version: 66.10
glider: 169
mission: 6
dive: 84
start: 5 4 112 23 17 44
data:
$ID,169
$MISSION,6
$DIVE,84
$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,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,-15384.814
$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,2275
$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
$GPS1,040512,231007,2318.904,12311.560,30,1.1,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-71.8
$GPS2,040512,231720,2318.997,12311.541,11,1.6,11,-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,100.2,93365,-13.6,-9.167
$D_GRID,4138
$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,-219.0,0.0,0.0,0,103,0.00,0.00,-83.65,0.000,2,0.000,0.000,116,2463,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.61,-219.0,3.6,-8.9,15,136,7.70,2.30,-11.18,0.000,4,0.230,0.034,2080,1014,3875,0,0,0,0,0,0,25.58,26.13,26.39
$GC,160,-0.47,-219.0,31.1,-49.3,23,167,0.20,2.45,0.00,0.000,6,0.171,0.034,2120,2521,3877,0,0,0,0,0,0,25.78,26.07,28.83
$GC,358,-0.41,-219.0,78.2,-23.1,60,365,0.00,2.38,0.00,0.000,4,0.000,0.026,2132,1034,3878,0,0,0,0,0,0,28.83,26.21,28.83
$GC,417,-0.41,-219.0,88.8,-12.7,71,424,0.00,2.40,0.00,0.000,6,0.000,0.034,2121,2500,3878,0,0,0,0,0,0,28.83,26.21,28.83
$GC,611,-0.36,-219.0,125.2,-19.9,108,618,0.12,0.00,0.00,0.000,6,0.167,0.000,2159,2499,3878,0,0,0,0,0,0,26.13,28.83,28.83
$GC,806,-0.36,-219.0,150.9,-10.6,145,815,0.00,2.33,0.00,0.000,4,0.000,0.027,2161,1032,3878,0,0,0,0,0,0,28.83,26.36,28.83
$GC,849,-0.40,-219.0,154.7,-7.1,152,856,0.00,2.33,0.00,0.000,6,0.000,0.033,2160,2466,3878,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1045,-0.42,-219.0,169.7,-7.6,189,1051,0.00,2.10,0.00,0.000,4,0.000,0.042,2150,3832,3878,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1090,-0.46,-219.0,173.3,-6.5,197,1097,0.00,2.10,0.00,0.000,6,0.000,0.019,2150,2393,3878,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1288,-0.47,-219.0,189.5,-9.3,234,1295,0.00,2.10,0.00,0.000,4,0.000,0.026,2150,1027,3878,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1315,-0.49,-219.0,191.9,-8.8,238,1322,0.00,2.33,0.00,0.000,6,0.000,0.031,2147,2477,3878,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1510,-0.49,-219.0,207.2,-7.7,266,1519,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3818,3878,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1535,-0.51,-219.0,208.9,-7.3,268,1542,0.00,2.05,0.00,0.000,6,0.000,0.018,2138,2396,3878,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1843,-0.51,-219.0,233.9,-9.0,299,1847,0.00,2.25,0.00,0.000,4,0.000,0.041,2129,3818,3878,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1869,-0.51,-219.0,235.8,-8.6,301,1876,0.00,2.03,0.00,0.000,6,0.000,0.019,2129,2414,3878,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2177,-0.50,-219.0,272.0,-12.3,332,2185,0.00,2.10,0.00,0.000,4,0.000,0.026,2129,1042,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2220,-0.51,-219.0,276.3,-9.9,336,2228,0.00,2.30,0.00,0.000,6,0.000,0.031,2125,2487,3878,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2532,-0.50,-219.0,311.9,-11.1,367,2541,0.00,2.25,0.00,0.000,4,0.000,0.024,2125,1038,3878,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2566,-0.50,-219.0,315.6,-10.7,370,2575,0.00,2.30,0.00,0.000,6,0.000,0.031,2125,2480,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2874,-0.50,-219.0,343.7,-8.9,401,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2479,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3178,-0.51,-219.0,369.2,-7.7,431,3187,0.00,2.22,0.00,0.000,4,0.000,0.028,2125,1048,3877,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3204,-0.52,-219.