version: 66.10
glider: 169
mission: 6
dive: 206
start: 6 2 112 13 49 30
data:
$ID,169
$MISSION,6
$DIVE,206
$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,-15719.567
$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
$GPS1,020612,134106,2202.966,12317.656,34,0.9,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.9
$GPS2,020612,134906,2202.995,12317.760,15,1.1,32,-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,277.8,221291,-13.8,-8.684
$D_GRID,5262
$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,-194.6,0.0,0.0,0,108,0.00,0.00,-88.18,0.000,2,0.000,0.000,117,2431,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.58,-194.6,3.5,-8.3,15,143,7.88,2.25,-13.82,0.000,4,0.223,0.046,2070,3843,3776,0,0,1,0,0,0,25.18,25.48,26.46
$GC,217,-0.52,-194.6,42.7,-25.6,34,225,0.00,2.00,0.00,0.000,6,0.000,0.021,2078,2472,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,411,-0.41,-194.6,108.4,-36.2,71,419,0.20,2.33,0.00,0.000,4,0.178,0.024,2147,1039,3777,0,0,0,0,0,0,25.72,26.20,28.83
$GC,528,-0.42,-194.6,130.0,-12.2,93,535,0.00,2.42,0.00,0.000,6,0.000,0.031,2135,2490,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,719,-0.37,-194.6,165.9,-19.3,130,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2489,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,913,-0.34,-194.6,194.4,-13.7,167,920,0.10,2.35,0.00,0.000,4,0.168,0.021,2167,1040,3778,0,0,0,0,0,0,26.34,26.34,28.83
$GC,963,-0.38,-194.6,198.9,-5.8,176,970,0.00,2.35,0.00,0.000,6,0.000,0.030,2163,2468,3779,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1156,-0.47,-194.6,211.2,-6.3,196,1161,0.12,2.05,0.00,0.000,4,0.096,0.034,2097,3839,3778,0,0,0,0,0,0,26.48,26.30,28.83
$GC,1222,-0.49,-194.6,216.8,-7.7,202,1229,0.00,2.03,0.00,0.000,6,0.000,0.018,2097,2419,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1529,-0.45,-194.6,263.6,-15.3,233,1538,0.10,2.17,0.00,0.000,4,0.157,0.024,2134,1048,3778,0,0,0,0,0,0,26.42,26.39,28.83
$GC,1604,-0.47,-194.6,270.6,-7.3,240,1611,0.00,2.38,0.00,0.000,6,0.000,0.031,2124,2487,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1912,-0.47,-194.6,302.0,-9.9,271,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2485,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.47,-194.6,329.7,-8.5,301,2223,0.00,2.03,0.00,0.000,4,0.000,0.041,2114,3826,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2236,-0.47,-194.6,331.8,-8.6,303,2246,0.00,2.05,0.00,0.000,6,0.000,0.021,2114,2415,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2546,-0.47,-194.6,359.4,-9.3,334,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2415,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2850,-0.47,-194.6,387.0,-9.1,364,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2415,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3157,-0.47,-194.6,414.4,-8.3,395,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2415,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.47,-194.6,439.8,-8.0,426,3472,0.00,2.17,0.00,0.000,4,0.000,0.024,2114,1043,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3505,-0.48,-194.6,442.5,-7.9,429,3511,0.00,2.38,0.00,0.000,6,0.000,0.032,2112,2475,3767,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3812,-0.49,-194.6,466.3,-8.0,460,3821,0.00,2.08,0.00,0.000,4,0.000,0.041,2102,3829,3764,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3858,-0.50,-194.6,469.6,-8.0,464,3865,0.00,2.08,-0.10,0.000,6,0.000,0.021,2102,2414,3785,0,0,0,0,0,0,28.83,26.49,25.84
