version: 66.10
glider: 169
mission: 6
dive: 185
start: 5 28 112 18 52 32
data:
$ID,169
$MISSION,6
$DIVE,185
$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,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,9
$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,-15692.284
$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
$GPS1,280512,184336,2146.335,12340.056,29,1.0,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.1
$GPS2,280512,185206,2146.322,12340.208,41,0.9,46,-2.9
$SPEED_LIMITS,0.136,0.271
$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,302.6,270016,-12.5,-7.857
$D_GRID,4708
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-78.88,0.000,2,0.000,0.000,116,2434,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.55,-194.6,3.2,-6.4,14,134,7.80,2.22,-15.15,0.000,4,0.222,0.047,2080,3832,3776,0,0,1,0,0,0,25.29,25.60,26.48
$GC,233,-0.47,-194.6,51.9,-28.9,38,240,0.12,1.98,0.00,0.000,6,0.170,0.021,2119,2462,3776,0,0,0,0,0,0,25.85,26.21,28.83
$GC,426,-0.38,-194.6,112.4,-24.5,75,433,0.12,2.28,0.00,0.000,4,0.178,0.020,2165,1036,3776,0,0,0,0,0,0,26.02,26.27,28.83
$GC,467,-0.35,-194.6,120.3,-14.0,82,474,0.00,2.53,0.00,0.000,6,0.000,0.032,2153,2536,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,659,-0.32,-194.6,153.2,-15.2,119,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2535,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.29,-194.6,179.9,-15.1,156,855,0.00,2.45,0.00,0.000,4,0.000,0.024,2154,1041,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,933,-0.31,-194.6,190.1,-9.2,172,941,0.12,2.38,0.00,0.000,6,0.132,0.029,2183,2497,3777,0,0,0,0,0,0,26.15,26.34,28.83
$GC,1131,-0.37,-194.6,206.6,-9.1,203,1141,0.00,1.98,0.00,0.000,4,0.000,0.038,2183,3836,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1205,-0.44,-194.6,214.1,-10.0,210,1215,0.15,1.98,0.00,0.000,6,0.071,0.018,2126,2434,3777,0,0,0,0,0,0,26.27,26.51,28.83
$GC,1515,-0.45,-194.6,237.8,-6.9,241,1525,0.00,2.15,0.00,0.000,4,0.000,0.037,2121,3831,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1611,-0.45,-194.6,244.6,-7.7,250,1617,0.00,1.70,0.00,0.000,6,0.000,0.018,2122,2553,3776,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1919,-0.42,-194.6,284.2,-13.6,281,1928,0.00,2.45,0.00,0.000,4,0.000,0.024,2122,1042,3776,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2015,-0.43,-194.6,293.5,-8.6,290,2022,0.00,2.67,0.00,0.000,6,0.000,0.031,2110,2625,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2322,-0.40,-194.6,336.5,-15.2,321,2332,0.12,2.62,0.00,0.000,4,0.151,0.023,2153,1044,3775,0,0,0,0,0,0,26.32,26.42,28.83
$GC,2410,-0.43,-194.6,344.5,-7.5,329,2418,0.00,2.58,0.00,0.000,6,0.000,0.030,2150,2576,3774,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2718,-0.51,-194.6,370.8,-8.7,360,2727,0.12,1.77,0.00,0.000,4,0.102,0.037,2088,3833,3773,0,0,0,0,0,0,26.53,26.37,28.83
$GC,2795,-0.57,-194.6,376.6,-6.7,367,2803,0.00,1.80,0.00,0.000,6,0.000,0.018,2089,2509,3772,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3102,-0.59,-194.6,397.3,-6.7,398,3111,0.00,2.35,0.00,0.000,4,0.000,0.024,2089,1036,3770,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3155,-0.59,-194.6,401.3,-8.4,403,3164,0.00,2.35,0.00,0.000,6,0.000,0.034,2085,2468,3770,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3465,-0.54,-194.6,443.2,-14.3,434,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2467,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.51,-194.6,483.4,-14.3,464,3776,0.00,2.28,0.00,0.000,4,0.000,0.026,2085,1043,3767,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3841,-0.50,-194.6,492.7,-11.7,471,3851,0.00,2.33,0.00,0.000,6,0.000,0.033,2085,2465,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4151,-0.47,-194.6,535.7,-13.5,502,4159,0.12,0.00,0.00,0.000,6,0.142,0.000,2123,2464,3764,0,0,0,0,0,0,26.41,28.83,28.83
