version: 66.10
glider: 169
mission: 6
dive: 104
start: 5 9 112 4 39 20
data:
$ID,169
$MISSION,6
$DIVE,104
$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,-15409.977
$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
$GPS1,090512,042807,2346.744,12355.960,30,0.9,30,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.6
$GPS2,090512,043856,2346.656,12355.936,16,1.0,16,-3.4
$SPEED_LIMITS,0.159,0.287
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,169.9,253184,-14.5,-9.167
$D_GRID,3057
$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,17,-0.60,-194.6,0.0,0.0,0,102,0.00,0.00,-82.57,0.000,2,0.000,0.000,121,2408,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.60,-194.6,3.4,-8.1,14,134,7.55,2.28,-12.25,0.000,4,0.223,0.052,2060,3823,3775,0,0,0,0,0,0,25.54,26.06,26.41
$GC,260,-0.52,-194.6,53.7,-27.7,41,268,0.12,2.05,0.00,0.000,6,0.174,0.023,2100,2461,3775,0,0,0,0,0,0,25.91,26.20,28.83
$GC,461,-0.44,-194.6,106.3,-28.6,78,468,0.12,2.22,0.00,0.000,4,0.181,0.026,2144,1039,3776,0,0,0,0,0,0,26.04,26.27,28.83
$GC,551,-0.46,-194.6,120.1,-7.8,94,557,0.00,2.33,0.00,0.000,6,0.000,0.031,2132,2491,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,746,-0.41,-194.6,154.9,-19.7,131,753,0.00,2.05,0.00,0.000,4,0.000,0.041,2122,3829,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,781,-0.37,-194.6,162.1,-18.8,137,790,0.00,2.05,0.00,0.000,6,0.000,0.020,2132,2426,3776,0,0,0,0,0,0,28.83,26.42,28.83
$GC,980,-0.33,-194.6,200.0,-17.9,174,984,0.12,2.10,0.00,0.000,4,0.158,0.023,2175,1049,3776,0,0,0,0,0,0,26.27,26.42,28.83
$GC,1013,-0.32,-194.6,205.7,-17.0,177,1024,0.00,2.30,0.00,0.000,6,0.000,0.031,2164,2495,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1324,-0.33,-194.6,233.6,-9.2,208,1332,0.00,2.25,0.00,0.000,4,0.000,0.024,2165,1034,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1367,-0.36,-194.6,237.0,-8.1,212,1375,0.00,2.28,0.00,0.000,6,0.000,0.031,2163,2481,3776,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1677,-0.37,-194.6,259.5,-6.6,243,1681,0.00,2.03,0.00,0.000,4,0.000,0.041,2153,3819,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1722,-0.40,-194.6,262.3,-6.5,247,1729,0.00,2.03,0.00,0.000,6,0.000,0.020,2154,2416,3776,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2030,-0.42,-194.6,283.8,-6.8,278,2034,0.00,2.08,0.00,0.000,4,0.000,0.027,2153,1039,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2067,-0.44,-194.6,286.2,-7.5,281,2076,0.00,2.28,0.00,0.000,6,0.000,0.031,2153,2488,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2376,-0.45,-194.6,307.9,-7.1,312,2385,0.00,2.03,0.00,0.000,4,0.000,0.044,2144,3819,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2429,-0.48,-194.6,311.6,-6.4,317,2438,0.00,2.05,0.00,0.000,6,0.000,0.020,2144,2408,3774,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2741,-0.50,-194.6,331.8,-6.4,348,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2408,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.52,-194.6,350.0,-6.3,379,3060,0.10,2.22,0.00,0.000,4,0.090,0.039,2049,3817,3771,0,0,0,0,0,0,26.67,26.48,28.83
$GC,3108,-0.49,-194.6,357.0,-14.3,384,3118,0.20,2.05,0.00,0.000,6,0.142,0.024,2117,2422,3771,0,0,0,0,0,0,26.21,26.57,28.83
