version: 66.10
glider: 169
mission: 6
dive: 162
start: 5 23 112 7 5 30
data:
$ID,169
$MISSION,6
$DIVE,162
$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,-15542.628
$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
$GPS1,230512,065707,2155.451,12402.217,25,1.7,25,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.8
$GPS2,230512,070506,2155.263,12402.174,13,1.1,29,-2.9
$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,169.0,46936,-13.5,-7.857
$D_GRID,5333
$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,-170.3,0.0,0.0,0,106,0.00,0.00,-86.90,0.000,2,0.000,0.000,117,2517,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.55,-170.3,3.3,-7.9,15,136,7.95,2.45,-10.85,0.000,4,0.230,0.034,2105,1028,3677,0,0,0,0,0,0,25.33,26.08,26.40
$GC,336,-0.51,-170.3,77.1,-18.0,58,344,0.00,2.50,0.00,0.000,6,0.000,0.034,2093,2520,3680,0,0,0,0,0,0,28.83,26.09,28.83
$GC,530,-0.43,-170.3,125.3,-27.1,95,537,0.12,2.42,0.00,0.000,4,0.167,0.021,2141,1025,3680,0,0,0,0,0,0,26.04,26.25,28.83
$GC,610,-0.41,-170.3,141.3,-13.9,110,619,0.00,2.45,0.00,0.000,6,0.000,0.033,2128,2506,3681,0,0,0,0,0,0,28.83,26.20,28.83
$GC,803,-0.37,-170.3,173.5,-16.0,147,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2505,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-0.34,-170.3,201.7,-13.1,184,1008,0.12,2.35,0.00,0.000,4,0.151,0.023,2180,1044,3681,0,0,0,0,0,0,26.22,26.33,28.83
$GC,1044,-0.34,-170.3,205.2,-8.3,188,1051,0.00,2.38,0.00,0.000,6,0.000,0.031,2176,2493,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1353,-0.36,-170.3,218.8,-5.3,219,1356,0.00,2.03,0.00,0.000,4,0.000,0.041,2166,3828,3681,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1375,-0.38,-170.3,220.3,-5.8,221,1383,0.00,2.05,0.00,0.000,6,0.000,0.018,2167,2402,3681,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1685,-0.39,-170.3,246.5,-9.3,252,1694,0.00,2.12,0.00,0.000,4,0.000,0.023,2167,1029,3681,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1727,-0.42,-170.3,250.3,-8.8,256,1736,0.00,2.38,0.00,0.000,6,0.000,0.031,2162,2484,3680,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2038,-0.43,-170.3,276.2,-7.3,287,2047,0.00,2.00,0.00,0.000,4,0.000,0.041,2153,3819,3678,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2073,-0.44,-170.3,278.6,-7.3,290,2081,0.00,2.03,0.00,0.000,6,0.000,0.018,2153,2405,3678,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2380,-0.45,-170.3,302.1,-7.3,321,2384,0.00,2.12,0.00,0.000,4,0.000,0.024,2153,1038,3677,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2405,-0.46,-170.3,303.9,-7.8,323,2412,0.00,2.38,0.00,0.000,6,0.000,0.031,2150,2499,3677,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2713,-0.46,-170.3,328.7,-8.1,354,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2498,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-0.46,-170.3,350.0,-6.9,384,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2498,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3326,-0.47,-170.3,370.4,-6.8,415,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2498,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-0.49,-170.3,392.4,-6.9,446,3646,0.00,2.33,0.00,0.000,4,0.000,0.025,2151,1036,3670,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3670,-0.51,-170.3,395.1,-7.2,449,3679,0.08,2.35,0.00,0.000,6,0.045,0.033,2056,2488,3670,0,0,0,0,0,0,26.32,26.36,28.83
$GC,3980,-0.46,-170.3,445.2,-17.8,480,3990,0.20,2.30,0.00,0.000,4,0.136,0.025,2130,1041,3669,0,0,0,0,0,0,26.15,26.40,28.83
$GC,4054,-0.48,-170.3,453.2,-8.4,487,4062,0.00,2.30,0.00,0.000,6,0.000,0.034,2125,2453,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4363,-0.48,-170.3,480.0,-8.0,518,4367,0.00,2.10,0.00,0.000,4,0.000,0.044,2115,3824,3667,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4408,-0.48,-170.3,483.2,-7.6,522,4417,0.00,2.08,-0.10,0.000,6,0.000,0.019,2115,2396,3688,0,0,0,0,0,0,28.83,26.53,25.85
$GC,4716,-0.48,-170.3,505.5,-7.2,553,4725,0.00,2.10,0.00,0.000,4,0.000,0.024,2115,1035,3688,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4792,-0.50,-170.3,510.4,-6.4,560,4798,0.00,2.30,0.00,0.000,6,0.000,0.032,2106,2458,3687,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5100,-0.49,-170.3,538.1,-9.9,591,5109,0.00,2.25,0.00,0.000,4,0.000,0.027,2107,1045,3685,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5134,-0.49,-170.3,541.8,-10.6,594,5142,0.00,2.28,0.00,0.000,6,0.000,0.033,2099,2441,3685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5443,-0.48,-170.3,575.7,-10.8,625,5451,0.00,2.15,0.00,0.000,4,0.000,0.046,2088,3824,3683,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5514,-0.48,-170.3,583.1,-9.4,632,5524,0.10,2.12,0.00,0.000,6,0.138,0.021,2118,2382,3682,0,0,0,0,0,0,26.25,26.49,28.83
