version: 66.10
glider: 169
mission: 6
dive: 120
start: 5 12 112 23 16 26
data:
$ID,169
$MISSION,6
$DIVE,120
$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,1
$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,-15489.786
$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,49
$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
$GPS1,120512,230955,2334.008,12410.794,10,1.6,15,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.9
$GPS2,120512,231556,2334.087,12410.764,16,1.1,16,-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,188.0,230556,-13.5,-7.857
$D_GRID,2860
$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,-0.55,-170.3,0.0,0.0,0,100,0.00,0.00,-80.78,0.000,2,0.000,0.000,131,2428,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-170.3,4.0,-9.8,14,124,7.93,2.22,-5.72,0.000,4,0.235,0.038,2101,1025,3676,0,0,0,0,0,0,25.47,26.17,26.47
$GC,224,-0.51,-170.3,41.5,-17.5,36,232,0.00,2.42,0.00,0.000,6,0.000,0.032,2089,2527,3678,0,0,0,0,0,0,28.83,26.17,28.83
$GC,417,-0.42,-170.3,86.8,-24.0,73,424,0.15,0.00,0.00,0.000,6,0.171,0.000,2133,2527,3678,0,0,0,0,0,0,26.01,28.83,28.83
$GC,610,-0.37,-170.3,123.5,-16.7,110,616,0.00,2.35,0.00,0.000,4,0.000,0.027,2144,1038,3678,0,0,0,0,0,0,28.83,26.34,28.83
$GC,684,-0.38,-170.3,132.2,-8.6,124,692,0.00,2.38,0.00,0.000,6,0.000,0.031,2133,2522,3678,0,0,0,0,0,0,28.83,26.34,28.83
$GC,878,-0.34,-170.3,157.7,-14.6,161,885,0.10,0.00,0.00,0.000,6,0.163,0.000,2160,2521,3678,0,0,0,0,0,0,26.37,28.83,28.83
$GC,1068,-0.33,-170.3,179.0,-11.4,198,1075,0.00,2.30,0.00,0.000,4,0.000,0.024,2164,1033,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1099,-0.33,-170.3,182.1,-10.2,203,1106,0.00,2.38,0.00,0.000,6,0.000,0.031,2154,2519,3678,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1296,-0.31,-170.3,203.4,-11.0,238,1305,0.00,2.28,0.00,0.000,4,0.000,0.022,2154,1037,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1321,-0.30,-170.3,205.8,-11.1,240,1329,0.00,2.30,0.00,0.000,6,0.000,0.031,2147,2491,3678,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1628,-0.29,-170.3,243.2,-11.8,271,1632,0.12,2.05,0.00,0.000,4,0.145,0.041,2181,3829,3678,0,0,0,0,0,0,26.38,26.41,28.83
$GC,1671,-0.31,-170.3,246.7,-8.2,275,1680,0.00,2.00,0.00,0.000,6,0.000,0.018,2181,2414,3678,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1982,-0.39,-170.3,270.2,-8.5,306,1991,0.00,2.20,0.00,0.000,4,0.000,0.037,2180,3823,3676,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2034,-0.46,-170.3,274.7,-8.3,311,2044,0.12,2.03,0.00,0.000,6,0.063,0.018,2118,2405,3675,0,0,0,0,0,0,26.43,26.61,28.83
$GC,2346,-0.48,-170.3,298.1,-7.8,342,2354,0.00,2.05,0.00,0.000,4,0.000,0.024,2118,1036,3674,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2368,-0.50,-170.3,300.1,-8.1,344,2377,0.00,2.47,0.00,0.000,6,0.000,0.031,2108,2580,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2678,-0.47,-170.3,340.0,-13.1,375,2687,0.00,2.40,0.00,0.000,4,0.000,0.024,2109,1046,3673,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2783,-0.47,-170.3,351.0,-9.0,385,2791,0.00,2.42,0.00,0.000,6,0.000,0.031,2099,2560,3673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3091,-0.44,-170.3,389.2,-12.1,416,3100,0.12,2.38,0.00,0.000,4,0.153,0.024,2150,1046,3671,0,0,0,0,0,0,26.39,26.51,28.83