0,371.2,-7.6,433,3210,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2465,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3513,-0.53,-219.0,396.0,-8.2,464,3522,0.00,2.05,0.00,0.000,4,0.000,0.043,2115,3813,3877,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3557,-0.55,-219.0,399.7,-8.2,468,3565,0.00,2.08,0.00,0.000,6,0.000,0.021,2115,2394,3876,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3865,-0.55,-219.0,425.6,-6.6,499,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2394,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4169,-0.55,-219.0,447.8,-8.3,529,4178,0.00,2.30,0.00,0.000,4,0.000,0.044,2107,3820,3873,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4205,-0.57,-219.0,450.7,-8.5,532,4214,0.00,2.08,0.00,0.000,6,0.000,0.021,2107,2391,3873,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4514,-0.57,-219.0,476.7,-8.0,563,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2391,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4825,-0.57,-219.0,501.3,-8.4,594,4834,0.00,2.30,0.00,0.000,4,0.000,0.042,2099,3819,3870,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4850,-0.58,-219.0,503.3,-8.0,596,4859,0.00,2.08,0.00,0.000,6,0.000,0.021,2099,2394,3870,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5158,-0.58,-219.0,529.7,-8.4,627,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2394,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5461,-0.59,-219.0,553.8,-7.4,657,5469,0.00,2.28,0.00,0.000,4,0.000,0.044,2090,3811,3867,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5486,-0.60,-219.0,555.7,-7.4,659,5493,0.00,2.05,0.00,0.000,6,0.000,0.022,2090,2412,3867,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5793,-0.60,-219.0,582.5,-9.8,690,5797,0.00,2.12,0.00,0.000,4,0.000,0.028,2091,1044,3864,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5818,-0.60,-219.0,584.8,-9.9,692,5824,0.00,2.30,0.00,0.000,6,0.000,0.034,2086,2476,3864,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6136,-0.60,-219.0,616.5,-10.3,716,6141,0.00,2.05,0.00,0.000,4,0.000,0.044,2076,3813,3862,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6163,-0.60,-219.0,618.5,-10.4,717,6167,0.00,2.08,0.00,0.000,6,0.000,0.022,2076,2408,3862,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6471,-0.59,-219.0,651.7,-10.6,732,6476,0.00,2.08,0.00,0.000,4,0.000,0.028,2076,1041,3861,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6498,-0.59,-219.0,653.8,-10.6,733,6502,0.00,2.30,0.00,0.000,6,0.000,0.034,2066,2474,3861,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6805,-0.57,-219.0,689.9,-11.3,748,6811,0.00,2.22,0.00,0.000,4,0.000,0.028,2067,1043,3858,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6847,-0.56,-219.0,694.3,-11.2,750,6853,0.08,2.28,0.00,0.000,6,0.105,0.035,2092,2464,3858,0,0,0,0,0,0,26.33,26.48,28.83
$GC,7168,-0.57,-219.0,717.6,-7.4,766,7174,0.00,2.10,0.00,0.000,4,0.000,0.048,2081,3818,3856,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7217,-0.58,-219.0,720.6,-7.5,768,7221,0.00,2.10,0.00,0.000,6,0.000,0.023,2081,2397,3855,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7524,-0.58,-219.0,747.6,-8.6,783,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2397,3853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7823,-0.58,-219.0,774.7,-9.0,798,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2397,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8124,-0.58,-219.0,800.7,-8.6,813,8129,0.00,2.30,0.00,0.000,4,0.000,0.048,2071,3820,3849,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8151,-0.58,-219.0,802.4,-8.7,814,8155,0.00,2.10,0.00,0.000,6,0.000,0.022,2071,2403,3849,