version: 66.10
glider: 169
mission: 6
dive: 116
start: 5 12 112 0 0 43
data:
$ID,169
$MISSION,6
$DIVE,116
$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,420
$T_MISSION,460
$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,175
$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,1
$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,-15425.076
$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
$GPS1,110512,235206,2336.177,12406.102,33,1.0,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-67.1
$GPS2,120512,000020,2336.296,12406.004,14,1.5,14,-3.4
$SPEED_LIMITS,0.136,0.256
$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,140.9,234128,-13.5,-7.857
$D_GRID,2730
$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,-0.55,-170.3,0.0,0.0,0,105,0.00,0.00,-83.55,0.000,2,0.000,0.000,121,2395,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.55,-170.3,4.1,-11.8,14,131,7.90,2.15,-5.85,0.000,4,0.233,0.035,2100,1004,3677,0,0,0,0,0,0,25.44,26.09,26.36
$GC,186,-0.50,-170.3,34.9,-21.7,27,192,0.00,2.47,0.00,0.000,6,0.000,0.034,2087,2526,3679,0,0,0,0,0,0,28.83,26.03,28.83
$GC,384,-0.42,-170.3,85.8,-27.9,64,394,0.15,2.35,0.00,0.000,4,0.174,0.024,2142,1043,3680,0,0,0,0,0,0,25.89,26.18,28.83
$GC,464,-0.43,-170.3,100.0,-13.0,78,471,0.00,2.35,0.00,0.000,6,0.000,0.032,2131,2502,3680,0,0,0,0,0,0,28.83,26.19,28.83
$GC,664,-0.38,-170.3,134.3,-17.0,115,670,0.00,2.03,0.00,0.000,4,0.000,0.044,2121,3818,3680,0,0,0,0,0,0,28.83,26.21,28.83
$GC,704,-0.36,-170.3,141.2,-16.3,122,711,0.12,2.05,0.00,0.000,6,0.135,0.020,2162,2424,3680,0,0,0,0,0,0,26.11,26.35,28.83
$GC,904,-0.35,-170.3,165.0,-10.9,159,911,0.00,2.12,0.00,0.000,4,0.000,0.026,2162,1043,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,946,-0.37,-170.3,168.8,-7.8,166,953,0.00,2.33,0.00,0.000,6,0.000,0.031,2156,2495,3681,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1143,-0.36,-170.3,186.2,-9.2,203,1149,0.00,2.00,0.00,0.000,4,0.000,0.041,2146,3820,3681,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1178,-0.36,-170.3,189.2,-8.2,209,1186,0.00,2.08,0.00,0.000,6,0.000,0.019,2146,2411,3681,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1374,-0.34,-170.3,207.1,-10.3,239,1383,0.00,2.08,0.00,0.000,4,0.000,0.024,2146,1039,3681,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1429,-0.35,-170.3,211.9,-8.2,244,1436,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2468,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1737,-0.33,-170.3,243.7,-11.1,275,1746,0.00,2.10,0.00,0.000,4,0.000,0.041,2128,3831,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1772,-0.32,-170.3,247.0,-10.3,278,1779,0.15,2.10,0.00,0.000,6,0.113,0.019,2175,2394,3681,0,0,0,0,0,0,26.27,26.51,28.83
$GC,2080,-0.34,-170.3,265.3,-6.1,309,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2394,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-0.36,-170.3,286.0,-6.8,339,2391,0.00,2.28,0.00,0.000,4,0.000,0.040,2165,3821,3679,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2426,-0.39,-170.3,289.2,-7.0,343,2435,0.00,2.08,0.00,0.000,6,0.000,0.018,2165,2386,3678,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2738,-0.47,-170.3,313.0,-7.6,374,2747,0.12,2.30,0.00,0.000,4,0.107,0.037,2108,3821,3677,0,0,0,0,0,0,26.53,26.42,28.83
