version: 66.10
glider: 169
mission: 6
dive: 233
start: 6 8 112 16 13 45
data:
$ID,169
$MISSION,6
$DIVE,233
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,-15753.733
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,080612,160507,2227.013,12238.545,37,1.1,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.2
$GPS2,080612,161322,2227.012,12238.823,13,2.1,32,-3.0
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,290.7,141627,-13.8,-8.684
$D_GRID,4938
$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,-0.58,-194.6,0.0,0.0,0,95,0.00,0.00,-75.53,0.000,2,0.000,0.000,104,2524,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-194.6,3.8,-9.7,13,126,8.12,2.62,-12.57,0.000,4,0.227,0.034,2092,979,3777,0,0,0,0,0,0,25.20,26.13,26.50
$GC,215,-0.58,-194.6,44.8,-23.7,34,223,0.00,2.50,0.00,0.000,6,0.000,0.032,2079,2468,3779,0,0,0,0,0,0,28.83,26.10,28.83
$GC,410,-0.58,-194.6,104.3,-31.3,71,417,0.00,2.42,0.00,0.000,4,0.000,0.024,2089,988,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,524,-0.58,-194.6,132.6,-16.0,93,531,0.00,2.45,0.00,0.000,6,0.000,0.029,2077,2458,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,715,-0.58,-194.6,174.4,-25.1,130,722,0.00,2.40,0.00,0.000,4,0.000,0.023,2083,974,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,779,-0.58,-194.6,186.4,-15.7,142,787,0.00,2.40,0.00,0.000,6,0.000,0.030,2071,2434,3780,0,0,0,0,0,0,28.83,26.29,28.83
$GC,974,-0.58,-194.6,223.0,-19.5,168,982,0.00,2.10,0.00,0.000,4,0.000,0.037,2060,3839,3780,0,0,0,0,0,0,28.83,26.29,28.83
$GC,995,-0.58,-194.6,227.7,-19.4,170,1005,0.00,2.17,0.00,0.000,6,0.000,0.018,2062,2364,3780,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1305,-0.58,-194.6,289.0,-19.0,201,1309,0.00,2.15,0.00,0.000,4,0.000,0.022,2063,968,3780,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1350,-0.58,-194.6,295.8,-16.4,205,1358,0.12,2.38,0.00,0.000,6,0.129,0.029,2093,2427,3780,0,0,0,0,0,0,26.17,26.35,28.83
$GC,1658,-0.58,-194.6,332.2,-11.2,236,1666,0.00,2.30,0.00,0.000,4,0.000,0.024,2092,987,3780,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1681,-0.58,-194.6,334.7,-11.1,238,1690,0.00,2.33,0.00,0.000,6,0.000,0.031,2085,2415,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1991,-0.58,-194.6,371.1,-10.3,269,1999,0.00,2.17,0.00,0.000,4,0.000,0.041,2075,3831,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2016,-0.58,-194.6,373.6,-10.8,271,2023,0.00,2.17,0.00,0.000,6,0.000,0.019,2075,2348,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2322,-0.58,-194.6,417.4,-14.7,302,2332,0.00,2.38,0.00,0.000,4,0.000,0.040,2063,3826,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2359,-0.58,-194.6,422.4,-15.5,305,2366,0.00,2.12,0.00,0.000,6,0.000,0.018,2063,2372,3775,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2667,-0.58,-194.6,467.2,-13.7,336,2675,0.00,2.33,0.00,0.000,4,0.000,0.041,2051,3825,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2698,-0.58,-194.6,471.8,-13.9,339,2708,0.12,2.12,0.00,0.000,6,0.132,0.020,2091,2380,3772,0,0,0,0,0,0,26.20,26.48,28.83
