version: 66.10
glider: 169
mission: 6
dive: 223
start: 6 6 112 9 49 43
data:
$ID,169
$MISSION,6
$DIVE,223
$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,-8
$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,-15741.154
$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
$GPS1,060612,094125,2221.561,12249.816,39,1.1,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-72.3
$GPS2,060612,094920,2221.577,12249.891,15,2.0,15,-3.0
$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,298.7,163003,-13.8,-8.684
$D_GRID,4725
$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,-194.6,0.0,0.0,0,112,0.00,0.00,-92.07,0.000,2,0.000,0.000,123,2435,3037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.58,-194.6,3.2,-7.4,16,148,8.12,2.22,-13.68,0.000,4,0.233,0.048,2069,3829,3775,0,0,1,0,0,0,25.13,25.39,26.42
$GC,228,-0.53,-194.6,41.2,-21.9,36,235,0.00,1.98,0.00,0.000,6,0.000,0.021,2077,2469,3776,0,0,0,0,0,0,28.83,26.13,28.83
$GC,421,-0.45,-194.6,89.3,-24.3,73,428,0.15,2.38,0.00,0.000,4,0.160,0.024,2134,1032,3776,0,0,0,0,0,0,25.93,26.16,28.83
$GC,492,-0.48,-194.6,99.4,-8.7,86,498,0.00,2.45,0.00,0.000,6,0.000,0.032,2123,2479,3777,0,0,0,0,0,0,28.83,26.14,28.83
$GC,684,-0.45,-194.6,123.3,-12.9,123,691,0.00,2.05,0.00,0.000,4,0.000,0.041,2113,3824,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,715,-0.43,-194.6,127.4,-13.4,128,721,0.00,2.10,0.00,0.000,6,0.000,0.021,2115,2406,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,907,-0.40,-194.6,152.1,-13.7,165,914,0.10,0.00,0.00,0.000,6,0.152,0.000,2142,2405,3777,0,0,0,0,0,0,26.33,28.83,28.83
$GC,1098,-0.40,-194.6,174.6,-11.6,202,1105,0.00,2.20,0.00,0.000,4,0.000,0.025,2144,1037,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1130,-0.41,-194.6,178.1,-11.3,207,1138,0.00,2.40,0.00,0.000,6,0.000,0.032,2141,2464,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1328,-0.41,-194.6,201.2,-11.7,244,1337,0.00,2.08,0.00,0.000,4,0.000,0.041,2131,3828,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1364,-0.42,-194.6,204.6,-10.9,247,1372,0.00,2.08,0.00,0.000,6,0.000,0.018,2131,2389,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1671,-0.42,-194.6,230.7,-7.6,278,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2389,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1973,-0.43,-194.6,254.5,-8.6,308,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2389,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.44,-194.6,282.8,-8.6,339,2293,0.00,2.30,0.00,0.000,4,0.000,0.041,2122,3818,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2316,-0.46,-194.6,285.7,-8.4,342,2325,0.00,2.03,0.00,0.000,6,0.000,0.019,2122,2403,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2627,-0.47,-194.6,307.9,-6.7,373,2635,0.00,2.17,0.00,0.000,4,0.000,0.024,2122,1041,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2669,-0.49,-194.6,310.9,-6.8,377,2678,0.00,2.35,0.00,0.000,6,0.000,0.030,2117,2462,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2980,-0.50,-194.6,337.7,-9.7,408,2989,0.00,2.08,0.00,0.000,4,0.000,0.041,2107,3823,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3014,-0.51,-194.6,341.0,-10.4,411,3022,0.00,2.05,0.00,0.000,6,0.000,0.021,2107,2411,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3323,-0.51,-194.6,369.5,-7.5,442,3326,0.00,2.20,0.00,0.000,4,0.000,0.026,2107,1039,3772,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3347,-0.52,-194.6,371.1,-7.2,444,3354,0.00,2.38,0.00,0.000,6,0.000,0.031,2099,2467,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3657,-0.52,-194.6,393.4,