version: 66.10
glider: 169
mission: 6
dive: 287
start: 6 20 112 16 9 33
data:
$ID,169
$MISSION,6
$DIVE,287
$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,-15900.347
$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,48
$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
$GPS1,200612,155606,2322.275,12202.591,35,1.7,35,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-56.5
$GPS2,200612,160910,2322.759,12202.667,12,2.8,31,-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,103.9,196874,-13.8,-8.684
$D_GRID,4714
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,113,0.00,0.00,-92.85,0.000,2,0.000,0.000,117,2386,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.58,-194.6,3.4,-8.7,16,143,8.12,2.42,-12.57,0.000,4,0.232,0.048,2068,3838,3775,0,0,0,0,0,0,24.98,26.01,26.51
$GC,183,-0.47,-194.6,31.2,-39.2,27,190,0.15,2.08,0.00,0.000,6,0.165,0.020,2116,2418,3776,0,0,0,0,0,0,25.72,26.18,28.83
$GC,374,-0.41,-194.6,83.5,-20.5,64,381,0.00,2.35,0.00,0.000,4,0.000,0.025,2128,972,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,425,-0.42,-194.6,91.7,-11.6,73,432,0.00,2.50,0.00,0.000,6,0.000,0.032,2124,2449,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,616,-0.39,-194.6,117.4,-13.4,110,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2447,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,809,-0.38,-194.6,139.6,-12.2,147,815,0.00,2.12,0.00,0.000,4,0.000,0.038,2114,3841,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,858,-0.39,-194.6,145.4,-10.5,156,867,0.12,2.17,0.00,0.000,6,0.116,0.018,2155,2344,3776,0,0,0,0,0,0,26.21,26.45,28.83
$GC,1053,-0.41,-194.6,162.8,-8.9,193,1059,0.00,2.40,0.00,0.000,4,0.000,0.037,2144,3832,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1082,-0.44,-194.6,165.5,-8.9,198,1090,0.00,2.12,0.00,0.000,6,0.000,0.017,2144,2361,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1277,-0.54,-194.6,182.3,-7.6,235,1285,0.12,2.17,0.00,0.000,4,0.101,0.021,2085,974,3776,0,0,0,0,0,0,26.48,26.38,28.83
$GC,1294,-0.62,-194.6,184.1,-9.8,237,1301,0.00,2.35,0.00,0.000,6,0.000,0.028,2085,2416,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1486,-0.59,-194.6,202.2,-12.1,274,1493,0.00,2.17,0.00,0.000,4,0.000,0.037,2074,3833,3776,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1571,-0.59,-194.6,211.9,-10.4,290,1578,0.00,2.22,0.00,0.000,6,0.000,0.018,2074,2330,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1884,-0.56,-194.6,251.6,-13.0,351,1891,0.00,2.45,0.00,0.000,4,0.000,0.038,2062,3844,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1919,-0.54,-194.6,256.8,-15.1,357,1927,0.12,2.22,0.00,0.000,6,0.122,0.020,2102,2349,3775,0,0,0,0,0,0,26.22,26.47,28.83
$GC,2233,-0.54,-194.6,290.2,-10.4,418,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2348,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.54,-194.6,320.7,-9.6,479,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2348,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.54,-194.6,346.3,-7.8,540,2866,0.00,2.42,0.00,0.000,4,0.000,0.040,2092,3841,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2894,-0.55,-194.6,349.3,-8.4,546,2901,0.00,2.20,0.00,0.000,6,0.000,0.018,2091,2343,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3207,-0.55,-194.6,376.3,-9.4,607,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2344,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.55,-194.6,405.2,-10.0,668,3526,0.00,2.42,0.00,0.000,4,0.000,0.041,2082,3838,3766,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3580,-0.57,-194.6,410.6,-7.9,679,3587,0.00,2.17,0.00,0.000,6,0.000,0.018,2082,2358,3765,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3893,-0.57,-194.6,442.6,-9.6,740,3900,0.00,2.40,-0.10,0.000,4,0.000,0.050,2071,3829,3784,0,0,0,0,0,0,28.83,26.23,26.00
