version: 66.10
glider: 169
mission: 6
dive: 114
start: 5 11 112 12 20 26
data:
$ID,169
$MISSION,6
$DIVE,114
$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,-15422.562
$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
$GPS1,110512,121136,2335.840,12403.383,37,1.3,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.7
$GPS2,110512,122003,2335.873,12403.289,12,2.8,31,-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,139.8,233186,-13.5,-7.857
$D_GRID,2693
$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,-170.3,0.0,0.0,0,99,0.00,0.00,-77.82,0.000,2,0.000,0.000,118,2447,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.55,-170.3,3.4,-8.3,13,130,7.95,2.28,-7.75,0.000,4,0.235,0.040,2100,1036,3677,0,0,0,0,0,0,25.47,26.06,26.37
$GC,148,-0.39,-170.3,25.1,-45.8,20,158,0.20,2.47,0.00,0.000,6,0.166,0.038,2142,2522,3678,0,0,0,0,0,0,25.70,26.01,28.83
$GC,350,-0.34,-170.3,67.4,-17.5,57,357,0.00,2.38,0.00,0.000,4,0.000,0.025,2153,1035,3678,0,0,0,0,0,0,28.83,26.19,28.83
$GC,427,-0.34,-170.3,78.8,-11.1,71,433,0.00,2.42,0.00,0.000,6,0.000,0.034,2141,2518,3679,0,0,0,0,0,0,28.83,26.18,28.83
$GC,625,-0.30,-170.3,110.5,-16.2,108,634,0.12,0.00,0.00,0.000,6,0.165,0.000,2180,2517,3679,0,0,0,0,0,0,26.13,28.83,28.83
$GC,825,-0.30,-170.3,131.3,-9.4,145,832,0.00,2.35,0.00,0.000,4,0.000,0.027,2185,1037,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,861,-0.32,-170.3,134.7,-8.2,151,868,0.00,2.40,0.00,0.000,6,0.000,0.034,2184,2514,3679,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1058,-0.33,-170.3,150.8,-9.3,188,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2513,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.34,-170.3,166.1,-6.8,225,1258,0.00,2.33,0.00,0.000,4,0.000,0.025,2184,1038,3679,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1288,-0.38,-170.3,168.5,-6.8,231,1295,0.00,2.33,0.00,0.000,6,0.000,0.031,2183,2494,3679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1480,-0.45,-170.3,182.9,-7.9,268,1488,0.15,2.05,0.00,0.000,4,0.103,0.037,2120,3827,3679,0,0,0,0,0,0,26.43,26.39,28.83
$GC,1623,-0.52,-170.3,194.5,-7.8,295,1631,0.00,2.03,0.00,0.000,6,0.000,0.019,2130,2421,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1821,-0.55,-170.3,208.0,-6.7,321,1832,0.10,2.20,0.00,0.000,4,0.098,0.038,2026,3825,3679,0,0,0,0,0,0,26.60,26.41,28.83
$GC,1856,-0.54,-170.3,212.0,-9.9,324,1865,0.20,1.83,0.00,0.000,6,0.161,0.020,2095,2518,3679,0,0,0,0,0,0,26.03,26.54,28.83
$GC,2166,-0.49,-170.3,264.1,-16.8,355,2170,0.00,2.00,0.00,0.000,4,0.000,0.039,2085,3822,3679,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2242,-0.47,-170.3,274.3,-12.4,362,2249,0.00,1.88,0.00,0.000,6,0.000,0.021,2094,2507,3679,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2551,-0.43,-170.3,315.5,-13.7,393,2562,0.12,2.28,0.00,0.000,4,0.155,0.027,2145,1041,3679,0,0,0,0,0,0,26.33,26.48,28.83
$GC,2662,-0.45,-170.3,324.3,-7.0,403,2669,0.00,2.40,0.00,0.000,6,0.000,0.031,2133,2541,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2969,-0.45,-170.3,354.5,-10.5,434,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2540,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3278,-0.45,-170.3,386.0,-9.8,465,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2539,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.45,-170.3,411.9,-7.8,495,3589,0.00,2.35,0.00,0.000,4,0.000,0.026,2134,1043,3675,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3613,-0.47,-170.3,414.5,-7.7,498,3622,0.00,2.40,0.00,0.000,6,0.000,0.033,2125,2533,3675,