version: 66.10
glider: 169
mission: 6
dive: 249
start: 6 12 112 1 28 19
data:
$ID,169
$MISSION,6
$DIVE,249
$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,-15775.559
$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,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,120612,011957,2242.536,12210.443,56,2.4,75,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.6
$GPS2,120612,012756,2242.676,12210.564,13,1.6,13,-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,290.1,85498,-13.8,-8.684
$D_GRID,4736
$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,-76.57,0.000,2,0.000,0.000,110,2483,2823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-194.6,3.0,-6.8,13,133,8.07,2.58,-17.65,0.000,4,0.228,0.037,2089,987,3776,0,0,0,0,0,0,25.09,26.10,26.49
$GC,282,-0.54,-194.6,59.2,-21.8,47,290,0.00,2.53,0.00,0.000,6,0.000,0.034,2076,2473,3777,0,0,0,0,0,0,28.83,26.12,28.83
$GC,477,-0.47,-194.6,116.9,-22.2,84,484,0.12,2.47,0.00,0.000,4,0.168,0.022,2126,972,3777,0,0,0,0,0,0,26.08,26.27,28.83
$GC,572,-0.50,-194.6,129.7,-9.3,102,579,0.00,2.33,0.00,0.000,6,0.000,0.030,2116,2393,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,763,-0.46,-194.6,155.4,-13.0,139,771,0.00,2.22,0.00,0.000,4,0.000,0.038,2104,3836,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,799,-0.43,-194.6,160.4,-14.1,145,806,0.00,2.25,0.00,0.000,6,0.000,0.018,2104,2307,3778,0,0,0,0,0,0,28.83,26.43,28.83
$GC,991,-0.40,-194.6,191.0,-17.9,182,997,0.12,0.00,0.00,0.000,6,0.144,0.000,2146,2307,3777,0,0,0,0,0,0,26.28,28.83,28.83
$GC,1184,-0.41,-194.6,205.8,-4.6,208,1194,0.00,2.42,0.00,0.000,4,0.000,0.037,2134,3833,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1210,-0.42,-194.6,207.2,-4.9,210,1217,0.00,2.20,0.00,0.000,6,0.000,0.017,2134,2318,3777,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1518,-0.43,-194.6,230.0,-6.1,241,1526,0.00,2.40,0.00,0.000,4,0.000,0.039,2124,3824,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1560,-0.45,-194.6,232.2,-5.5,245,1569,0.00,2.15,0.00,0.000,6,0.000,0.018,2124,2338,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1870,-0.45,-194.6,255.8,-7.8,276,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2339,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.46,-194.6,282.1,-8.3,306,2180,0.00,2.33,0.00,0.000,4,0.000,0.040,2113,3820,3775,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2225,-0.48,-194.6,286.3,-7.9,311,2235,0.00,2.12,0.00,0.000,6,0.000,0.020,2113,2359,3775,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2533,-0.48,-194.6,313.0,-9.0,342,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2359,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2838,-0.48,-194.6,338.2,-8.3,372,2846,0.00,2.30,0.00,0.000,4,0.000,0.039,2104,3820,3771,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2883,-0.49,-194.6,341.8,-7.9,376,2890,0.00,2.12,0.00,0.000,6,0.000,0.020,2104,2362,3770,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3191,-0.49,-194.6,370.4,-8.5,407,3200,0.00,2.33,0.00,0.000,4,0.000,0.040,2095,3829,3768,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3226,-0.50,-194.6,373.0,-8.1,410,3233,0.00,2.10,0.00,0.000,6,0.000,0.018,2095,2375,3768,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3534,-0.49,-194.6,400.3,-9.1,441,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2375,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-0.49,-194.6,428.1,-9.2,471,3844,0.00,0.00,-0.10,0.000,6,0.000,0.000,2095,2374,3785,0,0,0,0,0,0,28.83,28.83,26.03
