version: 66.10
glider: 169
mission: 6
dive: 279
start: 6 18 112 18 20 21
data:
$ID,169
$MISSION,6
$DIVE,279
$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,-15828.007
$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
$GPS1,180612,180137,2313.895,12148.841,27,1.8,27,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.0
$GPS2,180612,181958,2314.372,12149.026,14,3.5,33,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,76.6,223376,-13.8,-8.684
$D_GRID,3277
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-194.6,0.0,0.0,0,100,0.00,0.00,-78.07,0.000,2,0.000,0.000,116,2487,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.2,-7.6,14,136,8.12,2.05,-16.70,0.000,4,0.229,0.048,2070,3833,3773,0,0,0,0,0,0,24.99,26.01,26.50
$GC,246,-0.51,-194.6,50.6,-25.2,40,253,0.12,2.05,0.00,0.000,6,0.140,0.020,2106,2413,3774,0,0,0,0,0,0,25.92,26.22,28.83
$GC,438,-0.47,-194.6,77.9,-15.4,77,446,0.00,2.35,0.00,0.000,4,0.000,0.024,2109,982,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,525,-0.50,-194.6,88.8,-9.4,93,533,0.00,2.47,0.00,0.000,6,0.000,0.031,2098,2436,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,718,-0.47,-194.6,113.8,-12.5,130,725,0.00,2.10,0.00,0.000,4,0.000,0.040,2087,3829,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,743,-0.44,-194.6,117.0,-13.3,134,751,0.15,2.10,0.00,0.000,6,0.130,0.018,2132,2372,3775,0,0,0,0,0,0,26.06,26.41,28.83
$GC,935,-0.44,-194.6,133.8,-7.3,171,942,0.00,2.33,0.00,0.000,4,0.000,0.039,2121,3831,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,971,-0.46,-194.6,136.4,-7.9,177,979,0.00,2.08,0.00,0.000,6,0.000,0.018,2121,2384,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1162,-0.46,-194.6,152.8,-9.2,214,1169,0.00,2.28,0.00,0.000,4,0.000,0.024,2121,973,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1203,-0.49,-194.6,156.3,-7.9,221,1211,0.00,2.50,0.00,0.000,6,0.000,0.031,2112,2441,3775,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1395,-0.48,-194.6,174.9,-10.2,258,1402,0.00,2.08,0.00,0.000,4,0.000,0.039,2102,3832,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1431,-0.49,-194.6,178.3,-10.0,264,1439,0.00,2.10,0.00,0.000,6,0.000,0.018,2102,2369,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1623,-0.48,-194.6,198.7,-10.7,301,1631,0.00,2.22,0.00,0.000,4,0.000,0.024,2102,981,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1676,-0.50,-194.6,203.6,-9.0,310,1682,0.00,2.42,0.00,0.000,6,0.000,0.031,2099,2418,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1987,-0.49,-194.6,233.4,-9.1,371,1994,0.00,2.15,0.00,0.000,4,0.000,0.040,2088,3831,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2032,-0.50,-194.6,237.4,-8.9,379,2039,0.00,2.15,0.00,0.000,6,0.000,0.018,2088,2355,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2344,-0.48,-194.6,265.9,-9.5,440,2351,0.10,2.35,0.00,0.000,4,0.139,0.037,2109,3836,3771,0,0,0,0,0,0,26.47,26.27,28.83
$GC,2380,-0.50,-194.6,268.7,-6.8,446,2386,0.00,2.12,0.00,0.000,6,0.000,0.019,2109,2372,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2691,-0.50,-194.6,292.5,-7.5,507,2698,0.00,2.25,0.00,0.000,4,0.000,0.024,2109,982,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2713,-0.51,-194.6,294.2,-8.5,510,2720,0.00,2.47,0.00,0.000,6,0.000,0.030,2105,2435,3768,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3025,-0.51,-194.6,319.3,-8.5,571,3031,0.00,2.10,0.00,0.000,4,0.000,0.042,2095,3823,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3075,-0.52,-194.6,323.3,-7.3,580,3082,0.00,2.10,0.00,0.000,6,0.000,0.018,2095,2366,3765,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3387,-0.52,-194.6,349.3,-8.6,641,3396,0.00,2.35,-0.10,0.000,4,0.000,0.050,2085,3826,3781,0,0,0,0,0,0,28.83,26.25,26.01