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3922,-0.47,-170.3,437.0,-7.5,529,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2532,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,-0.47,-170.3,460.4,-7.9,559,4231,0.00,2.35,0.00,0.000,4,0.000,0.026,2125,1034,3672,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4277,-0.48,-170.3,464.5,-7.7,564,4285,0.00,2.40,0.00,0.000,6,0.000,0.034,2121,2524,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4586,-0.48,-170.3,488.2,-7.9,595,4595,0.00,2.33,0.00,0.000,4,0.000,0.028,2121,1040,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4622,-0.49,-170.3,490.9,-7.8,598,4631,0.00,2.38,0.00,0.000,6,0.000,0.034,2113,2521,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4930,-0.49,-170.3,515.5,-7.5,629,4938,0.00,2.33,0.00,0.000,4,0.000,0.029,2113,1045,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4954,-0.49,-170.3,517.2,-7.5,631,4961,0.00,2.38,0.00,0.000,6,0.000,0.036,2106,2510,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5261,-0.49,-170.3,541.7,-8.1,662,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2509,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.48,-170.3,564.8,-8.2,692,5574,0.00,2.28,0.00,0.000,4,0.000,0.028,2106,1047,3663,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5641,-0.49,-170.3,571.3,-8.4,699,5648,0.00,2.35,0.00,0.000,6,0.000,0.035,2099,2503,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5959,-0.48,-170.3,602.3,-10.2,730,5965,0.00,2.03,0.00,0.000,4,0.000,0.047,2089,3821,3661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6020,-0.48,-170.3,608.9,-10.7,733,6026,0.10,2.03,0.00,0.000,6,0.132,0.022,2119,2441,3660,0,0,0,0,0,0,26.34,26.54,28.83
$GC,6343,-0.49,-170.3,636.4,-8.3,749,6346,0.00,2.20,0.00,0.000,4,0.000,0.031,2119,1039,3658,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6378,-0.50,-170.3,638.5,-8.5,750,6387,0.00,2.35,0.00,0.000,6,0.000,0.037,2112,2503,3658,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6685,-0.50,-170.3,664.4,-7.9,766,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2502,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6988,-0.50,-170.3,685.2,-6.6,781,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2503,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,-0.51,-170.3,705.1,-6.9,796,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2503,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7587,-0.52,-170.3,727.8,-7.7,811,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2502,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7886,-0.52,-170.3,750.9,-7.8,826,7892,0.00,2.30,0.00,0.000,4,0.000,0.031,2112,1051,3649,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7933,-0.54,-170.3,754.1,-7.7,828,7938,0.00,2.35,0.00,0.000,6,0.000,0.037,2108,2489,3648,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8241,-0.54,-170.3,777.4,-7.5,843,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2489,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8542,-0.55,-170.3,797.8,-6.4,858,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2489,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,-0.55,-170.3,816.8,-6.5,873,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2489,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9141,-0.56,-170.3,838.3,-7.3,888,9147,0.00,2.05,0.00,0.000,4,0.000,0.047,2098,3812,3642,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9173,-0.57,-170.3,839.7,-7.2,889,9182,0.00,2.05,0.00,0.000,6,0.000,0.024,2098,2429,3641,