version: 66.10
glider: 169
mission: 6
dive: 97
start: 5 7 112 16 58 26
data:
$ID,169
$MISSION,6
$DIVE,97
$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,200
$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,-15401.17
$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
$GPS1,070512,165001,2342.449,12347.800,42,1.0,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.9
$GPS2,070512,165802,2342.616,12347.809,16,1.2,16,-3.4
$SPEED_LIMITS,0.159,0.287
$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,90.1,18315,-14.5,-9.167
$D_GRID,3535
$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,15,begin dive
$GC,18,-0.60,-194.6,0.0,0.0,0,96,0.00,0.00,-75.05,0.000,2,0.000,0.000,125,2429,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.60,-194.6,3.1,-7.5,13,127,7.72,2.25,-11.68,0.000,4,0.231,0.048,2062,3841,3775,0,0,0,0,0,0,25.56,26.10,26.43
$GC,152,-0.44,-194.6,29.2,-52.2,21,159,0.22,2.05,0.00,0.000,6,0.181,0.025,2130,2464,3776,0,0,0,0,0,0,25.75,26.14,28.83
$GC,350,-0.39,-194.6,78.9,-21.4,58,357,0.00,2.22,0.00,0.000,4,0.000,0.025,2138,1033,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,421,-0.41,-194.6,89.7,-11.0,71,428,0.00,2.35,0.00,0.000,6,0.000,0.033,2128,2490,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,617,-0.37,-194.6,126.1,-19.4,108,623,0.00,2.05,0.00,0.000,4,0.000,0.041,2118,3820,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,666,-0.36,-194.6,135.1,-15.8,117,676,0.12,2.03,0.00,0.000,6,0.139,0.020,2160,2429,3777,0,0,0,0,0,0,26.17,26.40,28.83
$GC,865,-0.35,-194.6,161.8,-13.1,154,872,0.00,2.12,0.00,0.000,4,0.000,0.026,2161,1040,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,900,-0.37,-194.6,166.2,-11.3,160,907,0.00,2.35,0.00,0.000,6,0.000,0.032,2156,2513,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1099,-0.37,-194.6,189.1,-12.4,197,1106,0.00,1.98,0.00,0.000,4,0.000,0.041,2146,3821,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1119,-0.36,-194.6,191.5,-11.9,200,1126,0.00,2.05,0.00,0.000,6,0.000,0.019,2153,2419,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1320,-0.36,-194.6,211.1,-9.2,227,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2418,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1629,-0.36,-194.6,244.6,-10.3,258,1640,0.00,2.25,0.00,0.000,4,0.000,0.041,2144,3818,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1656,-0.36,-194.6,247.3,-10.1,260,1663,0.00,2.03,0.00,0.000,6,0.000,0.019,2144,2428,3777,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1963,-0.36,-194.6,273.0,-7.8,291,1974,0.00,2.12,0.00,0.000,4,0.000,0.027,2144,1041,3777,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2011,-0.38,-194.6,275.9,-6.6,295,2020,0.00,2.30,0.00,0.000,6,0.000,0.032,2138,2490,3777,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2318,-0.38,-194.6,303.8,-10.4,326,2326,0.00,2.03,0.00,0.000,4,0.000,0.041,2128,3823,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2353,-0.38,-194.6,307.0,-10.2,329,2359,0.00,2.05,0.00,0.000,6,0.000,0.020,2128,2413,3777,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2661,-0.38,-194.6,341.4,-10.9,360,2670,0.00,2.08,0.00,0.000,4,0.000,0.025,2128,1039,3776,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2686,-0.38,-194.6,343.7,-10.5,362,2693,0.00,2.30,0.00,0.000,6,0.000,0.031,2122,2490,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2993,-0.38,-194.6,377.6,-11.1,393,2995,0.10,0.00,0.00,0.000,6,0.165,0.000,2150,2489,3775,0,0,0,0,0,0,26.49,28.83,28.83
