version: 66.10
glider: 169
mission: 6
dive: 338
start: 6 30 112 13 12 43
data:
$ID,169
$MISSION,6
$DIVE,338
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-12
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$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,-15966.986
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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
$GPS1,300612,130330,2356.594,12306.290,39,1.0,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-70.0
$GPS2,300612,131220,2356.667,12306.353,16,1.4,16,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2346.235,12309.406
$TGT_RADIUS,1852.000
$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,168.4,20000,-16.2,-13.200
$D_GRID,2130
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.76,-292.0,0.0,0.0,0,116,0.00,0.00,-94.70,0.000,2,0.000,0.000,117,2415,3039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.76,-292.0,3.2,-8.2,17,150,7.55,0.00,-17.15,0.000,6,0.222,0.000,1996,2415,3963,0,0,0,0,0,0,24.94,28.83,26.54
$GC,334,-0.68,-292.0,75.8,-27.1,58,341,0.12,2.35,0.00,0.000,4,0.183,0.022,2043,1004,3965,0,0,0,0,0,0,25.99,26.22,28.83
$GC,366,-0.63,-292.0,82.3,-19.5,63,373,0.00,2.58,0.00,0.000,6,0.000,0.033,2031,2487,3965,0,0,0,0,0,0,28.83,26.15,28.83
$GC,557,-0.58,-292.0,118.0,-20.6,100,564,0.12,0.00,0.00,0.000,6,0.161,0.000,2070,2486,3965,0,0,0,0,0,0,26.15,28.83,28.83
$GC,748,-0.55,-292.0,148.7,-15.9,137,755,0.00,2.53,0.00,0.000,4,0.000,0.026,2076,1013,3965,0,0,0,0,0,0,28.83,26.29,28.83
$GC,824,-0.58,-292.0,158.1,-10.4,151,831,0.00,2.50,0.00,0.000,6,0.000,0.029,2064,2471,3965,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1016,-0.56,-292.0,185.8,-13.8,188,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2469,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1208,-0.54,-292.0,210.2,-12.3,225,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2469,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.53,-292.0,248.2,-13.8,286,1526,0.00,2.45,0.00,0.000,4,0.000,0.024,2065,1014,3965,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1573,-0.56,-292.0,254.4,-10.5,296,1581,0.00,2.47,0.00,0.000,6,0.000,0.030,2055,2458,3964,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1886,-0.54,-292.0,297.1,-13.5,357,1893,0.00,2.10,0.00,0.000,4,0.000,0.041,2044,3835,3963,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1921,-0.53,-292.0,301.7,-13.2,363,1929,0.10,2.08,0.00,0.000,6,0.131,0.019,2075,2395,3963,0,0,0,0,0,0,26.26,26.48,28.83
$GC,2236,-0.53,-292.0,332.5,-9.6,424,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2394,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2549,-0.53,-292.0,363.1,-10.2,485,2555,0.00,2.30,0.00,0.000,4,0.000,0.041,2064,3832,3959,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2578,-0.55,-292.0,366.1,-10.3,490,2586,0.00,2.08,-0.05,0.000,6,0.000,0.019,2064,2390,3971,0,0,0,0,0,0,28.83,26.50,25.75
$GC,2892,-0.55,-292.0,399.7,-10.7,551,2899,0.00,2.30,0.00,0.000,4,0.000,0.041,2053,3837,3970,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2916,-0.55,-292.0,402.7,-11.1,555,2923,0.00,2.05,0.00,0.000,6,0.000,0.019,2053,2411,3970,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3228,-0.55,-292.0,436.9,-10.6,616,3235,0.00,2.33,0.00,0.000,4,0.000,0.024,2053,1000,3969,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3260,-0.56,-292.0,440.1,-10.1,621,3266,0.00,2.55,0.00,0.000,6,0.000,0.029,2043,2484,3969,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3572,-0.55,-292.0,473.5,-10.0,682,3579,0.00,2.03,0.00,0.000,4,0.000,0.041,2032,3831,3966,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3594,-0.55,-292.0,475.8,-10.8,685,3601,0.12,2.05,0.00,0.000,6,0.120,0.019,2073,2408,3966,0,0,0,0,0,0,26.22,26.47,28.83