$GC,3416,-0.48,-194.6,393.7,-11.4,415,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2421,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.48,-194.6,426.4,-10.7,445,3729,0.00,2.10,0.00,0.000,4,0.000,0.028,2117,1045,3769,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3752,-0.48,-194.6,430.1,-10.4,448,3763,0.00,2.25,0.00,0.000,6,0.000,0.033,2108,2477,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4062,-0.48,-194.6,460.1,-8.8,479,4066,0.00,2.08,0.00,0.000,4,0.000,0.044,2098,3820,3767,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4106,-0.48,-194.6,464.1,-9.5,483,4114,0.00,2.03,0.00,0.000,6,0.000,0.021,2098,2423,3766,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4415,-0.47,-194.6,494.2,-9.8,514,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2422,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4718,-0.47,-194.6,523.6,-9.7,544,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2422,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5027,-0.47,-194.6,552.8,-9.6,575,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2422,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.47,-194.6,581.5,-8.8,606,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2422,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5647,-0.47,-194.6,606.4,-7.6,633,5653,0.00,2.25,0.00,0.000,4,0.000,0.045,2089,3821,3757,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5689,-0.47,-194.6,609.5,-7.6,635,5694,0.12,2.03,0.00,0.000,6,0.122,0.023,2128,2425,3756,0,0,0,0,0,0,26.36,26.58,28.83
$GC,6005,-0.50,-194.6,625.5,-5.1,651,6009,0.00,2.12,0.00,0.000,4,0.000,0.030,2128,1043,3754,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6030,-0.52,-194.6,626.9,-5.1,652,6034,0.00,2.30,0.00,0.000,6,0.000,0.036,2126,2486,3753,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6344,-0.55,-194.6,644.1,-5.8,668,6349,0.00,2.05,0.00,0.000,4,0.000,0.046,2116,3821,3751,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6397,-0.57,-194.6,646.7,-6.0,670,6404,0.00,2.05,0.00,0.000,6,0.000,0.022,2116,2418,3750,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6704,-0.62,-194.6,668.2,-6.4,686,6710,0.12,2.10,0.00,0.000,4,0.077,0.026,2015,1038,3748,0,0,0,0,0,0,26.65,26.50,28.83
$GC,6745,-0.63,-194.6,672.0,-7.8,688,6751,0.17,2.50,0.00,0.000,6,0.110,0.037,2068,2579,3747,0,0,0,0,0,0,26.19,26.44,28.83
$GC,7066,-0.61,-194.6,707.7,-10.7,704,7072,0.00,2.42,0.00,0.000,4,0.000,0.030,2068,1043,3746,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7120,-0.60,-194.6,711.8,-10.3,706,7127,0.00,2.47,0.00,0.000,6,0.000,0.038,2056,2570,3746,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7427,-0.58,-194.6,745.1,-10.5,722,7433,0.12,2.40,0.00,0.000,4,0.145,0.027,2108,1048,3744,0,0,0,0,0,0,26.39,26.47,28.83
$GC,7496,-0.58,-194.6,749.0,-7.5,725,7505,0.00,2.42,0.00,0.000,6,0.000,0.036,2099,2553,3743,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7809,-0.59,-194.6,766.7,-5.7,741,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2552,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8107,-0.60,-194.6,784.4,-6.3,756,8113,0.00,2.38,0.00,0.000,4,0.000,0.030,2099,1049,3739,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8137,-0.61,-194.6,785.7,-6.3,757,8146,0.00,2.42,0.00,0.000,6,0.000,0.038,2099,2544,3739,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8450,-0.62,-194.6,805.5,-5.8,773,8455,0.00,1.98,0.00,0.000,4,0.000,0.047,2090,3835,3737,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8497,-0.63,-194.6,808.0,-6.0,775,8501,0.00,1.95,0.00,0.000,6,0.000,0.024,2090,2480,3737,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8805,-0.63,-194.6,828.9,-6.6,790,8810,0.00,2.22,0.00,0.000,4,0.000,0.031,2090,1039,3735,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8844,-0.64,-194.6,831.5,-6.8,792,8849,0.00,2.40,0.00,0.000,6,0.000,0.037,2085,2536,3735,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