version: 66.10
glider: 169
mission: 6
dive: 204
start: 6 2 112 3 4 30
data:
$ID,169
$MISSION,6
$DIVE,204
$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,-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,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,-15717.048
$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
$GPS1,020612,025537,2201.451,12319.406,39,1.2,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.5
$GPS2,020612,030406,2201.579,12319.479,18,1.2,34,-2.9
$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,269.3,225148,-13.8,-8.684
$D_GRID,5183
$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,-0.58,-194.6,0.0,0.0,0,101,0.00,0.00,-81.53,0.000,2,0.000,0.000,113,2537,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.4,-7.2,14,137,7.82,2.50,-15.27,0.000,4,0.222,0.036,2093,1035,3776,0,0,1,0,0,0,25.21,25.52,26.46
$GC,285,-0.52,-194.6,60.5,-25.7,48,292,0.00,2.50,0.00,0.000,6,0.000,0.033,2081,2516,3777,0,0,0,0,0,0,28.83,26.11,28.83
$GC,478,-0.41,-194.6,127.1,-33.6,85,486,0.17,2.42,0.00,0.000,4,0.184,0.024,2143,1040,3777,0,0,0,0,0,0,25.83,26.25,28.83
$GC,580,-0.43,-194.6,144.8,-9.5,104,586,0.00,2.40,0.00,0.000,6,0.000,0.032,2131,2475,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,771,-0.40,-194.6,174.2,-16.3,141,778,0.00,2.08,0.00,0.000,4,0.000,0.042,2122,3831,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,812,-0.38,-194.6,180.2,-14.2,148,819,0.00,2.05,0.00,0.000,6,0.000,0.019,2122,2406,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1003,-0.35,-194.6,207.6,-14.6,180,1012,0.12,2.15,0.00,0.000,4,0.147,0.021,2173,1041,3777,0,0,0,0,0,0,26.25,26.36,28.83
$GC,1068,-0.38,-194.6,214.1,-8.3,186,1076,0.00,2.30,0.00,0.000,6,0.000,0.029,2163,2448,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1378,-0.46,-194.6,237.4,-8.1,217,1382,0.12,2.08,0.00,0.000,4,0.119,0.035,2111,3826,3778,0,0,0,0,0,0,26.41,26.32,28.83
$GC,1582,-0.54,-194.6,254.8,-8.9,237,1591,0.00,2.03,0.00,0.000,6,0.000,0.018,2121,2399,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1892,-0.61,-194.6,278.6,-7.1,268,1902,0.12,2.17,0.00,0.000,4,0.106,0.037,2060,3819,3776,0,0,0,0,0,0,26.49,26.34,28.83
$GC,1966,-0.61,-194.6,284.8,-8.4,275,1976,0.00,1.98,0.00,0.000,6,0.000,0.018,2060,2426,3775,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2275,-0.56,-194.6,336.3,-16.9,306,2285,0.12,2.20,0.00,0.000,4,0.147,0.024,2112,1033,3774,0,0,0,0,0,0,26.32,26.41,28.83
$GC,2382,-0.58,-194.6,346.8,-8.1,316,2390,0.00,2.38,0.00,0.000,6,0.000,0.031,2102,2485,3774,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2691,-0.56,-194.6,380.6,-12.0,347,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2484,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-0.55,-194.6,414.0,-10.1,378,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2483,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,-0.54,-194.6,443.6,-9.5,409,3321,0.00,2.33,0.00,0.000,4,0.000,0.024,2102,1046,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3354,-0.54,-194.6,447.6,-8.8,413,3363,0.00,2.38,0.00,0.000,6,0.000,0.032,2099,2472,3766,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3665,-0.53,-194.6,475.6,-9.3,444,3674,0.00,2.08,-0.10,0.000,4,0.000,0.054,2088,3831,3786,0,0,0,0,0,0,28.83,26.29,26.03