$GC,2793,-0.54,-170.3,316.6,-6.7,379,2801,0.00,2.03,0.00,0.000,6,0.000,0.018,2109,2405,3677,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3102,-0.56,-170.3,336.3,-7.0,410,3111,0.00,2.08,0.00,0.000,4,0.000,0.026,2109,1042,3676,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3167,-0.56,-170.3,341.6,-8.6,416,3174,0.00,2.45,0.00,0.000,6,0.000,0.032,2099,2563,3676,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3475,-0.53,-170.3,379.2,-12.9,447,3484,0.00,2.40,0.00,0.000,4,0.000,0.025,2099,1037,3675,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3521,-0.51,-170.3,384.3,-12.1,451,3528,0.00,2.42,0.00,0.000,6,0.000,0.034,2089,2544,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3830,-0.48,-170.3,425.1,-13.2,482,3839,0.00,2.35,0.00,0.000,4,0.000,0.026,2091,1039,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3927,-0.48,-170.3,436.2,-10.7,491,3935,0.12,2.40,0.00,0.000,6,0.141,0.034,2123,2534,3675,0,0,0,0,0,0,26.26,26.44,28.83
$GC,4235,-0.48,-170.3,464.1,-8.2,522,4244,0.00,2.30,0.00,0.000,4,0.000,0.025,2123,1040,3673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4270,-0.49,-170.3,466.4,-7.4,525,4279,0.00,2.35,0.00,0.000,6,0.000,0.033,2116,2523,3673,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4578,-0.49,-170.3,489.0,-7.3,556,4586,0.00,1.98,0.00,0.000,4,0.000,0.044,2106,3836,3671,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4610,-0.49,-170.3,491.6,-7.8,559,4619,0.00,2.05,0.00,0.000,6,0.000,0.021,2106,2435,3671,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4923,-0.48,-170.3,518.3,-8.9,590,4926,0.00,2.15,0.00,0.000,4,0.000,0.025,2106,1026,3670,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4968,-0.48,-170.3,522.0,-8.4,594,4974,0.00,2.35,0.00,0.000,6,0.000,0.032,2099,2503,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5275,-0.48,-170.3,551.7,-9.9,625,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2502,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5579,-0.47,-170.3,580.2,-9.8,655,5588,0.00,2.28,0.00,0.000,4,0.000,0.027,2099,1044,3666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5613,-0.47,-170.3,583.7,-9.7,658,5620,0.00,2.33,0.00,0.000,6,0.000,0.034,2093,2490,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5925,-0.46,-170.3,614.4,-9.7,682,5931,0.12,2.22,0.00,0.000,4,0.146,0.027,2137,1050,3664,0,0,0,0,0,0,26.38,26.45,28.83
$GC,5968,-0.47,-170.3,617.8,-9.0,684,5972,0.00,2.28,0.00,0.000,6,0.000,0.034,2134,2476,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6282,-0.49,-170.3,635.3,-5.7,700,6287,0.00,2.03,0.00,0.000,4,0.000,0.044,2125,3813,3661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6314,-0.51,-170.3,636.3,-5.6,701,6321,0.00,2.05,0.00,0.000,6,0.000,0.021,2125,2408,3660,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6622,-0.55,-170.3,658.3,-7.1,717,6627,0.00,2.08,0.00,0.000,4,0.000,0.027,2125,1045,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6781,-0.63,-170.3,671.5,-8.8,725,6787,0.12,2.42,0.00,0.000,6,0.044,0.034,2051,2553,3657,0,0,0,0,0,0,26.37,26.40,28.83
$GC,7103,-0.60,-170.3,709.5,-12.4,741,7109,0.10,1.90,0.00,0.000,4,0.152,0.043,2071,3820,3654,0,0,0,0,0,0,26.48,26.34,28.83
$GC,7130,-0.57,-170.3,711.9,-12.2,742,7134,0.00,1.95,0.00,0.000,6,0.000,0.021,2077,2477,3654,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7439,-0.56,-170.3,741.6,-9.5,757,7444,0.00,2.20,0.00,0.000,4,0.000,0.029,2078,1049,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7519,-0.55,-170.3,748.9,-9.0,761,7524,0.00,2.40,0.00,0.000,6,0.000,0.036,2067,2534,3652,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7838,-0.53,-170.3,781.1,-10.1,777,7844,0.12,2.35,0.00,0.000,4,0.139,0.026,2114,1045,3650,0,0,0,0,0,0,26.36,26.41,28.83
