version: 66.10
glider: 169
mission: 6
dive: 143
start: 5 18 112 14 4 50
data:
$ID,169
$MISSION,6
$DIVE,143
$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,-15518.724
$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
$GPS1,180512,135631,2254.843,12407.644,41,1.0,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.5
$GPS2,180512,140426,2254.792,12407.705,14,1.0,14,-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,168.4,157596,-13.5,-7.857
$D_GRID,5523
$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,-170.3,0.0,0.0,0,100,0.00,0.00,-80.18,0.000,2,0.000,0.000,116,2523,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-170.3,3.7,-9.9,14,129,7.88,2.45,-7.45,0.000,4,0.229,0.038,2101,1034,3678,0,0,0,0,0,0,25.39,26.06,26.37
$GC,303,-0.54,-170.3,62.2,-12.7,52,310,0.00,2.45,0.00,0.000,6,0.000,0.032,2089,2523,3680,0,0,0,0,0,0,28.83,26.10,28.83
$GC,496,-0.47,-170.3,102.3,-22.9,89,503,0.12,0.00,0.00,0.000,6,0.168,0.000,2126,2522,3680,0,0,0,0,0,0,26.03,28.83,28.83
$GC,688,-0.43,-170.3,136.5,-16.2,126,695,0.00,2.38,0.00,0.000,4,0.000,0.025,2138,1039,3681,0,0,0,0,0,0,28.83,26.27,28.83
$GC,754,-0.44,-170.3,144.9,-10.2,138,761,0.00,2.42,0.00,0.000,6,0.000,0.032,2127,2516,3681,0,0,0,0,0,0,28.83,26.25,28.83
$GC,946,-0.41,-170.3,172.5,-14.1,175,953,0.00,2.00,0.00,0.000,4,0.000,0.043,2117,3831,3681,0,0,0,0,0,0,28.83,26.24,28.83
$GC,990,-0.39,-170.3,178.7,-13.7,183,997,0.00,2.03,0.00,0.000,6,0.000,0.020,2118,2446,3681,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1186,-0.35,-170.3,206.9,-15.1,217,1196,0.12,2.17,0.00,0.000,4,0.145,0.021,2166,1043,3681,0,0,0,0,0,0,26.24,26.38,28.83
$GC,1232,-0.35,-170.3,211.5,-10.5,221,1240,0.00,2.40,0.00,0.000,6,0.000,0.031,2159,2517,3681,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1539,-0.35,-170.3,237.6,-8.7,252,1548,0.00,2.33,0.00,0.000,4,0.000,0.025,2160,1038,3681,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1564,-0.35,-170.3,239.6,-8.8,254,1570,0.00,2.40,0.00,0.000,6,0.000,0.031,2151,2511,3681,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1871,-0.35,-170.3,267.6,-9.0,285,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2509,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.35,-170.3,294.6,-8.9,315,2181,0.00,2.33,0.00,0.000,4,0.000,0.024,2151,1033,3679,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2208,-0.36,-170.3,297.6,-8.9,318,2215,0.00,2.40,0.00,0.000,6,0.000,0.032,2150,2510,3679,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2514,-0.36,-170.3,319.3,-6.7,349,2524,0.00,2.30,0.00,0.000,4,0.000,0.024,2150,1039,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2540,-0.36,-170.3,320.9,-6.6,351,2547,0.00,2.38,0.00,0.000,6,0.000,0.033,2150,2497,3677,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2849,-0.37,-170.3,343.4,-8.5,382,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2496,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.37,-170.3,368.0,-7.6,412,3159,0.00,2.30,0.00,0.000,4,0.000,0.026,2150,1045,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3195,-0.39,-170.3,371.1,-7.1,416,3202,0.00,2.35,0.00,0.000,6,0.000,0.034,2149,2483,3675,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3504,-0.41,-170.3,391.6,-6.6,447,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2482,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.42,-170.3,412.3,-7.0,478,3825,0.00,2.08,0.00,0.000,4,0.000,0.044,2141,3823,3673,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3842,-0.44,-170.3,414.0,-6.6,480,3848,0.00,2.08,0.00,0.000,6,0.000,0.020,2141,2405,3