,0.000,0.046,2369,3824,2040,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11644,0.51,227.5,719.3,11.6,870,11648,0.00,1.92,0.00,0.000,6,0.000,0.024,2379,2525,2040,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11958,0.50,227.5,682.2,11.5,886,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2524,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12257,0.49,227.5,649.8,10.5,901,12261,0.00,2.05,0.00,0.000,4,0.000,0.047,2380,3820,2040,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12272,0.48,227.5,649.8,10.5,901,12279,0.12,1.92,0.00,0.000,6,0.156,0.023,2354,2519,2040,0,0,0,0,0,0,26.16,26.41,28.83
$GC,12580,0.59,299.3,624.8,7.1,917,12679,0.10,2.45,88.72,0.891,4,0.092,0.033,2431,1083,1742,0,0,0,0,0,0,26.51,25.17,24.49
$GC,12703,0.56,299.3,609.6,13.2,923,12709,0.12,2.50,0.00,0.000,6,0.109,0.035,2386,2560,1732,0,0,0,0,0,0,25.28,25.37,28.83
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$GC,13650,0.58,299.3,514.8,9.2,1012,13660,0.00,2.38,0.00,0.000,4,0.000,0.034,2409,1074,1722,0,0,0,0,0,0,28.83,26.19,28.83
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$GC,14983,0.70,357.1,386.3,7.8,1144,15051,0.00,2.47,57.85,0.754,4,0.000,0.032,2401,1082,1508,0,0,1,0,0,0,28.83,25.62,24.98
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$STATE,17226,end climb,SURFACE_DEPTH_REACHED
$STATE,17226,begin surface coast
$FINISH,-0.2,1.023079
$STATE,17248,end surface coast,CONTROL_FINISHED_OK
$STATE,17248,begin surface
$SM_CCo,17326,0.00,0.000,0,0,642,573.27
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$IRIDIUM_FIX,2302.75,12244.82,020512,121245
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.60
$INTERNAL_PRESSURE,8.21676
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.5,14.488
$10V_AH,10.3,7.958
$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
$DEVICE_SECS,16.900,172.350,790.250,0.000,0.000,24.334,22.340,234.816,0.000,0.000,33.875,3922.610,9451.419,886.607,3085.628,397.208,0.000,2433.032,0.000,2620.301,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.534,1963.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93406,1480
$CAP_FILE_SIZE,190706,0
$CFSIZE,260165632,215003136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.331,273.6,1
$GPS,020512,214207,2314.301,12249.501,36,1.0,36,-3.2