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9481,-0.57,-170.3,863.0,-7.3,905,9486,0.00,2.15,0.00,0.000,4,0.000,0.030,2098,1046,3640,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9534,-0.58,-170.3,866.0,-7.4,907,9541,0.00,2.33,0.00,0.000,6,0.000,0.037,2090,2481,3640,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9842,-0.58,-170.3,889.7,-7.2,923,9848,0.00,2.08,0.00,0.000,4,0.000,0.046,2080,3812,3639,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9881,-0.58,-170.3,892.6,-7.3,925,9887,0.00,2.05,0.00,0.000,6,0.000,0.022,2080,2428,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10201,-0.57,-170.3,918.0,-7.9,941,10206,0.00,2.15,0.00,0.000,4,0.000,0.031,2080,1044,3637,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10242,-0.57,-170.3,921.1,-7.9,943,10248,0.00,2.33,0.00,0.000,6,0.000,0.039,2070,2474,3637,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10563,-0.56,-170.3,948.2,-8.8,959,10567,0.00,2.10,0.00,0.000,4,0.000,0.047,2059,3829,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10625,-0.55,-170.3,954.5,-9.6,962,10631,0.12,2.10,0.00,0.000,6,0.129,0.024,2097,2424,3636,0,0,0,0,0,0,26.18,26.45,28.83
$GC,10947,-0.55,-170.3,978.7,-7.7,978,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2424,3636,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11082,begin apogee
$GC,11088,-0.20,0.0,990.6,-8.7,985,11255,0.32,0.05,158.15,1.144,4,0.101,0.047,2211,2483,2977,0,0,0,0,0,0,26.10,24.72,24.00
$STATE,11256,end apogee,CONTROL_FINISHED_OK
$STATE,11256,begin climb
$GC,11258,0.55,170.3,998.6,0.0,993,11439,0.60,0.10,173.45,1.131,6,0.028,0.093,2471,2557,2283,0,0,0,0,0,0,25.00,24.96,23.71
$GC,11748,0.47,170.3,919.5,19.3,1018,11754,0.12,1.95,0.00,0.000,4,0.198,0.042,2435,3824,2251,0,0,0,0,0,0,25.48,25.72,28.83
$GC,11984,0.40,170.3,874.4,20.9,1029,11991,0.15,1.98,0.00,0.000,6,0.192,0.024,2408,2515,2248,0,0,0,0,0,0,25.60,26.00,28.83
$GC,12291,0.36,170.3,823.2,15.3,1045,12297,0.00,2.03,0.00,0.000,4,0.000,0.044,2406,3812,2247,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12325,0.32,170.3,819.9,15.5,1046,12334,0.15,1.92,0.00,0.000,6,0.177,0.023,2377,2519,2246,0,0,0,0,0,0,25.77,26.15,28.83
$GC,12632,0.30,170.3,780.3,11.8,1062,12637,0.00,2.00,0.00,0.000,4,0.000,0.044,2377,3814,2245,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12713,0.27,170.3,769.9,13.0,1066,12718,0.00,1.90,0.00,0.000,6,0.000,0.023,2387,2533,2244,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,20152,end climb,SURFACE_DEPTH_REACHED
$STATE,20152,begin surface coast
$FINISH,-0.1,1.022686
$STATE,20165,end surface coast,CONTROL_FINISHED_OK
$STATE,20165,begin surface
$SM_CCo,20241,0.00,0.000,0,0,803,533.53
$SM_GC,0.59,6.18,0.12,0.00,0.027,0.068,0.000,129,2465,803,-6.63,0.40,533.53,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12400.97,110512,060639
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.01
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.7,23.027
$10V_AH,10.3,13.086
$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,18.425,180.850,682.925,0.000,0.000,30.663,42.705,259.527,0.000,0.000,32.857,4912.028,10778.301,877.770,3652.634,487.699,0.000,2632.722,0.000,3120.353,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,92.565,1143.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1255.878,2343.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,116853,1852
$CAP_FILE_SIZE,225554,0
$CFSIZE,260165632,210579456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.446,327.7,1
$GPS,110512,175855,2336.041,12404.584,38,1.0,38,-3.4