version: 66.10
glider: 169
mission: 6
dive: 140
start: 5 17 112 20 36 7
data:
$ID,169
$MISSION,6
$DIVE,140
$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,-15514.949
$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
$GPS1,170512,202730,2301.178,12407.184,40,1.2,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.5
$GPS2,170512,203543,2301.230,12407.130,12,1.3,12,-3.2
$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,163.6,169405,-13.5,-7.857
$D_GRID,5747
$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,-170.3,0.0,0.0,0,99,0.00,0.00,-79.75,0.000,2,0.000,0.000,116,2518,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-170.3,4.5,-13.0,14,123,7.75,2.40,-5.18,0.000,4,0.222,0.036,2104,1033,3676,0,0,0,0,0,0,25.34,26.02,26.34
$GC,197,-0.50,-170.3,39.3,-19.2,31,203,0.00,2.45,0.00,0.000,6,0.000,0.034,2092,2521,3679,0,0,0,0,0,0,28.83,26.01,28.83
$GC,388,-0.43,-170.3,83.4,-21.6,68,396,0.12,2.40,0.00,0.000,4,0.174,0.024,2140,1032,3680,0,0,0,0,0,0,25.94,26.16,28.83
$GC,449,-0.42,-170.3,92.9,-11.0,79,455,0.00,2.38,0.00,0.000,6,0.000,0.031,2128,2491,3680,0,0,0,0,0,0,28.83,26.15,28.83
$GC,641,-0.37,-170.3,122.9,-17.0,116,647,0.00,2.30,0.00,0.000,4,0.000,0.023,2139,1039,3680,0,0,0,0,0,0,28.83,26.26,28.83
$GC,700,-0.36,-170.3,131.2,-11.4,127,707,0.00,2.30,0.00,0.000,6,0.000,0.031,2128,2466,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,891,-0.33,-170.3,159.4,-14.8,164,897,0.12,0.00,0.00,0.000,6,0.154,0.000,2168,2465,3680,0,0,0,0,0,0,26.17,28.83,28.83
$GC,1082,-0.32,-170.3,179.9,-10.2,201,1089,0.00,2.25,0.00,0.000,4,0.000,0.023,2168,1033,3680,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1112,-0.33,-170.3,182.9,-9.4,206,1119,0.00,2.33,0.00,0.000,6,0.000,0.031,2159,2468,3681,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1309,-0.32,-170.3,201.4,-9.8,243,1313,0.00,2.08,0.00,0.000,4,0.000,0.041,2149,3822,3680,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1343,-0.32,-170.3,204.6,-9.8,246,1350,0.00,2.08,0.00,0.000,6,0.000,0.018,2149,2399,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1652,-0.31,-170.3,238.0,-11.2,277,1662,0.00,2.08,0.00,0.000,4,0.000,0.024,2149,1032,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1684,-0.31,-170.3,241.8,-11.4,280,1694,0.12,2.30,0.00,0.000,6,0.120,0.031,2182,2469,3680,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1996,-0.33,-170.3,263.8,-6.6,311,2005,0.00,2.05,0.00,0.000,4,0.000,0.041,2174,3817,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2041,-0.37,-170.3,266.5,-6.3,315,2048,0.00,2.05,0.00,0.000,6,0.000,0.019,2174,2392,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2350,-0.43,-170.3,288.3,-6.8,346,2359,0.12,2.28,0.00,0.000,4,0.081,0.038,2110,3824,3678,0,0,0,0,0,0,26.57,26.35,28.83
$GC,2403,-0.48,-170.3,292.3,-7.6,351,2412,0.00,2.05,0.00,0.000,6,0.000,0.018,2110,2401,3678,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2713,-0.45,-170.3,331.0,-13.3,382,2717,0.00,2.12,0.00,0.000,4,0.000,0.026,2113,1030,3677,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2786,-0.45,-170.3,339.6,-10.8,389,2796,0.00,2.33,0.00,0.000,6,0.000,0.033,2104,2474,3677,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3095,-0.42,-170.3,380.3,-12.8,420,3097,0.12,0.00,0.00,0.000,6,0.158,0.000,2139,2473,3675,0,0,0,0,0,0,26.34,28.83,28.83