$GC,3923,-0.57,-194.6,445.5,-9.6,745,3930,0.00,2.12,0.00,0.000,6,0.000,0.018,2071,2378,3784,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4235,-0.55,-194.6,478.4,-10.2,806,4242,0.00,2.22,0.00,0.000,4,0.000,0.025,2071,977,3783,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4259,-0.55,-194.6,481.2,-10.6,810,4267,0.12,2.42,0.00,0.000,6,0.111,0.031,2107,2436,3783,0,0,0,0,0,0,26.18,26.29,28.83
$GC,4578,-0.57,-194.6,504.5,-7.4,866,4587,0.00,2.12,0.00,0.000,4,0.000,0.042,2098,3833,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4631,-0.60,-194.6,508.3,-7.3,871,4640,0.00,2.10,0.00,0.000,6,0.000,0.018,2098,2388,3781,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4940,-0.63,-194.6,531.2,-7.4,902,4949,0.00,2.33,0.00,0.000,4,0.000,0.042,2094,3856,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4993,-0.66,-194.6,535.3,-7.7,907,5002,0.00,1.88,0.00,0.000,6,0.000,0.018,2094,2499,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5303,-0.71,-194.6,560.2,-7.9,938,5313,0.12,2.47,0.00,0.000,4,0.079,0.025,2025,989,3775,0,0,0,0,0,0,26.55,26.31,28.83
$GC,5336,-0.74,-194.6,563.4,-9.2,941,5345,0.00,2.53,0.00,0.000,6,0.000,0.032,2014,2485,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5647,-0.69,-194.6,612.3,-16.2,972,5656,0.12,2.05,0.00,0.000,4,0.161,0.041,2046,3821,3772,0,0,0,0,0,0,26.22,26.17,28.83
$GC,5669,-0.65,-194.6,615.8,-15.7,974,5678,0.00,2.08,0.00,0.000,6,0.000,0.021,2046,2422,3771,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5980,-0.62,-194.6,653.5,-11.7,1005,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2421,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6283,-0.60,-194.6,689.2,-12.2,1035,6290,0.12,0.00,0.00,0.000,6,0.132,0.000,2091,2422,3768,0,0,0,0,0,0,26.32,28.83,28.83
$GC,6590,-0.61,-194.6,715.4,-8.3,1066,6599,0.00,2.30,0.00,0.000,4,0.000,0.045,2081,3826,3766,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6636,-0.63,-194.6,718.9,-8.5,1070,6643,0.00,2.05,0.00,0.000,6,0.000,0.020,2081,2416,3765,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6942,-0.63,-194.6,747.4,-9.3,1101,6951,0.00,2.33,0.00,0.000,4,0.000,0.027,2081,986,3764,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6964,-0.64,-194.6,749.4,-9.1,1103,6974,0.00,2.53,0.00,0.000,6,0.000,0.033,2076,2485,3763,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7273,-0.64,-194.6,778.7,-9.2,1134,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2484,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7577,-0.64,-194.6,804.5,-8.1,1164,7586,0.00,2.45,0.00,0.000,4,0.000,0.027,2076,996,3760,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7602,-0.64,-194.6,806.5,-8.2,1166,7609,0.00,2.53,0.00,0.000,6,0.000,0.034,2073,2482,3760,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7911,-0.64,-194.6,830.3,-7.5,1197,7919,0.00,2.08,0.00,0.000,4,0.000,0.047,2063,3817,3758,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7934,-0.64,-194.6,832.1,-7.7,1199,7943,0.00,2.08,0.00,0.000,6,0.000,0.021,2063,2422,3758,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8242,-0.64,-194.6,856.5,-8.1,1230,8251,0.00,2.35,0.00,0.000,4,0.000,0.027,2063,975,3757,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8286,-0.65,-194.6,859.8,-7.9,1234,8294,0.00,2.53,0.00,0.000,6,0.000,0.035,2059,2466,3757,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