$GC,3697,-0.53,-194.6,478.6,-9.1,447,3707,0.00,2.08,0.00,0.000,6,0.000,0.018,2089,2397,3786,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4009,-0.52,-194.6,509.0,-9.9,478,4012,0.00,2.12,0.00,0.000,4,0.000,0.024,2089,1040,3784,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4040,-0.52,-194.6,512.2,-9.9,481,4049,0.00,2.38,0.00,0.000,6,0.000,0.033,2086,2478,3784,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4352,-0.51,-194.6,543.1,-10.1,512,4361,0.00,2.03,0.00,0.000,4,0.000,0.043,2076,3823,3780,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4406,-0.51,-194.6,548.0,-9.1,517,4414,0.12,2.05,0.00,0.000,6,0.118,0.021,2116,2405,3779,0,0,0,0,0,0,26.25,26.49,28.83
$GC,4716,-0.53,-194.6,567.5,-5.9,548,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2405,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5027,-0.54,-194.6,586.3,-6.0,579,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2405,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,-0.56,-194.6,605.3,-6.1,606,5343,0.00,2.30,0.00,0.000,4,0.000,0.044,2105,3819,3772,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5358,-0.58,-194.6,606.6,-6.2,607,5362,0.00,2.05,0.00,0.000,6,0.000,0.020,2105,2404,3771,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5671,-0.59,-194.6,627.9,-6.8,623,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2404,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5972,-0.60,-194.6,648.5,-7.2,638,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2403,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,-0.61,-194.6,671.0,-7.4,653,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2403,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6573,-0.62,-194.6,691.5,-6.4,668,6578,0.00,2.33,0.00,0.000,4,0.000,0.045,2097,3825,3761,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6605,-0.64,-194.6,692.7,-6.3,669,6611,0.00,2.05,0.00,0.000,6,0.000,0.021,2097,2411,3761,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6912,-0.64,-194.6,714.1,-6.7,685,6917,0.00,2.20,0.00,0.000,4,0.000,0.028,2097,1038,3759,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6941,-0.65,-194.6,715.4,-6.6,686,6950,0.00,2.42,0.00,0.000,6,0.000,0.034,2091,2488,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7252,-0.65,-194.6,739.1,-8.0,702,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2487,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7552,-0.65,-194.6,761.9,-7.2,717,7558,0.00,2.35,0.00,0.000,4,0.000,0.028,2091,1047,3755,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7592,-0.66,-194.6,764.8,-7.4,719,7597,0.00,2.40,0.00,0.000,6,0.000,0.034,2086,2481,3755,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7911,-0.66,-194.6,788.6,-7.3,735,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2479,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8212,-0.66,-194.6,809.2,-6.9,750,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2479,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,-0.66,-194.6,832.1,-8.1,765,8517,0.00,2.08,0.00,0.000,4,0.000,0.046,2076,3827,3750,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8531,-0.66,-194.6,833.8,-8.1,766,8537,0.00,2.10,0.00,0.000,6,0.000,0.021,2076,2409,3750,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8852,-0.66,-194.6,864.0,-9.7,782,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2408,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-0.66,-194.6,892.0,-9.3,797,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2408,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9452,-0.66,-194.6,919.9,-9.1,812,9458,0.00,2.28,0.00,0.000,4,0.000,0.046,2065,3824,3746,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9474,-0.66,-194.6,921.8,-9.0,813,9478,0.00,2.08,0.00,0.000,6,0.000,0.022,2066,2419,3746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9787,-0.65,-194.6,950.9,-9.0,829,9792,0.00,2.22,0.00,0.000,4,0.000,0.045,2054,3827,3745,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9810,-0.64,-194.6,952.7,-9.0,830,9814,0.00,2.08,0.00,0.000,6,0.000,0.021,2054,2419,3745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10122,-0.63,-194.6,983.4,-9.8,846,10128,0.00,2.20,0.00,0.000,4,0.000,0.027,2054,1042,3744,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10163,-0.62,-194.6,987.3,-9.7,848,10169,0.08,2.40,0.00,0.000,6,0.100,0.035,2078,2475,3744,0,0,0,0,0,0,25.91,26.10,28.83
