version: 66.10
glider: 169
mission: 6
dive: 190
start: 5 29 112 22 51 41
data:
$ID,169
$MISSION,6
$DIVE,190
$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,-15698.956
$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
$GPS1,290512,224337,2151.670,12333.056,41,1.0,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-75.2
$GPS2,290512,225114,2151.687,12333.189,15,1.3,15,-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,269.0,254615,-12.5,-7.857
$D_GRID,4818
$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,-194.6,0.0,0.0,0,93,0.00,0.00,-74.15,0.000,2,0.000,0.000,118,2555,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.55,-194.6,3.2,-6.8,13,129,7.85,2.53,-15.23,0.000,4,0.224,0.034,2101,1024,3776,0,0,1,0,0,0,25.27,25.63,26.46
$GC,264,-0.50,-194.6,55.7,-20.9,44,270,0.00,2.50,0.00,0.000,6,0.000,0.032,2089,2518,3776,0,0,0,0,0,0,28.83,26.11,28.83
$GC,456,-0.39,-194.6,122.7,-34.2,81,464,0.17,2.42,0.00,0.000,4,0.185,0.021,2150,1032,3777,0,0,0,0,0,0,25.78,26.25,28.83
$GC,492,-0.34,-194.6,132.1,-20.6,87,500,0.00,2.42,0.00,0.000,6,0.000,0.033,2139,2484,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,685,-0.30,-194.6,160.8,-15.8,124,693,0.12,2.03,0.00,0.000,4,0.158,0.040,2169,3823,3777,0,0,0,0,0,0,26.17,26.21,28.83
$GC,721,-0.29,-194.6,166.1,-13.0,130,728,0.00,2.03,0.00,0.000,6,0.000,0.019,2170,2426,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,912,-0.29,-194.6,185.4,-9.2,167,919,0.00,2.20,0.00,0.000,4,0.000,0.024,2169,1035,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,937,-0.30,-194.6,187.7,-9.0,171,945,0.00,2.42,0.00,0.000,6,0.000,0.030,2169,2501,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1135,-0.31,-194.6,202.4,-7.0,206,1139,0.00,1.98,0.00,0.000,4,0.000,0.041,2159,3825,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1158,-0.33,-194.6,204.0,-6.9,208,1166,0.00,2.03,0.00,0.000,6,0.000,0.019,2159,2410,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1468,-0.34,-194.6,227.2,-7.5,239,1477,0.00,2.20,0.00,0.000,4,0.000,0.039,2150,3820,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1491,-0.35,-194.6,228.9,-7.4,241,1494,0.00,1.98,0.00,0.000,6,0.000,0.018,2151,2416,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1804,-0.36,-194.6,250.2,-6.4,272,1812,0.00,2.15,0.00,0.000,4,0.000,0.023,2151,1038,3777,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1839,-0.37,-194.6,252.2,-6.2,275,1847,0.00,2.38,0.00,0.000,6,0.000,0.030,2150,2494,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2146,-0.45,-194.6,275.9,-8.9,306,2154,0.00,2.03,0.00,0.000,4,0.000,0.037,2150,3833,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2311,-0.52,-194.6,290.7,-8.7,322,2319,0.15,1.98,0.00,0.000,6,0.106,0.017,2107,2424,3775,0,0,0,0,0,0,26.31,26.55,28.83
$GC,2621,-0.59,-194.6,312.2,-7.3,353,2624,0.00,2.17,0.00,0.000,4,0.000,0.039,2107,3825,3774,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2695,-0.67,-194.6,318.0,-8.2,360,2702,0.15,1.95,0.00,0.000,6,0.074,0.019,2023,2436,3773,0,0,0,0,0,0,26.45,26.58,28.83
$GC,3003,-0.59,-194.6,379.8,-22.5,391,3013,0.17,2.20,0.00,0.000,4,0.138,0.021,2091,1036,3772,0,0,0,0,0,0,26.22,26.46,28.83
$GC,3076,-0.59,-194.6,389.5,-9.7,398,3086,0.00,2.42,0.00,0.000,6,0.000,0.034,2084,2506,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3387,-0.56,-194.6,425.1,-12.2,429,3396,0.00,2.35,0.00,0.000,4,0.000,0.024,2085,1039,3771,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3451,-0.55,-194.6,431.7,-9.7,435,3458,0.00,2.38,0.00,0.000,6,0.000,0.031,2074,2489,3770,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3759,-0.51,-194.6,467.8,-11.8,466,3761,0.12,0.00,0.00,0.000,6,0.144,0.000,2111,2489,3767,0,0,0,0,0,0,26.39,28.83,28.83
