version: 66.10
glider: 169
mission: 6
dive: 242
start: 6 10 112 10 50 31
data:
$ID,169
$MISSION,6
$DIVE,242
$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,-15766.747
$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,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
$GPS1,100612,104155,2232.999,12225.010,42,1.3,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.3
$GPS2,100612,105008,2232.968,12225.018,16,1.5,16,-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,307.6,115702,-13.8,-8.684
$D_GRID,4859
$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,15,begin dive
$GC,17,-0.58,-194.6,0.0,0.0,0,108,0.00,0.00,-88.22,0.000,2,0.000,0.000,116,2477,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.58,-194.6,4.3,-10.5,15,139,7.80,2.58,-9.77,0.000,4,0.218,0.041,2089,986,3775,0,0,0,0,0,0,25.12,26.04,26.48
$GC,167,-0.46,-194.6,32.1,-41.3,24,175,0.17,2.55,0.00,0.000,6,0.142,0.037,2126,2465,3777,0,0,0,0,0,0,25.73,26.01,28.83
$GC,361,-0.40,-194.6,78.5,-21.0,61,368,0.00,2.05,0.00,0.000,4,0.000,0.038,2116,3835,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,411,-0.37,-194.6,88.5,-18.0,70,419,0.10,2.00,0.00,0.000,6,0.145,0.018,2151,2415,3777,0,0,0,0,0,0,26.08,26.32,28.83
$GC,605,-0.35,-194.6,116.6,-11.8,107,612,0.00,2.33,0.00,0.000,4,0.000,0.023,2153,984,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,660,-0.38,-194.6,122.3,-8.3,117,669,0.00,2.53,0.00,0.000,6,0.000,0.031,2145,2473,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,854,-0.36,-194.6,143.1,-12.6,154,862,0.00,2.47,0.00,0.000,4,0.000,0.024,2149,977,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,890,-0.38,-194.6,147.0,-9.6,160,897,0.00,2.45,0.00,0.000,6,0.000,0.030,2147,2438,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1082,-0.37,-194.6,166.6,-11.4,197,1090,0.00,2.10,0.00,0.000,4,0.000,0.039,2137,3840,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1118,-0.38,-194.6,170.6,-11.3,203,1125,0.00,2.12,0.00,0.000,6,0.000,0.019,2137,2357,3778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1310,-0.37,-194.6,192.4,-11.6,240,1317,0.00,2.20,0.00,0.000,4,0.000,0.023,2137,979,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1339,-0.38,-194.6,195.7,-10.9,245,1347,0.00,2.42,0.00,0.000,6,0.000,0.029,2134,2426,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1538,-0.37,-194.6,216.7,-10.9,268,1547,0.00,2.08,0.00,0.000,4,0.000,0.038,2124,3831,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1562,-0.37,-194.6,219.2,-10.4,270,1570,0.10,2.15,0.00,0.000,6,0.121,0.018,2157,2328,3777,0,0,0,0,0,0,26.31,26.50,28.83
$GC,1870,-0.39,-194.6,239.6,-6.6,301,1880,0.00,2.35,0.00,0.000,4,0.000,0.039,2148,3836,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1897,-0.41,-194.6,241.3,-7.0,303,1903,0.00,2.12,0.00,0.000,6,0.000,0.018,2147,2344,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2204,-0.43,-194.6,264.0,-8.1,334,2213,0.00,2.30,0.00,0.000,4,0.000,0.039,2139,3823,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2249,-0.45,-194.6,267.3,-7.8,338,2256,0.00,2.08,0.00,0.000,6,0.000,0.018,2139,2350,3775,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2558,-0.50,-194.6,290.6,-6.5,369,2567,0.00,2.17,0.00,0.000,4,0.000,0.021,2139,981,3774,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2652,-0.57,-194.6,297.5,-8.1,378,2661,0.10,2.58,0.00,0.000,6,0.067,0.028,2092,2510,3773,0,0,0,0,0,0,26.25,26.39,28.83
