version: 66.10
glider: 169
mission: 6
dive: 119
start: 5 12 112 17 7 59
data:
$ID,169
$MISSION,6
$DIVE,119
$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,-15428.844
$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
$GPS1,120512,165900,2334.028,12409.423,37,1.0,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.8
$GPS2,120512,170736,2334.085,12409.288,33,1.0,33,-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,142.4,230362,-13.5,-7.857
$D_GRID,2834
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.55,-170.3,0.0,0.0,0,102,0.00,0.00,-80.10,0.000,2,0.000,0.000,117,2417,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.55,-170.3,4.0,-11.1,14,125,7.82,2.25,-5.85,0.000,4,0.228,0.041,2100,1037,3678,0,0,0,0,0,0,25.45,26.06,26.36
$GC,207,-0.50,-170.3,42.6,-19.4,32,214,0.00,2.45,0.00,0.000,6,0.000,0.034,2089,2522,3680,0,0,0,0,0,0,28.83,26.06,28.83
$GC,406,-0.42,-170.3,90.2,-25.8,69,413,0.15,0.00,0.00,0.000,6,0.170,0.000,2132,2521,3681,0,0,0,0,0,0,25.92,28.83,28.83
$GC,605,-0.38,-170.3,128.8,-18.3,106,614,0.00,2.38,0.00,0.000,4,0.000,0.024,2143,1029,3681,0,0,0,0,0,0,28.83,26.28,28.83
$GC,701,-0.39,-170.3,142.2,-12.6,123,707,0.00,2.40,0.00,0.000,6,0.000,0.031,2132,2519,3681,0,0,0,0,0,0,28.83,26.28,28.83
$GC,898,-0.35,-170.3,172.3,-15.6,160,904,0.00,2.00,0.00,0.000,4,0.000,0.041,2122,3832,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,954,-0.35,-170.3,180.5,-12.0,170,963,0.12,2.00,0.00,0.000,6,0.124,0.020,2161,2447,3681,0,0,0,0,0,0,26.20,26.44,28.83
$GC,1155,-0.35,-170.3,199.1,-8.2,207,1161,0.00,2.20,0.00,0.000,4,0.000,0.024,2161,1032,3681,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1204,-0.37,-170.3,202.4,-7.0,212,1210,0.00,2.38,0.00,0.000,6,0.000,0.031,2152,2516,3681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1512,-0.36,-170.3,228.3,-8.8,243,1521,0.00,2.33,0.00,0.000,4,0.000,0.025,2153,1038,3681,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1556,-0.37,-170.3,232.0,-8.4,247,1564,0.00,2.35,0.00,0.000,6,0.000,0.033,2144,2501,3681,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1864,-0.36,-170.3,262.6,-10.5,278,1868,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,3835,3682,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1899,-0.36,-170.3,265.8,-10.2,281,1906,0.00,2.03,0.00,0.000,6,0.000,0.020,2134,2429,3681,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2206,-0.35,-170.3,298.7,-9.8,312,2216,0.00,2.15,0.00,0.000,4,0.000,0.024,2134,1027,3681,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2272,-0.36,-170.3,304.3,-8.0,318,2282,0.12,2.35,0.00,0.000,6,0.125,0.031,2166,2500,3681,0,0,0,0,0,0,26.30,26.45,28.83
$GC,2580,-0.38,-170.3,320.8,-5.2,349,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2499,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2882,-0.40,-170.3,337.6,-6.0,379,2886,0.00,2.05,0.00,0.000,4,0.000,0.044,2157,3824,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2904,-0.42,-170.3,338.9,-5.6,381,2913,0.00,2.03,0.00,0.000,6,0.000,0.019,2157,2411,3678,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3216,-0.44,-170.3,359.9,-7.4,412,3224,0.00,2.10,0.00,0.000,4,0.000,0.024,2157,1030,3677,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3238,-0.47,-170.3,361.7,-7.3,414,3247,0.00,2.33,0.00,0.000,6,0.000,0.031,2156,2495,3677,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3548,-0.49,-170.3,383.3,-6.1,445,3550,0.12,0.00,0.00,0.000,6,0.074,0.000,2056,2494,3676,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3848,-0.43,-170.3,430.1,-16.3,475,3857,0.22,2.28,0.00,0.000,4,0.138,0.024,2141,1041,3675,0,0,0,0,0,0,26.17,26.50,28.83