$GC,3155,-0.47,-170.3,394.3,-6.4,422,3163,0.00,2.38,0.00,0.000,6,0.000,0.031,2140,2543,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3463,-0.47,-170.3,414.8,-6.3,453,3467,0.00,1.92,0.00,0.000,4,0.000,0.043,2130,3830,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3499,-0.48,-170.3,416.8,-6.3,456,3506,0.00,1.92,0.00,0.000,6,0.000,0.018,2130,2469,3668,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3805,-0.48,-170.3,439.1,-8.3,487,3814,0.00,2.22,0.00,0.000,4,0.000,0.024,2130,1028,3667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3848,-0.50,-170.3,442.5,-8.3,491,3857,0.00,2.38,0.00,0.000,6,0.000,0.031,2125,2536,3667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4158,-0.50,-170.3,470.6,-8.8,522,4160,0.00,0.00,-0.10,0.000,6,0.000,0.000,2125,2535,3687,0,0,0,0,0,0,28.83,28.83,26.13
$GC,4459,-0.50,-170.3,493.0,-7.4,552,4468,0.00,2.35,0.00,0.000,4,0.000,0.026,2125,1034,3686,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4492,-0.51,-170.3,495.3,-7.2,555,4501,0.00,2.40,0.00,0.000,6,0.000,0.033,2125,2530,3686,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4802,-0.52,-170.3,520.3,-8.3,586,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2529,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-0.52,-170.3,538.8,-4.7,616,5114,0.00,2.30,0.00,0.000,4,0.000,0.026,2125,1045,3683,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5140,-0.54,-170.3,540.4,-4.5,619,5147,0.00,2.38,0.00,0.000,6,0.000,0.033,2125,2527,3682,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5448,-0.54,-170.3,555.5,-6.4,650,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2527,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5750,-0.55,-170.3,579.3,-8.1,680,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2526,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.57,-170.3,601.6,-5.8,711,6076,0.00,2.28,0.00,0.000,4,0.000,0.025,2125,1046,3676,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6109,-0.58,-170.3,604.0,-5.8,713,6115,0.08,2.35,0.00,0.000,6,0.046,0.034,2039,2517,3675,0,0,0,0,0,0,26.39,26.43,28.83
$GC,6431,-0.54,-170.3,645.1,-13.6,729,6437,0.17,2.30,0.00,0.000,4,0.135,0.024,2109,1033,3673,0,0,0,0,0,0,26.27,26.47,28.83
$GC,6494,-0.53,-170.3,650.9,-10.4,732,6499,0.00,2.35,0.00,0.000,6,0.000,0.034,2098,2517,3673,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6808,-0.52,-170.3,676.1,-8.1,748,6813,0.00,2.28,0.00,0.000,4,0.000,0.025,2100,1038,3671,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6836,-0.52,-170.3,677.8,-8.2,749,6846,0.00,2.35,0.00,0.000,6,0.000,0.034,2098,2502,3671,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7148,-0.52,-170.3,703.6,-7.9,765,7153,0.00,2.03,0.00,0.000,4,0.000,0.046,2089,3809,3668,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7176,-0.52,-170.3,705.2,-7.9,766,7185,0.00,2.03,0.00,0.000,6,0.000,0.020,2090,2429,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7487,-0.52,-170.3,734.1,-9.2,782,7491,0.00,2.22,0.00,0.000,4,0.000,0.045,2079,3816,3666,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7517,-0.51,-170.3,736.2,-9.2,783,7522,0.10,2.03,0.00,0.000,6,0.137,0.022,2109,2444,3666,0,0,0,0,0,0,26.31,26.53,28.83
$GC,7828,-0.51,-170.3,757.7,-6.1,798,7833,0.00,2.17,0.00,0.000,4,0.000,0.027,2109,1036,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7855,-0.52,-170.3,759.0,-6.0,799,7859,0.00,2.38,0.00,0.000,6,0.000,0.034,2104,2515,3664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8163,-0.52,-170.3,776.7,-5.9,814,8168,0.00,2.03,0.00,0.000,4,0.000,0.048,2094,3813,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8202,-0.53,-170.3,779.2,-6.0,816,8207,0.00,2.00,0.00,0.000,6,0.000,0.023,2094,2448,3661,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8521,-0.53,-170.3,802.5,-8.0,832,8527,0.00,2.20,0.00,0.000,4,0.000,0.028,2094,1037,3660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8575,-0.53,-170.3,806.0,-8.3,834,8582,0.00,2.38,0.00,0.000,6,0.000,0.036,2086,2510,3659,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8882,-0.52,-170.3,835.0,-9.2,850,8888,0.00,2.03,0.00,0.000,4,0.000,0.047,2076,3813,3658,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8925,-0.51,-170.3,838.8,-9.3,852,8929,0.12,2.03,0.00,0.000,6,0.126,0.022,2114,2436,3657,0,0,0,0,0,0,26.23,26.50,28.83