$GC,4460,-0.48,-194.6,559.2,-6.3,533,4469,0.00,2.28,0.00,0.000,4,0.000,0.026,2123,1042,3762,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4485,-0.49,-194.6,560.4,-6.1,535,4492,0.00,2.33,0.00,0.000,6,0.000,0.033,2119,2459,3762,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4793,-0.49,-194.6,581.3,-7.7,566,4803,0.00,2.08,0.00,0.000,4,0.000,0.044,2108,3819,3758,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4826,-0.51,-194.6,584.0,-8.2,569,4835,0.00,2.08,0.00,0.000,6,0.000,0.020,2108,2397,3758,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5138,-0.51,-194.6,610.0,-7.9,594,5143,0.00,2.12,0.00,0.000,4,0.000,0.026,2108,1035,3756,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5158,-0.51,-194.6,611.6,-7.9,595,5162,0.00,2.35,0.00,0.000,6,0.000,0.034,2105,2459,3756,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5472,-0.51,-194.6,635.4,-7.9,611,5477,0.00,2.08,0.00,0.000,4,0.000,0.043,2095,3823,3754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5515,-0.51,-194.6,638.8,-8.1,613,5519,0.00,2.08,0.00,0.000,6,0.000,0.021,2095,2408,3753,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5827,-0.51,-194.6,669.8,-10.8,629,5832,0.00,2.17,0.00,0.000,4,0.000,0.028,2095,1033,3750,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5867,-0.51,-194.6,673.7,-10.4,631,5873,0.00,2.38,0.00,0.000,6,0.000,0.035,2092,2468,3750,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6188,-0.50,-194.6,702.0,-8.1,647,6194,0.00,2.08,0.00,0.000,4,0.000,0.047,2081,3820,3747,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6220,-0.49,-194.6,703.5,-7.9,648,6227,0.12,2.08,0.00,0.000,6,0.112,0.021,2124,2404,3747,0,0,0,0,0,0,26.25,26.46,28.83
$GC,6530,-0.51,-194.6,720.0,-5.1,664,6535,0.00,2.22,0.00,0.000,4,0.000,0.044,2114,3810,3745,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6552,-0.53,-194.6,721.2,-5.2,665,6555,0.00,2.05,0.00,0.000,6,0.000,0.021,2115,2409,3744,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6867,-0.59,-194.6,741.5,-6.8,681,6873,0.00,2.20,0.00,0.000,4,0.000,0.044,2114,3813,3742,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7103,-0.68,-194.6,759.4,-7.9,692,7111,0.17,2.00,0.00,0.000,6,0.065,0.021,2022,2426,3740,0,0,0,0,0,0,26.39,26.48,28.83
$GC,7409,-0.63,-194.6,798.9,-14.0,708,7416,0.12,2.22,0.00,0.000,4,0.138,0.028,2074,1048,3738,0,0,0,0,0,0,26.31,26.28,28.83
$GC,7502,-0.62,-194.6,806.7,-9.6,712,7510,0.00,2.40,0.00,0.000,6,0.000,0.036,2064,2493,3737,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7810,-0.59,-194.6,836.7,-9.8,728,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2492,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,-0.57,-194.6,867.2,-10.4,743,8115,0.00,2.35,0.00,0.000,4,0.000,0.028,2064,1039,3734,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8190,-0.57,-194.6,875.2,-9.9,747,8196,0.08,2.40,0.00,0.000,6,0.100,0.037,2092,2488,3733,0,0,0,0,0,0,26.02,26.20,28.83