$GC,3894,-0.42,-170.3,435.0,-11.0,479,3901,0.00,2.33,0.00,0.000,6,0.000,0.032,2137,2490,3675,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4204,-0.43,-170.3,452.2,-4.6,510,4212,0.00,2.00,0.00,0.000,4,0.000,0.040,2128,3827,3674,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4256,-0.45,-170.3,454.8,-4.7,515,4260,0.00,2.05,0.00,0.000,6,0.000,0.019,2128,2414,3673,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4571,-0.45,-170.3,472.9,-7.0,546,4579,0.00,2.08,0.00,0.000,4,0.000,0.024,2128,1042,3672,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4595,-0.46,-170.3,474.6,-6.9,548,4602,0.00,2.33,0.00,0.000,6,0.000,0.031,2120,2507,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4902,-0.46,-170.3,501.9,-9.0,579,4906,0.00,2.00,0.00,0.000,4,0.000,0.041,2110,3830,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4923,-0.46,-170.3,503.8,-9.1,581,4934,0.00,2.05,0.00,0.000,6,0.000,0.019,2110,2425,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5235,-0.45,-170.3,530.6,-8.3,612,5243,0.00,2.12,0.00,0.000,4,0.000,0.026,2110,1043,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5287,-0.46,-170.3,534.8,-7.9,617,5298,0.00,2.30,0.00,0.000,6,0.000,0.031,2100,2491,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5598,-0.45,-170.3,562.8,-9.7,648,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2490,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5900,-0.44,-170.3,594.2,-10.6,678,5909,0.10,2.28,0.00,0.000,4,0.154,0.024,2137,1036,3665,0,0,0,0,0,0,26.49,26.47,28.83
$GC,5936,-0.45,-170.3,597.7,-9.6,681,5945,0.00,2.33,0.00,0.000,6,0.000,0.033,2134,2488,3665,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6255,-0.47,-170.3,620.9,-6.6,699,6260,0.00,2.03,0.00,0.000,4,0.000,0.042,2125,3811,3663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6282,-0.49,-170.3,622.0,-6.4,700,6286,0.00,2.05,0.00,0.000,6,0.000,0.020,2125,2407,3663,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6591,-0.50,-170.3,640.6,-5.5,715,6596,0.00,2.25,0.00,0.000,4,0.000,0.042,2116,3816,3660,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6622,-0.52,-170.3,641.6,-5.4,716,6629,0.00,2.05,0.00,0.000,6,0.000,0.021,2116,2421,3660,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6932,-0.52,-170.3,660.3,-6.0,732,6935,0.00,2.12,0.00,0.000,4,0.000,0.027,2117,1041,3658,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6974,-0.53,-170.3,663.4,-6.4,734,6980,0.00,2.33,0.00,0.000,6,0.000,0.035,2111,2488,3658,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7294,-0.53,-170.3,685.4,-7.0,750,7298,0.00,2.05,0.00,0.000,4,0.000,0.045,2101,3826,3656,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7324,-0.53,-170.3,686.9,-6.9,751,7328,0.00,2.08,0.00,0.000,6,0.000,0.021,2101,2416,3655,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7630,-0.53,-170.3,712.3,-8.0,766,7636,0.00,2.12,0.00,0.000,4,0.000,0.027,2101,1041,3654,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7658,-0.53,-170.3,713.8,-7.9,767,7662,0.00,2.33,0.00,0.000,6,0.000,0.034,2098,2486,3654,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7966,-0.53,-170.3,738.4,-7.6,782,7970,0.00,2.08,0.00,0.000,4,0.000,0.046,2089,3824,3652,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7991,-0.53,-170.3,740.1,-7.6,783,7995,0.00,2.10,0.00,0.000,6,0.000,0.023,2089,2423,3652,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8304,-0.53,-170.3,765.2,-7.9,799,8310,0.00,2.22,0.00,0.000,4,0.000,0.044,2079,3820,3650,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8345,-0.52,-170.3,768.7,-8.3,801,8350,0.00,2.05,0.00,0.000,6,0.000,0.021,2079,2431,3649,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8665,-0.51,-170.3,797.7,-9.3,817,8667,0.10,0.00,0.00,0.000,6,0.143,0.000,2108,2431,3648,0,0,0,0,0,0,26.49,28.83,28.83
