version: 66.10
glider: 169
mission: 6
dive: 159
start: 5 22 112 13 42 38
data:
$ID,169
$MISSION,6
$DIVE,159
$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,-15538.856
$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
$GPS1,220512,133437,2206.658,12404.177,26,1.2,26,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.4
$GPS2,220512,134214,2206.600,12404.123,12,1.8,12,-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,186.0,68154,-13.5,-7.857
$D_GRID,5237
$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,-170.3,0.0,0.0,0,89,0.00,0.00,-69.95,0.000,2,0.000,0.000,117,2510,3051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.55,-170.3,3.2,-7.4,12,120,7.90,2.50,-11.55,0.000,4,0.227,0.038,2102,1031,3676,0,0,0,0,0,0,25.29,26.01,26.37
$GC,253,-0.52,-170.3,49.1,-15.1,42,260,0.00,2.50,0.00,0.000,6,0.000,0.035,2090,2514,3678,0,0,0,0,0,0,28.83,26.03,28.83
$GC,445,-0.43,-170.3,98.5,-27.9,79,454,0.12,2.03,0.00,0.000,4,0.176,0.040,2117,3830,3678,0,0,0,0,0,0,25.96,26.10,28.83
$GC,487,-0.39,-170.3,108.1,-20.1,86,493,0.00,1.98,0.00,0.000,6,0.000,0.021,2122,2471,3678,0,0,0,0,0,0,28.83,26.27,28.83
$GC,678,-0.35,-170.3,141.5,-16.4,123,687,0.12,2.30,0.00,0.000,4,0.156,0.024,2172,1041,3679,0,0,0,0,0,0,26.11,26.26,28.83
$GC,741,-0.37,-170.3,148.1,-6.8,134,748,0.00,2.47,0.00,0.000,6,0.000,0.031,2161,2532,3680,0,0,0,0,0,0,28.83,26.24,28.83
$GC,933,-0.36,-170.3,167.4,-10.5,171,940,0.00,1.95,0.00,0.000,4,0.000,0.040,2151,3827,3680,0,0,0,0,0,0,28.83,26.24,28.83
$GC,985,-0.38,-170.3,172.3,-8.8,180,991,0.00,1.90,0.00,0.000,6,0.000,0.020,2152,2474,3680,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1174,-0.36,-170.3,192.9,-11.7,217,1181,0.00,2.28,0.00,0.000,4,0.000,0.022,2152,1036,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1261,-0.39,-170.3,200.7,-7.7,232,1269,0.00,2.42,0.00,0.000,6,0.000,0.030,2142,2518,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1571,-0.38,-170.3,234.9,-12.1,263,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2517,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1882,-0.36,-170.3,269.6,-10.2,294,1890,0.00,2.38,0.00,0.000,4,0.000,0.024,2143,1045,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1936,-0.38,-170.3,274.3,-8.2,299,1944,0.00,2.45,0.00,0.000,6,0.000,0.031,2133,2532,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2244,-0.36,-170.3,303.4,-10.5,330,2253,0.00,2.38,0.00,0.000,4,0.000,0.025,2134,1047,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2275,-0.36,-170.3,306.9,-10.5,333,2285,0.12,2.45,0.00,0.000,6,0.129,0.031,2165,2521,3679,0,0,0,0,0,0,26.20,26.36,28.83
$GC,2587,-0.38,-170.3,331.3,-7.0,364,2596,0.00,2.35,0.00,0.000,4,0.000,0.023,2165,1038,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2619,-0.41,-170.3,333.6,-7.1,367,2630,0.00,2.42,0.00,0.000,6,0.000,0.031,2163,2521,3677,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2929,-0.49,-170.3,356.3,-7.9,398,2940,0.12,1.98,0.00,0.000,4,0.107,0.038,2106,3829,3676,0,0,0,0,0,0,26.49,26.34,28.83
