version: 66.10
glider: 169
mission: 6
dive: 96
start: 5 7 112 11 49 31
data:
$ID,169
$MISSION,6
$DIVE,96
$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,-15399.913
$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
$GPS1,070512,114107,2339.659,12345.733,31,1.0,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-73.2
$GPS2,070512,114907,2339.725,12345.681,12,1.6,17,-3.4
$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,88.1,24726,-13.6,-9.167
$D_GRID,3514
$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,-219.0,0.0,0.0,0,115,0.00,0.00,-95.07,0.000,2,0.000,0.000,114,2424,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.61,-219.0,3.1,-7.6,17,147,7.72,2.33,-13.62,0.000,4,0.230,0.046,2060,3841,3874,0,0,0,0,0,0,25.56,26.09,26.41
$GC,155,-0.36,-219.0,21.8,-50.5,22,162,0.32,2.08,0.00,0.000,6,0.176,0.024,2156,2462,3875,0,0,0,0,0,0,25.74,26.12,28.83
$GC,354,-0.32,-219.0,65.5,-16.4,59,361,0.00,2.20,0.00,0.000,4,0.000,0.024,2163,1041,3876,0,0,0,0,0,0,28.83,26.24,28.83
$GC,415,-0.37,-219.0,71.9,-6.4,70,422,0.00,2.42,0.00,0.000,6,0.000,0.031,2156,2536,3876,0,0,0,0,0,0,28.83,26.24,28.83
$GC,612,-0.34,-219.0,96.4,-14.6,107,619,0.00,1.95,0.00,0.000,4,0.000,0.041,2147,3824,3876,0,0,0,0,0,0,28.83,26.29,28.83
$GC,637,-0.31,-219.0,100.1,-14.5,111,644,0.00,2.00,0.00,0.000,6,0.000,0.019,2156,2456,3876,0,0,0,0,0,0,28.83,26.39,28.83
$GC,834,-0.29,-219.0,128.9,-16.0,148,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2455,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1033,-0.28,-219.0,161.0,-15.6,185,1039,0.00,2.17,0.00,0.000,4,0.000,0.024,2156,1039,3876,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1059,-0.28,-219.0,164.9,-15.0,189,1066,0.12,2.40,0.00,0.000,6,0.115,0.031,2197,2535,3876,0,0,0,0,0,0,26.32,26.41,28.83
$GC,1253,-0.39,-219.0,179.2,-9.0,226,1262,0.12,1.95,0.00,0.000,4,0.080,0.038,2081,3821,3876,0,0,0,0,0,0,26.55,26.42,28.83
$GC,1296,-0.40,-219.0,183.7,-9.8,233,1303,0.20,1.92,0.00,0.000,6,0.129,0.020,2142,2479,3876,0,0,0,0,0,0,26.23,26.52,28.83
$GC,1500,-0.39,-219.0,204.5,-11.1,267,1509,0.00,2.17,0.00,0.000,4,0.000,0.024,2143,1041,3876,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1555,-0.41,-219.0,209.5,-8.4,272,1562,0.00,2.40,0.00,0.000,6,0.000,0.030,2138,2548,3876,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1865,-0.40,-219.0,243.4,-11.5,303,1874,0.00,2.35,0.00,0.000,4,0.000,0.024,2138,1032,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1920,-0.42,-219.0,248.6,-9.0,308,1927,0.00,2.40,0.00,0.000,6,0.000,0.031,2138,2536,3876,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2229,-0.42,-219.0,280.7,-11.6,339,2239,0.00,1.98,0.00,0.000,4,0.000,0.041,2128,3848,3876,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2245,-0.42,-219.0,281.8,-11.6,340,2252,0.00,2.00,0.00,0.000,6,0.000,0.019,2128,2440,3876,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2552,-0.42,-219.0,312.7,-9.5,371,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2439,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.43,-219.0,341.9,-9.2,401,2864,0.00,2.12,0.00,0.000,4,0.000,0.025,2128,1032,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2890,-0.44,-219.0,344.8,-8.9,404,2897,0.00,2.40,0.00,0.000,6,0.000,0.032,2125,2544,3874,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3198,-0.45,-219.0,372.7,-9.1,435,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2543,