version: 66.10
glider: 169
mission: 6
dive: 209
start: 6 3 112 6 15 20
data:
$ID,169
$MISSION,6
$DIVE,209
$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,-15723.343
$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
$GPS1,030612,060237,2206.125,12313.772,34,1.2,34,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.6
$GPS2,030612,061456,2206.324,12313.860,17,1.6,17,-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,259.8,212445,-13.8,-8.684
$D_GRID,5500
$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,-194.6,0.0,0.0,0,96,0.00,0.00,-76.78,0.000,2,0.000,0.000,116,2519,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-194.6,3.4,-7.6,13,132,8.00,2.00,-14.48,0.000,4,0.230,0.048,2067,3830,3775,0,0,1,0,0,0,25.18,25.49,26.44
$GC,242,-0.53,-194.6,54.6,-24.4,39,248,0.00,1.98,0.00,0.000,6,0.000,0.020,2077,2464,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,436,-0.42,-194.6,119.1,-34.8,76,444,0.20,2.35,0.00,0.000,4,0.177,0.025,2145,1031,3776,0,0,0,0,0,0,25.76,26.22,28.83
$GC,492,-0.38,-194.6,134.6,-19.4,86,498,0.00,2.50,0.00,0.000,6,0.000,0.031,2133,2510,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,685,-0.33,-194.6,173.2,-18.0,123,692,0.12,2.42,0.00,0.000,4,0.167,0.021,2180,1033,3777,0,0,0,0,0,0,26.13,26.30,28.83
$GC,755,-0.38,-194.6,181.3,-6.4,136,763,0.00,2.47,0.00,0.000,6,0.000,0.030,2179,2505,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,949,-0.39,-194.6,196.0,-8.1,173,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2504,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1138,-0.41,-194.6,210.7,-6.8,196,1143,0.12,2.00,0.00,0.000,4,0.074,0.040,2052,3835,3777,0,0,0,0,0,0,26.58,26.28,28.83
$GC,1155,-0.42,-194.6,211.6,-7.1,197,1163,0.25,2.00,0.00,0.000,6,0.132,0.018,2135,2418,3777,0,0,0,0,0,0,25.96,26.48,28.83
$GC,1461,-0.41,-194.6,247.8,-10.3,228,1465,0.00,2.20,0.00,0.000,4,0.000,0.024,2135,1041,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1508,-0.42,-194.6,251.3,-8.5,232,1516,0.00,2.42,0.00,0.000,6,0.000,0.030,2125,2497,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1815,-0.41,-194.6,282.9,-11.3,263,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2496,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2126,-0.41,-194.6,311.0,-9.2,294,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2496,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,-0.42,-194.6,337.3,-7.8,325,2445,0.00,2.38,0.00,0.000,4,0.000,0.025,2126,1017,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2490,-0.45,-194.6,341.5,-7.5,330,2498,0.00,2.42,0.00,0.000,6,0.000,0.031,2125,2485,3774,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2801,-0.45,-194.6,365.8,-8.1,361,2810,0.00,2.03,0.00,0.000,4,0.000,0.041,2115,3815,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2836,-0.47,-194.6,368.4,-7.7,364,2844,0.00,2.00,0.00,0.000,6,0.000,0.018,2115,2406,3771,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3143,-0.48,-194.6,395.2,-8.2,395,3147,0.00,2.17,0.00,0.000,4,0.000,0.024,2116,1029,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3167,-0.49,-194.6,397.0,-8.1,397,3176,0.00,2.42,0.00,0.000,6,0.000,0.031,2112,2495,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3477,-0.49,-194.6,421.8,-8.5,428,3486,0.00,2.00,0.00,0.000,4,0.000,0.042,2102,3820,3764,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3532,-0.50,-194.6,426.0,-7.7,433,3540,0.00,2.00,0.00,0.000,6,0.000,0.019,2102,2420,3764,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3839,-0.49,-194.6,453.3,-9.3,464,3841,0.00,0.00,-0.10,0.000,6,0.000,0.000,2102,2421,3783,0,0,0,0,0,0,28.83,28.83,26.03