$GC,3007,-0.57,-170.3,361.8,-6.8,405,3016,0.00,1.92,0.00,0.000,6,0.000,0.019,2107,2455,3676,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3314,-0.58,-170.3,386.2,-8.8,436,3318,0.00,2.12,0.00,0.000,4,0.000,0.040,2099,3828,3674,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3366,-0.58,-170.3,391.1,-9.7,441,3370,0.00,1.70,0.00,0.000,6,0.000,0.021,2099,2564,3674,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3678,-0.56,-170.3,427.4,-11.3,472,3688,0.00,1.88,0.00,0.000,4,0.000,0.040,2090,3826,3672,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3824,-0.56,-170.3,441.1,-8.7,486,3828,0.00,1.77,0.00,0.000,6,0.000,0.020,2090,2539,3671,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4138,-0.53,-170.3,473.5,-10.2,517,4146,0.00,2.42,0.00,0.000,4,0.000,0.027,2091,1038,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4250,-0.53,-170.3,483.8,-8.3,528,4260,0.00,2.58,0.00,0.000,6,0.000,0.034,2081,2569,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4561,-0.51,-170.3,520.1,-12.3,559,4570,0.00,2.50,0.00,0.000,4,0.000,0.026,2081,1040,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4646,-0.51,-170.3,529.7,-10.7,567,4654,0.15,2.53,0.00,0.000,6,0.116,0.034,2118,2554,3667,0,0,0,0,0,0,26.19,26.34,28.83
$GC,4953,-0.51,-170.3,554.5,-7.3,598,4962,0.00,2.42,0.00,0.000,4,0.000,0.024,2118,1040,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5007,-0.53,-170.3,558.3,-7.1,603,5015,0.00,2.47,0.00,0.000,6,0.000,0.033,2108,2537,3665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5317,-0.53,-170.3,580.9,-7.3,634,5325,0.00,2.38,0.00,0.000,4,0.000,0.025,2108,1047,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5350,-0.53,-170.3,583.4,-7.6,637,5359,0.00,2.45,0.00,0.000,6,0.000,0.034,2100,2531,3662,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5660,-0.52,-170.3,608.7,-8.3,663,5666,0.00,2.38,0.00,0.000,4,0.000,0.026,2100,1046,3660,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5708,-0.52,-170.3,612.1,-8.2,665,5712,0.00,2.45,0.00,0.000,6,0.000,0.034,2097,2518,3660,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6015,-0.51,-170.3,635.7,-7.3,680,6021,0.00,2.38,0.00,0.000,4,0.000,0.027,2097,1046,3657,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6043,-0.51,-170.3,637.4,-7.4,681,6047,0.00,2.42,0.00,0.000,6,0.000,0.035,2088,2511,3658,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6350,-0.49,-170.3,662.3,-8.0,696,6356,0.00,2.38,0.00,0.000,4,0.000,0.026,2089,1039,3655,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6377,-0.48,-170.3,663.8,-7.9,697,6382,0.12,2.42,0.00,0.000,6,0.126,0.037,2126,2506,3655,0,0,0,0,0,0,26.13,26.27,28.83
$GC,6687,-0.50,-170.3,679.9,-4.9,712,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2504,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,-0.52,-170.3,696.6,-6.1,727,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2504,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,-0.53,-170.3,713.7,-5.6,742,7291,0.00,2.35,0.00,0.000,4,0.000,0.028,2126,1053,3649,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7313,-0.55,-170.3,714.9,-5.6,743,7317,0.00,2.45,0.00,0.000,6,0.000,0.039,2125,2506,3649,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7620,-0.57,-170.3,730.5,-4.6,758,7626,0.10,2.03,0.00,0.000,4,0.091,0.047,2037,3808,3647,0,0,0,0,0,0,26.62,26.15,28.83
$GC,7663,-0.57,-170.3,733.9,-6.2,760,7667,0.15,2.00,0.00,0.000,6,0.139,0.022,2090,2435,3646,0,0,0,0,0,0,26.03,26.44,28.83
$GC,7978,-0.56,-170.3,758.1,-7.7,776,7983,0.00,2.20,0.00,0.000,4,0.000,0.028,2091,1049,3644,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8019,-0.56,-170.3,761.5,-7.9,778,8023,0.00,2.40,0.00,0.000,6,0.000,0.036,2084,2498,3644,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8332,-0.56,-170.3,789.9,-9.1,794,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2497,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,-0.55,-170.3,816.0,-8.3,809,8638,0.00,2.33,0.00,0.000,4,0.000,0.028,2085,1042,3641,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8672,-0.55,-170.3,819.2,-8.1,811,8677,0.00,2.40,0.00,0.000,6,0.000,0.037,2075,2488,3640,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8991,-0.54,-170.3,845.8,-8.0,827,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2487,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,-0.52,-170.3,865.9,-6.1,842,9298,0.10,2.33,0.00,0.000,4,0.155,0.028,2111,1045,3637,0,0,0,0,0,0,26.43,26.25,28.83
