version: 66.10
glider: 169
mission: 6
dive: 126
start: 5 14 112 10 43 12
data:
$ID,169
$MISSION,6
$DIVE,126
$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,-15497.338
$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
$GPS1,140512,103201,2324.582,12408.705,40,1.6,40,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-76.0
$GPS2,140512,104246,2324.657,12408.731,10,3.8,29,-3.3
$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,173.8,212877,-13.5,-7.857
$D_GRID,3932
$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,-78.28,0.000,2,0.000,0.000,117,2433,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.55,-170.3,3.2,-7.8,14,128,7.72,2.28,-7.55,0.000,4,0.223,0.047,2082,3827,3676,0,0,1,0,0,0,25.43,25.75,26.37
$GC,155,-0.39,-170.3,29.0,-44.8,23,163,0.20,2.05,0.00,0.000,6,0.179,0.021,2143,2452,3678,0,0,0,0,0,0,25.63,26.10,28.83
$GC,348,-0.35,-170.3,68.2,-19.3,60,354,0.00,2.20,0.00,0.000,4,0.000,0.026,2149,1036,3679,0,0,0,0,0,0,28.83,26.17,28.83
$GC,423,-0.35,-170.3,79.0,-11.8,74,430,0.00,2.38,0.00,0.000,6,0.000,0.031,2138,2519,3679,0,0,0,0,0,0,28.83,26.18,28.83
$GC,614,-0.30,-170.3,110.3,-17.6,111,622,0.12,2.03,0.00,0.000,4,0.165,0.039,2167,3826,3679,0,0,0,0,0,0,26.09,26.22,28.83
$GC,645,-0.27,-170.3,115.4,-15.5,116,652,0.00,2.05,0.00,0.000,6,0.000,0.019,2167,2435,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,836,-0.26,-170.3,137.6,-11.4,153,843,0.00,2.12,0.00,0.000,4,0.000,0.024,2167,1031,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,869,-0.26,-170.3,140.9,-10.4,158,876,0.10,2.35,0.00,0.000,6,0.138,0.030,2192,2510,3680,0,0,0,0,0,0,26.17,26.32,28.83
$GC,1061,-0.28,-170.3,154.0,-5.7,195,1068,0.00,2.03,0.00,0.000,4,0.000,0.039,2183,3828,3679,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1091,-0.32,-170.3,155.7,-5.3,200,1098,0.00,2.05,0.00,0.000,6,0.000,0.018,2183,2423,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1284,-0.34,-170.3,164.8,-4.4,237,1291,0.00,2.10,0.00,0.000,4,0.000,0.024,2182,1037,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1317,-0.38,-170.3,166.1,-4.0,242,1323,0.00,2.35,0.00,0.000,6,0.000,0.029,2179,2523,3680,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1508,-0.39,-170.3,176.0,-5.4,279,1514,0.00,1.98,0.00,0.000,4,0.000,0.040,2170,3831,3679,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1533,-0.42,-170.3,177.5,-6.2,283,1540,0.00,2.05,0.00,0.000,6,0.000,0.018,2170,2421,3679,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1724,-0.43,-170.3,190.4,-7.6,320,1732,0.10,2.10,0.00,0.000,4,0.087,0.022,2082,1032,3679,0,0,0,0,0,0,26.60,26.45,28.83
$GC,1766,-0.40,-170.3,195.3,-13.9,327,1773,0.22,2.35,0.00,0.000,6,0.123,0.031,2140,2512,3679,0,0,0,0,0,0,26.13,26.41,28.83
$GC,1963,-0.39,-170.3,220.6,-12.7,349,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2511,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,-0.38,-170.3,257.5,-11.1,380,2283,0.00,1.98,0.00,0.000,4,0.000,0.041,2130,3824,3679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2309,-0.37,-170.3,261.5,-11.5,383,2316,0.00,2.03,0.00,0.000,6,0.000,0.019,2130,2438,3679,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2617,-0.35,-170.3,296.2,-11.0,414,2626,0.10,2.12,0.00,0.000,4,0.147,0.024,2163,1046,3678,0,0,0,0,0,0,26.48,26.47,28.83
$GC,2680,-0.39,-170.3,300.7,-5.8,420,2689,0.00,2.30,0.00,0.000,6,0.000,0.032,2158,2491,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2990,-0.45,-170.3,317.6,-5.9,451,3000,0.00,2.03,0.00,0.000,4,0.000,0.039,2158,3821,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3175,-0.52,-170.3,333.8,-10.7,469,3185,0.12,2.00,0.00,0.000,6,0.061,0.020,2098,2437,3675,0,0,0,0,0,0,26.41,26.57,28.83