$GC,4165,-0.50,-194.6,494.5,-7.7,495,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2413,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.50,-194.6,516.8,-7.4,525,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2413,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.50,-194.6,541.8,-8.3,556,4786,0.00,2.17,0.00,0.000,4,0.000,0.027,2102,1045,3779,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4811,-0.52,-194.6,544.5,-8.3,559,4819,0.00,2.40,0.00,0.000,6,0.000,0.034,2099,2480,3779,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5119,-0.52,-194.6,570.0,-8.3,590,5128,0.00,2.03,0.00,0.000,4,0.000,0.043,2089,3821,3776,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5141,-0.52,-194.6,571.9,-8.0,592,5145,0.00,2.08,0.00,0.000,6,0.000,0.020,2089,2410,3776,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5453,-0.52,-194.6,600.8,-9.8,623,5458,0.00,2.17,0.00,0.000,4,0.000,0.026,2089,1032,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5506,-0.52,-194.6,604.6,-9.6,625,5513,0.00,2.38,0.00,0.000,6,0.000,0.033,2085,2476,3773,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5814,-0.51,-194.6,633.7,-9.5,641,5820,0.00,2.05,0.00,0.000,4,0.000,0.043,2075,3816,3771,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5861,-0.51,-194.6,637.3,-9.5,643,5866,0.12,2.05,0.00,0.000,6,0.116,0.021,2116,2410,3771,0,0,0,0,0,0,26.22,26.47,28.83
$GC,6177,-0.53,-194.6,658.2,-6.3,659,6182,0.00,2.22,0.00,0.000,4,0.000,0.044,2106,3813,3769,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6204,-0.55,-194.6,659.6,-6.3,660,6208,0.00,2.05,0.00,0.000,6,0.000,0.020,2106,2405,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6511,-0.60,-194.6,681.2,-6.7,675,6517,0.00,2.12,0.00,0.000,4,0.000,0.024,2106,1045,3767,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6699,-0.68,-194.6,694.5,-8.0,684,6704,0.15,2.55,0.00,0.000,6,0.076,0.034,2038,2561,3765,0,0,0,0,0,0,26.22,26.25,28.83
$GC,7009,-0.69,-194.6,719.5,-7.8,699,7014,0.00,2.50,0.00,0.000,4,0.000,0.028,2038,1049,3762,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7069,-0.69,-194.6,725.0,-8.6,702,7074,0.00,2.47,0.00,0.000,6,0.000,0.035,2026,2521,3762,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7390,-0.65,-194.6,767.6,-13.5,718,7392,0.12,0.00,0.00,0.000,6,0.158,0.000,2063,2520,3760,0,0,0,0,0,0,26.29,28.83,28.83
$GC,7688,-0.63,-194.6,797.0,-9.3,733,7694,0.00,2.42,0.00,0.000,4,0.000,0.028,2063,1050,3759,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7755,-0.63,-194.6,802.2,-8.9,736,7759,0.00,2.47,0.00,0.000,6,0.000,0.035,2052,2514,3758,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8064,-0.61,-194.6,835.7,-10.9,751,8069,0.00,2.38,0.00,0.000,4,0.000,0.026,2052,1050,3756,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8123,-0.60,-194.6,841.8,-10.3,754,8129,0.10,2.45,0.00,0.000,6,0.093,0.035,2084,2508,3756,0,0,0,0,0,0,25.98,26.16,28.83
$GC,8446,-0.60,-194.6,865.2,-7.0,770,8451,0.00,2.35,0.00,0.000,4,0.000,0.025,2085,1047,3754,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8478,-0.60,-194.6,866.8,-7.0,771,8485,0.00,2.45,0.00,0.000,6,0.000,0.037,2080,2502,3754,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8785,-0.60,-194.6,888.9,-6.6,787,8790,0.00,2.03,0.00,0.000,4,0.000,0.048,2070,3823,3752,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8805,-0.60,-194.6,890.1,-6.5,788,8811,0.00,2.03,0.00,0.000,6,0.000,0.023,2070,2433,3752,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9126,-0.60,-194.6,912.3,-7.0,804,9131,0.00,2.22,0.00,0.000,4,0.000,0.027,2070,1043,3750,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9165,-0.60,-194.6,915.1,-7.1,806,9171,0.00,2.42,0.00,0.000,6,0.000,0.036,2059,2487,3751,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9486,-0.59,-194.6,941.2,-8.2,822,9492,0.00,2.05,0.00,0.000,4,0.000,0.047,2049,3812,3749,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9528,-0.58,-194.6,944.7,-8.5,824,9532,0.12,2.05,0.00,0.000,6,0.122,0.023,2089,2422,3748,0,0,0,0,0,0,26.08,26.35,28.83