$GC,9325,-0.52,-170.3,866.9,-5.9,843,9332,0.00,2.40,0.00,0.000,6,0.000,0.037,2103,2484,3637,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9632,-0.52,-170.3,879.5,-4.6,859,9637,0.00,2.05,0.00,0.000,4,0.000,0.048,2094,3810,3636,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9665,-0.53,-170.3,880.4,-4.7,860,9673,0.00,2.05,0.00,0.000,6,0.000,0.021,2094,2410,3635,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9972,-0.53,-170.3,900.6,-7.1,876,9977,0.00,2.12,0.00,0.000,4,0.000,0.028,2094,1047,3634,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10004,-0.53,-170.3,902.1,-7.3,877,10011,0.00,2.38,0.00,0.000,6,0.000,0.035,2085,2484,3634,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10312,-0.53,-170.3,931.8,-9.7,893,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2482,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10611,-0.53,-170.3,960.3,-9.5,908,10617,0.00,2.35,0.00,0.000,4,0.000,0.028,2086,1044,3632,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10639,-0.53,-170.3,962.3,-9.5,909,10643,0.00,2.40,0.00,0.000,6,0.000,0.038,2085,2475,3632,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,10944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10944,begin apogee
$GC,10951,-0.20,0.0,990.5,-8.8,924,11121,0.35,0.08,160.93,1.170,4,0.101,0.035,2208,2482,2975,0,0,0,0,0,0,25.92,24.70,23.84
$STATE,11122,end apogee,CONTROL_FINISHED_OK
$STATE,11122,begin climb
$GC,11124,0.55,170.3,998.3,0.0,932,11312,0.68,2.25,176.68,1.159,4,0.042,0.045,2467,3820,2279,0,0,0,0,0,0,24.94,24.91,23.42
$GC,11450,0.46,170.3,942.7,22.5,949,11456,0.20,2.03,0.00,0.000,6,0.184,0.024,2427,2501,2251,0,0,0,0,0,0,24.96,25.37,28.83
$GC,11772,0.42,170.3,890.6,15.9,965,11777,0.00,2.35,0.00,0.000,4,0.000,0.031,2439,1073,2245,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11901,0.39,170.3,872.6,14.5,971,11910,0.10,2.50,0.00,0.000,6,0.138,0.037,2405,2546,2242,0,0,0,0,0,0,25.63,25.90,28.83
$GC,12211,0.35,170.3,825.0,14.8,987,12216,0.00,2.00,0.00,0.000,4,0.000,0.045,2405,3827,2241,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,20087,end climb,SURFACE_DEPTH_REACHED
$STATE,20087,begin surface coast
$FINISH,-0.0,1.021574
$STATE,20118,end surface coast,CONTROL_FINISHED_OK
$STATE,20118,begin surface
$SM_CCo,20194,0.00,0.000,0,0,1097,461.65
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$IRIDIUM_FIX,2159.71,12402.70,220512,070757
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.66
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.4,31.312
$10V_AH,10.2,19.178
$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,17.625,209.775,629.025,0.000,0.000,30.308,18.479,253.442,0.000,0.000,13.422,4554.504,11137.007,816.262,3606.577,497.115,0.000,2582.965,0.000,3111.607,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,87.975,1169.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1240.250,2345.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330480
$DATA_FILE_SIZE,113515,1829
$CAP_FILE_SIZE,229343,0
$CFSIZE,260165632,205312000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.018,130.5,1
$GPS,220512,192007,2203.704,12404.049,25,1.0,25,-3.0