$GC,3008,-0.58,-194.6,503.7,-9.7,370,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2380,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,-0.58,-194.6,532.2,-9.5,400,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2380,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.58,-194.6,560.9,-9.1,431,3629,0.00,2.33,0.00,0.000,4,0.000,0.041,2080,3825,3763,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3651,-0.58,-194.6,564.0,-9.3,434,3662,0.00,2.12,0.00,0.000,6,0.000,0.019,2080,2383,3763,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3962,-0.58,-194.6,598.6,-12.0,465,3971,0.00,2.20,0.00,0.000,4,0.000,0.024,2080,988,3760,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3984,-0.58,-194.6,601.1,-11.5,467,3990,0.00,2.40,0.00,0.000,6,0.000,0.031,2070,2439,3760,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4305,-0.58,-194.6,639.7,-11.6,483,4309,0.00,2.17,0.00,0.000,4,0.000,0.043,2059,3836,3756,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4330,-0.58,-194.6,642.3,-11.4,484,4334,0.00,2.17,0.00,0.000,6,0.000,0.021,2059,2381,3755,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4642,-0.58,-194.6,675.8,-9.7,500,4648,0.00,2.22,0.00,0.000,4,0.000,0.025,2059,975,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4666,-0.58,-194.6,677.8,-9.6,501,4671,0.12,2.42,0.00,0.000,6,0.125,0.032,2089,2441,3754,0,0,0,0,0,0,26.10,26.27,28.83
$GC,4979,-0.58,-194.6,699.6,-7.2,517,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2440,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.58,-194.6,723.3,-8.2,532,5285,0.00,2.17,0.00,0.000,4,0.000,0.044,2078,3834,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5302,-0.58,-194.6,725.0,-8.3,533,5306,0.00,2.17,0.00,0.000,6,0.000,0.021,2078,2378,3748,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5614,-0.58,-194.6,752.8,-8.4,549,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2377,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5915,-0.58,-194.6,776.4,-7.3,564,5921,0.00,2.38,0.00,0.000,4,0.000,0.045,2068,3826,3743,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5937,-0.58,-194.6,777.9,-7.2,565,5941,0.00,2.15,0.00,0.000,6,0.000,0.022,2068,2391,3743,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6249,-0.58,-194.6,804.0,-8.4,581,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2389,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,-0.58,-194.6,829.5,-8.8,596,6555,0.00,2.22,0.00,0.000,4,0.000,0.026,2068,993,3739,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6602,-0.58,-194.6,832.8,-8.5,598,6610,0.00,2.42,0.00,0.000,6,0.000,0.034,2058,2447,3739,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6909,-0.58,-194.6,860.0,-8.3,614,6915,0.00,2.15,0.00,0.000,4,0.000,0.044,2048,3818,3737,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6933,-0.58,-194.6,861.7,-8.4,615,6938,0.12,2.15,0.00,0.000,6,0.129,0.021,2087,2385,3736,0,0,0,0,0,0,26.10,26.39,28.83
$GC,7246,-0.58,-194.6,880.8,-5.7,631,7252,0.00,2.38,0.00,0.000,4,0.000,0.044,2076,3835,3735,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7288,-0.58,-194.6,883.1,-5.8,633,7293,0.00,2.12,0.00,0.000,6,0.000,0.021,2076,2405,3734,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7607,-0.58,-194.6,904.1,-6.8,649,7612,0.00,2.25,0.00,0.000,4,0.000,0.027,2075,993,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7654,-0.58,-194.6,906.8,-6.8,651,7659,0.00,2.42,0.00,0.000,6,0.000,0.034,2067,2445,3733,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7964,-0.58,-194.6,931.4,-8.3,666,7969,0.00,2.17,0.00,0.000,4,0.000,0.046,2056,3829,3731,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8010,-0.58,-194.6,934.9,-8.3,668,8015,0.10,2.15,0.00,0.000,6,0.131,0.021,2087,2395,3730,0,0,0,0,0,0,26.15,26.37,28.83
$GC,8319,-0.58,-194.6,956.1,-6.9,683,8325,0.00,2.35,0.00,0.000,4,0.000,0.045,2077,3814,3729,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8366,-0.58,-194.6,958.9,-6.9,685,8370,0.00,2.10,0.00,0.000,6,0.000,0.021,2077,2408,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8673,-0.58,-194.6,982.3,-7.3,700,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2408,3728,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8790,begin apogee
