version: 66.10
glider: 169
mission: 6
dive: 207
start: 6 2 112 19 17 0
data:
$ID,169
$MISSION,6
$DIVE,207
$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,-15720.826
$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
$GPS1,020612,190806,2204.227,12316.322,25,1.8,25,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.3
$GPS2,020612,191637,2204.274,12316.425,30,1.2,30,-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,262.4,218131,-13.8,-8.684
$D_GRID,5328
$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,-194.6,0.0,0.0,0,88,0.00,0.00,-68.57,0.000,2,0.000,0.000,116,2440,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.58,-194.6,3.8,-9.4,12,118,7.93,2.17,-13.07,0.000,4,0.225,0.046,2069,3837,3775,0,0,0,0,0,0,25.21,26.06,26.46
$GC,218,-0.52,-194.6,49.4,-24.4,35,225,0.00,1.95,0.00,0.000,6,0.000,0.020,2078,2472,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,411,-0.42,-194.6,113.9,-35.8,72,419,0.17,2.33,0.00,0.000,4,0.180,0.024,2140,1044,3776,0,0,0,0,0,0,25.81,26.22,28.83
$GC,512,-0.42,-194.6,133.8,-12.4,91,520,0.00,2.47,0.00,0.000,6,0.000,0.032,2128,2513,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,706,-0.36,-194.6,173.2,-20.0,128,712,0.00,1.95,0.00,0.000,4,0.000,0.040,2119,3826,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,725,-0.31,-194.6,177.1,-18.9,131,734,0.15,1.98,0.00,0.000,6,0.127,0.018,2169,2428,3777,0,0,0,0,0,0,26.10,26.43,28.83
$GC,919,-0.32,-194.6,195.1,-8.6,168,926,0.00,2.15,0.00,0.000,4,0.000,0.037,2159,3836,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,939,-0.33,-194.6,196.9,-9.0,171,947,0.00,1.98,0.00,0.000,6,0.000,0.018,2159,2432,3778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1133,-0.34,-194.6,212.3,-7.8,193,1141,0.00,2.22,0.00,0.000,4,0.000,0.023,2159,1029,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1168,-0.36,-194.6,215.0,-7.7,196,1175,0.00,2.42,0.00,0.000,6,0.000,0.029,2156,2494,3778,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1475,-0.38,-194.6,239.0,-7.4,227,1485,0.00,2.38,0.00,0.000,4,0.000,0.023,2156,1029,3778,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1499,-0.40,-194.6,240.8,-7.4,229,1507,0.00,2.38,0.00,0.000,6,0.000,0.029,2156,2473,3778,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1810,-0.42,-194.6,261.2,-6.0,260,1818,0.00,2.03,0.00,0.000,4,0.000,0.040,2146,3829,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1845,-0.45,-194.6,263.1,-5.9,263,1853,0.00,2.00,0.00,0.000,6,0.000,0.018,2146,2393,3778,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2153,-0.53,-194.6,285.0,-8.4,294,2163,0.12,2.20,0.00,0.000,4,0.096,0.036,2074,3831,3777,0,0,0,0,0,0,26.55,26.38,28.83
$GC,2200,-0.57,-194.6,288.5,-8.2,298,2207,0.00,2.03,0.00,0.000,6,0.000,0.019,2074,2413,3776,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2507,-0.54,-194.6,329.3,-14.1,329,2515,0.00,2.17,0.00,0.000,4,0.000,0.024,2074,1031,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2622,-0.54,-194.6,341.4,-9.2,340,2630,0.12,2.38,0.00,0.000,6,0.125,0.031,2104,2476,3775,0,0,0,0,0,0,26.22,26.39,28.83
$GC,2930,-0.54,-194.6,369.4,-9.8,371,2939,0.00,2.00,0.00,0.000,4,0.000,0.041,2094,3822,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2975,-0.54,-194.6,373.6,-9.9,375,2981,0.00,2.03,0.00,0.000,6,0.000,0.021,2094,2409,3772,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3284,-0.52,-194.6,406.9,-10.2,406,3292,0.00,2.17,0.00,0.000,4,0.000,0.024,2094,1038,3770,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3350,-0.53,-194.6,413.3,-10.1,412,3358,0.00,2.35,0.00,0.000,6,0.000,0.031,2085,2460,3770,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3656,-0.52,-194.6,448.4,-10.8,443,3664,0.00,2.08,0.00,0.000,4,0.000,0.041,2075,3837,3766,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3681,-0.50,-194.6,450.8,-10.8,445,3688,0.12,2.08,0.00,0.000,6,0.122,0.019,2114,2389,3766,0,0,0,0,0,0,26.25,26.51,28.83