$GC,3397,-0.42,-170.3,406.2,-8.5,450,3406,0.00,2.25,0.00,0.000,4,0.000,0.024,2139,1033,3675,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3461,-0.44,-170.3,410.9,-7.1,456,3470,0.00,2.30,0.00,0.000,6,0.000,0.031,2130,2468,3675,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3770,-0.44,-170.3,439.7,-9.8,487,3780,0.00,2.25,0.00,0.000,4,0.000,0.026,2130,1032,3673,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3804,-0.44,-170.3,443.1,-9.8,490,3813,0.00,2.30,0.00,0.000,6,0.000,0.031,2122,2461,3673,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4114,-0.43,-170.3,471.2,-8.7,521,4123,0.00,2.10,0.00,0.000,4,0.000,0.041,2111,3833,3672,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4137,-0.42,-170.3,473.1,-8.3,523,4146,0.00,2.10,0.00,0.000,6,0.000,0.020,2111,2400,3672,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4447,-0.41,-170.3,501.6,-9.1,554,4457,0.10,2.10,0.00,0.000,4,0.143,0.024,2146,1038,3670,0,0,0,0,0,0,26.49,26.44,28.83
$GC,4470,-0.41,-170.3,503.3,-8.1,556,4479,0.00,2.28,0.00,0.000,6,0.000,0.032,2143,2465,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4780,-0.43,-170.3,521.7,-5.6,587,4789,0.00,2.08,0.00,0.000,4,0.000,0.044,2133,3820,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4823,-0.45,-170.3,524.0,-5.8,591,4827,0.00,2.08,0.00,0.000,6,0.000,0.020,2132,2397,3668,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5136,-0.45,-170.3,542.7,-5.9,622,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2395,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5438,-0.46,-170.3,560.8,-6.2,652,5448,0.00,2.30,0.00,0.000,4,0.000,0.042,2124,3823,3665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5476,-0.48,-170.3,563.1,-6.4,655,5482,0.00,2.08,0.00,0.000,6,0.000,0.021,2124,2408,3665,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5782,-0.48,-170.3,584.6,-7.0,686,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2407,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6093,-0.48,-170.3,605.8,-6.6,713,6098,0.00,2.28,0.00,0.000,4,0.000,0.043,2114,3813,3660,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6134,-0.48,-170.3,608.3,-6.1,715,6139,0.00,2.03,0.00,0.000,6,0.000,0.021,2114,2433,3660,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6452,-0.48,-170.3,628.0,-6.0,731,6458,0.00,2.17,0.00,0.000,4,0.000,0.026,2114,1042,3659,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6485,-0.48,-170.3,629.3,-6.2,732,6492,0.00,2.35,0.00,0.000,6,0.000,0.033,2105,2492,3659,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6793,-0.48,-170.3,653.8,-8.1,748,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2491,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7093,-0.47,-170.3,677.8,-7.8,763,7097,0.00,2.08,0.00,0.000,4,0.000,0.045,2095,3821,3655,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7124,-0.47,-170.3,679.6,-7.7,764,7127,0.00,2.08,0.00,0.000,6,0.000,0.022,2095,2423,3654,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7430,-0.46,-170.3,705.2,-7.9,779,7432,0.10,0.00,0.00,0.000,6,0.142,0.000,2125,2421,3653,0,0,0,0,0,0,26.48,28.83,28.83
$GC,7732,-0.47,-170.3,722.7,-5.7,794,7737,0.00,2.28,0.00,0.000,4,0.000,0.044,2114,3824,3651,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7773,-0.48,-170.3,725.2,-6.0,796,7777,0.00,2.08,0.00,0.000,6,0.000,0.021,2115,2423,3651,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8086,-0.49,-170.3,745.7,-6.6,812,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2422,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8386,-0.49,-170.3,765.7,-6.6,827,8392,0.00,2.25,0.00,0.000,4,0.000,0.045,2105,3816,3648,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8418,-0.49,-170.3,767.1,-6.6,828,8425,0.00,2.05,0.00,0.000,6,0.000,0.022,2105,2431,3647,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8726,-0.49,-170.3,790.7,-7.4,844,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