$GC,2961,-0.59,-194.6,320.1,-7.5,409,2965,0.00,1.95,0.00,0.000,4,0.000,0.041,2092,3834,3772,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3016,-0.61,-194.6,324.1,-8.3,414,3023,0.00,1.73,0.00,0.000,6,0.000,0.018,2092,2522,3771,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3324,-0.59,-194.6,357.2,-11.8,445,3333,0.00,2.55,0.00,0.000,4,0.000,0.024,2092,992,3770,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3398,-0.60,-194.6,364.7,-9.2,452,3405,0.00,2.83,0.00,0.000,6,0.000,0.031,2086,2617,3769,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3707,-0.58,-194.6,400.6,-11.5,483,3716,0.00,2.78,0.00,0.000,4,0.000,0.024,2086,980,3767,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3782,-0.59,-194.6,407.9,-9.0,490,3789,0.00,2.78,0.00,0.000,6,0.000,0.034,2085,2569,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4090,-0.57,-194.6,440.4,-9.8,521,4098,0.00,2.70,0.00,0.000,4,0.000,0.026,2085,991,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4173,-0.59,-194.6,447.8,-8.0,529,4182,0.00,2.67,0.00,0.000,6,0.000,0.033,2085,2534,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4484,-0.57,-194.6,479.8,-11.6,560,4493,0.00,2.65,-0.10,0.000,4,0.000,0.034,2085,979,3784,0,0,0,0,0,0,28.83,26.36,26.01
$GC,4528,-0.57,-194.6,484.4,-10.7,564,4535,0.00,2.65,0.00,0.000,6,0.000,0.034,2085,2516,3784,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4836,-0.56,-194.6,518.3,-11.2,595,4846,0.00,1.92,0.00,0.000,4,0.000,0.041,2076,3832,3782,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4859,-0.55,-194.6,520.8,-11.0,597,4868,0.00,1.95,0.00,0.000,6,0.000,0.019,2076,2442,3782,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5170,-0.53,-194.6,553.7,-10.4,628,5179,0.00,2.40,0.00,0.000,4,0.000,0.025,2077,962,3780,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5243,-0.55,-194.6,560.5,-8.2,635,5254,0.08,2.60,0.00,0.000,6,0.096,0.033,2101,2495,3780,0,0,0,0,0,0,26.12,26.29,28.83
$GC,5553,-0.55,-194.6,584.6,-7.9,666,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2493,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,-0.56,-194.6,609.0,-8.2,691,5862,0.00,2.50,0.00,0.000,4,0.000,0.025,2102,990,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5896,-0.58,-194.6,612.4,-8.4,693,5901,0.00,2.55,0.00,0.000,6,0.000,0.034,2099,2488,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6217,-0.58,-194.6,639.4,-8.5,709,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2486,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.59,-194.6,663.1,-7.8,724,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2486,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6816,-0.61,-194.6,685.4,-7.3,739,6821,0.00,2.03,0.00,0.000,4,0.000,0.045,2090,3830,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6845,-0.62,-194.6,686.9,-7.2,740,6849,0.00,2.03,0.00,0.000,6,0.000,0.021,2091,2412,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7152,-0.63,-194.6,711.7,-7.8,755,7158,0.00,2.33,0.00,0.000,4,0.000,0.026,2090,993,3765,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7185,-0.64,-194.6,713.3,-7.8,756,7192,0.00,2.55,0.00,0.000,6,0.000,0.034,2086,2485,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7493,-0.64,-194.6,740.3,-8.4,772,7499,0.00,2.47,0.00,0.000,4,0.000,0.027,2086,985,3763,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7526,-0.64,-194.6,742.0,-8.5,773,7533,0.00,2.53,0.00,0.000,6,0.000,0.035,2085,2474,3763,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7833,-0.64,-194.6,769.3,-8.4,789,7839,0.00,2.45,0.00,0.000,4,0.000,0.026,2086,996,3761,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7861,-0.65,-194.6,770.9,-8.4,790,7865,0.00,2.50,0.00,0.000,6,0.000,0.034,2086,2465,3761,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