8595,-0.65,-194.6,884.9,-8.5,1265,8604,0.00,2.10,0.00,0.000,4,0.000,0.047,2049,3818,3754,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8628,-0.65,-194.6,887.5,-7.9,1268,8637,0.00,2.10,0.00,0.000,6,0.000,0.022,2049,2413,3754,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8937,-0.63,-194.6,915.0,-9.1,1299,8946,0.00,2.30,0.00,0.000,4,0.000,0.027,2049,992,3753,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8974,-0.63,-194.6,917.8,-8.8,1302,8981,0.00,2.50,0.00,0.000,6,0.000,0.035,2041,2463,3753,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9280,-0.62,-194.6,948.1,-9.8,1333,9282,0.12,0.00,0.00,0.000,6,0.137,0.000,2080,2462,3752,0,0,0,0,0,0,26.32,28.83,28.83
$GC,9580,-0.63,-194.6,968.2,-6.4,1363,9590,0.00,2.45,0.00,0.000,4,0.000,0.028,2080,981,3751,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9606,-0.65,-194.6,969.8,-6.6,1365,9614,0.00,2.50,0.00,0.000,6,0.000,0.034,2076,2451,3751,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9893,begin apogee
$GC,9899,-0.20,0.0,990.4,-7.1,1394,10102,0.38,0.00,194.38,1.123,4,0.086,0.000,2212,2558,2967,0,0,0,0,0,0,25.98,28.83,23.50
$STATE,10103,end apogee,CONTROL_FINISHED_OK
$STATE,10103,begin climb
$GC,10107,0.58,194.6,999.4,0.0,1415,10333,0.62,2.70,216.18,1.086,4,0.033,0.026,2484,1079,2179,0,0,0,0,0,0,25.02,25.00,23.15
$GC,10350,0.53,194.6,974.1,16.5,1439,10357,0.15,2.80,0.00,0.000,6,0.168,0.037,2446,2551,2157,0,0,0,0,0,0,24.50,24.72,28.83
$GC,10657,0.48,194.6,921.4,17.0,1470,10665,0.00,2.58,0.00,0.000,4,0.000,0.029,2460,1092,2146,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10762,0.45,194.6,906.0,14.6,1480,10771,0.15,2.67,0.00,0.000,6,0.159,0.037,2419,2564,2144,0,0,0,0,0,0,25.67,25.98,28.83
$GC,11070,0.41,194.6,861.8,14.1,1511,11074,0.00,1.88,0.00,0.000,4,0.000,0.045,2419,3833,2143,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11122,0.37,194.6,853.3,16.8,1516,11132,0.12,1.88,0.00,0.000,6,0.181,0.022,2397,2532,2142,0,0,0,0,0,0,25.80,26.20,28.83
$GC,11433,0.35,194.6,814.2,12.1,1547,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2532,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11744,0.33,194.6,777.9,11.6,1578,11753,0.00,2.47,0.00,0.000,4,0.000,0.032,2410,1099,2140,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11766,0.32,194.6,775.1,11.7,1580,11777,0.08,2.65,0.00,0.000,6,0.119,0.036,2381,2565,2140,0,0,0,0,0,0,25.91,26.13,28.83
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$STATE,19253,end climb,SURFACE_DEPTH_REACHED
$STATE,19253,begin surface coast
$FINISH,-0.5,1.006759
$STATE,19280,end surface coast,CONTROL_FINISHED_OK
$STATE,19280,begin surface
$SM_CCo,19357,0.00,0.000,0,0,824,528.62
$SM_GC,0.47,6.28,0.00,0.00,0.023,0.000,0.000,129,2453,824,-6.61,0.06,528.62,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,2312.13,12159.83,200612,151505
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.55
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.1,58.548
$10V_AH,10.0,37.127
$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,18.700,211.575,816.200,0.000,0.000,62.253,48.639,403.666,0.000,0.000,33.814,6521.413,7011.623,1066.849,4849.912,634.192,0.000,3314.286,0.000,4155.307,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,58.905,1123.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1879.807,2245.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,170082,2766
$CAP_FILE_SIZE,272489,0
$CFSIZE,260165632,189431808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,318.2,1
$GPS,200612,213307,2323.630,12204.074,29,1.6,29,-3.1