version: 66.10
glider: 169
mission: 6
dive: 301
start: 6 23 112 17 26 3
data:
$ID,169
$MISSION,6
$DIVE,301
$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,320
$T_MISSION,360
$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,-15920.439
$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,2425
$C_ROLL_CLIMB,2520
$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
$GPS1,230612,171555,2340.795,12218.617,41,1.2,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-68.4
$GPS2,230612,172537,2341.176,12218.700,10,1.6,15,-3.2
$SPEED_LIMITS,0.179,0.299
$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,132.5,163955,-16.1,-10.312
$D_GRID,2793
$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,-0.64,-194.6,0.0,0.0,0,108,0.00,0.00,-88.93,0.000,2,0.000,0.000,118,2370,3080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.64,-194.6,3.3,-7.9,15,139,7.82,2.45,-13.05,0.000,4,0.223,0.047,2046,3836,3775,0,0,0,0,0,0,24.94,26.00,26.48
$GC,219,-0.55,-194.6,42.0,-30.1,34,226,0.15,2.15,0.00,0.000,6,0.177,0.021,2094,2395,3776,0,0,0,0,0,0,25.67,26.16,28.83
$GC,411,-0.50,-194.6,86.6,-20.8,71,418,0.00,2.33,0.00,0.000,4,0.000,0.024,2102,950,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,492,-0.53,-194.6,98.4,-11.6,86,498,0.00,2.42,0.00,0.000,6,0.000,0.031,2091,2419,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,683,-0.49,-194.6,129.6,-16.2,123,690,0.00,2.17,0.00,0.000,4,0.000,0.039,2079,3832,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,719,-0.47,-194.6,134.7,-15.3,129,727,0.15,2.20,0.00,0.000,6,0.125,0.018,2125,2346,3777,0,0,0,0,0,0,26.06,26.37,28.83
$GC,910,-0.47,-194.6,153.4,-9.8,166,917,0.00,2.38,0.00,0.000,4,0.000,0.038,2114,3829,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,941,-0.48,-194.6,156.3,-9.7,171,948,0.00,2.15,0.00,0.000,6,0.000,0.018,2114,2364,3777,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1132,-0.48,-194.6,175.5,-9.3,208,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2363,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1327,-0.48,-194.6,193.1,-8.3,245,1334,0.00,2.35,0.00,0.000,4,0.000,0.038,2104,3823,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1366,-0.51,-194.6,196.2,-7.4,252,1374,0.00,2.10,0.00,0.000,6,0.000,0.018,2104,2371,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1560,-0.51,-194.6,212.6,-8.5,289,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2371,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,-0.53,-194.6,239.5,-8.3,350,1877,0.00,2.33,0.00,0.000,4,0.000,0.038,2094,3829,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1925,-0.56,-194.6,244.1,-7.9,360,1933,0.00,2.10,0.00,0.000,6,0.000,0.018,2094,2381,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2240,-0.56,-194.6,273.6,-9.6,421,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2381,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2551,-0.57,-194.6,302.2,-8.2,482,2558,0.00,2.33,0.00,0.000,4,0.000,0.040,2084,3831,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2618,-0.60,-194.6,307.4,-7.6,494,2625,0.00,2.10,0.00,0.000,6,0.000,0.018,2085,2389,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2930,-0.60,-194.6,333.1,-8.2,555,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2388,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.60,-194.6,359.5,-9.1,616,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2388,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-0.61,-194.6,388.5,-9.6,677,3560,0.00,2.33,0.00,0.000,4,0.000,0.041,2074,3829,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3620,-0.63,-194.6,394.7,-8.8,689,3626,0.00,2.10,0.00,0.000,6,0.000,0.018,2074,2387,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3931,-0.63,-194.6,425.3,-9.6,750,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2386,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4243,-0.63,-194.6,454.7,-9.4,811,4250,0.00,2.33,-0.08,0.000,4,0.000,0.035,2074,957,3791,0,0,0,0,0,0,28.83,26.33,25.48