$GC,3294,-0.40,-194.6,400.4,-7.7,423,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2489,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3597,-0.42,-194.6,422.7,-8.3,453,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2489,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-0.45,-194.6,447.1,-6.2,484,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2489,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4218,-0.48,-194.6,461.7,-4.3,515,4227,0.00,2.03,0.00,0.000,4,0.000,0.042,2140,3814,3770,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4244,-0.52,-194.6,462.7,-4.0,517,4251,0.00,2.08,0.00,0.000,6,0.000,0.021,2140,2398,3770,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4550,-0.60,-194.6,482.3,-8.0,548,4560,0.15,2.22,0.00,0.000,4,0.099,0.038,2073,3816,3768,0,0,0,0,0,0,26.56,26.51,28.83
$GC,4656,-0.68,-194.6,489.9,-6.9,558,4664,0.00,2.03,0.00,0.000,6,0.000,0.021,2082,2415,3767,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4965,-0.70,-194.6,514.7,-8.3,589,4974,0.00,2.20,0.00,0.000,4,0.000,0.042,2074,3813,3765,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5028,-0.70,-194.6,520.4,-9.2,595,5032,0.00,1.77,0.00,0.000,6,0.000,0.022,2074,2554,3765,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5341,-0.68,-194.6,554.9,-11.1,626,5350,0.00,2.35,0.00,0.000,4,0.000,0.028,2074,1044,3764,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5457,-0.69,-194.6,566.2,-8.9,637,5468,0.00,2.47,0.00,0.000,6,0.000,0.034,2062,2578,3763,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5777,-0.67,-194.6,602.9,-10.6,668,5783,0.00,2.40,0.00,0.000,4,0.000,0.028,2062,1047,3761,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5877,-0.66,-194.6,611.7,-8.4,673,5882,0.00,2.42,0.00,0.000,6,0.000,0.035,2051,2555,3761,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6197,-0.63,-194.6,650.1,-13.1,689,6202,0.00,2.35,0.00,0.000,4,0.000,0.028,2051,1042,3759,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6306,-0.62,-194.6,662.8,-12.4,694,6318,0.12,2.40,0.00,0.000,6,0.141,0.034,2078,2537,3758,0,0,0,0,0,0,26.32,26.48,28.83
$GC,6618,-0.61,-194.6,697.8,-10.8,710,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2536,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6919,-0.61,-194.6,726.7,-8.9,725,6924,0.00,2.35,0.00,0.000,4,0.000,0.029,2079,1037,3754,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6966,-0.61,-194.6,729.9,-8.3,727,6970,0.00,2.40,0.00,0.000,6,0.000,0.037,2069,2531,3754,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7275,-0.60,-194.6,756.6,-8.8,742,7280,0.00,2.35,0.00,0.000,4,0.000,0.031,2069,1038,3751,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7318,-0.59,-194.6,760.1,-8.6,744,7322,0.00,2.40,0.00,0.000,6,0.000,0.037,2059,2531,3751,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7630,-0.57,-194.6,792.7,-10.9,760,7637,0.10,2.35,0.00,0.000,4,0.161,0.029,2091,1039,3749,0,0,0,0,0,0,26.48,26.47,28.83
$GC,7674,-0.57,-194.6,796.3,-10.0,762,7678,0.00,2.40,0.00,0.000,6,0.000,0.038,2086,2518,3749,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7986,-0.57,-194.6,821.3,-7.7,778,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2518,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8287,-0.57,-194.6,842.4,-7.0,793,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2518,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8586,-0.57,-194.6,866.1,-8.2,808,8592,0.00,2.33,0.00,0.000,4,0.000,0.029,2086,1042,3742,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8640,-0.58,-194.6,869.4,-8.5,810,8649,0.00,2.38,0.00,0.000,6,0.000,0.038,2086,2509,3742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8948,