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8457,-0.58,-219.0,832.1,-9.3,829,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2402,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8758,-0.58,-219.0,861.1,-10.0,844,8764,0.00,2.28,0.00,0.000,4,0.000,0.047,2060,3809,3847,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8780,-0.58,-219.0,863.2,-10.2,845,8784,0.00,2.10,0.00,0.000,6,0.000,0.024,2060,2424,3847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9098,-0.57,-219.0,898.4,-11.1,861,9105,0.10,2.15,0.00,0.000,4,0.145,0.028,2094,1043,3845,0,0,0,0,0,0,26.51,26.48,28.83
$GC,9131,-0.56,-219.0,900.6,-11.1,862,9140,0.00,2.33,0.00,0.000,6,0.000,0.036,2091,2481,3845,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9440,-0.57,-219.0,925.9,-7.6,878,9445,0.00,2.05,0.00,0.000,4,0.000,0.048,2083,3813,3844,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9487,-0.59,-219.0,929.0,-7.7,880,9491,0.00,2.08,0.00,0.000,6,0.000,0.024,2083,2416,3843,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9794,-0.60,-219.0,953.7,-7.7,895,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2415,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10096,-0.60,-219.0,976.4,-7.4,910,10101,0.00,2.25,0.00,0.000,4,0.000,0.048,2073,3821,3840,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10128,-0.61,-219.0,978.0,-7.4,911,10134,0.00,2.08,0.00,0.000,6,0.000,0.022,2073,2416,3840,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10272,begin apogee
$GC,10278,-0.20,0.0,990.2,-7.7,919,10497,0.38,0.10,208.75,1.147,4,0.096,0.073,2208,2475,2967,0,0,0,0,0,0,26.23,24.66,23.94
$STATE,10498,end apogee,CONTROL_FINISHED_OK
$STATE,10498,begin climb
$GC,10500,0.61,219.0,997.8,0.0,930,10738,0.65,2.38,226.93,1.123,4,0.036,0.028,2480,1042,2079,0,0,0,0,0,0,24.90,24.89,23.64
$GC,10854,0.57,219.0,945.7,18.9,947,10861,0.00,2.58,0.00,0.000,6,0.000,0.041,2480,2537,2048,0,0,0,0,0,0,28.83,25.24,28.83
$GC,11162,0.49,219.0,867.4,25.6,963,11168,0.15,1.98,0.00,0.000,4,0.187,0.041,2427,3814,2045,0,0,0,0,0,0,25.58,25.82,28.83
$GC,11372,0.44,219.0,823.4,20.9,973,11376,0.00,1.92,0.00,0.000,6,0.000,0.024,2437,2527,2043,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11679,0.39,219.0,761.8,19.0,988,11685,0.12,2.03,0.00,0.000,4,0.191,0.043,2400,3823,2041,0,0,0,0,0,0,25.90,26.10,28.83
$GC,11795,0.35,219.0,744.7,16.5,993,11803,0.00,1.88,0.00,0.000,6,0.000,0.024,2411,2550,2041,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,14085,0.43,364.7,431.1,14.9,1163,14091,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2612,1452,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17008,end climb,SURFACE_DEPTH_REACHED
$STATE,17008,begin surface coast
$FINISH,-0.1,1.022279
$STATE,17021,end surface coast,CONTROL_FINISHED_OK
$STATE,17021,begin surface
$SM_CCo,17097,0.00,0.000,0,0,802,534.02
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$IRIDIUM_FIX,2312.13,12442.60,040512,181859
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.07
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,16.976
$10V_AH,10.2,9.272
$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,17.125,169.550,816.700,0.000,0.000,32.856,19.336,235.289,0.000,0.000,12.420,4186.809,8826.530,893.146,3172.639,419.548,0.000,2484.619,0.000,2729.027,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,73.440,1147.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.051,2000.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,100414,1594
$CAP_FILE_SIZE,196849,0
$CFSIZE,260165632,213860352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.266,299.4,1
$GPS,050512,040337,2319.931,12314.144,27,1.3,27,-3.2