$GC,4059,-0.51,-194.6,492.2,-7.2,496,4068,0.00,2.30,0.00,0.000,4,0.000,0.023,2112,1041,3765,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4104,-0.53,-194.6,494.9,-6.5,500,4111,0.00,2.35,0.00,0.000,6,0.000,0.031,2103,2475,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4413,-0.52,-194.6,519.9,-8.2,531,4422,0.00,2.05,0.00,0.000,4,0.000,0.043,2093,3820,3762,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4435,-0.52,-194.6,521.9,-8.6,533,4443,0.00,2.08,0.00,0.000,6,0.000,0.019,2093,2396,3761,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4745,-0.51,-194.6,551.4,-9.6,564,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2397,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5049,-0.50,-194.6,577.8,-8.7,594,5058,0.00,2.30,0.00,0.000,4,0.000,0.044,2083,3825,3756,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5091,-0.50,-194.6,581.9,-8.9,598,5101,0.00,2.05,0.00,0.000,6,0.000,0.020,2084,2418,3756,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5405,-0.48,-194.6,612.0,-9.8,623,5411,0.12,2.17,0.00,0.000,4,0.121,0.024,2133,1033,3754,0,0,0,0,0,0,26.40,26.39,28.83
$GC,5437,-0.48,-194.6,614.1,-9.6,624,5444,0.00,2.38,0.00,0.000,6,0.000,0.033,2131,2491,3754,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5748,-0.56,-194.6,636.0,-7.3,640,5754,0.12,2.00,0.00,0.000,4,0.112,0.041,2076,3817,3750,0,0,0,0,0,0,26.46,26.25,28.83
$GC,5877,-0.64,-194.6,644.4,-6.5,646,5881,0.00,2.00,0.00,0.000,6,0.000,0.020,2076,2422,3749,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6185,-0.65,-194.6,662.7,-5.7,661,6191,0.00,2.17,0.00,0.000,4,0.000,0.043,2068,3817,3748,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6277,-0.65,-194.6,668.6,-7.4,665,6285,0.00,1.73,0.00,0.000,6,0.000,0.021,2068,2552,3746,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6586,-0.63,-194.6,700.4,-10.4,681,6591,0.00,2.45,0.00,0.000,4,0.000,0.026,2068,1043,3744,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6686,-0.63,-194.6,710.2,-9.5,686,6692,0.00,2.65,0.00,0.000,6,0.000,0.034,2056,2596,3744,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7007,-0.61,-194.6,748.2,-12.2,702,7012,0.00,2.55,0.00,0.000,4,0.000,0.026,2055,1048,3741,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7108,-0.60,-194.6,759.4,-10.8,707,7113,0.12,2.58,0.00,0.000,6,0.124,0.034,2086,2562,3741,0,0,0,0,0,0,26.09,26.24,28.83
$GC,7422,-0.60,-194.6,786.4,-7.8,723,7428,0.00,2.53,0.00,0.000,4,0.000,0.028,2085,1042,3738,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7454,-0.60,-194.6,788.1,-7.9,724,7461,0.00,2.58,0.00,0.000,6,0.000,0.036,2085,2556,3738,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7761,-0.60,-194.6,813.3,-8.1,740,7767,0.00,2.50,0.00,0.000,4,0.000,0.027,2086,1051,3736,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7803,-0.60,-194.6,816.7,-8.3,742,7808,0.00,2.53,0.00,0.000,6,0.000,0.037,2085,2539,3736,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8122,-0.60,-194.6,843.5,-8.3,758,8127,0.00,2.42,0.00,0.000,4,0.000,0.026,2086,1041,3734,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8144,-0.60,-194.6,845.2,-8.3,759,8148,0.00,2.50,0.00,0.000,6,0.000,0.037,2085,2531,3734,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8457,-0.60,-194.6,869.7,-7.5,775,8463,0.00,2.42,0.00,0.000,4,0.000,0.027,2086,1048,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8500,-0.61,-194.6,872.5,-7.2,