8168,-0.65,-194.6,796.4,-8.0,805,8173,0.00,2.08,0.00,0.000,4,0.000,0.045,2077,3831,3759,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8198,-0.65,-194.6,798.0,-7.9,806,8206,0.00,2.08,0.00,0.000,6,0.000,0.021,2077,2396,3759,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8507,-0.65,-194.6,825.0,-8.1,822,8513,0.00,2.30,0.00,0.000,4,0.000,0.028,2077,979,3758,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8530,-0.65,-194.6,826.6,-8.2,823,8535,0.00,2.55,0.00,0.000,6,0.000,0.034,2069,2470,3757,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8844,-0.64,-194.6,853.3,-8.3,839,8850,0.00,2.47,0.00,0.000,4,0.000,0.027,2069,984,3755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8897,-0.64,-194.6,856.5,-8.1,841,8904,0.00,2.47,0.00,0.000,6,0.000,0.036,2059,2438,3755,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9204,-0.62,-194.6,884.5,-9.4,857,9210,0.00,2.40,0.00,0.000,4,0.000,0.028,2059,984,3754,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9246,-0.62,-194.6,888.2,-9.6,859,9250,0.00,2.45,0.00,0.000,6,0.000,0.036,2050,2420,3754,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9559,-0.60,-194.6,923.4,-11.7,875,9566,0.10,2.35,0.00,0.000,4,0.158,0.025,2078,985,3753,0,0,0,0,0,0,26.39,26.22,28.83
$GC,9592,-0.59,-194.6,925.7,-11.6,876,9599,0.00,2.42,0.00,0.000,6,0.000,0.036,2072,2415,3753,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9899,-0.59,-194.6,956.3,-9.4,892,9904,0.00,2.20,0.00,0.000,4,0.000,0.047,2061,3847,3751,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9932,-0.59,-194.6,958.3,-9.3,893,9939,0.00,2.20,0.00,0.000,6,0.000,0.023,2061,2362,3750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10239,-0.58,-194.6,986.7,-8.5,909,10245,0.00,2.22,0.00,0.000,4,0.000,0.029,2061,996,3749,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10267,-0.58,-194.6,988.4,-8.3,910,10272,0.12,2.42,0.00,0.000,6,0.113,0.035,2098,2419,3749,0,0,0,0,0,0,25.98,26.09,28.83
$STATE,10291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10291,begin apogee
$GC,10298,-0.20,0.0,990.8,-7.8,911,10494,0.30,0.08,189.82,1.181,4,0.090,0.093,2208,2516,2975,0,0,0,0,0,0,26.08,24.59,23.51
$STATE,10495,end apogee,CONTROL_FINISHED_OK
$STATE,10496,begin climb
$GC,10499,0.58,194.6,997.8,0.0,921,10708,0.65,0.12,202.57,1.113,6,0.036,0.079,2472,2578,2184,0,0,0,0,0,0,24.86,24.86,23.16
$GC,11011,0.51,194.6,908.2,21.4,946,11017,0.12,1.85,0.00,0.000,4,0.187,0.041,2434,3840,2146,0,0,0,0,0,0,25.63,25.85,28.83
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$STATE,18804,end climb,SURFACE_DEPTH_REACHED
$STATE,18804,begin surface coast
$FINISH,-0.2,1.021771
$STATE,18836,end surface coast,CONTROL_FINISHED_OK
$STATE,18836,begin surface
$SM_CCo,18913,0.00,0.000,0,0,978,490.85
$SM_GC,0.75,6.18,0.00,0.00,0.030,0.000,0.000,130,2462,978,-6.62,0.34,490.85,0,0,0,0,0,0,26.37,28.83,28.83
$IRIDIUM_FIX,2223.01,12228.27,100612,050517
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.2,48.935
$10V_AH,10.1,29.964
$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,17.275,236.525,715.775,0.000,0.000,31.391,43.579,251.656,0.000,0.000,17.205,4394.944,10064.769,912.250,3476.622,515.170,0.000,2652.716,0.000,2969.122,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,93.330,1181.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.056,2216.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,110202,1758
$CAP_FILE_SIZE,229932,0
$CFSIZE,260165632,195870720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 61.9,1
$GPS,100612,160654,2234.829,12223.484,42,1.2,42,-3.0