$GC,7872,-0.52,-170.3,782.8,-9.9,778,7878,0.00,2.40,0.00,0.000,6,0.000,0.036,2112,2529,3650,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8180,-0.53,-170.3,803.5,-7.0,794,8185,0.00,1.98,0.00,0.000,4,0.000,0.047,2103,3824,3648,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8212,-0.54,-170.3,804.9,-6.9,795,8221,0.00,2.00,0.00,0.000,6,0.000,0.022,2103,2459,3648,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8522,-0.55,-170.3,830.0,-7.8,811,8527,0.00,2.20,0.00,0.000,4,0.000,0.031,2103,1052,3646,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8562,-0.56,-170.3,833.3,-7.8,813,8567,0.00,2.38,0.00,0.000,6,0.000,0.037,2099,2527,3646,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8883,-0.56,-170.3,857.2,-7.3,829,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2526,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9180,-0.56,-170.3,878.6,-7.1,844,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2525,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,-0.56,-170.3,899.1,-6.9,859,9486,0.00,2.35,0.00,0.000,4,0.000,0.031,2099,1051,3641,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9504,-0.56,-170.3,900.6,-7.1,860,9508,0.00,2.42,0.00,0.000,6,0.000,0.039,2099,2527,3641,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9817,-0.56,-170.3,920.6,-5.9,876,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2526,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10118,-0.56,-170.3,937.7,-5.1,891,10124,0.00,2.00,0.00,0.000,4,0.000,0.050,2089,3818,3638,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10140,-0.56,-170.3,938.8,-5.0,892,10144,0.00,2.05,0.00,0.000,6,0.000,0.024,2091,2452,3638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10453,-0.56,-170.3,955.8,-5.2,908,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2451,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10753,-0.56,-170.3,973.0,-5.7,923,10758,0.00,2.20,0.00,0.000,4,0.000,0.029,2091,1044,3636,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10808,-0.56,-170.3,975.6,-6.1,925,10814,0.00,2.42,0.00,0.000,6,0.000,0.037,2085,2523,3636,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11011,begin apogee
$GC,11017,-0.20,0.0,990.4,-7.1,936,11183,0.35,0.00,159.70,1.166,4,0.104,0.000,2208,2522,2978,0,0,0,0,0,0,26.06,28.83,23.96
$STATE,11184,end apogee,CONTROL_FINISHED_OK
$STATE,11184,begin climb
$GC,11186,0.55,170.3,995.7,0.0,944,11373,0.62,0.00,173.10,1.165,6,0.040,0.000,2463,2522,2269,0,0,0,0,0,0,24.94,28.83,23.64
$GC,11668,0.47,170.3,915.4,19.6,969,11674,0.12,2.05,0.00,0.000,4,0.198,0.042,2424,3824,2247,0,0,0,0,0,0,25.46,25.68,28.83
$GC,11851,0.41,170.3,882.4,17.3,978,11855,0.00,1.95,0.00,0.000,6,0.000,0.023,2434,2530,2245,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,19907,end climb,SURFACE_DEPTH_REACHED
$STATE,19907,begin surface coast
$FINISH,-0.2,1.011417
$STATE,19926,end surface coast,CONTROL_FINISHED_OK
$STATE,19926,begin surface
$SM_CCo,20003,0.00,0.000,0,0,1011,482.75
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.23
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.6,23.400
$10V_AH,10.3,13.358
$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
$DEVICE_SECS,18.000,213.275,640.000,0.000,0.000,32.073,20.225,285.407,0.000,0.000,15.110,4743.680,10812.966,846.077,3575.838,477.574,0.000,2591.477,0.000,3050.795,0.000,0.542,0.000
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$SENSOR_SECS,1203.226,2304.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330400
$DATA_FILE_SIZE,110127,1775
$CAP_FILE_SIZE,229298,0
$CFSIZE,260165632,210358272
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.269,324.7,1
$GPS,120512,053506,2335.113,12407.894,32,1.0,32,-3.4