-0.59,-194.6,895.5,-8.0,826,8953,0.00,2.00,0.00,0.000,4,0.000,0.048,2076,3810,3740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9011,-0.60,-194.6,900.1,-7.6,829,9014,0.00,2.03,0.00,0.000,6,0.000,0.022,2076,2439,3739,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9328,-0.60,-194.6,925.6,-7.7,845,9334,0.00,2.15,0.00,0.000,4,0.000,0.030,2076,1044,3737,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9369,-0.60,-194.6,928.8,-7.9,847,9374,0.00,2.40,0.00,0.000,6,0.000,0.037,2066,2519,3737,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9690,-0.59,-194.6,955.7,-8.5,863,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2518,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9988,-0.58,-194.6,981.0,-8.0,878,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2518,3735,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10105,begin apogee
$GC,10110,-0.20,0.0,991.4,-8.7,884,10302,0.40,0.00,184.45,1.146,4,0.109,0.000,2205,2518,2978,0,0,0,0,0,0,26.13,28.83,24.03
$STATE,10303,end apogee,CONTROL_FINISHED_OK
$STATE,10303,begin climb
$GC,10306,0.60,194.6,997.4,0.0,893,10511,0.68,2.20,197.05,1.147,4,0.044,0.046,2472,3815,2184,0,0,0,0,0,0,24.97,24.94,23.75
$GC,10661,0.52,194.6,923.3,25.9,911,10667,0.15,2.08,0.00,0.000,6,0.199,0.024,2448,2495,2145,0,0,0,0,0,0,25.20,25.49,28.83
$GC,10983,0.45,194.6,856.1,19.9,927,10988,0.00,2.25,0.00,0.000,4,0.000,0.030,2460,1076,2140,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11055,0.40,194.6,845.4,17.8,930,11063,0.20,2.50,0.00,0.000,6,0.164,0.037,2404,2566,2137,0,0,0,0,0,0,25.70,25.97,28.83
$GC,11363,0.37,194.6,799.4,15.0,946,11369,0.00,1.95,0.00,0.000,4,0.000,0.045,2405,3827,2136,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11498,0.33,194.6,778.6,17.4,952,11506,0.12,1.90,0.00,0.000,6,0.180,0.023,2382,2539,2136,0,0,0,0,0,0,25.91,26.22,28.83
$GC,11806,0.32,194.6,737.9,11.1,968,11811,0.00,2.03,0.00,0.000,4,0.000,0.048,2382,3821,2136,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11877,0.29,194.6,730.1,12.6,971,11886,0.00,1.85,0.00,0.000,6,0.000,0.023,2392,2547,2135,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12186,0.27,194.6,689.9,12.6,987,12191,0.00,1.98,0.00,0.000,4,0.000,0.045,2393,3817,2135,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12208,0.25,194.6,687.2,12.9,988,12212,0.12,1.85,0.00,0.000,6,0.146,0.022,2350,2561,2134,0,0,0,0,0,0,25.97,26.36,28.83
$GC,12528,0.26,194.6,656.2,9.4,1004,12534,0.00,2.40,0.00,0.000,4,0.000,0.033,2362,1064,2133,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,17874,end climb,SURFACE_DEPTH_REACHED
$STATE,17874,begin surface coast
$FINISH,-0.3,1.022079
$STATE,17891,end surface coast,CONTROL_FINISHED_OK
$STATE,17891,begin surface
$SM_CCo,17968,0.00,0.000,0,0,764,543.09
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$IRIDIUM_FIX,2333.28,12351.85,070512,111133
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.76
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.8,19.892
$10V_AH,10.2,10.876
$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,17.300,165.050,744.975,0.000,0.000,29.334,41.893,252.574,0.000,0.000,17.291,4250.863,9585.861,868.373,3270.414,438.038,0.000,2465.780,0.000,2780.071,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,48.195,1147.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.859,2102.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,100099,1616
$CAP_FILE_SIZE,198845,0
$CFSIZE,260165632,212480000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.290,297.8,1
$GPS,070512,215906,2344.118,12350.049,38,1.4,43,-3.4