version: 66.10
glider: 169
mission: 6
dive: 50
start: 4 28 112 3 24 13
data:
$ID,169
$MISSION,6
$DIVE,50
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,2
$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,-15275.731
$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,2035
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$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
$GPS1,280412,031607,2313.353,12206.879,40,1.0,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-72.9
$GPS2,280412,032350,2313.229,12206.885,12,2.0,12,-3.1
$SPEED_LIMITS,0.159,0.302
$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,72.7,195405,-13.6,-9.167
$D_GRID,4459
$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,19,-0.61,-219.0,0.0,0.0,0,105,0.00,0.00,-83.22,0.000,2,0.000,0.000,123,2528,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.61,-219.0,3.0,-7.6,15,139,6.72,2.38,-14.88,0.000,4,0.230,0.041,1840,1035,3875,0,0,0,0,0,0,25.65,26.05,26.34
$GC,235,-0.57,-219.0,37.2,-21.2,38,242,0.00,2.40,0.00,0.000,6,0.000,0.035,1828,2524,3875,0,0,0,0,0,0,28.83,26.10,28.83
$GC,427,-0.48,-219.0,92.8,-27.9,75,433,0.15,0.00,0.00,0.000,6,0.174,0.000,1873,2524,3876,0,0,0,0,0,0,26.03,28.83,28.83
$GC,618,-0.43,-219.0,134.9,-20.4,112,625,0.00,2.33,0.00,0.000,4,0.000,0.027,1877,1042,3877,0,0,0,0,0,0,28.83,26.31,28.83
$GC,663,-0.42,-219.0,142.2,-13.3,120,670,0.00,2.33,0.00,0.000,6,0.000,0.036,1869,2491,3877,0,0,0,0,0,0,28.83,26.30,28.83
$GC,857,-0.38,-219.0,170.7,-17.1,157,864,0.12,2.03,0.00,0.000,4,0.150,0.041,1901,3824,3877,0,0,0,0,0,0,26.27,26.34,28.83
$GC,917,-0.42,-219.0,177.9,-6.7,168,924,0.00,2.03,0.00,0.000,6,0.000,0.020,1902,2422,3877,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1109,-0.42,-219.0,193.7,-8.4,205,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2422,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1305,-0.43,-219.0,208.6,-7.8,232,1313,0.00,2.20,0.00,0.000,4,0.000,0.041,1892,3819,3877,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1328,-0.45,-219.0,210.3,-7.8,234,1336,0.00,2.03,0.00,0.000,6,0.000,0.021,1892,2427,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1636,-0.45,-219.0,241.0,-10.2,265,1645,0.00,2.22,0.00,0.000,4,0.000,0.041,1882,3832,3876,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1680,-0.46,-219.0,244.7,-9.0,269,1688,0.00,2.00,0.00,0.000,6,0.000,0.021,1882,2438,3877,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1988,-0.46,-219.0,275.1,-10.3,300,1997,0.00,2.15,0.00,0.000,4,0.000,0.028,1882,1036,3877,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2020,-0.47,-219.0,278.0,-9.6,303,2029,0.00,2.35,0.00,0.000,6,0.000,0.032,1881,2527,3877,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2329,-0.47,-219.0,306.7,-9.4,334,2338,0.00,2.00,0.00,0.000,4,0.000,0.044,1870,3829,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2362,-0.48,-219.0,309.5,-9.1,337,2371,0.00,2.00,0.00,0.000,6,0.000,0.021,1870,2441,3876,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2673,-0.48,-219.0,337.9,-8.7,368,2681,0.00,2.15,0.00,0.000,4,0.000,0.042,1862,3814,3876,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2736,-0.51,-219.0,342.9,-7.5,374,2744,0.00,1.98,0.00,0.000,6,0.000,0.022,1862,2460,3875,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3044,-0.51,-219.0,369.6,-8.7,405,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2460,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3347,-0.51,-219.0,397.0,-9.4,435,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2460,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.51,-219.0,425.2,-8.8,466,3665,0