version: 66.10
glider: 169
mission: 6
dive: 193
start: 5 30 112 15 15 39
data:
$ID,169
$MISSION,6
$DIVE,193
$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,-15702.917
$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
$GPS1,300512,150707,2154.667,12330.233,26,1.3,26,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.3
$GPS2,300512,151513,2154.722,12330.447,16,1.2,33,-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,258.9,247704,-12.5,-7.857
$D_GRID,4756
$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,-194.6,0.0,0.0,0,94,0.00,0.00,-74.25,0.000,2,0.000,0.000,116,2452,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.55,-194.6,4.1,-9.8,13,124,7.80,2.33,-11.82,0.000,4,0.221,0.034,2100,1023,3776,0,0,1,0,0,0,25.28,25.61,26.46
$GC,188,-0.48,-194.6,41.8,-27.6,29,196,0.12,2.50,0.00,0.000,6,0.148,0.033,2121,2511,3777,0,0,0,0,0,0,25.85,26.08,28.83
$GC,381,-0.38,-194.6,104.7,-31.2,66,388,0.00,2.40,0.00,0.000,4,0.000,0.021,2130,1026,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,416,-0.33,-194.6,113.8,-23.7,72,425,0.17,2.45,0.00,0.000,6,0.131,0.033,2171,2498,3777,0,0,0,0,0,0,25.93,26.17,28.83
$GC,610,-0.30,-194.6,141.6,-13.8,109,617,0.00,2.38,0.00,0.000,4,0.000,0.024,2171,1033,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,670,-0.33,-194.6,148.2,-8.4,120,678,0.00,2.38,0.00,0.000,6,0.000,0.031,2164,2475,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,865,-0.32,-194.6,170.3,-9.8,157,871,0.00,2.03,0.00,0.000,4,0.000,0.040,2154,3831,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,903,-0.32,-194.6,174.3,-9.6,164,911,0.00,2.08,0.00,0.000,6,0.000,0.018,2154,2383,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1097,-0.30,-194.6,193.7,-10.4,201,1104,0.00,2.28,0.00,0.000,4,0.000,0.038,2143,3829,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1117,-0.29,-194.6,195.8,-10.1,204,1125,0.12,2.08,0.00,0.000,6,0.115,0.018,2184,2386,3778,0,0,0,0,0,0,26.25,26.48,28.83
$GC,1313,-0.31,-194.6,207.5,-5.6,228,1323,0.00,2.25,0.00,0.000,4,0.000,0.039,2183,3829,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1416,-0.40,-194.6,215.2,-8.1,238,1426,0.15,2.03,0.00,0.000,6,0.121,0.019,2145,2402,3778,0,0,0,0,0,0,26.21,26.50,28.83
$GC,1728,-0.46,-194.6,236.7,-6.4,269,1736,0.00,2.20,0.00,0.000,4,0.000,0.040,2145,3822,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1844,-0.53,-194.6,245.6,-8.8,280,1852,0.15,1.95,0.00,0.000,6,0.102,0.018,2098,2428,3778,0,0,0,0,0,0,26.32,26.55,28.83
$GC,2153,-0.58,-194.6,269.5,-7.7,311,2161,0.00,2.10,0.00,0.000,4,0.000,0.040,2098,3821,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2239,-0.61,-194.6,275.7,-7.2,319,2245,0.00,2.08,0.00,0.000,6,0.000,0.019,2098,2381,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2546,-0.63,-194.6,300.6,-8.4,350,2555,0.00,2.25,0.00,0.000,4,0.000,0.040,2094,3826,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2601,-0.63,-194.6,305.5,-9.4,355,2607,0.00,1.83,0.00,0.000,6,0.000,0.021,2094,2504,3774,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2911,-0.60,-194.6,344.1,-13.2,386,2920,0.00,2.35,0.00,0.000,4,0.000,0.025,2094,1039,3774,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3006,-0.60,-194.6,354.1,-9.1,395,3013,0.00,2.50,0.00,0.000,6,0.000,0.031,2085,2545,3773,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3315,-0.57,-194.6,393.0,-12.1,426,3324,0.00,2.42,0.00,0.000,4,0.000,0.024,2086,1044,3771,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3377,-0.57,-194.6,399.6,-9.0,432,3386,0.00,2.47,0.00,0.000,6,0.000,0.033,2085,2526,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3688,-0.54,-194.6,432.5,-10.5,463,3697,0.00,2.40,0.00,0.000,4,0.000,0.026,2085,1049,3768,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3722,-0.53,-194.6,435.8,-10.5,466,3729,0.00,2.45,0.00,0.000,6,0.000,0.034,2080,2521,3768,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4033,-0.50,-194.6,467.7,-10.8,497,4040,0.12,0.00,0.00,0.000,6,0.139,0.000,2124,2520,3766,0,0,0,0,0,0,26.40,28.83,28.83
