version: 66.10
glider: 169
mission: 6
dive: 88
start: 5 5 112 19 2 14
data:
$ID,169
$MISSION,6
$DIVE,88
$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,-15389.85
$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
$GPS1,050512,185437,2322.710,12322.177,39,0.9,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-71.9
$GPS2,050512,190150,2322.777,12322.176,15,1.3,15,-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,96.0,75059,-13.6,-9.167
$D_GRID,3309
$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,-219.0,0.0,0.0,0,122,0.00,0.00,-102.25,0.000,2,0.000,0.000,106,2455,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.61,-219.0,3.9,-10.7,18,153,7.95,2.30,-9.98,0.000,4,0.239,0.045,2081,1041,3873,0,0,0,0,0,0,25.58,26.04,26.36
$GC,285,-0.58,-219.0,59.0,-16.6,47,292,0.00,2.42,0.00,0.000,6,0.000,0.034,2070,2522,3874,0,0,0,0,0,0,28.83,26.13,28.83
$GC,483,-0.50,-219.0,110.7,-27.7,84,490,0.12,2.35,0.00,0.000,4,0.184,0.023,2117,1032,3874,0,0,0,0,0,0,26.03,26.27,28.83
$GC,529,-0.47,-219.0,121.0,-16.9,92,536,0.00,2.38,0.00,0.000,6,0.000,0.034,2105,2495,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,723,-0.42,-219.0,159.5,-19.7,129,733,0.12,2.28,0.00,0.000,4,0.165,0.024,2154,1035,3875,0,0,0,0,0,0,26.16,26.34,28.83
$GC,766,-0.42,-219.0,165.5,-9.9,136,773,0.00,2.28,0.00,0.000,6,0.000,0.034,2150,2458,3875,0,0,0,0,0,0,28.83,26.32,28.83
$GC,964,-0.41,-219.0,182.1,-9.5,173,970,0.00,2.12,0.00,0.000,4,0.000,0.041,2140,3833,3874,0,0,0,0,0,0,28.83,26.35,28.83
$GC,992,-0.41,-219.0,185.0,-9.4,178,1001,0.00,2.15,0.00,0.000,6,0.000,0.019,2140,2378,3875,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1189,-0.40,-219.0,205.9,-11.2,210,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2377,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,-0.39,-219.0,240.6,-12.2,240,1500,0.00,2.28,0.00,0.000,4,0.000,0.041,2129,3811,3874,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1513,-0.38,-219.0,243.3,-12.0,242,1524,0.00,2.10,0.00,0.000,6,0.000,0.020,2129,2381,3875,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1825,-0.37,-219.0,280.6,-12.4,273,1833,0.00,2.05,0.00,0.000,4,0.000,0.025,2129,1035,3874,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1881,-0.38,-219.0,286.1,-10.2,278,1890,0.00,2.25,0.00,0.000,6,0.000,0.032,2125,2456,3874,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2188,-0.37,-219.0,321.9,-11.7,309,2197,0.10,2.10,0.00,0.000,4,0.162,0.039,2143,3828,3874,0,0,0,0,0,0,26.45,26.47,28.83
$GC,2213,-0.36,-219.0,324.3,-11.1,311,2221,0.00,2.15,0.00,0.000,6,0.000,0.019,2143,2368,3874,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2521,-0.38,-219.0,347.5,-7.8,342,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2367,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2825,-0.40,-219.0,369.7,-7.1,372,2833,0.00,2.35,0.00,0.000,4,0.000,0.039,2133,3821,3873,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2858,-0.42,-219.0,372.2,-7.0,375,2866,0.00,2.12,0.00,0.000,6,0.000,0.018,2133,2367,3872,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3167,-0.44,-219.0,395.7,-7.7,406,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2367,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.45,-219.0,418.9,-7.2,436,3479,0.00,2.38,0.00,0.000,4,0.000,0.041,2124,3821,3869,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3505,-0.47,-219.0,421.4,-7.1,439,3512,0.00,2.12,0.00,0.000,6,0.000,0.019,2124,2368,3869,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3814,-0.49,-219.0,