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.45,-219.0,400.8,-9.5,465,3509,0.00,2.33,0.00,0.000,4,0.000,0.026,2125,1044,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3544,-0.48,-219.0,404.5,-8.5,469,3553,0.00,2.35,0.00,0.000,6,0.000,0.033,2125,2531,3872,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3853,-0.49,-219.0,429.5,-8.5,500,3863,0.00,1.98,0.00,0.000,4,0.000,0.044,2116,3842,3869,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3897,-0.52,-219.0,433.1,-7.9,504,3901,0.00,2.03,0.00,0.000,6,0.000,0.021,2115,2448,3869,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4210,-0.52,-219.0,459.6,-8.4,535,4218,0.00,2.12,0.00,0.000,4,0.000,0.026,2115,1042,3869,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4244,-0.54,-219.0,462.2,-8.3,538,4252,0.00,2.35,0.00,0.000,6,0.000,0.033,2112,2528,3868,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4553,-0.55,-219.0,488.9,-8.8,569,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2527,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4864,-0.56,-219.0,515.7,-7.8,600,4873,0.00,2.28,0.00,0.000,4,0.000,0.028,2112,1039,3864,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4889,-0.57,-219.0,517.5,-7.6,602,4897,0.00,2.38,0.00,0.000,6,0.000,0.034,2112,2534,3863,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5198,-0.58,-219.0,540.2,-7.6,633,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2534,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5508,-0.59,-219.0,562.9,-6.4,664,5517,0.00,2.33,0.00,0.000,4,0.000,0.028,2112,1042,3861,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5541,-0.61,-219.0,565.1,-6.5,667,5550,0.08,2.38,0.00,0.000,6,0.047,0.036,2043,2518,3861,0,0,0,0,0,0,26.48,26.51,28.83
$GC,5860,-0.57,-219.0,613.3,-16.0,695,5866,0.12,2.00,0.00,0.000,4,0.148,0.042,2076,3828,3859,0,0,0,0,0,0,26.41,26.47,28.83
$GC,5902,-0.54,-219.0,618.7,-15.1,697,5908,0.00,2.03,0.00,0.000,6,0.000,0.022,2076,2446,3858,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6223,-0.53,-219.0,656.6,-12.2,713,6229,0.00,2.15,0.00,0.000,4,0.000,0.029,2076,1046,3856,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6285,-0.53,-219.0,663.5,-11.7,716,6290,0.12,2.33,0.00,0.000,6,0.125,0.034,2107,2502,3856,0,0,0,0,0,0,26.36,26.49,28.83
$GC,6600,-0.54,-219.0,687.4,-6.8,732,6606,0.00,2.00,0.00,0.000,4,0.000,0.046,2098,3808,3854,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6628,-0.56,-219.0,688.8,-6.8,733,6632,0.00,2.00,0.00,0.000,6,0.000,0.021,2098,2432,3853,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6934,-0.56,-219.0,707.3,-5.7,748,6938,0.00,2.12,0.00,0.000,4,0.000,0.029,2097,1039,3851,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6958,-0.57,-219.0,708.6,-5.8,749,6963,0.00,2.33,0.00,0.000,6,0.000,0.034,2092,2497,3851,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7279,-0.57,-219.0,730.8,-7.2,765,7284,0.00,2.03,0.00,0.000,4,0.000,0.046,2082,3822,3849,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7325,-0.58,-219.0,733.7,-7.1,767,7329,0.00,2.03,0.00,0.000,6,0.000,0.021,2082,2429,3848,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7638,-0.58,-219.0,761.2,-9.0,783,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2429,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,-0.58,-219.0,789.8,-10.0,798,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2428,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8238,-0.58