version: 66.10
glider: 169
mission: 6
dive: 95
start: 5 7 112 6 47 43
data:
$ID,169
$MISSION,6
$DIVE,95
$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,-15398.656
$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
$GPS1,070512,063855,2336.911,12344.028,40,1.4,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.5
$GPS2,070512,064719,2337.072,12344.041,16,1.5,33,-3.3
$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,86.1,30298,-13.6,-9.167
$D_GRID,3361
$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,16,begin dive
$GC,19,-0.61,-219.0,0.0,0.0,0,110,0.00,0.00,-88.68,0.000,2,0.000,0.000,121,2405,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.61,-219.0,4.1,-11.3,16,141,7.75,2.22,-10.70,0.000,4,0.233,0.044,2057,3842,3873,0,0,0,0,0,0,25.58,26.10,26.42
$GC,164,-0.44,-219.0,33.2,-58.3,24,174,0.22,2.08,0.00,0.000,6,0.171,0.027,2126,2466,3874,0,0,0,0,0,0,25.79,26.13,28.83
$GC,368,-0.38,-219.0,85.0,-23.7,61,375,0.00,2.25,0.00,0.000,4,0.000,0.024,2134,1028,3875,0,0,0,0,0,0,28.83,26.26,28.83
$GC,449,-0.40,-219.0,97.8,-10.5,76,456,0.00,2.42,0.00,0.000,6,0.000,0.031,2124,2524,3876,0,0,0,0,0,0,28.83,26.26,28.83
$GC,647,-0.35,-219.0,132.4,-18.4,113,654,0.12,2.00,0.00,0.000,4,0.168,0.040,2153,3832,3876,0,0,0,0,0,0,26.17,26.30,28.83
$GC,678,-0.33,-219.0,137.2,-15.2,118,687,0.00,2.03,0.00,0.000,6,0.000,0.020,2162,2441,3876,0,0,0,0,0,0,28.83,26.41,28.83
$GC,878,-0.33,-219.0,157.9,-10.8,155,885,0.00,2.15,0.00,0.000,4,0.000,0.024,2162,1030,3876,0,0,0,0,0,0,28.83,26.41,28.83
$GC,904,-0.33,-219.0,160.7,-10.9,159,911,0.00,2.40,0.00,0.000,6,0.000,0.030,2160,2526,3876,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1100,-0.35,-219.0,178.0,-8.8,196,1106,0.00,1.98,0.00,0.000,4,0.000,0.041,2151,3820,3876,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1142,-0.38,-219.0,181.5,-8.2,203,1149,0.00,2.03,0.00,0.000,6,0.000,0.018,2151,2428,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1344,-0.38,-219.0,201.3,-9.5,240,1354,0.00,2.10,0.00,0.000,4,0.000,0.024,2151,1038,3876,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1401,-0.41,-219.0,205.7,-7.9,245,1408,0.00,2.33,0.00,0.000,6,0.000,0.030,2150,2510,3876,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1709,-0.42,-219.0,230.0,-8.6,276,1713,0.00,2.00,0.00,0.000,4,0.000,0.041,2141,3834,3876,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1732,-0.43,-219.0,231.9,-8.5,278,1741,0.00,2.03,0.00,0.000,6,0.000,0.019,2141,2427,3876,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2041,-0.43,-219.0,264.9,-11.1,309,2052,0.00,2.15,0.00,0.000,4,0.000,0.026,2141,1027,3876,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2065,-0.43,-219.0,267.3,-10.5,311,2074,0.00,2.35,0.00,0.000,6,0.000,0.031,2140,2503,3875,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2377,-0.44,-219.0,294.8,-8.8,342,2381,0.00,2.03,0.00,0.000,4,0.000,0.041,2130,3825,3875,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2420,-0.46,-219.0,298.3,-8.2,346,2429,0.00,2.03,0.00,0.000,6,0.000,0.019,2131,2426,3875,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2728,-0.46,-219.0,326.2,-9.6,377,2732,0.00,2.12,0.00,0.000,4,0.000,0.027,2131,1042,3874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2772,-0.48,-219.0,329.9,-8.8,381,2782,0.00,2.33,0.00,0.000,6,0.000,0.032,2125,2510,3874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3080,-0.48,-219.0,362.3,-10.2,412,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2509,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.48,-219.0,387.3,-8.4,442,3393,0.00,2.30,0.00,0.000,4,0.000,