version: 66.10
glider: 169
mission: 6
dive: 165
start: 5 24 112 1 14 36
data:
$ID,169
$MISSION,6
$DIVE,165
$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,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,-15546.404
$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,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,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
$GPS1,240512,010036,2144.892,12402.730,29,1.1,29,-2.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.0
$GPS2,240512,011413,2144.492,12402.566,11,1.3,17,-2.9
$SPEED_LIMITS,0.136,0.256
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,211.9,27201,-13.5,-7.857
$D_GRID,5588
$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,-0.55,-170.3,0.0,0.0,0,89,0.00,0.00,-69.80,0.000,2,0.000,0.000,117,2437,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.55,-170.3,3.4,-6.9,12,119,7.80,2.33,-11.32,0.000,4,0.223,0.039,2101,1040,3677,0,0,0,0,0,0,25.31,26.04,26.39
$GC,279,-0.47,-170.3,68.2,-28.6,47,287,0.12,2.47,0.00,0.000,6,0.148,0.035,2122,2513,3679,0,0,0,0,0,0,25.86,26.07,28.83
$GC,473,-0.40,-170.3,109.9,-18.2,84,480,0.00,2.40,0.00,0.000,4,0.000,0.025,2133,1037,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,523,-0.38,-170.3,118.1,-13.7,93,530,0.10,2.42,0.00,0.000,6,0.151,0.032,2150,2498,3680,0,0,0,0,0,0,26.03,26.19,28.83
$GC,716,-0.35,-170.3,146.3,-15.6,130,723,0.00,2.00,0.00,0.000,4,0.000,0.039,2141,3825,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,746,-0.32,-170.3,150.8,-15.2,135,754,0.00,2.03,0.00,0.000,6,0.000,0.018,2141,2414,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,939,-0.29,-170.3,178.5,-13.4,172,946,0.12,2.17,0.00,0.000,4,0.142,0.023,2190,1027,3680,0,0,0,0,0,0,26.25,26.34,28.83
$GC,980,-0.33,-170.3,182.4,-6.7,179,987,0.00,2.38,0.00,0.000,6,0.000,0.030,2190,2484,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1173,-0.35,-170.3,192.0,-4.2,216,1179,0.00,2.05,0.00,0.000,4,0.000,0.040,2181,3835,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1212,-0.41,-170.3,194.1,-4.7,223,1221,0.12,2.05,0.00,0.000,6,0.080,0.017,2104,2394,3680,0,0,0,0,0,0,26.38,26.50,28.83
$GC,1406,-0.36,-170.3,221.4,-16.1,247,1417,0.15,2.10,0.00,0.000,4,0.139,0.024,2156,1038,3680,0,0,0,0,0,0,26.24,26.40,28.83
$GC,1490,-0.38,-170.3,229.0,-6.3,255,1500,0.00,2.28,0.00,0.000,6,0.000,0.029,2153,2456,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1800,-0.38,-170.3,253.7,-7.6,286,1808,0.00,2.10,0.00,0.000,4,0.000,0.038,2143,3838,3679,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1852,-0.40,-170.3,257.1,-6.7,291,1862,0.00,2.08,0.00,0.000,6,0.000,0.019,2143,2394,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2162,-0.39,-170.3,286.2,-10.0,322,2171,0.00,2.12,0.00,0.000,4,0.000,0.025,2144,1026,3677,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2198,-0.39,-170.3,289.4,-10.1,325,2205,0.00,2.30,0.00,0.000,6,0.000,0.031,2140,2463,3678,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2505,-0.38,-170.3,317.0,-8.2,356,2514,0.00,2.05,0.00,0.000,4,0.000,0.039,2130,3819,3675,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2529,-0.38,-170.3,318.8,-7.8,358,2536,0.00,2.08,0.00,0.000,6,0.000,0.019,2130,2386,3675,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2837,-0.37,-170.3,347.2,-11.1,389,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2385,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3139,-0.36,-170.3,376.0,-7.4,419,3148,0.00,2.30,0.00,0.000,4,0.000,0.041,2121,3830,3673,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3172,-0.36,-170.3,378.3,-6.6,422,3181,0.10,2.08,0.00,0.000,6,0.085,0.021,2163,2398,3672,0,0,0,0,0,0,26.29,26.53,28.83