$GC,4140,-0.49,-194.6,479.2,-8.4,494,4148,0.00,2.20,0.00,0.000,4,0.000,0.026,2102,1046,3781,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4174,-0.50,-194.6,482.0,-8.5,497,4181,0.00,2.45,0.00,0.000,6,0.000,0.034,2099,2501,3781,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4482,-0.50,-194.6,506.6,-8.3,528,4485,0.00,2.03,0.00,0.000,4,0.000,0.044,2088,3836,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4524,-0.51,-194.6,509.9,-8.0,532,4534,0.00,2.00,0.00,0.000,6,0.000,0.020,2089,2441,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4834,-0.50,-194.6,539.5,-10.4,563,4838,0.00,2.25,0.00,0.000,4,0.000,0.026,2089,1046,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4886,-0.51,-194.6,544.4,-9.4,568,4896,0.00,2.42,0.00,0.000,6,0.000,0.034,2085,2491,3775,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5196,-0.50,-194.6,574.0,-9.4,599,5205,0.00,2.03,0.00,0.000,4,0.000,0.044,2075,3824,3772,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5240,-0.49,-194.6,577.8,-9.0,603,5248,0.12,2.03,0.00,0.000,6,0.118,0.021,2116,2424,3771,0,0,0,0,0,0,26.24,26.48,28.83
$GC,5548,-0.50,-194.6,595.9,-5.8,634,5552,0.00,2.22,0.00,0.000,4,0.000,0.044,2105,3825,3769,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5571,-0.52,-194.6,597.1,-5.3,636,5581,0.00,2.03,0.00,0.000,6,0.000,0.021,2105,2425,3769,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5894,-0.53,-194.6,616.3,-6.0,655,5899,0.00,2.22,0.00,0.000,4,0.000,0.028,2105,1040,3766,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5926,-0.54,-194.6,617.7,-6.1,656,5934,0.00,2.45,0.00,0.000,6,0.000,0.035,2099,2499,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6232,-0.54,-194.6,639.5,-7.3,672,6236,0.00,2.03,0.00,0.000,4,0.000,0.046,2089,3823,3763,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6277,-0.55,-194.6,642.8,-7.6,674,6282,0.00,2.03,0.00,0.000,6,0.000,0.021,2090,2430,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6595,-0.55,-194.6,670.8,-9.3,690,6599,0.00,2.22,0.00,0.000,4,0.000,0.027,2089,1046,3761,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6641,-0.55,-194.6,674.5,-9.1,692,6647,0.00,2.45,0.00,0.000,6,0.000,0.035,2085,2493,3761,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6957,-0.55,-194.6,705.0,-9.7,708,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2492,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7257,-0.55,-194.6,734.5,-9.8,723,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2492,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.55,-194.6,762.9,-9.3,738,7563,0.00,2.38,0.00,0.000,4,0.000,0.027,2086,1036,3755,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7604,-0.55,-194.6,766.5,-9.2,740,7609,0.00,2.42,0.00,0.000,6,0.000,0.036,2086,2477,3754,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7912,-0.55,-194.6,794.5,-9.0,755,7915,0.00,2.08,0.00,0.000,4,0.000,0.047,2076,3822,3753,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7936,-0.55,-194.6,796.6,-9.1,756,7940,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2413,3752,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8249,-0.55,-194.6,827.3,-9.7,772,8254,0.00,2.20,0.00,0.000,4,0.000,0.028,2076,1042,3751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8276,-0.55,-194.6,829.3,-9.8,773,8281,0.10,2.42,0.00,0.000,6,0.129,0.037,2102,2483,3751,0,0,0,0,0,0,26.06,26.15,28.83