2431,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,-0.49,-170.3,811.9,-6.8,859,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2431,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,-0.49,-170.3,832.9,-7.1,874,9331,0.00,2.22,0.00,0.000,4,0.000,0.046,2096,3815,3644,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9354,-0.49,-170.3,834.3,-7.1,875,9358,0.00,2.05,0.00,0.000,6,0.000,0.022,2097,2436,3642,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9663,-0.49,-170.3,858.3,-7.3,890,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2435,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9960,-0.49,-170.3,879.1,-6.7,905,9966,0.00,2.25,0.00,0.000,4,0.000,0.044,2086,3821,3640,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9989,-0.49,-170.3,880.4,-6.6,906,9994,0.10,2.05,0.00,0.000,6,0.129,0.022,2117,2438,3640,0,0,0,0,0,0,26.21,26.44,28.83
$GC,10299,-0.50,-170.3,897.4,-5.3,921,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2437,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10597,-0.51,-170.3,913.7,-5.6,936,10602,0.00,2.25,0.00,0.000,4,0.000,0.046,2106,3817,3637,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10636,-0.53,-170.3,916.1,-6.0,938,10642,0.00,2.03,0.00,0.000,6,0.000,0.022,2106,2442,3637,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10956,-0.53,-170.3,937.8,-6.8,954,10962,0.00,2.20,0.00,0.000,4,0.000,0.030,2106,1053,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10990,-0.54,-170.3,939.3,-7.0,955,10996,0.00,2.40,0.00,0.000,6,0.000,0.037,2099,2512,3636,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11296,-0.54,-170.3,963.5,-7.6,971,11301,0.00,2.05,0.00,0.000,4,0.000,0.047,2089,3827,3635,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11324,-0.54,-170.3,965.1,-7.7,972,11328,0.00,2.08,0.00,0.000,6,0.000,0.022,2089,2435,3635,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,11628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11628,begin apogee
$GC,11634,-0.20,0.0,991.1,-8.4,987,11804,0.35,0.10,160.80,1.174,4,0.098,0.072,2211,2478,2973,0,0,0,0,0,0,25.98,24.72,23.88
$STATE,11805,end apogee,CONTROL_FINISHED_OK
$STATE,11806,begin climb
$GC,11808,0.55,170.3,997.3,0.0,995,11993,0.65,2.28,174.50,1.167,4,0.044,0.044,2460,3814,2281,0,0,0,0,0,0,24.95,24.91,23.46
$GC,12156,0.47,170.3,936.7,22.8,1013,12162,0.17,2.05,0.00,0.000,6,0.184,0.024,2427,2493,2253,0,0,0,0,0,0,25.06,25.44,28.83
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$STATE,20688,end climb,SURFACE_DEPTH_REACHED
$STATE,20688,begin surface coast
$FINISH,2.2,1.022422
$STATE,20700,end surface coast,CONTROL_FINISHED_OK
$STATE,20702,begin surface
$SM_CCo,20720,25.30,0.125,0,0,1142,450.13
$SM_GC,0.41,6.10,2.40,25.30,0.041,0.028,0.125,124,2527,1142,-6.63,-0.31,450.13,0,0,0,0,0,0,26.33,26.29,25.89
$IRIDIUM_FIX,2255.72,12406.74,170512,141457
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.68
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.5,27.798
$10V_AH,10.2,16.528
$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,17.350,214.875,545.025,25.300,0.000,32.192,37.498,268.451,0.000,0.000,12.887,4724.979,11526.246,773.461,3666.125,512.379,0.000,2551.694,0.000,3141.274,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,71.910,1174.275,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1270.741,2396.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,116754,1870
$CAP_FILE_SIZE,237931,0
$CFSIZE,260165632,207556608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,324.8,1
$GPS,180512,022307,2259.329,12407.575,43,0.9,43,-3.2