version: 66.10
glider: 169
mission: 6
dive: 141
start: 5 18 112 2 31 38
data:
$ID,169
$MISSION,6
$DIVE,141
$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,-15516.208
$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
$GPS1,180512,022307,2259.329,12407.575,43,0.9,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.9
$GPS2,180512,023114,2259.240,12407.651,15,1.7,15,-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,172.6,165797,-13.5,-7.857
$D_GRID,5629
$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,-170.3,0.0,0.0,0,98,0.00,0.00,-79.35,0.000,2,0.000,0.000,116,2531,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.55,-170.3,4.2,-11.6,14,122,7.82,2.45,-5.88,0.000,4,0.226,0.031,2102,981,3677,0,0,0,0,0,0,25.34,26.10,26.36
$GC,302,-0.52,-170.3,63.9,-15.7,52,309,0.00,2.50,0.00,0.000,6,0.000,0.034,2090,2521,3680,0,0,0,0,0,0,28.83,26.08,28.83
$GC,493,-0.45,-170.3,104.4,-20.4,89,500,0.12,0.00,0.00,0.000,6,0.168,0.000,2127,2519,3681,0,0,0,0,0,0,26.02,28.83,28.83
$GC,685,-0.41,-170.3,136.5,-14.9,126,692,0.00,2.38,0.00,0.000,4,0.000,0.028,2134,1034,3681,0,0,0,0,0,0,28.83,26.26,28.83
$GC,745,-0.41,-170.3,144.1,-10.4,137,753,0.00,2.40,0.00,0.000,6,0.000,0.033,2123,2514,3681,0,0,0,0,0,0,28.83,26.23,28.83
$GC,938,-0.37,-170.3,171.1,-14.8,174,945,0.10,2.33,0.00,0.000,4,0.173,0.023,2150,1033,3682,0,0,0,0,0,0,26.29,26.32,28.83
$GC,988,-0.38,-170.3,176.6,-8.7,183,995,0.00,2.38,0.00,0.000,6,0.000,0.032,2140,2500,3682,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1180,-0.36,-170.3,197.1,-11.8,220,1187,0.00,2.05,0.00,0.000,4,0.000,0.045,2130,3826,3682,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1217,-0.34,-170.3,201.2,-11.4,225,1226,0.12,2.05,0.00,0.000,6,0.125,0.019,2168,2423,3681,0,0,0,0,0,0,26.19,26.44,28.83
$GC,1525,-0.35,-170.3,228.6,-9.1,256,1529,0.00,2.15,0.00,0.000,4,0.000,0.026,2168,1038,3682,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1549,-0.36,-170.3,230.5,-9.1,258,1556,0.00,2.38,0.00,0.000,6,0.000,0.031,2163,2503,3682,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1858,-0.37,-170.3,254.8,-7.4,289,1867,0.00,2.03,0.00,0.000,4,0.000,0.041,2153,3823,3681,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1881,-0.38,-170.3,256.4,-7.3,291,1885,0.00,2.05,0.00,0.000,6,0.000,0.020,2153,2419,3681,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2193,-0.38,-170.3,281.5,-8.4,322,2201,0.00,2.12,0.00,0.000,4,0.000,0.025,2153,1041,3680,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2235,-0.39,-170.3,284.8,-7.9,326,2244,0.00,2.35,0.00,0.000,6,0.000,0.031,2146,2498,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2544,-0.39,-170.3,313.3,-9.7,357,2554,0.00,2.03,0.00,0.000,4,0.000,0.042,2136,3824,3678,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2579,-0.39,-170.3,316.3,-9.3,360,2586,0.00,2.03,0.00,0.000,6,0.000,0.020,2136,2425,3678,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2889,-0.38,-170.3,345.7,-8.9,391,2898,0.00,2.15,0.00,0.000,4,0.000,0.027,2136,1035,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2923,-0.38,-170.3,348.5,-8.3,394,2930,0.00,2.38,0.00,0.000,6,0.000,0.033,2126,2505,3677,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3231,-0.37,-170.3,376.5,-9.3,425,3241,0.00,2.33,0.00,0.000,4,0.000,0.026,2127,1042,3676,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3258,-0.36,-170.3,378.5,-9.2,427,3265,0.12,2.35,0.00,0.000,6,0.129,0.032,2157,2491,3676,0,0,0,0,0,0,26.22,26.39,28.83