$GC,3914,-0.56,-292.0,502.1,-9.6,745,3922,0.00,2.28,0.00,0.000,4,0.000,0.024,2073,1004,3964,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3946,-0.58,-292.0,505.4,-9.5,748,3954,0.00,2.53,0.00,0.000,6,0.000,0.030,2063,2482,3964,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4256,-0.58,-292.0,538.6,-10.9,779,4265,0.00,2.03,0.00,0.000,4,0.000,0.041,2053,3825,3962,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4288,-0.60,-292.0,541.9,-10.7,782,4297,0.00,2.03,0.00,0.000,6,0.000,0.020,2053,2413,3961,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4598,-0.60,-292.0,573.7,-10.2,813,4607,0.00,2.33,0.00,0.000,4,0.000,0.026,2053,997,3959,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4620,-0.61,-292.0,575.9,-9.9,815,4629,0.00,2.50,0.00,0.000,6,0.000,0.032,2043,2468,3959,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4930,-0.61,-292.0,607.3,-10.2,846,4939,0.00,2.08,0.00,0.000,4,0.000,0.044,2033,3840,3956,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4955,-0.61,-292.0,609.6,-10.1,848,4962,0.00,2.10,0.00,0.000,6,0.000,0.021,2033,2405,3956,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5262,-0.60,-292.0,642.7,-10.6,879,5271,0.00,2.28,0.00,0.000,4,0.000,0.026,2033,1013,3954,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5294,-0.60,-292.0,646.1,-10.6,882,5303,0.00,2.50,0.00,0.000,6,0.000,0.033,2029,2465,3954,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5605,-0.59,-292.0,681.4,-11.6,913,5615,0.10,2.08,0.00,0.000,4,0.157,0.042,2048,3824,3951,0,0,0,0,0,0,26.38,26.17,28.83
$GC,5640,-0.59,-292.0,684.8,-10.6,916,5647,0.00,2.08,0.00,0.000,6,0.000,0.020,2048,2403,3951,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5950,-0.59,-292.0,712.4,-9.2,947,5958,0.00,2.25,0.00,0.000,4,0.000,0.044,2037,3819,3949,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5972,-0.60,-292.0,714.6,-9.4,949,5976,0.00,2.08,0.00,0.000,6,0.000,0.021,2037,2410,3949,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6285,-0.60,-292.0,747.8,-10.8,980,6294,0.00,2.30,0.00,0.000,4,0.000,0.027,2037,1013,3947,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6318,-0.61,-292.0,750.9,-10.0,983,6327,0.00,2.50,0.00,0.000,6,0.000,0.033,2033,2470,3946,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6627,-0.61,-292.0,783.2,-11.3,1014,6636,0.00,2.08,0.00,0.000,4,0.000,0.047,2022,3819,3944,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6650,-0.61,-292.0,785.6,-11.2,1016,6655,0.10,2.10,0.00,0.000,6,0.132,0.021,2053,2402,3944,0,0,0,0,0,0,26.17,26.39,28.83
$GC,6963,-0.62,-292.0,812.9,-8.3,1047,6972,0.00,2.30,0.00,0.000,4,0.000,0.045,2042,3826,3942,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6986,-0.64,-292.0,814.6,-8.0,1049,6995,0.00,2.08,0.00,0.000,6,0.000,0.021,2042,2413,3942,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7295,-0.65,-292.0,843.7,-10.2,1080,7306,0.00,2.33,0.00,0.000,4,0.000,0.028,2042,1010,3941,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7322,-0.66,-292.0,846.2,-10.3,1082,7329,0.00,2.53,0.00,0.000,6,0.000,0.035,2039,2471,3940,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7629,-0.66,-292.0,878.4,-10.4,1113,7638,0.00,2.12,0.00,0.000,4,0.000,0.047,2029,3837,3938,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7665,-0.67,-292.0,881.7,-10.1,1116,7671,0.00,2.10,0.00,0.000,6,0.000,0.021,2029,2415,3938,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7971,-0.67,-292.0,915.5,-10.9,1147,7980,0.00,2.33,0.00,0.000,4,0.000,0.029,2029,1013,3936,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8007,-0.67,-292.0,918.9,-10.9,1150,8013,0.00,2.53,0.00,0.000,6,0.000,0.036,2023,2472,3936,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8313,-0.67,-292.0,952.6,-11.0,1181,8317,0.00,2.12,0.00,0.000,4,0.000,0.049,2013,3833,3934,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8349,-0.67,-292.0,956.2,-10.8,1184,8356,0.00,2.10,0.00,0.000,6,0.000,0.022,2013,2414,3933,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,8642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8642,begin apogee