$GC,8509,-0.57,-194.6,899.4,-7.1,763,8514,0.00,2.08,0.00,0.000,4,0.000,0.048,2082,3824,3731,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8530,-0.57,-194.6,900.8,-7.0,764,8536,0.00,2.05,0.00,0.000,6,0.000,0.022,2082,2432,3730,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8851,-0.56,-194.6,923.3,-6.6,780,8856,0.00,2.22,0.00,0.000,4,0.000,0.031,2082,1051,3729,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8878,-0.56,-194.6,924.7,-6.6,781,8882,0.00,2.40,0.00,0.000,6,0.000,0.037,2073,2480,3729,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9186,-0.55,-194.6,948.1,-7.7,796,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2478,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9484,-0.54,-194.6,971.4,-8.0,811,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2479,3727,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9722,begin apogee
$GC,9729,-0.20,0.0,990.4,-8.1,823,9928,0.38,0.10,189.35,1.145,4,0.099,0.071,2205,2485,2968,0,0,0,0,0,0,25.92,24.72,23.82
$STATE,9929,end apogee,CONTROL_FINISHED_OK
$STATE,9929,begin climb
$GC,9931,0.55,194.6,997.8,0.0,833,10156,0.65,2.25,214.98,1.103,4,0.046,0.045,2459,3822,2181,0,0,0,0,0,0,24.94,24.91,23.53
$GC,10385,0.47,194.6,917.3,21.8,856,10391,0.12,2.00,0.00,0.000,6,0.168,0.023,2430,2502,2151,0,0,0,0,0,0,25.36,25.74,28.83
$GC,10706,0.42,194.6,866.1,15.1,872,10712,0.00,2.38,0.00,0.000,4,0.000,0.031,2443,1065,2147,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10786,0.38,194.6,855.0,13.8,876,10791,0.12,2.53,0.00,0.000,6,0.134,0.036,2400,2544,2144,0,0,0,0,0,0,25.71,25.99,28.83
$GC,11107,0.35,194.6,815.5,12.3,892,11112,0.00,1.98,0.00,0.000,4,0.000,0.045,2400,3823,2143,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11199,0.31,194.6,804.4,14.0,896,11207,0.12,1.90,0.00,0.000,6,0.169,0.022,2376,2520,2143,0,0,0,0,0,0,25.85,26.20,28.83
$GC,11505,0.30,194.6,770.6,10.4,912,11511,0.00,2.38,0.00,0.000,4,0.000,0.033,2388,1073,2142,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11539,0.28,194.6,768.4,10.5,913,11546,0.00,2.53,0.00,0.000,6,0.000,0.036,2389,2553,2141,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11846,0.26,194.6,732.4,11.4,929,11851,0.00,1.92,0.00,0.000,4,0.000,0.045,2388,3821,2141,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11905,0.23,194.6,724.3,13.0,932,11912,0.17,1.90,0.00,0.000,6,0.149,0.023,2348,2516,2141,0,0,0,0,0,0,25.84,26.27,28.83
$GC,12227,0.24,194.6,696.9,8.0,948,12233,0.00,2.35,0.00,0.000,4,0.000,0.031,2360,1076,2140,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12249,0.25,194.6,695.3,7.9,949,12253,0.00,2.53,0.00,0.000,6,0.000,0.035,2359,2556,2140,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12563,0.29,227.4,671.9,7.0,965,12609,0.00,1.95,36.83,0.873,4,0.000,0.044,2360,3833,2046,0,0,0,0,1,0,28.83,25.77,24.67
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$STATE,18981,end climb,SURFACE_DEPTH_REACHED
$STATE,18981,begin surface coast
$FINISH,0.1,1.021236
$STATE,19016,end surface coast,CONTROL_FINISHED_OK
$STATE,19017,begin surface
$SM_CCo,19094,0.00,0.000,0,0,975,491.58
$SM_GC,0.73,6.05,0.17,0.00,0.024,0.050,0.000,109,2409,975,-6.63,0.23,491.58,0,0,1,0,0,0,26.34,26.46,28.83
$IRIDIUM_FIX,2136.49,12339.47,280512,131325
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.96
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.5,36.680
$10V_AH,10.2,22.673
$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,18.725,196.550,763.075,0.000,0.000,31.730,39.629,247.107,0.000,0.000,48.382,4260.700,10352.879,904.218,3568.874,479.192,0.000,2655.073,0.000,3031.765,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,99.450,1145.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1149.380,2216.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,106841,1697
$CAP_FILE_SIZE,223663,0
$CFSIZE,260165632,202293248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0,0
$CURRENT,0.163, 95.9,1
$GPS,290512,001154,2147.688,12339.235,39,1.2,39,-2.9