$GC,3421,-0.53,-194.6,352.1,-8.5,646,3428,0.00,2.08,0.00,0.000,6,0.000,0.018,2085,2384,3781,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3734,-0.52,-194.6,381.7,-9.3,707,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2384,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4044,-0.52,-194.6,408.3,-7.6,768,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2384,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-0.52,-194.6,433.0,-7.9,829,4363,0.00,2.33,0.00,0.000,4,0.000,0.041,2076,3833,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4387,-0.52,-194.6,435.5,-8.0,834,4394,0.00,2.10,0.00,0.000,6,0.000,0.019,2076,2385,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4699,-0.52,-194.6,462.9,-8.7,895,4706,0.10,2.30,0.00,0.000,4,0.135,0.023,2110,984,3772,0,0,0,0,0,0,26.47,26.35,28.83
$GC,4731,-0.54,-194.6,465.3,-7.0,900,4737,0.00,2.50,0.00,0.000,6,0.000,0.030,2105,2448,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5043,-0.55,-194.6,484.7,-6.6,961,5050,0.00,2.10,0.00,0.000,4,0.000,0.041,2099,3829,3769,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5078,-0.58,-194.6,487.0,-6.6,967,5085,0.00,2.10,0.00,0.000,6,0.000,0.018,2099,2376,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5396,-0.61,-194.6,508.1,-6.3,1017,5406,0.00,2.30,0.00,0.000,4,0.000,0.042,2099,3827,3766,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5452,-0.65,-194.6,511.6,-6.4,1022,5459,0.00,1.80,0.00,0.000,6,0.000,0.018,2099,2485,3766,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5760,-0.70,-194.6,530.4,-5.7,1053,5771,0.12,2.00,0.00,0.000,4,0.078,0.040,2009,3819,3763,0,0,0,0,0,0,26.55,26.21,28.83
$GC,5796,-0.71,-194.6,533.2,-7.5,1056,5804,0.00,1.95,0.00,0.000,6,0.000,0.019,2016,2444,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6106,-0.66,-194.6,576.7,-14.8,1087,6115,0.12,2.42,0.00,0.000,4,0.142,0.025,2066,987,3762,0,0,0,0,0,0,26.29,26.29,28.83
$GC,6171,-0.67,-194.6,583.4,-9.0,1093,6179,0.00,2.65,0.00,0.000,6,0.000,0.031,2053,2509,3761,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6479,-0.65,-194.6,617.4,-11.6,1124,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2507,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6782,-0.63,-194.6,650.2,-10.0,1154,6791,0.00,2.58,0.00,0.000,4,0.000,0.026,2054,991,3758,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6836,-0.63,-194.6,655.3,-9.3,1159,6843,0.00,2.62,0.00,0.000,6,0.000,0.034,2042,2489,3758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7144,-0.61,-194.6,688.1,-10.6,1190,7146,0.12,0.00,0.00,0.000,6,0.142,0.000,2080,2487,3756,0,0,0,0,0,0,26.32,28.83,28.83
$GC,7444,-0.61,-194.6,711.3,-7.5,1220,7453,0.00,2.53,0.00,0.000,4,0.000,0.024,2080,994,3753,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7467,-0.62,-194.6,713.0,-7.7,1222,7476,0.00,2.58,0.00,0.000,6,0.000,0.034,2076,2478,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7776,-0.62,-194.6,736.5,-7.5,1253,7786,0.00,2.05,0.00,0.000,4,0.000,0.044,2066,3835,3751,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7802,-0.62,-194.6,738.2,-7.4,1255,7811,0.00,2.00,0.00,0.000,6,0.000,0.020,2066,2425,3750,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8110,-0.62,-194.6,762.2,-7.9,1286,8118,0.00,2.38,0.00,0.000,4,0.000,0.025,2066,991,3749,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8144,-0.62,-194.6,764.7,-7.7,1289,8152,0.00,2.60,0.00,0.000,6,0.000,0.033,2056,2482,3749,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8452,-0.61,-194.6,794.2,-9.7,1320,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2480,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-0.61,-194.6,822.8,-9.3,1350,8764,0.00,2.50,0.00,0.000,4,0.000,0.026,2056,997,3745,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8811,-0.61,-194.6,827.8,-9.0,1355,8819,0.10,2.58,0.00,0.000,6,0.135,0.036,2079,2474,3745,0,0,0,0,0,0,25.98,26.10,28.83