$GC,8649,-0.20,0.0,990.8,-11.2,1214,8895,0.50,0.10,234.90,1.077,4,0.099,0.072,2183,2432,2967,0,0,0,0,0,0,25.78,24.86,23.59
$STATE,8896,end apogee,CONTROL_FINISHED_OK
$STATE,8896,begin climb
$GC,8898,0.76,292.0,1002.3,0.0,1239,9215,0.82,0.12,304.08,1.035,6,0.045,0.081,2501,2500,1775,0,0,0,0,0,0,25.15,25.19,23.63
$GC,9517,0.71,292.0,882.5,22.7,1301,9525,0.00,2.58,0.00,0.000,4,0.000,0.030,2514,1014,1750,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9591,0.69,292.0,868.7,16.8,1308,9599,0.15,2.67,0.00,0.000,6,0.151,0.037,2473,2520,1748,0,0,0,0,0,0,25.76,26.02,28.83
$GC,9900,0.66,292.0,809.3,19.4,1339,9908,0.00,1.98,0.00,0.000,4,0.000,0.045,2472,3832,1747,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10037,0.61,292.0,780.9,21.2,1352,10044,0.12,1.88,0.00,0.000,6,0.177,0.022,2451,2509,1746,0,0,0,0,0,0,25.88,26.27,28.83
$GC,10342,0.59,292.0,731.0,14.9,1383,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2507,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,0.57,292.0,688.4,14.6,1413,10649,0.00,2.08,0.00,0.000,4,0.000,0.045,2451,3825,1746,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10700,0.55,292.0,679.6,16.0,1418,10708,0.12,1.85,0.00,0.000,6,0.158,0.023,2426,2525,1745,0,0,0,0,0,0,25.96,26.30,28.83
$GC,11008,0.65,372.2,644.3,10.8,1449,11137,0.00,2.72,119.75,0.723,4,0.000,0.031,2440,1033,1450,0,0,0,0,0,0,28.83,25.35,24.12
$GC,11182,0.82,487.3,626.2,9.7,1466,11325,0.17,2.75,129.48,0.772,6,0.030,0.030,2549,2548,981,0,0,0,0,0,0,25.70,25.64,23.99
$GC,11625,0.78,487.3,516.2,24.7,1510,11629,0.15,1.92,0.00,0.000,4,0.174,0.041,2505,3831,953,0,0,0,0,0,0,25.73,25.94,28.83
$GC,11679,0.77,487.3,505.4,19.3,1515,11687,0.00,1.90,0.00,0.000,6,0.000,0.022,2514,2519,952,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11989,0.77,487.3,458.7,14.5,1573,11996,0.00,2.62,0.00,0.000,4,0.000,0.033,2527,1028,951,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12039,0.81,499.6,451.8,12.8,1582,12046,0.00,2.75,0.00,0.000,6,0.000,0.032,2528,2552,949,0,0,0,0,0,0,28.83,26.12,28.83
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$GC,12746,0.84,511.8,338.6,12.8,1718,12776,0.00,2.75,22.98,0.709,6,0.000,0.031,2550,2554,887,0,0,0,0,0,0,28.83,26.18,24.51
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$STATE,15083,end climb,SURFACE_DEPTH_REACHED
$STATE,15084,begin surface coast
$FINISH,-0.2,1.021774
$STATE,15101,end surface coast,CONTROL_FINISHED_OK
$STATE,15101,begin surface
$SM_CCo,15179,0.00,0.000,0,0,388,635.57
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$IRIDIUM_FIX,2349.77,12302.82,300612,080833
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.35
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.6,71.652
$10V_AH,10.0,44.359
$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,17.300,165.875,927.825,0.000,0.000,31.137,35.309,293.579,0.000,0.000,17.208,4767.936,5530.851,1030.568,3815.659,522.421,0.000,2891.016,0.000,3328.657,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,81.090,1077.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1462.512,1749.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330944
$DATA_FILE_SIZE,133395,2165
$CAP_FILE_SIZE,213602,0
$CFSIZE,260165632,182968320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300612,172636,2355.458,12307.830,26,1.0,26,-3.4