0.026,2125,1035,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3411,-0.49,-219.0,389.7,-8.8,444,3418,0.00,2.33,0.00,0.000,6,0.000,0.032,2125,2491,3872,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3718,-0.50,-219.0,414.5,-7.3,475,3727,0.00,2.03,0.00,0.000,4,0.000,0.041,2116,3817,3870,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3765,-0.51,-219.0,417.8,-7.5,479,3772,0.00,2.05,0.00,0.000,6,0.000,0.020,2116,2414,3870,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4072,-0.52,-219.0,442.8,-7.9,510,4076,0.00,2.08,0.00,0.000,4,0.000,0.026,2116,1039,3869,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4097,-0.53,-219.0,444.5,-8.0,512,4104,0.00,2.30,0.00,0.000,6,0.000,0.031,2112,2499,3868,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4404,-0.53,-219.0,468.9,-8.1,543,4413,0.00,2.03,0.00,0.000,4,0.000,0.042,2102,3826,3867,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4429,-0.53,-219.0,470.7,-7.9,545,4436,0.00,2.05,0.00,0.000,6,0.000,0.021,2102,2416,3867,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4738,-0.53,-219.0,498.9,-9.3,576,4747,0.00,2.08,0.00,0.000,4,0.000,0.026,2102,1045,3865,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4801,-0.55,-219.0,504.5,-8.3,582,4810,0.00,2.28,0.00,0.000,6,0.000,0.033,2099,2480,3865,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5111,-0.54,-219.0,537.0,-11.3,613,5120,0.00,2.05,0.00,0.000,4,0.000,0.043,2089,3823,3863,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5144,-0.54,-219.0,540.5,-11.0,616,5152,0.00,2.08,0.00,0.000,6,0.000,0.021,2089,2399,3863,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5453,-0.53,-219.0,575.4,-11.5,647,5464,0.00,2.08,0.00,0.000,4,0.000,0.028,2089,1038,3862,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5490,-0.53,-219.0,579.1,-11.2,650,5496,0.00,2.28,0.00,0.000,6,0.000,0.034,2086,2469,3862,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5812,-0.52,-219.0,612.9,-10.1,676,5818,0.00,2.10,0.00,0.000,4,0.000,0.045,2076,3825,3860,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5853,-0.52,-219.0,617.2,-9.9,678,5857,0.00,2.12,0.00,0.000,6,0.000,0.022,2075,2398,3860,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6171,-0.51,-219.0,648.2,-9.2,694,6173,0.12,0.00,0.00,0.000,6,0.132,0.000,2115,2397,3858,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6471,-0.53,-219.0,665.5,-6.3,709,6477,0.00,2.30,0.00,0.000,4,0.000,0.044,2103,3830,3856,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6513,-0.55,-219.0,668.1,-6.6,711,6518,0.00,2.08,0.00,0.000,6,0.000,0.021,2103,2408,3855,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6834,-0.63,-219.0,696.2,-10.6,727,6839,0.00,2.25,0.00,0.000,4,0.000,0.044,2102,3816,3854,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6925,-0.71,-219.0,704.6,-10.5,731,6933,0.15,2.05,0.00,0.000,6,0.063,0.024,1995,2416,3852,0,0,0,0,0,0,26.56,26.59,28.83
$GC,7233,-0.64,-219.0,761.8,-20.0,747,7239,0.20,2.10,0.00,0.000,4,0.139,0.028,2071,1038,3850,0,0,0,0,0,0,26.24,26.51,28.83
$GC,7301,-0.62,-219.0,769.8,-14.8,750,7305,0.00,2.30,0.00,0.000,6,0.000,0.035,2060,2477,3849,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7610,-0.60,-219.0,804.0,-11.4,765,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2476,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7908,-0.59,-219.0,836.3,-10.6,780,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2476,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8208,-0.57,-219.0,868.5,-10.8,795,8212,0.00,2.10,0.00,0.000,4,0.000,0.047,2049,3816,3845,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8230,-0.56,-219.0,870.9,-10.8,796,8236,0.10,2.10,0.00,0.000,6,0.109,0.025,2094,2402,3844,0,0,0,0,0,0,26.28,26.53,28.83