9164,-0.64,-194.6,854.8,-7.5,808,9169,0.00,2.00,0.00,0.000,4,0.000,0.050,2076,3815,3734,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9218,-0.64,-194.6,857.9,-7.8,810,9225,0.00,1.95,0.00,0.000,6,0.000,0.024,2076,2487,3733,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9526,-0.64,-194.6,885.9,-8.7,826,9530,0.00,2.25,0.00,0.000,4,0.000,0.031,2076,1054,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9570,-0.64,-194.6,890.0,-9.0,828,9575,0.00,2.42,0.00,0.000,6,0.000,0.039,2066,2544,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9889,-0.63,-194.6,920.6,-9.4,844,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2543,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10189,-0.62,-194.6,948.3,-9.1,859,10195,0.00,2.38,0.00,0.000,4,0.000,0.031,2066,1040,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10242,-0.62,-194.6,951.9,-9.0,861,10251,0.00,2.42,0.00,0.000,6,0.000,0.037,2056,2541,3729,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10550,-0.61,-194.6,983.4,-10.4,877,10553,0.00,1.98,0.00,0.000,4,0.000,0.048,2046,3823,3727,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10573,-0.59,-194.6,985.8,-10.5,878,10579,0.08,1.98,0.00,0.000,6,0.116,0.024,2077,2462,3727,0,0,0,0,0,0,26.23,26.51,28.83
$STATE,10629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10629,begin apogee
$GC,10635,-0.20,0.0,991.5,-9.6,881,10822,0.38,0.10,178.70,1.164,4,0.102,0.076,2208,2479,2978,0,0,0,0,0,0,26.12,24.75,23.99
$STATE,10823,end apogee,CONTROL_FINISHED_OK
$STATE,10823,begin climb
$GC,10825,0.60,194.6,998.8,0.0,890,11034,0.73,2.28,199.38,1.140,4,0.046,0.046,2484,3822,2182,0,0,0,0,0,0,24.96,24.93,23.70
$GC,11213,0.51,194.6,917.2,27.4,910,11218,0.20,2.05,0.00,0.000,6,0.191,0.024,2444,2489,2147,0,0,0,0,0,0,25.22,25.55,28.83
$GC,11530,0.46,194.6,848.4,21.7,926,11535,0.00,2.28,0.00,0.000,4,0.000,0.034,2456,1074,2142,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11617,0.42,194.6,832.5,19.3,930,11622,0.17,2.45,0.00,0.000,6,0.157,0.037,2408,2552,2139,0,0,0,0,0,0,25.72,25.98,28.83
$GC,11927,0.38,194.6,783.2,15.3,945,11932,0.00,1.98,0.00,0.000,4,0.000,0.044,2408,3825,2139,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12009,0.35,194.6,769.4,16.9,949,12013,0.00,1.95,0.00,0.000,6,0.000,0.024,2418,2516,2138,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12322,0.31,194.6,718.7,15.8,965,12328,0.12,2.03,0.00,0.000,4,0.184,0.041,2381,3823,2138,0,0,0,0,0,0,25.98,26.17,28.83
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$STATE,18845,end climb,SURFACE_DEPTH_REACHED
$STATE,18845,begin surface coast
$FINISH,-0.1,1.022291
$STATE,18861,end surface coast,CONTROL_FINISHED_OK
$STATE,18862,begin surface
$SM_CCo,18941,0.00,0.000,0,0,741,548.98
$SM_GC,0.70,6.22,2.38,0.00,0.024,0.024,0.000,134,2529,741,-6.61,-0.28,548.98,0,0,0,0,0,0
$IRIDIUM_FIX,2335.63,12356.43,090512,040418
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.7,21.157
$10V_AH,10.2,11.750
$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,18.150,193.900,751.625,0.000,0.000,54.972,58.542,304.857,0.000,0.000,17.319,4542.388,10118.160,887.363,3536.707,473.263,0.000,2581.773,0.000,2930.162,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,78.795,1164.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.432,2208.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330352
$DATA_FILE_SIZE,107096,1708
$CAP_FILE_SIZE,221041,0
$CFSIZE,260165632,211718144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.270,347.6,1
$GPS,090512,095607,2344.773,12356.022,37,1.0,37,-3.4