$GC,4341,-0.51,-194.6,488.8,-6.5,528,4350,0.00,2.42,-0.10,0.000,4,0.000,0.035,2124,1034,3785,0,0,0,0,0,0,28.83,26.41,26.04
$GC,4384,-0.54,-194.6,491.6,-6.7,532,4393,0.00,2.40,0.00,0.000,6,0.000,0.032,2124,2509,3786,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4693,-0.61,-194.6,515.8,-8.4,563,4703,0.12,1.98,0.00,0.000,4,0.099,0.041,2063,3825,3783,0,0,0,0,0,0,26.53,26.28,28.83
$GC,4859,-0.67,-194.6,528.4,-7.2,579,4868,0.00,1.98,0.00,0.000,6,0.000,0.020,2063,2440,3782,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5168,-0.67,-194.6,553.0,-8.1,610,5177,0.00,2.25,0.00,0.000,4,0.000,0.027,2063,1031,3779,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5200,-0.67,-194.6,555.7,-8.4,613,5209,0.00,2.70,0.00,0.000,6,0.000,0.034,2051,2620,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5510,-0.63,-194.6,593.2,-12.0,644,5520,0.00,2.62,0.00,0.000,4,0.000,0.029,2055,1042,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5586,-0.63,-194.6,600.5,-8.5,651,5593,0.00,2.65,0.00,0.000,6,0.000,0.036,2043,2589,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5894,-0.59,-194.6,640.2,-13.1,667,5900,0.12,2.55,0.00,0.000,4,0.146,0.025,2092,1054,3773,0,0,0,0,0,0,26.31,26.33,28.83
$GC,5981,-0.59,-194.6,647.1,-8.4,671,5985,0.00,2.58,0.00,0.000,6,0.000,0.035,2088,2568,3773,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6289,-0.59,-194.6,671.4,-7.8,686,6294,0.00,2.53,0.00,0.000,4,0.000,0.028,2088,1048,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6350,-0.60,-194.6,675.8,-7.4,689,6356,0.00,2.53,0.00,0.000,6,0.000,0.036,2085,2546,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6670,-0.60,-194.6,699.9,-7.5,705,6676,0.00,2.47,0.00,0.000,4,0.000,0.028,2086,1045,3767,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6693,-0.60,-194.6,701.4,-7.3,706,6699,0.00,2.53,0.00,0.000,6,0.000,0.037,2085,2537,3767,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7009,-0.60,-194.6,724.7,-7.3,722,7015,0.00,2.45,0.00,0.000,4,0.000,0.027,2086,1041,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7042,-0.60,-194.6,726.3,-7.4,723,7049,0.00,2.50,0.00,0.000,6,0.000,0.037,2085,2526,3765,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7350,-0.60,-194.6,749.8,-7.9,739,7355,0.00,2.40,0.00,0.000,4,0.000,0.027,2086,1052,3763,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7377,-0.60,-194.6,751.3,-7.7,740,7381,0.00,2.47,0.00,0.000,6,0.000,0.037,2085,2518,3763,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7684,-0.60,-194.6,776.5,-8.4,755,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2517,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7985,-0.60,-194.6,801.9,-8.3,770,7990,0.00,2.42,0.00,0.000,4,0.000,0.030,2086,1049,3759,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8024,-0.60,-194.6,805.1,-8.0,772,8030,0.00,2.47,0.00,0.000,6,0.000,0.039,2086,2510,3759,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8345,-0.60,-194.6,829.3,-7.3,788,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2509,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8644,-0.60,-194