$GC,3565,-0.38,-170.3,395.8,-5.7,458,3574,0.00,2.00,0.00,0.000,4,0.000,0.041,2147,3816,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3588,-0.40,-170.3,397.3,-6.0,460,3597,0.00,2.00,0.00,0.000,6,0.000,0.020,2148,2413,3675,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3898,-0.41,-170.3,416.5,-6.1,491,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2414,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.42,-170.3,434.2,-5.9,521,4211,0.00,2.22,0.00,0.000,4,0.000,0.043,2138,3818,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4228,-0.44,-170.3,435.7,-6.1,523,4234,0.00,2.03,0.00,0.000,6,0.000,0.020,2138,2422,3672,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4535,-0.44,-170.3,457.0,-7.4,554,4545,0.00,2.20,0.00,0.000,4,0.000,0.042,2129,3823,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4569,-0.46,-170.3,459.6,-7.8,557,4573,0.00,2.03,0.00,0.000,6,0.000,0.021,2129,2427,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4881,-0.46,-170.3,484.8,-7.3,588,4889,0.00,2.17,0.00,0.000,4,0.000,0.026,2129,1036,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4913,-0.47,-170.3,487.1,-7.2,591,4922,0.00,2.38,0.00,0.000,6,0.000,0.033,2125,2507,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5224,-0.47,-170.3,507.7,-6.9,622,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5524,-0.47,-170.3,531.6,-8.4,652,5533,0.00,2.33,0.00,0.000,4,0.000,0.027,2125,1036,3666,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5560,-0.48,-170.3,534.2,-8.3,655,5567,0.00,2.38,0.00,0.000,6,0.000,0.033,2117,2505,3666,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5868,-0.48,-170.3,559.4,-7.4,686,5877,0.00,2.28,0.00,0.000,4,0.000,0.026,2117,1043,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5895,-0.48,-170.3,561.2,-7.5,688,5902,0.00,2.35,0.00,0.000,6,0.000,0.034,2112,2491,3664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6202,-0.48,-170.3,584.4,-7.8,719,6211,0.00,2.05,0.00,0.000,4,0.000,0.044,2102,3824,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6244,-0.48,-170.3,587.9,-8.2,723,6252,0.00,2.05,0.00,0.000,6,0.000,0.021,2102,2423,3662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6557,-0.47,-170.3,614.4,-8.5,746,6563,0.00,2.15,0.00,0.000,4,0.000,0.028,2102,1038,3660,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6608,-0.47,-170.3,617.9,-8.5,748,6616,0.10,2.35,0.00,0.000,6,0.137,0.034,2124,2487,3659,0,0,0,0,0,0,26.20,26.34,28.83
$GC,6919,-0.48,-170.3,639.9,-7.1,764,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2485,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7216,-0.49,-170.3,662.3,-7.4,779,7222,0.00,2.30,0.00,0.000,4,0.000,0.028,2125,1038,3656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7245,-0.50,-170.3,663.6,-7.3,780,7254,0.00,2.33,0.00,0.000,6,0.000,0.034,2125,2478,3656,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7556,-0.51,-170.3,683.6,-5.8,796,7562,0.00,2.08,0.00,0.000,4,0.000,0.045,2115,3817,3654,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7597,-0.53,-170.3,685.9,-5.6,798,7602,0.00,2.05,0.00,0.000,6,0.000,0.022,2115,2423,3654,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7918,-0.53,-170.3,706.7,-6.7,814,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2422,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,-0.54,-170.3,726.5,-6.4,829,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2422,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,-0.55,-170.3,744.6,-5.9,844,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2422,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8816,-0.55,-170.3,762.6,-6.1,859,8822,0.00,2.33,0.00,0.000,4,0.000,0.047,2105,3819,3647,