$STATE,10199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10200,begin apogee
$GC,10207,-0.20,0.0,990.4,-8.7,850,10404,0.38,0.10,188.93,1.169,4,0.096,0.072,2211,2481,2970,0,0,0,0,0,0,25.91,24.63,23.62
$STATE,10405,end apogee,CONTROL_FINISHED_OK
$STATE,10405,begin climb
$GC,10408,0.58,194.6,997.3,0.0,860,10623,0.62,2.42,206.65,1.146,4,0.036,0.026,2475,1069,2184,0,0,0,0,0,0,24.85,24.85,23.16
$GC,10649,0.53,194.6,969.3,16.6,872,10654,0.00,2.70,0.00,0.000,6,0.000,0.038,2474,2533,2156,0,0,0,0,0,0,28.83,24.57,28.83
$GC,10963,0.46,194.6,899.6,22.6,888,10969,0.15,2.45,0.00,0.000,4,0.182,0.026,2443,1075,2147,0,0,0,0,0,0,25.51,25.82,28.83
$GC,11045,0.42,194.6,886.1,16.6,892,11051,0.12,2.55,0.00,0.000,6,0.157,0.037,2411,2542,2145,0,0,0,0,0,0,25.63,25.86,28.83
$GC,11361,0.39,194.6,840.0,14.0,908,11366,0.00,1.95,0.00,0.000,4,0.000,0.044,2411,3832,2145,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11419,0.35,194.6,830.6,15.0,911,11426,0.12,1.92,0.00,0.000,6,0.177,0.021,2389,2508,2143,0,0,0,0,0,0,25.76,26.13,28.83
$GC,11742,0.33,194.6,792.7,11.6,927,11748,0.00,2.03,0.00,0.000,4,0.000,0.044,2388,3817,2142,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11794,0.32,194.6,787.4,12.0,929,11801,0.00,1.88,0.00,0.000,6,0.000,0.022,2399,2515,2142,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12102,0.30,194.6,750.7,11.3,945,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2514,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12401,0.28,194.6,715.7,11.9,960,12408,0.12,2.03,0.00,0.000,4,0.168,0.042,2359,3819,2141,0,0,0,0,0,0,26.04,26.08,28.83
$GC,12450,0.27,194.6,711.1,11.4,962,12454,0.00,1.88,0.00,0.000,6,0.000,0.022,2368,2519,2140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12756,0.31,226.9,684.5,7.7,977,12802,0.00,2.50,39.90,0.873,4,0.000,0.029,2381,1076,2046,0,0,0,0,0,0,28.83,25.74,24.72
$GC,12824,0.35,260.0,679.9,7.7,980,12878,0.00,2.60,48.10,0.860,6,0.000,0.033,2381,2556,1917,0,0,0,0,0,0,28.83,25.75,24.38
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$STATE,18691,end climb,SURFACE_DEPTH_REACHED
$STATE,18691,begin surface coast
$FINISH,0.0,1.021013
$STATE,18711,end surface coast,CONTROL_FINISHED_OK
$STATE,18711,begin surface
$SM_CCo,18788,0.00,0.000,0,0,881,514.64
$SM_GC,0.64,6.12,0.22,0.00,0.023,0.046,0.000,127,2547,881,-6.60,-0.40,514.64,0,0,1,0,0,0,26.35,26.46,28.83
$IRIDIUM_FIX,2150.42,12340.12,010612,212152
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.33
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.2,40.822
$10V_AH,10.1,25.152
$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,17.775,182.025,724.200,0.000,0.000,32.320,42.604,256.767,0.000,0.000,35.061,4115.090,10496.163,848.389,3332.932,466.831,0.000,2494.662,0.000,2809.955,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,86.445,1168.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.548,2166.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,103727,1646
$CAP_FILE_SIZE,214431,0
$CFSIZE,260165632,200105984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.165, 72.5,1
$GPS,020612,081836,2202.073,12318.384,29,0.9,29,-2.9