-7.6,475,3667,0.00,2.03,0.00,0.000,4,0.000,0.042,2088,3825,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3700,-0.53,-194.6,396.8,-7.7,479,3710,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2415,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4011,-0.52,-194.6,426.9,-10.9,510,4020,0.00,2.20,0.00,0.000,4,0.000,0.025,2089,1032,3767,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4077,-0.54,-194.6,433.5,-10.0,516,4084,0.00,2.38,0.00,0.000,6,0.000,0.031,2085,2464,3767,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4384,-0.52,-194.6,468.4,-11.4,547,4395,0.00,2.05,-0.10,0.000,4,0.000,0.054,2075,3820,3786,0,0,0,0,0,0,28.83,26.23,25.99
$GC,4428,-0.52,-194.6,473.2,-11.0,551,4438,0.10,2.08,0.00,0.000,6,0.122,0.020,2108,2402,3786,0,0,0,0,0,0,26.28,26.48,28.83
$GC,4739,-0.54,-194.6,498.0,-7.7,582,4748,0.00,2.22,0.00,0.000,4,0.000,0.043,2099,3820,3784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4764,-0.55,-194.6,499.8,-7.6,584,4771,0.00,2.03,0.00,0.000,6,0.000,0.019,2099,2414,3784,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5073,-0.56,-194.6,526.7,-8.8,615,5082,0.00,2.20,0.00,0.000,4,0.000,0.025,2099,1042,3782,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5096,-0.57,-194.6,528.9,-8.9,617,5105,0.00,2.40,0.00,0.000,6,0.000,0.032,2099,2484,3782,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5406,-0.58,-194.6,556.0,-8.4,648,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2483,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,-0.59,-194.6,581.2,-8.6,678,5717,0.00,2.38,0.00,0.000,4,0.000,0.027,2099,1038,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5732,-0.60,-194.6,583.3,-8.5,680,5740,0.00,2.42,0.00,0.000,6,0.000,0.034,2099,2480,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6054,-0.61,-194.6,611.3,-8.8,706,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2478,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,-0.62,-194.6,636.7,-8.2,721,6356,0.00,2.35,0.00,0.000,4,0.000,0.028,2099,1049,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6374,-0.64,-194.6,638.4,-8.2,722,6378,0.00,2.40,0.00,0.000,6,0.000,0.035,2099,2468,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6687,-0.65,-194.6,662.0,-7.1,738,6692,0.00,2.05,0.00,0.000,4,0.000,0.046,2098,3812,3771,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6728,-0.67,-194.6,664.7,-6.9,740,6734,0.08,2.05,0.00,0.000,6,0.046,0.020,2000,2401,3771,0,0,0,0,0,0,26.33,26.46,28.83
$GC,7050,-0.61,-194.6,717.0,-17.4,756,7056,0.20,2.17,0.00,0.000,4,0.130,0.024,2079,1048,3769,0,0,0,0,0,0,26.08,26.30,28.83
$GC,7092,-0.58,-194.6,722.8,-15.8,758,7096,0.00,2.42,0.00,0.000,6,0.000,0.034,2068,2484,3769,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7405,-0.58,-194.6,756.7,-11.0,774,7411,0.00,2.05,0.00,0.000,4,0.000,0.046,2058,3812,3767,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7445,-0.58,-194.6,761.3,-11.4,776,7451,0.10,2.08,0.00,0.000,6,0.128,0.021,2090,2416,3767,0,0,0,0,0,0,26.19,26.40,28.83
$GC,7768,-0.59,-194.6,789.6,-8.9,792,7773,0.00,2.22,0.00,0.000,4,0.000,0.028,2090,1038,3766,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7799,-0.60,-194.6,791.4,-8.7,793,7806,0.00,2.42,0.00,0.000,6,0.000,0.035,2089,2479,3766,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8107,-0.61,-194.6,815.1,-6.9,809,8112,0.00,2.08,0.00,0.000,4,0.000,0.047,2085,3820,3764,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8148,-0.63,-194.6,817.4,-6.3,811,8153,0.00,2.05,0.00,0.000,6,0.000,0.021,2085,2423,3763,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