447.4,-8.4,470,3823,0.00,2.35,0.00,0.000,4,0.000,0.041,2114,3821,3868,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3837,-0.50,-219.0,449.4,-8.4,472,3845,0.00,2.10,0.00,0.000,6,0.000,0.020,2115,2386,3868,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4147,-0.50,-219.0,476.3,-7.9,503,4156,0.00,2.25,0.00,0.000,4,0.000,0.041,2105,3811,3867,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4170,-0.51,-219.0,478.0,-7.7,505,4181,0.00,2.08,0.00,0.000,6,0.000,0.021,2105,2395,3867,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4479,-0.51,-219.0,502.8,-8.6,536,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2395,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,-0.51,-219.0,530.7,-9.7,566,4791,0.00,2.25,0.00,0.000,4,0.000,0.041,2096,3814,3865,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4815,-0.52,-219.0,534.2,-9.8,569,4824,0.00,2.10,0.00,0.000,6,0.000,0.020,2096,2391,3864,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5127,-0.52,-219.0,563.6,-9.4,600,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2391,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5437,-0.52,-219.0,590.1,-8.0,631,5448,0.00,2.33,0.00,0.000,4,0.000,0.042,2086,3821,3860,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5472,-0.52,-219.0,592.7,-7.6,634,5480,0.00,2.08,0.00,0.000,6,0.000,0.021,2086,2408,3860,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5793,-0.52,-219.0,618.8,-8.3,655,5798,0.00,2.10,0.00,0.000,4,0.000,0.027,2086,1040,3858,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5846,-0.52,-219.0,622.3,-8.5,657,5852,0.00,2.30,0.00,0.000,6,0.000,0.033,2085,2479,3858,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6152,-0.52,-219.0,650.9,-9.6,673,6157,0.00,2.10,0.00,0.000,4,0.000,0.044,2075,3827,3856,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6200,-0.52,-219.0,654.7,-9.6,675,6204,0.10,2.08,0.00,0.000,6,0.129,0.021,2106,2403,3855,0,0,0,0,0,0,26.43,26.60,28.83
$GC,6510,-0.53,-219.0,678.9,-7.4,690,6515,0.00,2.25,0.00,0.000,4,0.000,0.044,2096,3818,3853,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6537,-0.55,-219.0,680.4,-7.2,691,6541,0.00,2.08,0.00,0.000,6,0.000,0.021,2097,2407,3853,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6846,-0.55,-219.0,705.2,-8.4,706,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2406,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,-0.56,-219.0,730.5,-8.3,721,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2406,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7445,-0.57,-219.0,753.3,-7.5,736,7451,0.00,2.25,0.00,0.000,4,0.000,0.045,2087,3813,3848,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7486,-0.58,-219.0,756.4,-7.6,738,7491,0.00,2.05,0.00,0.000,6,0.000,0.023,2087,2425,3847,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7805,-0.59,-219.0,781.8,-7.6,754,7810,0.00,2.12,0.00,0.000,4,0.000,0.029,2087,1040,3845,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7833,-0.60,-219.0,783.3,-7.4,755,7843,0.00,2.33,0.00,0.000,6,0.000,0.034,2086,2490,3845,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8145,-0.60,-219.0,809.1,-8.4,771,8150,0.00,2.03,0.00,0.000,4,0.000,0.048,2076,3812,3843,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8188,-0.61,-219.0,812.5,-8.5,773,8192,0.00,2.05,0.00,0.000,6,0.000,0.024,2076,2428,3843,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8502,-0.61,-219.0,842.3,-9.8,789,8507,0.00,2.12,0.00,0.000,4,0.000,0.029,2076,1048,3842,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