$GC,8797,-0.20,0.0,991.1,-7.3,706,8994,0.38,0.00,184.90,1.143,4,0.090,0.000,2210,2561,2964,0,0,0,0,0,0,25.96,28.83,23.63
$STATE,8994,end apogee,CONTROL_FINISHED_OK
$STATE,8995,begin climb
$GC,8997,0.58,194.6,996.9,0.0,716,9214,0.68,2.03,203.38,1.082,4,0.042,0.044,2476,3821,2170,0,0,0,0,0,0,24.96,24.91,23.18
$GC,9385,0.58,194.6,916.9,26.6,735,9389,0.00,1.92,0.00,0.000,6,0.000,0.021,2486,2521,2148,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9698,0.58,194.6,837.9,23.8,751,9703,0.00,2.42,0.00,0.000,4,0.000,0.027,2499,1084,2143,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9791,0.58,194.6,820.5,21.5,755,9798,0.12,2.65,0.00,0.000,6,0.171,0.034,2467,2576,2139,0,0,0,0,0,0,25.72,26.01,28.83
$GC,10097,0.58,194.6,756.5,18.6,771,10101,0.00,1.85,0.00,0.000,4,0.000,0.042,2467,3827,2139,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10131,0.58,194.6,752.2,18.7,772,10138,0.00,1.85,0.00,0.000,6,0.000,0.021,2477,2536,2139,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10439,0.58,194.6,693.8,16.3,788,10443,0.00,1.98,0.00,0.000,4,0.000,0.042,2477,3826,2139,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10509,0.58,194.6,681.8,18.7,791,10513,0.00,1.85,0.00,0.000,6,0.000,0.021,2487,2536,2139,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10816,0.58,194.6,617.3,19.2,806,10822,0.00,2.00,0.00,0.000,4,0.000,0.041,2487,3834,2138,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10845,0.58,194.6,613.1,19.5,807,10849,0.12,1.85,0.00,0.000,6,0.196,0.021,2466,2542,2138,0,0,0,0,0,0,25.82,26.29,28.83
$GC,11151,0.58,194.6,558.7,16.1,834,11155,0.00,1.98,0.00,0.000,4,0.000,0.042,2467,3826,2138,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11187,0.58,194.6,553.2,16.6,837,11194,0.00,1.85,0.00,0.000,6,0.000,0.021,2477,2534,2137,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11493,0.58,194.6,499.2,18.3,868,11502,0.00,2.00,0.00,0.000,4,0.000,0.043,2477,3835,2137,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11575,0.58,194.6,481.9,21.4,876,11579,0.00,1.88,0.00,0.000,6,0.000,0.022,2486,2548,2137,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11887,0.58,194.6,421.6,18.0,907,11896,0.00,1.95,0.00,0.000,4,0.000,0.042,2487,3829,2136,0,0,0,0,0,0,28.83,26.12,28.83
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$GC,15290,1.04,567.7,44.1,4.5,1404,15400,0.17,2.08,103.35,0.194,4,0.061,0.035,2644,3838,664,0,0,0,0,0,0,26.32,25.89,25.36
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$STATE,15523,end climb,SURFACE_DEPTH_REACHED
$STATE,15523,begin surface coast
$FINISH,-0.2,1.021553
$STATE,15541,end surface coast,CONTROL_FINISHED_OK
$STATE,15541,begin surface
$SM_CCo,15617,0.00,0.000,0,0,672,565.91
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$IRIDIUM_FIX,2220.67,12240.61,080612,101054
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.2,47.260
$10V_AH,10.1,28.908
$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
$DEVICE_SECS,16.825,173.300,724.625,0.000,0.000,27.777,22.105,262.054,0.000,0.000,34.405,3524.675,8377.180,812.983,2933.639,422.640,0.000,2256.994,0.000,2464.348,0.000,0.544,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.337,1787.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,90433,1448
$CAP_FILE_SIZE,175827,0
$CFSIZE,260165632,196853760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,169.8,1
$GPS,080612,203506,2226.471,12236.865,36,0.9,36,-3.0