672,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4149,-0.45,-170.3,435.6,-7.0,511,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2404,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.46,-170.3,457.8,-7.0,541,4461,0.00,2.28,0.00,0.000,4,0.000,0.042,2133,3818,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4488,-0.48,-170.3,460.2,-6.8,544,4494,0.00,2.05,0.00,0.000,6,0.000,0.020,2133,2413,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4794,-0.49,-170.3,483.7,-7.8,575,4803,0.00,2.12,0.00,0.000,4,0.000,0.026,2133,1038,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4839,-0.50,-170.3,487.1,-8.3,579,4846,0.00,2.35,0.00,0.000,6,0.000,0.033,2125,2488,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5147,-0.50,-170.3,512.9,-8.3,610,5156,0.00,2.05,0.00,0.000,4,0.000,0.044,2115,3820,3666,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5190,-0.52,-170.3,516.1,-7.7,614,5199,0.00,2.05,0.00,0.000,6,0.000,0.021,2115,2424,3665,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5500,-0.52,-170.3,540.5,-8.0,645,5503,0.00,2.17,0.00,0.000,4,0.000,0.028,2115,1037,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5524,-0.52,-170.3,542.2,-7.7,647,5531,0.00,2.38,0.00,0.000,6,0.000,0.034,2112,2491,3664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5833,-0.52,-170.3,568.0,-8.7,678,5842,0.00,2.03,0.00,0.000,4,0.000,0.044,2101,3813,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5865,-0.52,-170.3,571.1,-9.0,681,5875,0.00,2.03,0.00,0.000,6,0.000,0.021,2102,2430,3661,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6175,-0.51,-170.3,599.5,-8.8,712,6179,0.00,2.17,0.00,0.000,4,0.000,0.028,2102,1046,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6225,-0.51,-170.3,603.2,-8.8,715,6229,0.00,2.35,0.00,0.000,6,0.000,0.034,2097,2493,3660,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6533,-0.50,-170.3,630.0,-8.4,730,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2492,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6832,-0.49,-170.3,654.7,-8.5,745,6837,0.00,2.30,0.00,0.000,4,0.000,0.028,2097,1049,3656,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6860,-0.48,-170.3,656.4,-8.6,746,6865,0.00,2.33,0.00,0.000,6,0.000,0.035,2089,2482,3656,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7167,-0.47,-170.3,685.0,-9.4,761,7173,0.12,2.08,0.00,0.000,4,0.147,0.047,2122,3813,3654,0,0,0,0,0,0,26.32,26.21,28.83
$GC,7190,-0.46,-170.3,686.7,-9.1,762,7194,0.00,2.10,0.00,0.000,6,0.000,0.022,2122,2407,3654,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7508,-0.47,-170.3,708.4,-7.0,778,7513,0.00,2.12,0.00,0.000,4,0.000,0.029,2122,1051,3652,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7535,-0.48,-170.3,709.9,-7.0,779,7539,0.00,2.33,0.00,0.000,6,0.000,0.036,2118,2470,3652,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7844,-0.49,-170.3,733.7,-7.6,794,7849,0.00,2.10,0.00,0.000,4,0.000,0.046,2108,3811,3650,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7885,-0.51,-170.3,736.6,-7.4,796,7889,0.00,2.10,0.00,0.000,6,0.000,0.024,2108,2415,3649,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8199,-0.51,-170.3,760.7,-7.4,812,8204,0.00,2.25,0.00,0.000,4,0.000,0.046,2099,3816,3649,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8225,-0.51,-170.3,762.3,-7.5,813,8229,0.00,2.08,0.00,0.000,6,0.000,0.022,2099,2428,3648,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8532,-0.51,-170.3,787.9,-8.1,828,8538,0.00,2.17,0.00,0.000,4,0.000,0.031,2099,1042,3646,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