8543,-0.61,-219.0,846.3,-9.9,791,8547,0.00,2.33,0.00,0.000,6,0.000,0.035,2066,2493,3841,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8856,-0.60,-219.0,878.3,-9.6,807,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2492,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,-0.59,-219.0,906.6,-8.6,822,9161,0.00,2.28,0.00,0.000,4,0.000,0.028,2066,1034,3838,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9199,-0.59,-219.0,909.9,-8.4,824,9203,0.00,2.33,0.00,0.000,6,0.000,0.037,2056,2478,3838,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9512,-0.58,-219.0,937.9,-9.0,840,9516,0.10,2.10,0.00,0.000,4,0.158,0.045,2075,3827,3837,0,0,0,0,0,0,26.48,26.39,28.83
$GC,9536,-0.57,-219.0,939.9,-8.8,841,9541,0.00,2.08,0.00,0.000,6,0.000,0.023,2075,2427,3836,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9856,-0.57,-219.0,962.5,-7.0,857,9861,0.00,2.12,0.00,0.000,4,0.000,0.029,2075,1047,3834,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9883,-0.57,-219.0,964.0,-7.1,858,9887,0.00,2.30,0.00,0.000,6,0.000,0.035,2066,2477,3834,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10191,-0.57,-219.0,989.2,-8.1,873,10197,0.00,2.08,0.00,0.000,4,0.000,0.047,2056,3822,3833,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10207,begin apogee
$GC,10216,-0.20,0.0,990.8,-8.1,874,10511,0.43,0.15,287.35,0.977,4,0.096,0.073,2207,2560,2977,0,0,0,0,0,0,26.22,24.68,23.99
$STATE,10512,end apogee,CONTROL_FINISHED_OK
$STATE,10512,begin climb
$GC,10516,0.61,219.0,1002.4,0.0,889,10756,0.65,2.53,229.40,1.121,4,0.033,0.028,2486,1067,2080,0,0,0,0,0,0,24.89,24.88,23.60
$GC,10795,0.55,219.0,965.5,18.3,903,10802,0.12,2.58,0.00,0.000,6,0.170,0.037,2456,2541,2052,0,0,0,0,0,0,24.70,24.84,28.83
$GC,11114,0.49,219.0,897.9,21.3,919,11119,0.00,2.38,0.00,0.000,4,0.000,0.030,2468,1084,2044,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11166,0.43,219.0,889.3,20.9,921,11174,0.17,2.47,0.00,0.000,6,0.155,0.037,2420,2558,2042,0,0,0,0,0,0,25.61,25.82,28.83
$GC,11473,0.40,219.0,834.4,16.9,937,11479,0.00,1.95,0.00,0.000,4,0.000,0.045,2420,3841,2041,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11617,0.36,219.0,807.5,18.8,944,11623,0.10,1.95,0.00,0.000,6,0.162,0.024,2397,2537,2039,0,0,0,0,0,0,25.86,26.15,28.83
$GC,11937,0.33,219.0,761.5,13.6,960,11943,0.00,2.00,0.00,0.000,4,0.000,0.045,2397,3815,2038,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11964,0.31,219.0,758.8,13.6,961,11967,0.00,1.88,0.00,0.000,6,0.000,0.023,2406,2539,2038,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18563,end climb,SURFACE_DEPTH_REACHED
$STATE,18563,begin surface coast
$FINISH,-0.3,1.022462
$STATE,18574,end surface coast,CONTROL_FINISHED_OK
$STATE,18574,begin surface
$SM_CCo,18650,0.00,0.000,0,0,911,507.28
$SM_GC,0.61,6.00,0.00,0.00,0.028,0.000,0.000,124,2484,911,-6.63,-0.45,507.28,0,0,0,0,0,0
$IRIDIUM_FIX,2314.48,12301.04,050512,141434
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.6,17.887
$10V_AH,10.3,9.760
$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,17.400,206.150,788.400,0.000,0.000,29.505,24.522,229.802,0.000,0.000,16.157,4485.527,9784.798,961.437,3355.745,463.263,0.000,2675.961,0.000,2894.880,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,73.440,1121.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,106658,1692
$CAP_FILE_SIZE,216303,0
$CFSIZE,260165632,213422080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.257,294.0,1
$GPS,060512,001406,2323.808,12325.466,34,1.0,34,-3.3