$GC,9240,-0.53,-170.3,858.6,-5.6,868,9245,0.00,2.12,0.00,0.000,4,0.000,0.028,2114,1047,3655,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9267,-0.54,-170.3,859.8,-5.6,869,9271,0.00,2.33,0.00,0.000,6,0.000,0.034,2112,2507,3655,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9575,-0.55,-170.3,876.8,-5.2,884,9578,0.00,2.08,0.00,0.000,4,0.000,0.047,2102,3829,3654,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9619,-0.57,-170.3,879.1,-5.3,886,9624,0.00,2.03,0.00,0.000,6,0.000,0.021,2102,2443,3653,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9940,-0.57,-170.3,899.4,-6.7,902,9945,0.00,2.12,0.00,0.000,4,0.000,0.028,2102,1048,3652,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9962,-0.58,-170.3,900.8,-6.6,903,9966,0.00,2.38,0.00,0.000,6,0.000,0.035,2099,2518,3652,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10274,-0.58,-170.3,922.9,-7.1,919,10279,0.00,2.05,0.00,0.000,4,0.000,0.047,2089,3816,3651,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10308,-0.58,-170.3,924.3,-7.2,920,10314,0.00,2.05,0.00,0.000,6,0.000,0.024,2089,2447,3651,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10614,-0.58,-170.3,948.7,-7.6,936,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2446,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10915,-0.58,-170.3,970.2,-6.8,951,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2446,3649,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11191,begin apogee
$GC,11197,-0.20,0.0,990.6,-7.6,965,11368,0.32,0.10,161.32,1.173,4,0.098,0.074,2205,2468,2972,0,0,0,0,0,0,26.10,24.79,23.97
$STATE,11369,end apogee,CONTROL_FINISHED_OK
$STATE,11369,begin climb
$GC,11371,0.55,170.3,996.7,0.0,973,11556,0.62,0.12,171.73,1.174,6,0.036,0.077,2461,2552,2268,0,0,0,0,0,0,25.00,24.98,23.69
$GC,11855,0.48,170.3,918.6,19.1,998,11861,0.12,2.00,0.00,0.000,4,0.196,0.041,2424,3816,2250,0,0,0,0,0,0,25.52,25.73,28.83
$GC,12028,0.42,170.3,890.8,16.8,1006,12035,0.00,1.98,0.00,0.000,6,0.000,0.024,2434,2523,2247,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,19593,end climb,SURFACE_DEPTH_REACHED
$STATE,19593,begin surface coast
$FINISH,-0.3,1.022765
$STATE,19622,end surface coast,CONTROL_FINISHED_OK
$STATE,19622,begin surface
$SM_CCo,19699,0.00,0.000,0,0,612,580.63
$SM_GC,0.61,6.10,0.12,0.00,0.027,0.063,0.000,131,2438,612,-6.61,0.34,580.63,0,0,0,0,0,0,26.18,26.32,28.83
$IRIDIUM_FIX,2323.87,12409.44,120512,232337
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.17
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.7,24.170
$10V_AH,10.2,13.742
$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,18.050,198.450,743.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.941,4369.147,10897.749,880.814,3188.533,434.651,0.000,2606.708,0.000,2989.273,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,77.265,1173.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1187.265,2264.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,110361,1752
$CAP_FILE_SIZE,231512,0
$CFSIZE,260165632,209952768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.105,  1.3,1
$GPS,130512,044554,2332.220,12410.668,41,1.2,41,-3.4