$GC,8587,-0.56,-194.6,852.6,-7.0,788,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2482,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8884,-0.58,-194.6,872.4,-6.5,803,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2482,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9185,-0.59,-194.6,891.6,-6.5,818,9191,0.00,2.38,0.00,0.000,4,0.000,0.028,2102,1038,3747,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9212,-0.61,-194.6,893.0,-6.4,819,9217,0.00,2.42,0.00,0.000,6,0.000,0.036,2100,2472,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9520,-0.63,-194.6,914.0,-6.6,834,9526,0.00,2.10,0.00,0.000,4,0.000,0.047,2098,3816,3745,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9547,-0.64,-194.6,915.4,-6.6,835,9551,0.00,2.08,0.00,0.000,6,0.000,0.022,2098,2409,3745,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9855,-0.66,-194.6,936.4,-6.8,850,9857,0.12,0.00,0.00,0.000,6,0.075,0.000,2018,2408,3744,0,0,0,0,0,0,26.57,28.83,28.83
$GC,10156,-0.62,-194.6,976.7,-13.7,865,10158,0.17,0.00,0.00,0.000,6,0.139,0.000,2072,2408,3743,0,0,0,0,0,0,26.12,28.83,28.83
$STATE,10312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10312,begin apogee
$GC,10318,-0.20,0.0,991.0,-8.2,873,10515,0.40,0.08,189.68,1.162,4,0.096,0.090,2212,2492,2974,0,0,0,0,0,0,25.88,24.59,23.63
$STATE,10516,end apogee,CONTROL_FINISHED_OK
$STATE,10516,begin climb
$GC,10518,0.58,194.6,997.7,0.0,883,10735,0.65,2.50,205.77,1.144,4,0.041,0.030,2472,1072,2177,0,0,0,0,0,0,24.80,24.82,23.11
$GC,10766,0.53,194.6,970.7,15.8,895,10770,0.00,2.67,0.00,0.000,6,0.000,0.037,2472,2534,2154,0,0,0,0,0,0,28.83,24.65,28.83
$GC,11073,0.46,194.6,905.0,21.2,910,11079,0.15,2.50,0.00,0.000,4,0.177,0.028,2441,1073,2147,0,0,0,0,0,0,25.54,25.82,28.83
$GC,11107,0.40,194.6,901.1,20.8,911,11114,0.12,2.65,0.00,0.000,6,0.154,0.037,2407,2567,2145,0,0,0,0,0,0,25.62,25.84,28.83
$GC,11413,0.37,194.6,856.5,13.3,927,11418,0.00,1.90,0.00,0.000,4,0.000,0.045,2407,3833,2143,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11447,0.34,194.6,853.6,13.5,928,11455,0.12,1.90,0.00,0.000,6,0.174,0.022,2385,2523,2143,0,0,0,0,0,0,25.75,26.11,28.83
$GC,11753,0.33,194.6,817.7,10.7,944,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2520,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12053,0.32,194.6,785.1,11.0,959,12058,0.00,2.05,0.00,0.000,4,0.000,0.045,2385,3833,2141,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12094,0.30,194.6,780.1,11.6,961,12100,0.00,1.88,0.00,0.000,6,0.000,0.021,2395,2527,2141,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18743,end climb,SURFACE_DEPTH_REACHED
$STATE,18743,begin surface coast
$FINISH,-0.1,1.021306
$STATE,18765,end surface coast,CONTROL_FINISHED_OK
$STATE,18765,begin surface
$SM_CCo,18842,0.00,0.000,0,0,729,552.17
$SM_GC,0.47,6.25,0.15,0.00,0.022,0.054,0.000,126,2436,729,-6.62,0.48,552.17,0,0,0,0,0,0,26.32,26.51,28.83
$IRIDIUM_FIX,2159.71,12314.30,030612,060605
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.53
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.1,41.884
$10V_AH,10.1,25.796
$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,18.875,187.075,762.825,0.000,0.000,59.461,77.192,356.947,0.000,0.000,18.482,4110.049,10633.363,863.063,3451.052,484.607,0.000,2494.528,0.000,2766.102,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,90.270,1162.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.148,2173.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330452
$DATA_FILE_SIZE,103763,1650
$CAP_FILE_SIZE,217988,0
$CFSIZE,260165632,199536640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$CURRENT,0.224, 55.5,1
$GPS,030612,113031,2206.905,12312.677,40,1.2,40,-2.9