$GC,3482,-0.39,-170.3,391.9,-5.3,453,3491,0.00,2.28,0.00,0.000,4,0.000,0.041,2156,3824,3671,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3518,-0.42,-170.3,393.8,-5.8,456,3525,0.00,2.03,0.00,0.000,6,0.000,0.018,2156,2409,3670,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3825,-0.50,-170.3,409.1,-4.7,487,3834,0.12,2.20,0.00,0.000,4,0.093,0.037,2087,3830,3668,0,0,0,0,0,0,26.58,26.34,28.83
$GC,3902,-0.50,-170.3,413.1,-5.5,494,3910,0.00,1.98,0.00,0.000,6,0.000,0.021,2087,2441,3668,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4209,-0.47,-170.3,451.0,-13.6,525,4219,0.12,2.20,0.00,0.000,4,0.135,0.024,2138,1045,3667,0,0,0,0,0,0,26.39,26.43,28.83
$GC,4304,-0.51,-170.3,459.8,-8.4,534,4313,0.00,2.33,0.00,0.000,6,0.000,0.031,2138,2484,3666,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4616,-0.55,-170.3,485.4,-6.8,565,4626,0.12,2.28,0.00,0.000,4,0.078,0.021,2047,1036,3664,0,0,0,0,0,0,26.62,26.45,28.83
$GC,4632,-0.58,-170.3,486.1,-6.6,566,4641,0.17,2.53,-0.10,0.000,6,0.120,0.032,2092,2564,3688,0,0,0,0,0,0,26.14,26.36,25.72
$GC,4940,-0.56,-170.3,512.7,-8.9,597,4950,0.00,2.50,0.00,0.000,4,0.000,0.028,2095,1040,3687,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5016,-0.57,-170.3,519.1,-8.0,604,5023,0.00,2.47,0.00,0.000,6,0.000,0.034,2086,2542,3687,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5324,-0.55,-170.3,554.8,-12.9,635,5332,0.00,2.42,0.00,0.000,4,0.000,0.026,2086,1040,3685,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5365,-0.54,-170.3,560.2,-13.0,639,5374,0.00,2.47,0.00,0.000,6,0.000,0.034,2077,2535,3685,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5677,-0.52,-170.3,597.2,-10.8,670,5686,0.10,2.38,0.00,0.000,4,0.160,0.024,2109,1044,3682,0,0,0,0,0,0,26.45,26.39,28.83
$GC,5719,-0.52,-170.3,600.7,-8.3,674,5725,0.00,2.42,0.00,0.000,6,0.000,0.033,2100,2521,3683,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6040,-0.52,-170.3,624.9,-7.7,690,6045,0.00,2.38,0.00,0.000,4,0.000,0.025,2101,1041,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6073,-0.52,-170.3,626.6,-7.8,691,6079,0.00,2.45,0.00,0.000,6,0.000,0.034,2099,2518,3679,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6379,-0.52,-170.3,653.6,-8.4,707,6384,0.00,2.00,0.00,0.000,4,0.000,0.044,2089,3821,3677,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6407,-0.52,-170.3,655.3,-8.4,708,6411,0.00,1.98,0.00,0.000,6,0.000,0.021,2090,2452,3676,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6715,-0.51,-170.3,681.4,-8.0,723,6720,0.00,2.20,0.00,0.000,4,0.000,0.027,2092,1047,3674,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6768,-0.51,-170.3,684.5,-8.0,725,6776,0.00,2.42,0.00,0.000,6,0.000,0.035,2085,2515,3674,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7075,-0.50,-170.3,712.8,-9.4,741,7081,0.00,2.38,0.00,0.000,4,0.000,0.028,2086,1038,3671,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7107,-0.49,-170.3,714.7,-9.3,742,7115,0.12,2.42,0.00,0.000,6,0.124,0.037,2126,2507,3671,0,0,0,0,0,0,26.11,26.24,28.83
$GC,7417,-0.51,-170.3,735.3,-6.2,758,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,-0.52,-170.3,755.6,-6.9,773,7721,0.00,2.35,0.00,0.000,4,0.000,0.027,2126,1037,3667,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7737,-0.55,-170.3,757.0,-6.9,774,7741,0.00,2.40,0.00,0.000,6,0.000,0.035,2126,2505,3667,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8052,-0.60,-170.3,779.1,-6.7,790,8058,0.12,2.33,0.00,0.000,4,0.080,0.024,2052,1032,3665,0,0,0,0,0,0,26.56,26.32,28.83