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8849,-0.56,-170.3,763.9,-6.2,860,8856,0.00,2.08,0.00,0.000,6,0.000,0.024,2105,2431,3647,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9157,-0.56,-170.3,786.4,-7.6,876,9162,0.00,2.15,0.00,0.000,4,0.000,0.029,2105,1049,3645,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9184,-0.56,-170.3,787.9,-7.7,877,9188,0.00,2.38,0.00,0.000,6,0.000,0.035,2099,2492,3645,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9492,-0.56,-170.3,812.1,-7.6,892,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2491,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9791,-0.56,-170.3,835.2,-7.5,907,9796,0.00,2.33,0.00,0.000,4,0.000,0.029,2099,1045,3642,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9824,-0.56,-170.3,836.9,-7.7,908,9830,0.00,2.38,0.00,0.000,6,0.000,0.037,2099,2480,3642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10131,-0.56,-170.3,860.9,-7.5,924,10137,0.00,2.10,0.00,0.000,4,0.000,0.047,2089,3813,3641,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10164,-0.56,-170.3,862.4,-7.4,925,10171,0.00,2.08,0.00,0.000,6,0.000,0.023,2089,2424,3640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10471,-0.55,-170.3,889.5,-8.8,941,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2424,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10772,-0.55,-170.3,915.8,-8.8,956,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2424,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11070,-0.55,-170.3,941.9,-8.7,971,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2424,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11373,-0.54,-170.3,966.3,-7.8,986,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2424,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11671,-0.54,-170.3,988.2,-7.1,1001,11676,0.00,2.28,0.00,0.000,4,0.000,0.050,2080,3806,3635,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,11708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11708,begin apogee
$GC,11716,-0.20,0.0,991.2,-7.3,1003,11885,0.35,0.12,159.10,1.176,4,0.092,0.083,2206,2553,2973,0,0,0,0,0,0,26.01,24.71,23.88
$STATE,11886,end apogee,CONTROL_FINISHED_OK
$STATE,11886,begin climb
$GC,11888,0.55,170.3,996.4,0.0,1011,12076,0.68,2.58,176.05,1.161,4,0.047,0.030,2460,1073,2279,0,0,0,0,0,0,24.94,24.95,23.47
$GC,12116,0.49,170.3,970.9,15.9,1023,12121,0.00,2.60,0.00,0.000,6,0.000,0.037,2460,2537,2258,0,0,0,0,0,0,28.83,24.84,28.83
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$STATE,20848,end climb,SURFACE_DEPTH_REACHED
$STATE,20848,begin surface coast
$FINISH,1.8,1.022391
$STATE,20856,end surface coast,CONTROL_FINISHED_OK
$STATE,20856,begin surface
$SM_CCo,20935,0.00,0.000,0,0,802,533.77
$SM_GC,0.61,6.15,2.42,0.00,0.037,0.029,0.000,139,2519,802,-6.62,-0.42,533.77,0,0,0,0,0,0,26.06,26.12,28.83
$IRIDIUM_FIX,2251.04,12407.37,170512,202054
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.13
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.5,27.986
$10V_AH,10.2,16.666
$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,17.625,214.225,652.950,0.000,0.000,26.408,40.156,261.217,0.000,0.000,15.943,4627.505,11800.528,844.469,3599.517,509.137,0.000,2616.011,0.000,3082.797,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,82.620,1175.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1268.505,2429.395,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,113578,1869
$CAP_FILE_SIZE,231365,0
$CFSIZE,260165632,207450112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.060,320.4,1
$GPS,180512,082137,2256.998,12407.808,36,0.9,36,-3.2