$GC,9844,-0.59,-194.6,963.4,-5.8,840,9849,0.00,2.22,0.00,0.000,4,0.000,0.028,2089,1045,3747,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9875,-0.61,-194.6,964.7,-5.8,841,9883,0.00,2.45,0.00,0.000,6,0.000,0.037,2086,2493,3747,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10184,-0.62,-194.6,985.3,-6.3,857,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2491,3746,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10259,begin apogee
$GC,10265,-0.20,0.0,990.4,-6.4,861,10463,0.35,0.10,190.10,1.167,4,0.090,0.073,2214,2481,2974,0,0,0,0,0,0,26.00,24.62,23.62
$STATE,10464,end apogee,CONTROL_FINISHED_OK
$STATE,10464,begin climb
$GC,10467,0.58,194.6,997.4,0.0,871,10684,0.62,2.45,206.00,1.144,4,0.034,0.028,2481,1070,2177,0,0,0,0,0,0,24.87,24.85,23.15
$GC,10800,0.54,194.6,955.1,17.3,887,10808,0.12,2.62,0.00,0.000,6,0.174,0.039,2451,2534,2150,0,0,0,0,0,0,25.03,25.27,28.83
$GC,11107,0.48,194.6,894.9,18.5,903,11113,0.00,2.50,0.00,0.000,4,0.000,0.031,2464,1079,2146,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11156,0.42,194.6,887.7,18.3,905,11167,0.17,2.65,0.00,0.000,6,0.159,0.040,2416,2564,2145,0,0,0,0,0,0,25.58,25.89,28.83
$GC,11467,0.38,194.6,839.3,15.3,921,11473,0.00,1.88,0.00,0.000,4,0.000,0.045,2416,3826,2144,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11551,0.34,194.6,825.4,17.3,925,11555,0.15,1.85,0.00,0.000,6,0.172,0.023,2385,2541,2142,0,0,0,0,0,0,25.72,26.15,28.83
$GC,11865,0.32,194.6,785.4,12.6,941,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2540,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12164,0.31,194.6,747.3,12.6,956,12170,0.00,2.47,0.00,0.000,4,0.000,0.031,2398,1076,2141,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12183,0.29,194.6,745.0,12.4,957,12189,0.00,2.60,0.00,0.000,6,0.000,0.034,2398,2566,2140,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12504,0.27,194.6,703.2,12.8,973,12510,0.12,1.88,0.00,0.000,4,0.161,0.042,2357,3829,2140,0,0,0,0,0,0,26.06,26.08,28.83
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$STATE,18996,end climb,SURFACE_DEPTH_REACHED
$STATE,18996,begin surface coast
$FINISH,-0.1,1.021281
$STATE,19037,end surface coast,CONTROL_FINISHED_OK
$STATE,19039,begin surface
$SM_CCo,19056,2.70,0.145,0,0,1143,450.13
$SM_GC,1.77,6.00,0.08,2.70,0.022,0.093,0.145,122,2440,1143,-6.61,0.42,450.13,0,0,0,0,0,0,26.41,26.61,25.75
$IRIDIUM_FIX,2155.06,12321.41,020612,080859
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.10
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.2,41.225
$10V_AH,10.1,25.409
$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,17.875,187.450,655.250,2.700,0.000,30.250,19.369,254.715,0.000,0.000,32.942,4359.761,10407.545,796.394,3454.946,485.609,0.000,2474.804,0.000,2957.772,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,99.450,1166.625,145.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330412
$DATA_FILE_SIZE,110158,1733
$CAP_FILE_SIZE,222147,0
$CFSIZE,260165632,199872512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.189, 44.0,1
$GPS,020612,190806,2204.227,12316.322,25,1.8,25,-2.9