$GC,9118,-0.62,-194.6,848.5,-6.1,1386,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2472,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9420,-0.63,-194.6,868.6,-7.1,1416,9429,0.00,2.50,0.00,0.000,4,0.000,0.028,2079,990,3742,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9443,-0.64,-194.6,870.4,-7.2,1418,9452,0.00,2.58,0.00,0.000,6,0.000,0.035,2076,2463,3742,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9753,-0.65,-194.6,894.9,-7.8,1449,9762,0.00,2.08,0.00,0.000,4,0.000,0.044,2066,3828,3740,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9776,-0.66,-194.6,896.8,-8.1,1451,9784,0.00,2.05,0.00,0.000,6,0.000,0.019,2066,2403,3741,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10085,-0.66,-194.6,923.6,-9.0,1482,10094,0.00,2.35,0.00,0.000,4,0.000,0.027,2066,981,3740,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10128,-0.67,-194.6,927.4,-9.2,1486,10137,0.00,2.55,0.00,0.000,6,0.000,0.035,2059,2457,3739,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10437,-0.67,-194.6,956.7,-9.2,1517,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2456,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10741,-0.67,-194.6,983.8,-8.8,1547,10749,0.00,2.47,0.00,0.000,4,0.000,0.027,2059,989,3737,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10784,-0.68,-194.6,987.6,-8.5,1551,10792,0.00,2.53,0.00,0.000,6,0.000,0.036,2050,2448,3737,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,10810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10810,begin apogee
$GC,10816,-0.20,0.0,990.2,-8.5,1554,11012,0.45,0.00,187.07,1.117,4,0.098,0.000,2206,2559,2968,0,0,0,0,0,0,25.76,28.83,23.48
$STATE,11013,end apogee,CONTROL_FINISHED_OK
$STATE,11013,begin climb
$GC,11016,0.58,194.6,999.1,0.0,1574,11226,0.68,1.95,202.12,1.099,4,0.040,0.044,2481,3830,2185,0,0,0,0,0,0,24.98,24.92,23.08
$GC,11362,0.50,194.6,938.6,22.6,1608,11369,0.20,1.90,0.00,0.000,6,0.181,0.021,2439,2519,2150,0,0,0,0,0,0,25.18,25.63,28.83
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$STATE,20337,end climb,SURFACE_DEPTH_REACHED
$STATE,20337,begin surface coast
$FINISH,-0.5,1.021025
$STATE,20365,end surface coast,CONTROL_FINISHED_OK
$STATE,20365,begin surface
$SM_CCo,20442,0.00,0.000,0,0,1079,466.07
$SM_GC,0.65,6.20,0.05,0.00,0.022,0.135,0.000,126,2391,1079,-6.61,0.42,466.07,0,0,0,0,0,0,26.28,26.51,28.83
$IRIDIUM_FIX,2302.75,12229.89,180612,181828
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.1,56.798
$10V_AH,10.0,35.742
$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,17.750,231.350,656.175,0.000,0.000,117.912,92.717,456.054,0.500,0.000,35.093,7055.583,7468.733,954.736,5326.756,682.903,0.000,3304.622,0.000,4435.779,0.000,0.545,0.000
$DEVICE_MAMPS,228.735,134.640,1116.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2013.829,2407.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,183382,2958
$CAP_FILE_SIZE,293315,0
$CFSIZE,260165632,190631936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,276.1,1
$GPS,190612,000207,2315.190,12150.644,36,1.2,36,-3.1