$GC,4274,-0.64,-194.6,457.5,-9.0,816,4282,0.00,2.55,0.00,0.000,6,0.000,0.030,2064,2476,3791,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4589,-0.64,-194.6,488.3,-9.5,877,4595,0.00,2.10,0.00,0.000,4,0.000,0.042,2054,3836,3790,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4646,-0.66,-194.6,493.8,-8.9,887,4652,0.00,2.10,0.00,0.000,6,0.000,0.019,2053,2411,3789,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4956,-0.65,-194.6,527.2,-10.7,923,4964,0.00,2.33,0.00,0.000,4,0.000,0.026,2054,951,3787,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4991,-0.65,-194.6,530.6,-10.8,926,4998,0.00,2.58,0.00,0.000,6,0.000,0.032,2043,2487,3787,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5300,-0.64,-194.6,569.1,-12.9,957,5308,0.00,2.05,0.00,0.000,4,0.000,0.043,2032,3831,3784,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5323,-0.62,-194.6,572.1,-12.8,959,5327,0.12,2.05,0.00,0.000,6,0.129,0.021,2071,2424,3783,0,0,0,0,0,0,26.13,26.42,28.83
$GC,5636,-0.63,-194.6,603.0,-9.9,990,5644,0.00,2.35,0.00,0.000,4,0.000,0.027,2071,959,3781,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5659,-0.64,-194.6,605.0,-9.7,992,5668,0.00,2.55,0.00,0.000,6,0.000,0.032,2061,2481,3781,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5967,-0.64,-194.6,636.6,-9.7,1023,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2480,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,-0.64,-194.6,664.5,-9.1,1053,6279,0.00,2.05,0.00,0.000,4,0.000,0.046,2050,3822,3777,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6295,-0.64,-194.6,667.0,-9.6,1055,6302,0.00,2.05,0.00,0.000,6,0.000,0.021,2050,2426,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6603,-0.64,-194.6,698.7,-9.8,1086,6612,0.00,2.35,0.00,0.000,4,0.000,0.028,2050,956,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6636,-0.64,-194.6,701.9,-9.9,1089,6645,0.00,2.58,0.00,0.000,6,0.000,0.033,2040,2487,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6947,-0.63,-194.6,736.5,-11.6,1120,6955,0.12,0.00,0.00,0.000,6,0.143,0.000,2077,2486,3773,0,0,0,0,0,0,26.29,28.83,28.83
$GC,7256,-0.64,-194.6,763.1,-8.5,1151,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2486,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,-0.66,-194.6,787.3,-7.9,1181,7568,0.00,2.50,0.00,0.000,4,0.000,0.026,2077,968,3769,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7584,-0.68,-194.6,789.2,-7.4,1183,7590,0.00,2.58,0.00,0.000,6,0.000,0.034,2069,2483,3769,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7891,-0.69,-194.6,811.4,-6.5,1214,7895,0.00,2.10,0.00,0.000,4,0.000,0.047,2059,3821,3767,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7934,-0.71,-194.6,814.2,-6.6,1218,7942,0.00,2.08,0.00,0.000,6,0.000,0.021,2059,2428,3767,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8244,-0.72,-194.6,836.2,-7.1,1249,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2428,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8546,-0.73,-194.6,858.8,-7.4,1279,8554,0.00,2.25,0.00,0.000,4,0.000,0.046,2048,3817,3764,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8570,-0.74,-194.6,860.6,-7.5,1281,8578,0.00,2.03,0.00,0.000,6,0.000,0.022,2048,2437,3764,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8877,-0.74,-194.6,888.5,-9.4,1312,8887,0.00,2.40,0.00,0.000,4,0.000,0.028,2048,970,3762,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