.6,850.5,-6.9,803,8650,0.00,2.42,0.00,0.000,4,0.000,0.029,2086,1042,3756,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8685,-0.61,-194.6,853.3,-6.8,805,8691,0.00,2.42,0.00,0.000,6,0.000,0.037,2085,2498,3755,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9006,-0.61,-194.6,874.5,-6.7,821,9010,0.00,2.05,0.00,0.000,4,0.000,0.049,2077,3824,3754,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9041,-0.61,-194.6,876.1,-6.8,822,9047,0.00,2.03,0.00,0.000,6,0.000,0.021,2077,2434,3753,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9348,-0.61,-194.6,898.8,-7.0,838,9353,0.00,2.22,0.00,0.000,4,0.000,0.028,2078,1040,3752,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9381,-0.61,-194.6,900.2,-7.1,839,9388,0.00,2.45,0.00,0.000,6,0.000,0.036,2070,2505,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9688,-0.60,-194.6,927.8,-9.3,855,9693,0.00,2.05,0.00,0.000,4,0.000,0.049,2059,3818,3751,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9710,-0.60,-194.6,929.7,-9.3,856,9714,0.00,2.05,0.00,0.000,6,0.000,0.023,2059,2431,3750,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10024,-0.58,-194.6,961.7,-10.1,872,10028,0.00,2.22,0.00,0.000,4,0.000,0.029,2060,1041,3749,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10048,-0.57,-194.6,964.1,-10.1,873,10053,0.12,2.45,0.00,0.000,6,0.118,0.037,2093,2501,3749,0,0,0,0,0,0,25.98,26.10,28.83
$GC,10365,-0.58,-194.6,987.1,-7.1,889,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2499,3748,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10399,begin apogee
$GC,10405,-0.20,0.0,990.1,-7.3,891,10604,0.32,0.05,192.20,1.174,4,0.089,0.045,2212,2488,2973,0,0,0,0,0,0,26.06,24.55,23.70
$STATE,10605,end apogee,CONTROL_FINISHED_OK
$STATE,10605,begin climb
$GC,10608,0.55,194.6,1000.4,0.0,901,10824,0.60,2.45,208.02,1.140,4,0.031,0.031,2475,1065,2184,0,0,0,0,0,0,24.87,24.84,23.25
$GC,10950,0.50,194.6,958.6,16.9,918,10956,0.15,2.60,0.00,0.000,6,0.161,0.039,2436,2535,2151,0,0,0,0,0,0,25.07,25.31,28.83
$GC,11260,0.45,194.6,900.7,18.5,933,11266,0.00,2.45,0.00,0.000,4,0.000,0.032,2449,1079,2147,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11327,0.40,194.6,890.1,17.7,936,11332,0.15,2.58,0.00,0.000,6,0.151,0.037,2407,2556,2146,0,0,0,0,0,0,25.66,25.91,28.83
$GC,11637,0.36,194.6,841.7,15.3,951,11642,0.00,1.90,0.00,0.000,4,0.000,0.045,2407,3828,2145,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,19563,end climb,SURFACE_DEPTH_REACHED
$STATE,19563,begin surface coast
$FINISH,0.0,1.010941
$STATE,19610,end surface coast,CONTROL_FINISHED_OK
$STATE,19610,begin surface
$SM_CCo,19626,35.65,0.403,1,0,1141,450.13
$SM_GC,1.05,6.00,0.20,35.65,0.027,0.050,0.403,130,2552,1141,-6.62,-0.25,450.13,0,0,0,0,1,0,26.36,26.56,25.30
$IRIDIUM_FIX,2148.09,12335.61,300512,090925
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.39255
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.2,38.432
$10V_AH,10.2,23.735
$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,17.550,231.250,659.825,35.650,0.000,28.580,20.380,255.461,0.000,0.000,34.178,4529.511,10555.078,880.977,3643.490,508.636,0.000,2685.814,0.000,3130.388,0.000,0.545,0.000
$DEVICE_MAMPS,221.085,116.280,1173.510,403.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1215.951,2293.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330480
$DATA_FILE_SIZE,113509,1794
$CAP_FILE_SIZE,237026,0
$CFSIZE,260165632,201338880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$CURRENT,0.190, 62.0,1
$GPS,300512,204437,2155.083,12329.231,40,1.0,40,-2.9