$GC,3486,-0.49,-170.3,373.2,-14.7,500,3495,0.00,2.17,0.00,0.000,4,0.000,0.041,2087,3812,3674,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3580,-0.48,-170.3,385.3,-11.9,509,3588,0.10,2.00,0.00,0.000,6,0.137,0.021,2116,2456,3675,0,0,0,0,0,0,26.34,26.55,28.83
$GC,3889,-0.47,-170.3,417.3,-9.8,540,3892,0.00,2.17,0.00,0.000,4,0.000,0.025,2118,1045,3673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3924,-0.47,-170.3,420.5,-9.7,543,3932,0.00,2.35,0.00,0.000,6,0.000,0.032,2109,2527,3673,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4231,-0.45,-170.3,450.6,-9.7,574,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2526,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,-0.44,-170.3,480.2,-9.0,604,4541,0.00,2.33,0.00,0.000,4,0.000,0.025,2109,1030,3671,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4595,-0.45,-170.3,485.7,-8.2,610,4604,0.00,2.35,0.00,0.000,6,0.000,0.032,2099,2518,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4905,-0.44,-170.3,515.4,-9.3,641,4914,0.12,2.30,0.00,0.000,4,0.141,0.025,2143,1041,3668,0,0,0,0,0,0,26.40,26.46,28.83
$GC,4959,-0.46,-170.3,518.6,-5.6,646,4967,0.00,2.30,0.00,0.000,6,0.000,0.034,2139,2487,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5268,-0.55,-170.3,536.1,-6.2,677,5278,0.12,2.08,0.00,0.000,4,0.099,0.040,2077,3821,3665,0,0,0,0,0,0,26.56,26.39,28.83
$GC,5352,-0.55,-170.3,543.2,-8.4,685,5361,0.00,2.03,0.00,0.000,6,0.000,0.021,2077,2429,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5663,-0.53,-170.3,577.1,-11.2,716,5672,0.00,2.12,0.00,0.000,4,0.000,0.026,2078,1035,3664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5740,-0.52,-170.3,584.8,-9.6,723,5747,0.12,2.33,0.00,0.000,6,0.127,0.034,2107,2497,3664,0,0,0,0,0,0,26.25,26.41,28.83
$GC,6060,-0.52,-170.3,608.8,-6.9,749,6065,0.00,2.03,0.00,0.000,4,0.000,0.044,2097,3816,3661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6087,-0.52,-170.3,610.4,-7.0,750,6091,0.00,2.08,0.00,0.000,6,0.000,0.022,2097,2426,3661,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6399,-0.52,-170.3,635.4,-8.4,766,6404,0.00,2.12,0.00,0.000,4,0.000,0.026,2097,1038,3659,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6426,-0.52,-170.3,637.2,-8.5,767,6431,0.00,2.33,0.00,0.000,6,0.000,0.034,2088,2495,3659,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6736,-0.51,-170.3,666.9,-9.8,782,6741,0.00,2.05,0.00,0.000,4,0.000,0.044,2077,3825,3657,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6777,-0.50,-170.3,671.0,-9.8,784,6782,0.12,2.05,0.00,0.000,6,0.126,0.021,2117,2426,3656,0,0,0,0,0,0,26.27,26.52,28.83
$GC,7094,-0.50,-170.3,692.2,-6.0,800,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2425,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7390,-0.51,-170.3,707.5,-4.8,815,7396,0.00,2.25,0.00,0.000,4,0.000,0.044,2106,3814,3652,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7432,-0.53,-170.3,709.5,-4.8,817,7437,0.00,2.03,0.00,0.000,6,0.000,0.021,2106,2433,3651,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7751,-0.53,-170.3,727.5,-5.9,833,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2431,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8051,-0.53,-170.3,746.2,-6.2,848,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2431,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8351,-0.53,-170.3,765.6,-6.6,863,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2431