.00,2.15,0.00,0.000,4,0.000,0.043,1854,3816,3871,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3692,-0.52,-219.0,428.1,-8.3,469,3698,0.00,1.92,0.00,0.000,6,0.000,0.021,1853,2469,3871,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3999,-0.52,-219.0,459.1,-9.7,500,4007,0.00,2.17,0.00,0.000,4,0.000,0.027,1853,1044,3869,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4024,-0.52,-219.0,461.4,-10.0,502,4031,0.00,2.40,0.00,0.000,6,0.000,0.034,1852,2553,3868,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4331,-0.52,-219.0,490.3,-9.0,533,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2552,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.52,-219.0,514.7,-7.8,563,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2552,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4942,-0.52,-219.0,539.1,-8.0,594,4951,0.00,1.92,0.00,0.000,4,0.000,0.045,1842,3821,3863,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4966,-0.52,-219.0,540.9,-7.9,596,4973,0.00,1.98,0.00,0.000,6,0.000,0.024,1842,2468,3862,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5273,-0.52,-219.0,568.1,-9.2,627,5277,0.00,2.12,0.00,0.000,4,0.000,0.045,1833,3817,3862,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5308,-0.52,-219.0,571.0,-9.3,630,5315,0.10,1.95,0.00,0.000,6,0.122,0.024,1866,2477,3861,0,0,0,0,0,0,26.51,26.65,28.83
$GC,5616,-0.54,-219.0,592.8,-6.6,661,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2475,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5927,-0.56,-219.0,613.0,-6.4,682,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2475,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6226,-0.58,-219.0,632.7,-6.7,697,6232,0.00,2.10,0.00,0.000,4,0.000,0.047,1858,3821,3856,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6266,-0.60,-219.0,635.4,-6.8,699,6271,0.00,1.95,0.00,0.000,6,0.000,0.024,1858,2484,3856,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6586,-0.68,-219.0,658.4,-7.7,715,6592,0.12,2.20,0.00,0.000,4,0.092,0.027,1784,1044,3853,0,0,0,0,0,0,26.66,26.59,28.83
$GC,6629,-0.73,-219.0,661.6,-7.8,717,6634,0.00,2.40,0.00,0.000,6,0.000,0.035,1774,2553,3853,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6942,-0.69,-219.0,705.4,-14.9,733,6948,0.12,1.92,0.00,0.000,4,0.148,0.045,1809,3822,3851,0,0,0,0,0,0,26.47,26.53,28.83
$GC,6995,-0.66,-219.0,710.4,-13.9,735,7002,0.00,1.92,0.00,0.000,6,0.000,0.023,1808,2488,3850,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7303,-0.64,-219.0,746.0,-10.8,751,7309,0.00,2.05,0.00,0.000,4,0.000,0.047,1798,3817,3849,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7350,-0.63,-219.0,750.4,-10.7,753,7355,0.12,1.90,0.00,0.000,6,0.119,0.025,1839,2506,3849,0,0,0,0,0,0,26.46,26.63,28.83
$GC,7659,-0.63,-219.0,773.1,-7.1,768,7665,0.00,2.25,0.00,0.000,4,0.000,0.029,1839,1041,3848,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7687,-0.64,-219.0,774.7,-7.2,769,7696,0.00,2.45,0.00,0.000,6,0.000,0.037,1838,2566,3847,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7998,-0.65,-219.0,799.5,-8.2,785,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2565,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,-0.65,-219.0,823.5,-7.9,800,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2565,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8599,-0.66,-219.0,845.6,-7.2,815,8605,0.00,2.38,0.00,0.000,4,0.000,0.030,1839,1041,3843,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8620,-0.67,-219.0,847.0,-7.2,816,8625,0.00,2.42,0.00,0.000,6,0.000,0.038,1839,2555,3843,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8934,-0.68,-