$GC,8965,-0.51,-170.3,819.7,-7.3,832,8970,0.00,2.20,0.00,0.000,4,0.000,0.045,2098,3814,3646,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8992,-0.52,-170.3,821.3,-7.4,833,8996,0.00,2.05,0.00,0.000,6,0.000,0.022,2098,2429,3646,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9299,-0.52,-170.3,845.7,-7.5,848,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2428,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9600,-0.52,-170.3,867.6,-7.0,863,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2428,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9898,-0.52,-170.3,887.5,-6.2,878,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2428,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10199,-0.52,-170.3,905.5,-5.8,893,10205,0.00,2.25,0.00,0.000,4,0.000,0.047,2088,3820,3641,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10226,-0.52,-170.3,906.7,-5.9,894,10230,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2431,3641,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10534,-0.52,-170.3,928.4,-7.0,909,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2430,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10836,-0.52,-170.3,948.7,-6.7,924,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2431,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11133,-0.52,-170.3,969.3,-6.8,939,11139,0.00,2.28,0.00,0.000,4,0.000,0.045,2079,3827,3637,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11157,-0.52,-170.3,970.7,-6.9,940,11161,0.00,2.05,0.00,0.000,6,0.000,0.021,2079,2439,3637,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11427,begin apogee
$GC,11433,-0.20,0.0,990.9,-7.4,954,11601,0.38,0.10,159.98,1.167,4,0.098,0.072,2209,2469,2978,0,0,0,0,0,0,26.04,24.76,23.95
$STATE,11602,end apogee,CONTROL_FINISHED_OK
$STATE,11602,begin climb
$GC,11604,0.55,170.3,994.5,0.0,962,11789,0.65,2.28,173.20,1.161,4,0.041,0.041,2466,3815,2277,0,0,0,0,0,0,24.98,24.94,23.61
$GC,11994,0.46,170.3,915.6,24.0,982,12001,0.20,2.05,0.00,0.000,6,0.187,0.022,2426,2493,2252,0,0,0,0,0,0,25.20,25.60,28.83
$GC,12317,0.41,170.3,863.0,15.4,998,12323,0.00,2.28,0.00,0.000,4,0.000,0.028,2438,1069,2248,0,0,0,0,0,0,28.83,25.93,28.83
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$STATE,19970,end climb,SURFACE_DEPTH_REACHED
$STATE,19970,begin surface coast
$FINISH,-0.0,1.022767
$STATE,20003,end surface coast,CONTROL_FINISHED_OK
$STATE,20004,begin surface
$SM_CCo,20020,46.92,0.123,0,0,1142,450.13
$SM_GC,0.57,5.88,0.17,46.92,0.028,0.054,0.123,130,2422,1142,-6.62,0.14,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12409.44,120512,111114
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.62
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.6,23.942
$10V_AH,10.2,13.761
$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,16.825,203.925,520.925,46.925,0.000,26.190,22.798,289.927,0.000,0.000,33.953,4893.009,10753.216,789.324,3618.981,489.808,0.000,2526.199,0.000,3080.588,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,71.910,1166.625,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,113473,1811
$CAP_FILE_SIZE,227834,0
$CFSIZE,260165632,210014208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.359,331.3,1
$GPS,120512,224336,2333.660,12410.915,39,1.1,39,-3.4