$GC,3989,-0.51,-194.6,475.1,-7.6,476,3999,0.00,2.25,-0.08,0.000,4,0.000,0.053,2103,3826,3792,0,0,0,0,0,0,28.83,26.28,25.56
$GC,4026,-0.53,-194.6,477.8,-7.6,479,4033,0.00,2.05,0.00,0.000,6,0.000,0.021,2103,2402,3792,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4333,-0.53,-194.6,502.4,-8.1,510,4342,0.00,2.22,0.00,0.000,4,0.000,0.043,2093,3826,3790,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4359,-0.54,-194.6,504.0,-7.8,512,4367,0.00,2.05,0.00,0.000,6,0.000,0.021,2094,2410,3789,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4665,-0.54,-194.6,529.5,-8.4,543,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2410,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4968,-0.54,-194.6,553.7,-7.9,573,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2410,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,-0.54,-194.6,579.1,-8.2,604,5288,0.00,2.20,0.00,0.000,4,0.000,0.025,2094,1042,3782,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5312,-0.55,-194.6,581.9,-8.0,607,5321,0.00,2.40,0.00,0.000,6,0.000,0.032,2086,2478,3781,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5632,-0.55,-194.6,609.4,-8.9,634,5638,0.00,2.35,0.00,0.000,4,0.000,0.028,2085,1049,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5671,-0.55,-194.6,612.8,-8.8,636,5677,0.00,2.42,0.00,0.000,6,0.000,0.034,2077,2481,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5992,-0.54,-194.6,643.8,-9.9,652,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2479,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6291,-0.53,-194.6,673.0,-9.9,667,6297,0.00,2.35,0.00,0.000,4,0.000,0.026,2077,1025,3774,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6334,-0.53,-194.6,676.8,-9.9,669,6339,0.12,2.42,0.00,0.000,6,0.113,0.034,2111,2473,3774,0,0,0,0,0,0,26.14,26.26,28.83
$GC,6650,-0.55,-194.6,698.0,-6.2,685,6654,0.00,2.10,0.00,0.000,4,0.000,0.044,2102,3834,3771,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6685,-0.58,-194.6,699.4,-6.1,686,6692,0.00,2.08,0.00,0.000,6,0.000,0.021,2102,2403,3771,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6994,-0.59,-194.6,720.2,-6.6,702,6999,0.00,2.20,0.00,0.000,4,0.000,0.028,2102,1037,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7033,-0.61,-194.6,723.0,-6.7,704,7038,0.00,2.40,0.00,0.000,6,0.000,0.035,2099,2463,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7355,-0.65,-194.6,742.6,-5.6,720,7362,0.10,2.33,0.00,0.000,4,0.093,0.024,2026,1045,3767,0,0,0,0,0,0,26.59,26.31,28.83
$GC,7470,-0.64,-194.6,751.6,-9.2,725,7477,0.17,2.62,0.00,0.000,6,0.125,0.039,2071,2551,3766,0,0,0,0,0,0,25.94,26.17,28.83
$GC,7777,-0.63,-194.6,778.1,-8.6,741,7783,0.00,1.88,0.00,0.000,4,0.000,0.047,2061,3822,3764,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7864,-0.63,-194.6,784.7,-8.3,745,7868,0.00,1.92,0.00,0.000,6,0.000,0.022,2061,2477,3763,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8172,-0.62,-194.6,814.6,-9.6,760,8177,0.00,2.33,0.00,0.000,4,0.000,0.028,2063,1050,3762,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8230,-0.62,-194.6,819.9,-8.8,763,8236,0.00,2.53,0.00,0.000,6,0.000,0.036,2053,2526,3761,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8552,-0.60,-194.6,850.7,-9.8,779,8558,0.00,2.45,0.00,0.000,4,0.000,0.028,2053,1049,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8611,-0.59,-194.6,856.2,-9.4,782,8617,0.10,2.50,0.00,0.000,6,0.095,0.037,2085,2507,3759,0,0,0,0,0,0,25.94,26.13,28.83