8921,-0.75,-194.6,892.3,-8.8,1316,8931,0.00,2.58,0.00,0.000,6,0.000,0.035,2037,2484,3762,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9231,-0.74,-194.6,925.8,-11.3,1347,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2483,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9533,-0.74,-194.6,957.6,-10.3,1377,9541,0.00,2.50,0.00,0.000,4,0.000,0.028,2037,974,3760,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9595,-0.75,-194.6,964.1,-9.7,1383,9603,0.00,2.55,0.00,0.000,6,0.000,0.036,2030,2469,3761,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,9832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9832,begin apogee
$GC,9841,-0.20,0.0,990.5,-11.7,1407,10046,0.52,0.08,194.77,1.093,4,0.107,0.036,2207,2478,2968,0,0,0,0,0,0,25.63,24.61,23.42
$STATE,10047,end apogee,CONTROL_FINISHED_OK
$STATE,10047,begin climb
$GC,10050,0.64,194.6,1000.0,0.0,1428,10268,0.70,2.50,209.43,1.114,4,0.037,0.026,2492,1048,2184,0,0,0,0,0,0,25.03,24.99,23.00
$GC,10321,0.61,194.6,970.2,16.0,1455,10328,0.00,2.75,0.00,0.000,6,0.000,0.037,2491,2534,2152,0,0,0,0,0,0,28.83,25.07,28.83
$GC,10629,0.54,194.6,906.1,21.3,1486,10638,0.12,2.55,0.00,0.000,4,0.182,0.027,2469,1069,2147,0,0,0,0,0,0,25.72,25.95,28.83
$GC,10702,0.52,194.6,892.8,15.6,1493,10711,0.00,2.62,0.00,0.000,6,0.000,0.036,2469,2547,2145,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11012,0.47,194.6,833.2,20.3,1524,11017,0.12,1.92,0.00,0.000,4,0.178,0.041,2431,3833,2144,0,0,0,0,0,0,25.89,26.03,28.83
$GC,11126,0.43,194.6,811.4,18.5,1535,11130,0.00,1.90,0.00,0.000,6,0.000,0.022,2441,2530,2142,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11439,0.39,194.6,759.8,16.3,1566,11448,0.12,1.95,0.00,0.000,4,0.183,0.040,2404,3822,2143,0,0,0,0,0,0,25.96,26.08,28.83
$GC,11546,0.37,194.6,743.6,15.2,1576,11553,0.00,1.83,0.00,0.000,6,0.000,0.021,2414,2535,2141,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11851,0.36,194.6,702.0,13.3,1607,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2534,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12154,0.34,194.6,665.0,11.7,1637,12163,0.00,1.98,0.00,0.000,4,0.000,0.044,2414,3834,2141,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12179,0.32,194.6,661.7,12.4,1639,12186,0.15,1.83,0.00,0.000,6,0.156,0.021,2381,2540,2141,0,0,0,0,0,0,25.86,26.32,28.83
$GC,12489,0.38,239.0,633.7,8.7,1670,12557,0.00,2.62,60.80,0.828,4,0.000,0.028,2395,1074,1997,0,0,0,0,0,0,28.83,25.54,24.22
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$GC,14885,0.60,396.3,278.3,14.2,2040,14892,0.00,1.92,0.00,0.000,6,0.000,0.021,2494,2500,1325,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,17146,end climb,SURFACE_DEPTH_REACHED
$STATE,17146,begin surface coast
$FINISH,1.2,1.021576
$STATE,17153,end surface coast,CONTROL_FINISHED_OK
$STATE,17153,begin surface
$SM_CCo,17232,0.00,0.000,0,0,475,614.23
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$IRIDIUM_FIX,2330.93,12218.53,230612,121250
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.79
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.0,61.702
$10V_AH,9.9,39.345
$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,17.975,182.775,849.475,0.000,0.000,29.417,23.004,349.951,0.000,0.000,16.305,5789.117,6140.209,1008.142,4258.594,570.937,0.000,3023.025,0.000,3715.851,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,87.210,1113.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1673.008,1990.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,153814,2463
$CAP_FILE_SIZE,240894,0
$CFSIZE,260165632,187490304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,347.7,1
$GPS,230612,221436,2342.106,12220.133,41,1.1,52,-3.2