,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8651,-0.54,-170.3,785.7,-6.8,878,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2431,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,-0.54,-170.3,808.1,-7.8,893,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2431,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9250,-0.55,-170.3,832.5,-8.2,908,9256,0.00,2.30,0.00,0.000,4,0.000,0.047,2097,3815,3641,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9278,-0.56,-170.3,834.1,-8.2,909,9282,0.00,2.03,0.00,0.000,6,0.000,0.022,2098,2441,3640,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9586,-0.56,-170.3,859.9,-8.1,924,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2440,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9885,-0.56,-170.3,882.3,-7.2,939,9891,0.00,2.25,0.00,0.000,4,0.000,0.046,2087,3824,3638,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9908,-0.56,-170.3,883.7,-7.2,940,9912,0.00,2.05,0.00,0.000,6,0.000,0.024,2088,2450,3637,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10222,-0.55,-170.3,907.1,-7.2,956,10227,0.00,2.15,0.00,0.000,4,0.000,0.028,2087,1041,3636,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10242,-0.55,-170.3,908.5,-7.1,957,10247,0.00,2.38,0.00,0.000,6,0.000,0.035,2086,2513,3636,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10557,-0.54,-170.3,929.3,-6.4,973,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2512,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10856,-0.54,-170.3,948.8,-6.7,988,10861,0.00,2.03,0.00,0.000,4,0.000,0.046,2076,3806,3635,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10895,-0.54,-170.3,951.6,-7.0,990,10901,0.00,2.03,0.00,0.000,6,0.000,0.023,2076,2449,3634,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11218,-0.54,-170.3,975.6,-7.5,1006,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2449,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11413,begin apogee
$GC,11419,-0.20,0.0,990.7,-7.5,1016,11586,0.38,0.10,159.95,1.167,4,0.101,0.074,2206,2478,2978,0,0,0,0,0,0,25.97,24.75,23.94
$STATE,11587,end apogee,CONTROL_FINISHED_OK
$STATE,11588,begin climb
$GC,11590,0.55,170.3,995.4,0.0,1024,11774,0.62,0.10,175.15,1.156,6,0.034,0.091,2465,2552,2280,0,0,0,0,0,0,24.95,24.92,23.59
$GC,12070,0.47,170.3,908.1,21.4,1049,12076,0.12,2.08,0.00,0.000,4,0.194,0.041,2425,3817,2250,0,0,0,0,0,0,25.46,25.67,28.83
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$STATE,20060,end climb,SURFACE_DEPTH_REACHED
$STATE,20060,begin surface coast
$FINISH,0.6,1.022518
$STATE,20093,end surface coast,CONTROL_FINISHED_OK
$STATE,20093,begin surface
$SM_CCo,20170,0.00,0.000,0,0,1045,474.41
$SM_GC,0.65,5.95,0.15,0.00,0.027,0.070,0.000,132,2560,1045,-6.63,-0.28,474.41,0,0,0,0,0,0,26.30,26.41,28.83
$IRIDIUM_FIX,2314.48,12408.75,140512,101028
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.39
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.6,25.264
$10V_AH,10.2,14.584
$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,18.175,197.250,619.175,0.000,0.000,54.151,77.822,273.341,0.000,0.000,31.473,4672.017,11077.406,807.254,3721.734,495.377,0.000,2564.196,0.000,3114.437,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,91.035,1166.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1269.396,2338.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,116894,1872
$CAP_FILE_SIZE,234041,0
$CFSIZE,260165632,209227776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.145,320.3,1
$GPS,140512,162031,2323.181,12407.788,41,1.3,41,-3.3