$GC,5835,-0.48,-170.3,605.5,-6.6,660,5841,0.00,2.33,0.00,0.000,4,0.000,0.043,2107,3817,3680,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5883,-0.48,-170.3,608.3,-6.7,662,5887,0.00,2.08,0.00,0.000,6,0.000,0.021,2107,2397,3679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6195,-0.48,-170.3,630.1,-6.3,678,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2397,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.48,-170.3,650.1,-7.2,693,6501,0.00,2.12,0.00,0.000,4,0.000,0.028,2107,1045,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6535,-0.48,-170.3,653.1,-7.5,695,6541,0.00,2.35,0.00,0.000,6,0.000,0.034,2099,2475,3674,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6856,-0.48,-170.3,683.0,-9.9,711,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2474,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7156,-0.47,-170.3,711.5,-9.1,726,7161,0.00,2.30,0.00,0.000,4,0.000,0.029,2099,1049,3670,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7198,-0.47,-170.3,714.9,-9.0,728,7202,0.00,2.33,0.00,0.000,6,0.000,0.036,2099,2465,3670,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7511,-0.47,-170.3,739.1,-7.1,744,7515,0.00,2.12,0.00,0.000,4,0.000,0.044,2089,3820,3668,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7556,-0.47,-170.3,742.1,-6.9,746,7561,0.12,2.08,0.00,0.000,6,0.122,0.021,2128,2405,3667,0,0,0,0,0,0,26.17,26.42,28.83
$GC,7871,-0.49,-170.3,756.5,-4.3,762,7875,0.00,2.15,0.00,0.000,4,0.000,0.028,2128,1037,3666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7897,-0.51,-170.3,757.7,-4.4,763,7901,0.00,2.33,0.00,0.000,6,0.000,0.034,2125,2467,3665,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8210,-0.52,-170.3,773.6,-5.2,779,8216,0.00,2.12,0.00,0.000,4,0.000,0.045,2116,3824,3664,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8258,-0.54,-170.3,775.7,-5.2,781,8262,0.00,2.08,0.00,0.000,6,0.000,0.021,2116,2406,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8571,-0.56,-170.3,795.2,-6.2,797,8576,0.00,2.15,0.00,0.000,4,0.000,0.028,2116,1042,3662,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8599,-0.57,-170.3,796.6,-6.4,798,8603,0.00,2.38,0.00,0.000,6,0.000,0.034,2112,2478,3662,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8907,-0.57,-170.3,818.2,-6.7,813,8912,0.00,2.10,0.00,0.000,4,0.000,0.048,2102,3809,3660,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8949,-0.58,-170.3,820.9,-6.6,815,8953,0.00,2.05,0.00,0.000,6,0.000,0.023,2102,2421,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9262,-0.58,-170.3,842.3,-6.5,831,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2420,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9561,-0.58,-170.3,860.6,-6.1,846,9567,0.00,2.28,0.00,0.000,4,0.000,0.046,2093,3820,3657,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9589,-0.58,-170.3,861.8,-6.1,847,9593,0.00,2.05,0.00,0.000,6,0.000,0.022,2093,2420,3657,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9897,-0.58,-170.3,882.8,-6.5,862,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2419,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10196,-0.58,-170.3,902.0,-6.4,877,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2418,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10496,-0.58,-170.3,924.8,-8.1,892,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2418,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10796,-0.58,-170.3,949.8,-8.4,907,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2419,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11096,-0.58,-170.3,973.4,-7.3,922,11102,0.00,2.28,0.00,0.000,4,0.000,0.047,2083,3810,3651,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11130,-0.58,-170.3,974.8,-7.1,923,11136,0.00,2.08,0.00,0.000,6,0.000,0.022,2084,2420,3651,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11333,begin apogee
$GC,11340,-0.20,0.0,990.8,-7.4,934,11520,0.35,0.08,166.55,1.167,4,0.099,0.091,2206,2487,2966,0,0,0,0,0,0,25.91,24.66,23.81
$STATE,11521,end apogee,CONTROL_FINISHED_OK
$STATE,11521,begin climb
$GC,11523,0.55,170.3,995.6,0.0,943,11711,0.65,2.25,178.00,1.156,4,0.047,0.044,2458,3821,2278,0,0,0,0,0,0,24.96,24.93,23.35
$GC,11889,0.47,170.3,935.5,21.0,960,11896,0.15,2.03,0.00,0.000,6,0.185,0.023,2432,2503,2250,0,0,0,0,0,0,25.11,25.48,28.83
$GC,12195,0.42,170.3,887.2,13.9,976,12201,0.00,2.35,0.00,0.000,4,0.000,0.029,2445,1068,2245,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12326,0.39,170.3,873.1,11.0,982,12336,0.12,2.45,0.00,0.000,6,0.133,0.035,2402,2536,2243,0,0,0,0,0,0,25.62,25.91,28.83
$GC,12637,0.36,170.3,839.4,10.8,998,12643,0.00,1.98,0.00,0.000,4,0.000,0.044,2402,3815,2242,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12770,0.32,170.3,824.4,12.6,1004,12778,0.12,1.95,0.00,0.000,6,0.169,0.024,2379,2509,2241,0,0,0,0,0,0,25.78,26.13,28.83
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$STATE,20694,end climb,SURFACE_DEPTH_REACHED
$STATE,20694,begin surface coast
$FINISH,-0.0,1.021454
$STATE,20711,end surface coast,CONTROL_FINISHED_OK
$STATE,20711,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.87
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.4,31.868
$10V_AH,10.2,19.591
$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
$DEVICE_SECS,17.450,203.125,621.700,0.000,0.000,27.280,18.497,258.916,0.000,0.000,30.579,4651.788,11569.537,830.855,3667.906,505.777,0.000,2623.713,0.000,3161.171,0.000,0.543,0.000
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$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,116693,1863
$CAP_FILE_SIZE,231871,0
$CFSIZE,260165632,204951552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.023,192.6,1
$GPS,230512,125307,2152.467,12402.942,42,1.1,42,-2.9