$GC,8552,-0.58,-219.0,893.8,-6.9,812,8558,0.00,2.30,0.00,0.000,4,0.000,0.047,2085,3813,3842,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8600,-0.60,-219.0,896.6,-6.5,814,8604,0.00,2.08,0.00,0.000,6,0.000,0.022,2085,2417,3842,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8908,-0.61,-219.0,919.7,-7.7,829,8913,0.00,2.28,0.00,0.000,4,0.000,0.047,2076,3825,3840,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8930,-0.62,-219.0,921.3,-7.6,830,8934,0.00,2.08,0.00,0.000,6,0.000,0.023,2076,2424,3840,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9244,-0.62,-219.0,947.5,-8.3,846,9250,0.00,2.12,0.00,0.000,4,0.000,0.030,2077,1044,3838,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9276,-0.62,-219.0,949.1,-8.3,847,9282,0.00,2.33,0.00,0.000,6,0.000,0.037,2069,2490,3838,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9583,-0.62,-219.0,978.1,-9.3,863,9588,0.00,2.10,0.00,0.000,4,0.000,0.049,2058,3825,3836,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9606,-0.62,-219.0,980.0,-9.4,864,9610,0.00,2.10,0.00,0.000,6,0.000,0.024,2058,2423,3835,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,9717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9717,begin apogee
$GC,9723,-0.20,0.0,991.5,-10.1,870,9932,0.43,0.08,202.62,1.166,4,0.100,0.093,2206,2481,2978,0,0,0,0,0,0,26.16,24.72,23.99
$STATE,9933,end apogee,CONTROL_FINISHED_OK
$STATE,9933,begin climb
$GC,9935,0.61,219.0,1000.8,0.0,880,10167,0.65,2.40,223.43,1.141,4,0.030,0.032,2490,1063,2085,0,0,0,0,0,0,24.94,24.91,23.73
$GC,10236,0.55,219.0,957.5,19.6,894,10243,0.15,2.55,0.00,0.000,6,0.166,0.040,2453,2541,2050,0,0,0,0,0,0,24.97,25.13,28.83
$GC,10554,0.48,219.0,887.0,22.5,910,10560,0.00,2.00,0.00,0.000,4,0.000,0.047,2452,3822,2044,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10587,0.41,219.0,882.2,22.3,911,10594,0.20,1.92,0.00,0.000,6,0.191,0.024,2411,2539,2044,0,0,0,0,0,0,25.59,25.94,28.83
$GC,10893,0.37,219.0,828.4,15.0,927,10899,0.00,2.03,0.00,0.000,4,0.000,0.046,2411,3816,2042,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11016,0.32,219.0,808.0,16.8,933,11022,0.12,1.88,0.00,0.000,6,0.179,0.024,2382,2556,2041,0,0,0,0,0,0,25.89,26.17,28.83
$GC,11337,0.30,219.0,768.2,11.8,949,11342,0.00,2.38,0.00,0.000,4,0.000,0.033,2394,1081,2039,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,17424,1.07,608.8,6.2,12.7,1605,17435,0.12,2.25,2.60,0.138,4,0.103,0.041,2623,3815,503,0,0,0,0,0,0,26.29,26.23,26.00
$STATE,17445,end climb,SURFACE_DEPTH_REACHED
$STATE,17445,begin surface coast
$FINISH,-0.2,1.022007
$STATE,17466,end surface coast,CONTROL_FINISHED_OK
$STATE,17466,begin surface
$SM_CCo,17544,0.00,0.000,0,0,510,605.40
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$IRIDIUM_FIX,2326.22,12340.75,070512,010140
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.55
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.7,19.480
$10V_AH,10.3,10.626
$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,18.125,201.850,836.225,0.000,0.000,26.342,45.947,259.129,0.000,0.000,34.340,4243.618,9079.834,971.128,3270.894,446.151,0.000,2600.383,0.000,2757.981,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,92.565,1165.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,100292,1612
$CAP_FILE_SIZE,208237,0
$CFSIZE,260165632,212688896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.404,301.6,1
$GPS,070512,114107,2339.659,12345.733,31,1.0,31,-3.4