8555,-0.51,-170.3,789.6,-8.1,829,8560,0.00,2.35,0.00,0.000,6,0.000,0.037,2098,2485,3646,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8868,-0.51,-170.3,813.8,-7.5,845,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2484,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,-0.51,-170.3,834.9,-6.9,860,9171,0.00,2.10,0.00,0.000,4,0.000,0.049,2089,3829,3643,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9193,-0.51,-170.3,836.5,-7.0,861,9197,0.00,2.08,0.00,0.000,6,0.000,0.023,2089,2429,3643,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9505,-0.50,-170.3,858.7,-6.8,877,9511,0.00,2.17,0.00,0.000,4,0.000,0.030,2090,1051,3641,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9545,-0.50,-170.3,861.6,-7.1,879,9551,0.00,2.35,0.00,0.000,6,0.000,0.038,2085,2476,3641,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9866,-0.49,-170.3,886.5,-8.4,895,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2474,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.48,-170.3,913.7,-9.3,910,10167,0.12,0.00,0.00,0.000,6,0.147,0.000,2123,2474,3638,0,0,0,0,0,0,26.34,28.83,28.83
$GC,10466,-0.50,-170.3,933.7,-6.4,925,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2474,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10765,-0.52,-170.3,951.6,-5.8,940,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2474,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11066,-0.54,-170.3,967.6,-5.1,955,11071,0.00,2.12,0.00,0.000,4,0.000,0.048,2113,3813,3636,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11093,-0.56,-170.3,968.6,-5.1,956,11097,0.00,2.10,0.00,0.000,6,0.000,0.022,2113,2411,3634,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11401,-0.58,-170.3,985.5,-5.2,971,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2410,3634,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11497,begin apogee
$GC,11504,-0.20,0.0,990.9,-5.4,976,11674,0.28,0.08,163.20,1.155,4,0.093,0.089,2214,2485,2979,0,0,0,0,0,0,26.14,24.70,23.89
$STATE,11675,end apogee,CONTROL_FINISHED_OK
$STATE,11675,begin climb
$GC,11679,0.55,170.3,996.5,0.0,984,11865,0.62,2.28,176.93,1.152,4,0.045,0.045,2459,3822,2278,0,0,0,0,0,0,24.94,24.89,23.46
$GC,12062,0.47,170.3,929.8,21.7,1003,12067,0.15,2.03,0.00,0.000,6,0.187,0.025,2433,2504,2250,0,0,0,0,0,0,25.17,25.53,28.83
$GC,12371,0.42,170.3,876.6,15.8,1018,12377,0.00,2.33,0.00,0.000,4,0.000,0.033,2445,1076,2245,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,20909,end climb,SURFACE_DEPTH_REACHED
$STATE,20909,begin surface coast
$FINISH,-0.3,1.010180
$STATE,20943,end surface coast,CONTROL_FINISHED_OK
$STATE,20943,begin surface
$SM_CCo,21019,0.00,0.000,0,0,933,501.88
$SM_GC,0.76,5.97,0.15,0.00,0.024,0.057,0.000,132,2440,933,-6.61,0.45,501.88,0,0,0,0,0,0,26.18,26.31,28.83
$IRIDIUM_FIX,2251.04,12408.68,180512,080858
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.93
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.5,28.347
$10V_AH,10.3,16.936
$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,17.150,213.050,616.700,0.000,0.000,43.014,14.908,258.666,0.000,0.000,15.633,4741.343,11706.664,806.266,3681.962,519.249,0.000,2608.177,0.000,3166.075,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,88.740,1155.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1292.609,2472.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116858,1904
$CAP_FILE_SIZE,236721,0
$CFSIZE,260165632,207212544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.071,331.5,1
$GPS,180512,195607,2252.772,12408.128,28,1.1,28,-3.2