,-219.0,819.6,-10.0,813,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2428,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8538,-0.58,-219.0,846.7,-8.3,828,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2428,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,-0.58,-219.0,872.0,-8.5,843,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2428,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9139,-0.58,-219.0,896.4,-7.7,858,9144,0.00,2.22,0.00,0.000,4,0.000,0.047,2073,3813,3838,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9181,-0.59,-219.0,899.4,-7.4,860,9185,0.00,2.03,0.00,0.000,6,0.000,0.024,2073,2444,3838,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9493,-0.59,-219.0,922.9,-6.9,876,9499,0.00,2.17,0.00,0.000,4,0.000,0.030,2073,1045,3836,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9534,-0.59,-219.0,925.4,-6.5,878,9540,0.00,2.35,0.00,0.000,6,0.000,0.037,2067,2507,3836,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9855,-0.58,-219.0,945.7,-6.5,894,9860,0.00,2.00,0.00,0.000,4,0.000,0.047,2057,3813,3835,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9908,-0.58,-219.0,948.4,-6.5,896,9915,0.00,2.03,0.00,0.000,6,0.000,0.024,2057,2448,3834,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10215,-0.57,-219.0,970.1,-6.9,912,10222,0.12,2.17,0.00,0.000,4,0.132,0.029,2104,1047,3833,0,0,0,0,0,0,26.41,26.43,28.83
$GC,10257,-0.58,-219.0,972.1,-6.1,914,10262,0.00,2.35,0.00,0.000,6,0.000,0.038,2099,2502,3833,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10573,begin apogee
$GC,10580,-0.20,0.0,991.2,-7.5,930,10789,0.28,0.08,203.75,1.162,4,0.064,0.092,2221,2472,2978,0,0,0,0,0,0,26.48,24.68,23.96
$STATE,10790,end apogee,CONTROL_FINISHED_OK
$STATE,10790,begin climb
$GC,10793,0.61,219.0,1001.8,0.0,940,11030,0.65,2.30,223.98,1.136,4,0.035,0.046,2496,3824,2073,0,0,0,0,0,0,24.93,24.87,23.70
$GC,11259,0.50,219.0,885.0,32.0,963,11264,0.25,2.05,0.00,0.000,6,0.197,0.026,2444,2495,2044,0,0,0,0,0,0,25.30,25.65,28.83
$GC,11575,0.44,219.0,817.1,20.1,979,11580,0.00,2.25,0.00,0.000,4,0.000,0.031,2455,1081,2040,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11636,0.40,219.0,806.1,18.5,982,11642,0.17,2.47,0.00,0.000,6,0.156,0.038,2406,2564,2037,0,0,0,0,0,0,25.76,25.98,28.83
$GC,11953,0.37,219.0,755.9,16.1,998,11957,0.00,1.98,0.00,0.000,4,0.000,0.047,2407,3831,2037,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12117,0.33,219.0,727.7,16.5,1006,12123,0.12,1.90,0.00,0.000,6,0.174,0.024,2381,2544,2035,0,0,0,0,0,0,25.94,26.23,28.83
$GC,12439,0.31,219.0,690.1,11.2,1022,12443,0.00,2.00,0.00,0.000,4,0.000,0.046,2380,3818,2035,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,17865,end climb,SURFACE_DEPTH_REACHED
$STATE,17865,begin surface coast
$FINISH,-0.3,1.022066
$STATE,17883,end surface coast,CONTROL_FINISHED_OK
$STATE,17883,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.7,19.692
$10V_AH,10.2,10.752
$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
$DEVICE_SECS,17.550,170.825,664.600,0.000,0.000,29.894,53.130,242.310,0.000,0.000,17.944,4420.954,9398.681,808.951,3340.445,434.398,0.000,2434.113,0.000,2842.161,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330336
$DATA_FILE_SIZE,103416,1663
$CAP_FILE_SIZE,204361,0
$CFSIZE,260165632,212582400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.395,311.8,1
$GPS,070512,165001,2342.449,12347.800,42,1.0,42,-3.4