$GC,8144,-0.60,-170.3,786.3,-8.7,794,8152,0.15,2.55,0.00,0.000,6,0.122,0.039,2089,2553,3665,0,0,0,0,0,0,26.02,26.17,28.83
$GC,8453,-0.59,-170.3,812.8,-8.0,810,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2552,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,-0.59,-170.3,836.7,-7.6,825,8757,0.00,2.47,0.00,0.000,4,0.000,0.030,2091,1042,3661,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8833,-0.59,-170.3,842.6,-7.3,829,8838,0.00,2.53,0.00,0.000,6,0.000,0.039,2086,2547,3660,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9152,-0.59,-170.3,863.8,-6.0,845,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2546,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,-0.58,-170.3,882.1,-6.3,860,9458,0.00,2.45,0.00,0.000,4,0.000,0.028,2086,1046,3658,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9525,-0.58,-170.3,886.0,-6.5,863,9533,0.00,2.50,0.00,0.000,6,0.000,0.039,2086,2538,3657,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9832,-0.58,-170.3,907.1,-7.1,879,9838,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1043,3656,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9872,-0.58,-170.3,910.0,-7.2,881,9878,0.00,2.47,0.00,0.000,6,0.000,0.038,2085,2523,3656,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10192,-0.58,-170.3,934.0,-7.6,897,10197,0.00,2.00,0.00,0.000,4,0.000,0.047,2077,3822,3655,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10212,-0.58,-170.3,935.5,-7.7,898,10217,0.00,1.98,0.00,0.000,6,0.000,0.022,2077,2472,3654,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10533,-0.57,-170.3,963.7,-9.1,914,10538,0.00,2.28,0.00,0.000,4,0.000,0.029,2077,1046,3653,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10584,-0.57,-170.3,967.5,-9.3,916,10591,0.00,2.50,0.00,0.000,6,0.000,0.037,2067,2533,3653,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,10810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10810,begin apogee
$GC,10816,-0.20,0.0,990.5,-9.6,928,10993,0.40,0.00,165.38,1.174,4,0.103,0.000,2206,2532,2968,0,0,0,0,0,0,25.82,28.83,23.86
$STATE,10994,end apogee,CONTROL_FINISHED_OK
$STATE,10994,begin climb
$GC,10996,0.55,170.3,997.2,0.0,937,11182,0.65,2.10,175.27,1.167,4,0.043,0.046,2465,3817,2283,0,0,0,0,0,0,24.98,24.94,23.44
$GC,11384,0.46,170.3,925.9,24.3,956,11391,0.17,2.00,0.00,0.000,6,0.184,0.024,2431,2505,2252,0,0,0,0,0,0,25.20,25.60,28.83
$GC,11691,0.41,170.3,865.4,18.3,972,11696,0.00,2.38,0.00,0.000,4,0.000,0.031,2443,1075,2247,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,20282,end climb,SURFACE_DEPTH_REACHED
$STATE,20282,begin surface coast
$FINISH,-0.2,1.008411
$STATE,20340,end surface coast,CONTROL_FINISHED_OK
$STATE,20340,begin surface
$SM_CCo,20357,57.97,0.120,0,0,1142,450.13
$SM_GC,0.64,5.88,0.22,57.97,0.026,0.055,0.120,120,2531,1142,-6.61,-0.51,450.13,0,0,0,0,0,0,26.44,26.51,25.91
$IRIDIUM_FIX,2138.81,12403.28,240512,010140
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.4,32.440
$10V_AH,10.1,20.016
$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,17.575,231.125,500.175,57.975,0.000,118.094,93.052,255.018,0.000,0.000,17.896,4792.939,11190.687,811.733,3880.481,516.238,0.000,2621.046,0.000,3216.399,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,55.080,1173.510,120.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1289.396,2410.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330456
$DATA_FILE_SIZE,120135,1900
$CAP_FILE_SIZE,243948,0
$CFSIZE,260165632,204582912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.120,212.4,1
$GPS,240512,065601,2141.084,12400.356,39,1.1,39,-2.9