version: 66.10
glider: 169
mission: 6
dive: 155
start: 5 21 112 14 26 20
data:
$ID,169
$MISSION,6
$DIVE,155
$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,-15533.82
$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
$GPS1,210512,141801,2219.727,12405.330,37,1.5,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.1
$GPS2,210512,142556,2219.687,12405.292,11,1.7,11,-3.0
$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,183.6,92471,-13.5,-7.857
$D_GRID,4692
$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,-80.85,0.000,2,0.000,0.000,117,2522,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-170.3,3.5,-8.9,14,130,7.78,2.47,-10.98,0.000,4,0.223,0.039,2105,1039,3676,0,0,0,0,0,0,25.37,26.04,26.40
$GC,299,-0.48,-170.3,57.2,-20.9,51,306,0.00,2.45,0.00,0.000,6,0.000,0.034,2093,2519,3679,0,0,0,0,0,0,28.83,26.10,28.83
$GC,492,-0.40,-170.3,105.8,-25.3,88,499,0.15,2.38,0.00,0.000,4,0.168,0.024,2149,1045,3679,0,0,0,0,0,0,25.95,26.23,28.83
$GC,569,-0.41,-170.3,118.0,-10.2,102,576,0.00,2.40,0.00,0.000,6,0.000,0.031,2138,2508,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,758,-0.38,-170.3,147.2,-13.7,139,765,0.00,2.05,0.00,0.000,4,0.000,0.040,2127,3826,3679,0,0,0,0,0,0,28.83,26.23,28.83
$GC,829,-0.37,-170.3,156.0,-10.0,152,836,0.00,2.03,0.00,0.000,6,0.000,0.019,2128,2439,3679,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1019,-0.34,-170.3,180.8,-13.2,189,1028,0.12,2.20,0.00,0.000,4,0.145,0.022,2180,1034,3680,0,0,0,0,0,0,26.24,26.36,28.83
$GC,1087,-0.38,-170.3,186.0,-4.9,201,1096,0.00,2.38,0.00,0.000,6,0.000,0.030,2176,2502,3680,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1283,-0.44,-170.3,197.8,-6.2,238,1291,0.12,2.00,0.00,0.000,4,0.080,0.037,2114,3826,3679,0,0,0,0,0,0,26.51,26.32,28.83
$GC,1343,-0.48,-170.3,201.8,-6.8,246,1349,0.00,2.00,0.00,0.000,6,0.000,0.018,2114,2424,3680,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1650,-0.44,-170.3,242.0,-13.8,277,1658,0.00,2.15,0.00,0.000,4,0.000,0.024,2115,1033,3679,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1734,-0.44,-170.3,251.6,-10.4,285,1741,0.00,2.40,0.00,0.000,6,0.000,0.031,2104,2517,3679,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2042,-0.40,-170.3,299.8,-16.1,316,2052,0.12,2.35,0.00,0.000,4,0.164,0.024,2154,1047,3678,0,0,0,0,0,0,26.27,26.42,28.83
$GC,2088,-0.39,-170.3,305.0,-11.9,320,2096,0.00,2.38,0.00,0.000,6,0.000,0.032,2153,2504,3678,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2396,-0.40,-170.3,328.8,-7.8,351,2400,0.00,2.03,0.00,0.000,4,0.000,0.041,2144,3822,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2421,-0.40,-170.3,330.5,-7.7,353,2427,0.00,2.03,0.00,0.000,6,0.000,0.018,2144,2421,3676,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2728,-0.40,-170.3,356.3,-8.7,384,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2420,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.41,-170.3,380.3,-7.8,414,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2420,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.42,-170.3,402.6,-6.7,445,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2420,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3652,-0.43,-170.3,424.6,-7.5,476,3662,0.00,2.28,0.00,0.000,4,0.000,0.041,2135,3816,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3706,-0.45,-170.3,428.8,-7.5,481,3714,0.00,1.98,0.00,0.000,6,0.000,0.020,2135,2437,3670,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4015,-0.46,-170.3,452.6,-7.0,512,4025,0.00,2.15,0.00,0.000,4,0.000,0.025,2135,1040,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4038,-0.47,-170.3,454.4,-7.1,514,4047,0.00,2.38,0.00,0.000,6,0.000,0.032,2134,2505,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4350,-0.47,-170.3,475.0,-6.6,545,4353,0.00,2.03,0.00,0.000,4,0.000,0.043,2125,3820,3666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4382,-0.49,-170.3,477.3,-6.9,548,4386,0.00,2.00,-0.10,0.000,6,0.000,0.020,2125,2435,3687,0,0,0,0,0,0,28.83,26.54,25.89
$GC,4695,-0.49,-170.3,502.8,-7.9,579,4704,0.00,2.17,0.00,0.000,4,0.000,0.026,2125,1034,3687,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4760,-0.51,-170.3,507.7,-7.7,585,4766,0.00,2.38,0.00,0.000,6,0.000,0.033,2125,2503,3687,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5069,-0.51,-170.3,528.5,-6.3,616,5079,0.00,2.00,0.00,0.000,4,0.000,0.045,2115,3813,3684,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5096,-0.51,-170.3,530.0,-5.9,618,5102,0.00,2.03,0.00,0.000,6,0.000,0.020,2115,2424,3684,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5403,-0.51,-170.3,550.4,-6.5,649,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2424,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.51,-170.3,571.4,-7.4,680,5724,0.00,2.22,0.00,0.000,4,0.000,0.044,2106,3810,3680,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5758,-0.52,-170.3,574.7,-7.5,684,5768,0.00,2.00,0.00,0.000,6,0.000,0.021,2106,2435,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6069,-0.51,-170.3,598.7,-7.4,715,6077,0.00,2.15,0.00,0.000,4,0.000,0.027,2106,1046,3678,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6098,-0.51,-170.3,600.2,-6.9,717,6103,0.00,2.38,0.00,0.000,6,0.000,0.034,2099,2502,3678,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