219.0,868.7,-7.0,832,8939,0.00,1.92,0.00,0.000,4,0.000,0.048,1830,3825,3841,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8973,-0.69,-219.0,871.5,-6.9,834,8978,0.00,1.95,0.00,0.000,6,0.000,0.024,1830,2490,3841,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9293,-0.69,-219.0,895.6,-7.5,850,9298,0.00,2.25,0.00,0.000,4,0.000,0.030,1830,1040,3839,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9327,-0.70,-219.0,897.2,-7.6,851,9334,0.00,2.42,0.00,0.000,6,0.000,0.037,1825,2557,3839,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9634,-0.70,-219.0,921.9,-8.0,867,9640,0.00,1.92,0.00,0.000,4,0.000,0.048,1817,3826,3838,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9662,-0.70,-219.0,923.5,-8.0,868,9671,0.00,1.95,0.00,0.000,6,0.000,0.024,1817,2485,3839,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9973,-0.70,-219.0,952.7,-9.4,884,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2485,3837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,-0.70,-219.0,980.8,-9.5,899,10279,0.00,2.08,0.00,0.000,4,0.000,0.049,1808,3813,3836,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10295,-0.70,-219.0,982.7,-9.4,900,10299,0.00,1.95,0.00,0.000,6,0.000,0.026,1807,2505,3836,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,10370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10371,begin apogee
$GC,10377,-0.20,0.0,990.6,-9.9,904,10596,0.45,0.08,212.55,1.131,4,0.092,0.093,1969,2483,2978,0,0,0,0,0,0,26.34,24.62,23.96
$STATE,10597,end apogee,CONTROL_FINISHED_OK
$STATE,10597,begin climb
$GC,10600,0.61,219.0,1000.2,0.0,915,10840,0.70,2.25,231.57,1.105,4,0.034,0.046,2258,3815,2085,0,0,0,0,0,0,24.87,24.81,23.74
$GC,11043,0.51,219.0,899.6,30.0,937,11051,0.25,2.05,0.00,0.000,6,0.194,0.024,2205,2491,2041,0,0,0,0,0,0,25.31,25.54,28.83
$GC,11353,0.44,219.0,825.9,21.6,953,11358,0.00,2.28,0.00,0.000,4,0.000,0.034,2217,1072,2037,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11475,0.40,219.0,803.7,17.5,959,11482,0.17,2.42,0.00,0.000,6,0.158,0.037,2169,2548,2033,0,0,0,0,0,0,25.79,25.98,28.83
$GC,11794,0.36,219.0,750.2,16.2,975,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2547,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12091,0.31,219.0,704.3,15.4,990,12097,0.12,1.98,0.00,0.000,4,0.180,0.044,2131,3824,2033,0,0,0,0,0,0,26.04,26.19,28.83
$GC,12154,0.28,219.0,695.8,14.5,993,12158,0.00,2.03,0.00,0.000,6,0.000,0.025,2141,2486,2032,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12467,0.26,219.0,655.8,12.8,1009,12471,0.00,2.10,0.00,0.000,4,0.000,0.045,2142,3820,2032,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,18244,end climb,SURFACE_DEPTH_REACHED
$STATE,18244,begin surface coast
$FINISH,-0.0,1.022226
$STATE,18262,end surface coast,CONTROL_FINISHED_OK
$STATE,18262,begin surface
$SM_CCo,18337,0.00,0.000,0,0,886,513.41
$SM_GC,0.58,5.38,0.10,0.00,0.025,0.077,0.000,123,2437,886,-5.88,0.37,513.41,0,0,0,0,0,0
$IRIDIUM_FIX,2305.10,12205.79,270412,222237
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.7,9.150
$10V_AH,10.2,5.433
$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,15.600,181.825,841.300,0.000,0.000,30.834,20.362,264.382,0.000,0.000,13.317,3906.355,10080.956,955.921,3379.278,442.138,0.000,2652.289,0.000,2891.456,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,112.455,1130.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1146.086,2183.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,106942,1694
$CAP_FILE_SIZE,210811,0
$CFSIZE,260165632,217141248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,280412,083101,2314.223,12209.144,42,0.9,42,-3.1