$GC,4143,-0.49,-194.6,455.8,-8.5,502,4153,0.00,2.35,0.00,0.000,4,0.000,0.040,2085,3845,3783,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4178,-0.49,-194.6,458.5,-8.7,505,4186,0.10,2.12,0.00,0.000,6,0.119,0.020,2119,2376,3783,0,0,0,0,0,0,26.32,26.49,28.83
$GC,4487,-0.51,-194.6,474.3,-3.8,536,4496,0.00,2.30,0.00,0.000,4,0.000,0.042,2112,3820,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4522,-0.54,-194.6,475.6,-4.0,539,4530,0.00,2.05,0.00,0.000,6,0.000,0.020,2112,2386,3781,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4830,-0.55,-194.6,490.4,-6.2,570,4839,0.00,2.28,0.00,0.000,4,0.000,0.042,2109,3827,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4872,-0.59,-194.6,493.1,-6.4,574,4881,0.00,2.03,0.00,0.000,6,0.000,0.018,2109,2393,3778,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5183,-0.63,-194.6,514.7,-6.6,605,5192,0.12,2.25,0.00,0.000,4,0.079,0.023,2031,988,3775,0,0,0,0,0,0,26.57,26.37,28.83
$GC,5228,-0.64,-194.6,518.4,-8.5,609,5236,0.15,2.67,0.00,0.000,6,0.132,0.033,2067,2549,3775,0,0,0,0,0,0,26.07,26.30,28.83
$GC,5536,-0.62,-194.6,551.1,-11.1,640,5545,0.00,2.58,0.00,0.000,4,0.000,0.025,2067,995,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5591,-0.63,-194.6,556.1,-9.4,645,5599,0.00,2.62,0.00,0.000,6,0.000,0.032,2056,2535,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5900,-0.61,-194.6,591.0,-10.8,676,5908,0.00,2.58,0.00,0.000,4,0.000,0.025,2056,993,3771,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5924,-0.59,-194.6,593.5,-10.3,678,5932,0.12,2.60,0.00,0.000,6,0.125,0.034,2087,2521,3771,0,0,0,0,0,0,26.11,26.26,28.83
$GC,6234,-0.59,-194.6,617.5,-8.0,698,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2520,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6532,-0.59,-194.6,642.1,-8.0,713,6537,0.00,2.55,0.00,0.000,4,0.000,0.026,2087,981,3766,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6573,-0.60,-194.6,644.9,-7.5,715,6578,0.00,2.60,0.00,0.000,6,0.000,0.034,2085,2512,3766,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6891,-0.60,-194.6,666.0,-6.2,731,6897,0.00,2.00,0.00,0.000,4,0.000,0.044,2077,3833,3765,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6932,-0.60,-194.6,668.5,-6.2,733,6937,0.00,1.98,0.00,0.000,6,0.000,0.019,2077,2449,3764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7253,-0.60,-194.6,692.3,-8.1,749,7258,0.00,2.38,0.00,0.000,4,0.000,0.026,2076,978,3762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7299,-0.60,-194.6,695.6,-8.3,751,7304,0.00,2.60,0.00,0.000,6,0.000,0.034,2069,2508,3762,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7608,-0.60,-194.6,725.6,-10.0,766,7613,0.00,1.98,0.00,0.000,4,0.000,0.045,2059,3823,3760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7634,-0.59,-194.6,727.5,-9.9,767,7638,0.00,2.00,0.00,0.000,6,0.000,0.021,2058,2441,3760,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7942,-0.58,-194.6,760.8,-10.6,782,7948,0.10,2.35,0.00,0.000,4,0.141,0.024,2091,983,3759,0,0,0,0,0,0,26.44,26.27,28.83
$GC,7990,-0.58,-194.6,764.1,-9.6,784,7994,0.00,2.58,0.00,0.000,6,0.000,0.033,2089,2502,3759,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8297,-0.63,-194.6,783.4,-5.7,799,8301,0.00,2.00,0.00,0.000,4,0.000,0.045,2089,3826,3757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8531,-0.71,-194.6,799.2,-8.1,810,8535,0.15,2.15,0.00,0.000,6,0.102,0.019,2038,2354,3755,0,0,0,0,0,0,26.20,26.45,28.83