777,8504,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2517,3732,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8813,-0.61,-194.6,895.1,-7.2,793,8818,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1040,3730,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8845,-0.61,-194.6,896.6,-7.2,794,8852,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2511,3730,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9154,-0.61,-194.6,919.2,-7.2,810,9160,0.00,2.00,0.00,0.000,4,0.000,0.048,2076,3816,3728,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9174,-0.61,-194.6,920.5,-7.1,811,9179,0.00,2.00,0.00,0.000,6,0.000,0.021,2076,2436,3728,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9493,-0.61,-194.6,944.7,-7.2,827,9499,0.00,2.25,0.00,0.000,4,0.000,0.028,2076,1039,3727,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9526,-0.61,-194.6,946.1,-7.1,828,9532,0.00,2.45,0.00,0.000,6,0.000,0.035,2067,2506,3726,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9834,-0.60,-194.6,971.0,-8.0,844,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2504,3725,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10090,begin apogee
$GC,10096,-0.20,0.0,991.1,-7.7,857,10293,0.40,0.00,189.57,1.151,4,0.096,0.000,2208,2539,2973,0,0,0,0,0,0,25.90,28.83,23.74
$STATE,10294,end apogee,CONTROL_FINISHED_OK
$STATE,10294,begin climb
$GC,10296,0.55,194.6,997.9,0.0,867,10517,0.60,2.58,210.38,1.121,4,0.034,0.028,2464,1067,2181,0,0,0,0,0,0,24.89,24.87,23.32
$GC,10529,0.48,194.6,975.2,16.0,878,10536,0.12,2.67,0.00,0.000,6,0.167,0.037,2435,2534,2159,0,0,0,0,0,0,24.34,24.49,28.83
$GC,10837,0.42,194.6,918.3,17.3,894,10842,0.00,2.45,0.00,0.000,4,0.000,0.028,2448,1075,2149,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10919,0.38,194.6,905.5,15.9,898,10924,0.17,2.58,0.00,0.000,6,0.150,0.037,2399,2551,2146,0,0,0,0,0,0,25.57,25.85,28.83
$GC,11235,0.35,194.6,863.1,13.2,914,11240,0.00,1.92,0.00,0.000,4,0.000,0.045,2399,3828,2144,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11296,0.31,194.6,854.0,14.4,917,11301,0.12,1.90,0.00,0.000,6,0.172,0.023,2376,2517,2143,0,0,0,0,0,0,25.78,26.12,28.83
$GC,11612,0.29,194.6,819.9,10.4,933,11618,0.00,2.05,0.00,0.000,4,0.000,0.045,2376,3824,2143,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11645,0.27,194.6,817.4,10.5,934,11651,0.00,1.88,0.00,0.000,6,0.000,0.022,2386,2522,2143,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,18412,end climb,SURFACE_DEPTH_REACHED
$STATE,18412,begin surface coast
$FINISH,-0.2,1.021146
$STATE,18454,end surface coast,CONTROL_FINISHED_OK
$STATE,18454,begin surface
$SM_CCo,18470,4.72,0.130,0,0,1144,450.13
$SM_GC,1.98,5.95,0.08,4.72,0.021,0.095,0.130,131,2437,1144,-6.63,0.42,450.13,0,0,0,0,0,0,26.30,26.62,25.72
$IRIDIUM_FIX,2143.45,12332.39,290512,171732
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.00
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,37.783
$10V_AH,10.2,23.332
$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,18.450,210.200,699.200,4.725,0.000,24.649,18.827,255.833,0.000,0.000,16.005,4166.841,10022.802,850.122,3378.689,481.587,0.000,2532.119,0.000,2898.079,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,151.470,1151.325,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.686,2102.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330472
$DATA_FILE_SIZE,103594,1641
$CAP_FILE_SIZE,224284,0
$CFSIZE,260165632,201711616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.172, 78.4,1
$GPS,300512,040037,2152.337,12332.081,30,1.0,30,-2.9