6406,-0.51,-170.3,623.6,-7.9,732,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2501,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,-0.50,-170.3,647.4,-8.1,747,6711,0.00,2.33,0.00,0.000,4,0.000,0.028,2099,1039,3674,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6746,-0.50,-170.3,650.6,-8.0,749,6751,0.00,2.33,0.00,0.000,6,0.000,0.035,2097,2480,3674,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7067,-0.49,-170.3,678.3,-8.9,765,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2478,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7365,-0.49,-170.3,703.6,-8.1,780,7371,0.00,2.28,0.00,0.000,4,0.000,0.028,2097,1047,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7419,-0.49,-170.3,707.0,-8.3,782,7426,0.00,2.35,0.00,0.000,6,0.000,0.036,2089,2482,3669,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7726,-0.48,-170.3,735.4,-8.8,798,7728,0.12,0.00,0.00,0.000,6,0.143,0.000,2127,2481,3666,0,0,0,0,0,0,26.36,28.83,28.83
$GC,8027,-0.49,-170.3,753.5,-5.9,813,8032,0.00,2.10,0.00,0.000,4,0.000,0.047,2117,3816,3665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8059,-0.51,-170.3,754.6,-5.9,814,8065,0.00,2.08,0.00,0.000,6,0.000,0.021,2117,2414,3665,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8366,-0.52,-170.3,775.3,-6.5,830,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2414,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8667,-0.54,-170.3,794.6,-6.0,845,8673,0.00,2.25,0.00,0.000,4,0.000,0.045,2108,3813,3662,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8694,-0.55,-170.3,795.8,-5.9,846,8698,0.00,2.05,0.00,0.000,6,0.000,0.020,2108,2427,3661,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9004,-0.55,-170.3,814.7,-5.8,861,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2426,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9301,-0.56,-170.3,831.1,-5.3,876,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2426,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9602,-0.57,-170.3,847.1,-5.3,891,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2426,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9902,-0.58,-170.3,863.5,-5.4,906,9907,0.00,2.30,0.00,0.000,4,0.000,0.046,2100,3812,3656,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9924,-0.59,-170.3,864.6,-5.5,907,9927,0.00,2.05,0.00,0.000,6,0.000,0.021,2100,2426,3655,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10237,-0.59,-170.3,885.3,-6.9,923,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2426,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10536,-0.59,-170.3,906.0,-6.9,938,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2425,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10837,-0.59,-170.3,925.6,-6.5,953,10842,0.00,2.28,0.00,0.000,4,0.000,0.046,2092,3811,3652,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10870,-0.59,-170.3,926.8,-6.4,954,10876,0.00,2.05,0.00,0.000,6,0.000,0.022,2092,2438,3652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11176,-0.59,-170.3,950.0,-7.4,970,11180,0.00,2.22,0.00,0.000,4,0.000,0.028,2092,1037,3651,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11211,-0.59,-170.3,951.7,-7.6,971,11218,0.00,2.40,0.00,0.000,6,0.000,0.037,2086,2496,3651,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11519,-0.58,-170.3,978.3,-8.5,987,11524,0.00,2.08,0.00,0.000,4,0.000,0.047,2076,3816,3650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11558,-0.58,-170.3,981.7,-8.6,989,11564,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2435,3650,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11655,begin apogee
$GC,11662,-0.20,0.0,991.1,-9.4,994,11840,0.38,0.10,165.40,1.180,4,0.101,0.072,2206,2474,2968,0,0,0,0,0,0,25.89,24.70,23.82
$STATE,11841,end apogee,CONTROL_FINISHED_OK
$STATE,11841,begin climb
$GC,11843,0.55,170.3,998.7,0.0,1003,12029,0.65,2.30,175.55,1.170,4,0.044,0.045,2463,3829,2276,0,0,0,0,0,0,24.96,24.91,23.37
$GC,12239,0.47,170.3,929.3,21.7,1023,12245,0.17,2.05,0.00,0.000,6,0.187,0.023,2430,2497,2250,0,0,0,0,0,0,25.15,25.56,28.83
$GC,12560,0.42,170.3,879.9,14.8,1039,12566,0.00,2.33,0.00,0.000,4,0.000,0.030,2443,1055,2245,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12683,0.39,170.3,864.1,12.6,1045,12690,0.15,2.50,0.00,0.000,6,0.156,0.035,2402,2548,2243,0,0,0,0,0,0,25.63,25.92,28.83
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$STATE,20573,end climb,SURFACE_DEPTH_REACHED
$STATE,20573,begin surface coast
$FINISH,-0.2,1.021290
$STATE,20611,end surface coast,CONTROL_FINISHED_OK
$STATE,20611,begin surface
$SM_CCo,20688,0.00,0.000,0,0,973,492.07
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$IRIDIUM_FIX,2211.35,12348.51,210512,080829
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.4,30.549
$10V_AH,10.2,18.636
$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
$DEVICE_SECS,17.150,198.600,622.150,0.000,0.000,28.069,16.849,271.657,0.000,0.000,12.590,4670.595,11480.353,817.356,3640.206,512.085,0.000,2591.606,0.000,3146.040,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,116882,1870
$CAP_FILE_SIZE,234811,0
$CFSIZE,260165632,205758464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,117.3,1
$GPS,210512,201206,2216.678,12405.540,30,1.2,30,-3.0