8467,-0.63,-194.6,834.1,-4.6,827,8472,0.00,2.25,0.00,0.000,4,0.000,0.028,2085,1034,3762,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8496,-0.65,-194.6,835.2,-4.7,828,8505,0.00,2.45,0.00,0.000,6,0.000,0.036,2085,2481,3761,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8808,-0.65,-194.6,850.1,-5.0,844,8813,0.00,2.08,0.00,0.000,4,0.000,0.048,2076,3818,3760,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8840,-0.66,-194.6,851.2,-5.2,845,8847,0.00,2.05,0.00,0.000,6,0.000,0.021,2076,2424,3760,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9148,-0.66,-194.6,872.2,-7.4,861,9153,0.00,2.25,0.00,0.000,4,0.000,0.029,2076,1048,3759,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9169,-0.67,-194.6,873.7,-7.3,862,9174,0.00,2.45,0.00,0.000,6,0.000,0.037,2067,2493,3759,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9482,-0.67,-194.6,899.9,-8.7,878,9488,0.00,2.05,0.00,0.000,4,0.000,0.047,2057,3822,3758,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9522,-0.67,-194.6,903.6,-9.0,880,9526,0.00,2.08,0.00,0.000,6,0.000,0.021,2057,2424,3757,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9844,-0.66,-194.6,935.9,-10.2,896,9850,0.00,2.25,0.00,0.000,4,0.000,0.029,2057,1044,3757,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9873,-0.65,-194.6,938.1,-10.3,897,9882,0.00,2.47,0.00,0.000,6,0.000,0.037,2047,2490,3756,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10184,-0.63,-194.6,972.0,-10.3,913,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2489,3755,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10381,begin apogee
$GC,10387,-0.20,0.0,991.5,-9.6,923,10584,0.47,0.10,188.65,1.187,4,0.104,0.072,2209,2478,2971,0,0,0,0,0,0,25.72,24.56,23.49
$STATE,10585,end apogee,CONTROL_FINISHED_OK
$STATE,10585,begin climb
$GC,10588,0.58,194.6,998.1,0.0,933,10805,0.68,2.25,205.65,1.157,4,0.041,0.044,2475,3818,2173,0,0,0,0,0,0,24.80,24.75,23.01
$GC,11022,0.50,194.6,912.9,24.7,954,11029,0.17,1.98,0.00,0.000,6,0.190,0.023,2441,2502,2145,0,0,0,0,0,0,25.27,25.69,28.83
$GC,11328,0.45,194.6,850.7,18.8,970,11334,0.00,2.40,0.00,0.000,4,0.000,0.030,2454,1079,2141,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11438,0.41,194.6,833.5,16.6,975,11449,0.15,2.60,0.00,0.000,6,0.154,0.037,2413,2546,2138,0,0,0,0,0,0,25.70,25.98,28.83
$GC,11749,0.38,194.6,779.2,17.2,991,11754,0.00,1.95,0.00,0.000,4,0.000,0.045,2413,3822,2138,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,18331,end climb,SURFACE_DEPTH_REACHED
$STATE,18331,begin surface coast
$FINISH,-0.4,1.021845
$STATE,18343,end surface coast,CONTROL_FINISHED_OK
$STATE,18343,begin surface
$SM_CCo,18419,0.00,0.000,0,0,982,489.86
$SM_GC,0.61,6.25,0.08,0.00,0.025,0.107,0.000,125,2517,982,-6.63,-0.40,489.86,0,0,0,0,0,0,26.17,26.39,28.83
$IRIDIUM_FIX,2211.35,12249.71,060612,040448
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.22
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.0,45.030
$10V_AH,10.1,27.610
$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,18.250,200.950,710.050,0.000,0.000,24.365,21.299,269.431,0.000,0.000,16.273,4298.777,9685.543,903.324,3486.665,480.767,0.000,2640.652,0.000,2989.591,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,107.100,1186.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.596,2173.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,110223,1741
$CAP_FILE_SIZE,221150,0
$CFSIZE,260165632,197947392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,2,0,0
$CURRENT,0.074, 92.3,1
$GPS,060612,145737,2222.904,12248.234,27,1.0,27,-3.0