$GC,8933,-0.59,-194.6,879.4,-7.4,798,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2506,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9233,-0.60,-194.6,900.4,-6.9,813,9238,0.00,2.42,0.00,0.000,4,0.000,0.028,2085,1039,3757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9280,-0.61,-194.6,903.2,-6.8,815,9284,0.00,2.50,0.00,0.000,6,0.000,0.037,2085,2503,3757,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9588,-0.62,-194.6,924.6,-6.9,830,9593,0.00,2.00,0.00,0.000,4,0.000,0.047,2077,3819,3755,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9627,-0.63,-194.6,927.5,-7.2,832,9632,0.00,2.00,0.00,0.000,6,0.000,0.021,2077,2437,3755,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9947,-0.63,-194.6,953.6,-8.6,848,9952,0.00,2.28,0.00,0.000,4,0.000,0.028,2077,1041,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10001,-0.64,-194.6,957.0,-8.8,850,10008,0.00,2.50,0.00,0.000,6,0.000,0.037,2067,2506,3754,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10307,-0.64,-194.6,986.9,-9.2,866,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2505,3753,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10344,begin apogee
$GC,10351,-0.20,0.0,990.6,-9.2,868,10549,0.40,0.00,191.85,1.164,4,0.096,0.000,2208,2540,2974,0,0,0,0,0,0,25.89,28.83,23.61
$STATE,10550,end apogee,CONTROL_FINISHED_OK
$STATE,10550,begin climb
$GC,10552,0.58,194.6,999.3,0.0,878,10769,0.62,2.62,204.52,1.153,4,0.038,0.027,2468,1072,2174,0,0,0,0,0,0,24.81,24.81,23.11
$GC,10775,0.52,194.6,977.8,15.5,889,10779,0.00,2.75,0.00,0.000,6,0.000,0.040,2468,2533,2161,0,0,0,0,0,0,28.83,24.34,28.83
$GC,11089,0.45,194.6,911.1,21.3,905,11095,0.12,2.53,0.00,0.000,4,0.186,0.028,2443,1066,2149,0,0,0,0,0,0,25.56,25.81,28.83
$GC,11121,0.39,194.6,906.7,21.2,906,11129,0.15,2.65,0.00,0.000,6,0.151,0.037,2402,2557,2147,0,0,0,0,0,0,25.56,25.82,28.83
$GC,11430,0.36,194.6,859.8,14.6,922,11435,0.00,1.88,0.00,0.000,4,0.000,0.045,2402,3822,2146,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11572,0.33,194.6,836.5,16.7,929,11576,0.00,1.83,0.00,0.000,6,0.000,0.022,2412,2540,2145,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18712,end climb,SURFACE_DEPTH_REACHED
$STATE,18712,begin surface coast
$FINISH,0.4,1.021313
$STATE,18734,end surface coast,CONTROL_FINISHED_OK
$STATE,18734,begin surface
$SM_CCo,18810,0.00,0.000,0,0,892,511.94
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$IRIDIUM_FIX,2155.06,12318.19,020612,131328
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.52
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.1,41.438
$10V_AH,10.2,25.538
$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,18.650,218.075,712.025,0.000,0.000,33.649,20.925,279.412,0.000,0.000,31.301,4266.476,10152.332,878.709,3485.307,498.587,0.000,2598.144,0.000,2949.670,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,146.880,1163.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330380
$DATA_FILE_SIZE,106754,1696
$CAP_FILE_SIZE,228124,0
$CFSIZE,260165632,199753728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158, 57.0,1
$GPS,030612,003137,2204.643,12314.911,37,0.9,37,-2.9