$GC,8839,-0.69,-194.6,824.2,-9.5,825,8845,0.00,2.35,0.00,0.000,4,0.000,0.043,2028,3821,3754,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8994,-0.68,-194.6,838.5,-9.8,832,9002,0.00,2.08,0.00,0.000,6,0.000,0.023,2027,2416,3753,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9299,-0.66,-194.6,876.4,-12.0,848,9306,0.12,2.30,0.00,0.000,4,0.135,0.025,2074,990,3752,0,0,0,0,0,0,26.30,26.23,28.83
$GC,9352,-0.65,-194.6,880.2,-10.9,850,9359,0.00,2.50,0.00,0.000,6,0.000,0.035,2070,2466,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9660,-0.65,-194.6,905.9,-8.1,866,9666,0.00,2.10,0.00,0.000,4,0.000,0.045,2059,3827,3750,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9683,-0.65,-194.6,907.4,-8.1,867,9687,0.00,2.10,0.00,0.000,6,0.000,0.021,2059,2391,3749,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9999,-0.65,-194.6,935.6,-8.9,883,10005,0.00,2.28,0.00,0.000,4,0.000,0.027,2059,981,3749,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10027,-0.65,-194.6,937.4,-8.9,884,10032,0.00,2.50,0.00,0.000,6,0.000,0.035,2056,2455,3749,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10336,-0.64,-194.6,964.5,-8.2,899,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2454,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10635,-0.64,-194.6,987.2,-7.6,914,10641,0.00,2.40,0.00,0.000,4,0.000,0.027,2056,995,3747,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,10674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10674,begin apogee
$GC,10683,-0.20,0.0,990.1,-7.5,916,10883,0.45,0.00,194.80,1.085,4,0.091,0.000,2205,2551,2978,0,0,0,0,0,0,25.85,28.83,23.65
$STATE,10884,end apogee,CONTROL_FINISHED_OK
$STATE,10884,begin climb
$GC,10886,0.58,194.6,996.1,0.0,926,11110,0.70,2.70,212.45,1.056,4,0.047,0.025,2469,1076,2176,0,0,0,0,0,0,24.91,24.93,23.25
$GC,11205,0.54,194.6,955.3,17.9,942,11214,0.00,2.70,0.00,0.000,6,0.000,0.036,2470,2550,2149,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11514,0.47,194.6,889.0,20.6,958,11520,0.12,2.55,0.00,0.000,4,0.184,0.028,2446,1095,2144,0,0,0,0,0,0,25.71,25.96,28.83
$GC,11576,0.43,194.6,878.8,17.9,961,11581,0.12,2.67,0.00,0.000,6,0.161,0.034,2414,2576,2143,0,0,0,0,0,0,25.72,25.98,28.83
$GC,11892,0.40,194.6,834.2,13.6,977,11896,0.00,1.85,0.00,0.000,4,0.000,0.044,2414,3835,2142,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11975,0.35,194.6,821.0,15.9,981,11980,0.12,1.85,0.00,0.000,6,0.177,0.022,2392,2540,2141,0,0,0,0,0,0,25.80,26.20,28.83
$GC,12297,0.34,194.6,783.7,11.8,997,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2539,2141,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19124,end climb,SURFACE_DEPTH_REACHED
$STATE,19125,begin surface coast
$FINISH,-0.3,1.021066
$STATE,19136,end surface coast,CONTROL_FINISHED_OK
$STATE,19136,begin surface
$SM_CCo,19214,0.00,0.000,0,0,888,512.92
$SM_GC,0.46,6.22,2.38,0.00,0.022,0.018,0.000,129,2490,888,-6.62,-0.20,512.92,0,0,0,0,0,0,26.32,26.30,28.83
$IRIDIUM_FIX,2232.34,12211.96,110612,202030
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.92
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.2,50.537
$10V_AH,10.1,30.899
$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,18.500,214.225,766.425,0.000,0.000,30.901,24.330,266.977,0.000,0.000,14.265,4306.121,10438.675,906.422,3502.279,500.728,0.000,2651.167,0.000,2997.791,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,45.135,1084.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.812,2234.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,106825,1726
$CAP_FILE_SIZE,224901,0
$CFSIZE,260165632,195076096
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171, 15.7,1
$GPS,120612,064937,2245.186,12208.456,36,1.0,36,-3.0