version: 66.10
glider: 169
mission: 6
dive: 176
start: 5 26 112 17 17 56
data:
$ID,169
$MISSION,6
$DIVE,176
$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,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,-15563.791
$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
$GPS1,260512,170706,2137.254,12349.185,40,0.9,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.2
$GPS2,260512,171731,2137.124,12349.255,17,2.0,34,-2.9
$SPEED_LIMITS,0.136,0.271
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,306.7,292184,-12.5,-7.857
$D_GRID,5205
$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,-0.55,-194.6,0.0,0.0,0,105,0.00,0.00,-83.75,0.000,2,0.000,0.000,126,2533,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.55,-194.6,3.9,-9.2,15,135,7.88,2.00,-10.88,0.000,4,0.228,0.047,2077,3845,3775,0,0,1,0,0,0,25.31,25.64,26.44
$GC,224,-0.49,-194.6,47.6,-24.9,36,231,0.12,2.00,0.00,0.000,6,0.155,0.021,2111,2463,3777,0,0,0,0,0,0,25.85,26.17,28.83
$GC,417,-0.40,-194.6,106.2,-29.6,73,424,0.12,2.30,0.00,0.000,4,0.177,0.025,2159,1044,3777,0,0,0,0,0,0,26.01,26.20,28.83
$GC,503,-0.41,-194.6,122.3,-10.3,89,510,0.00,2.42,0.00,0.000,6,0.000,0.031,2148,2502,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,693,-0.36,-194.6,152.2,-16.9,126,701,0.00,1.98,0.00,0.000,4,0.000,0.041,2138,3826,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,739,-0.33,-194.6,158.8,-14.1,134,747,0.00,2.05,0.00,0.000,6,0.000,0.021,2138,2425,3778,0,0,0,0,0,0,28.83,26.38,28.83
$GC,932,-0.30,-194.6,185.0,-14.0,171,939,0.12,2.20,0.00,0.000,4,0.141,0.022,2184,1037,3778,0,0,0,0,0,0,26.26,26.36,28.83
$GC,979,-0.35,-194.6,188.9,-5.5,179,986,0.00,2.33,0.00,0.000,6,0.000,0.030,2184,2459,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1172,-0.42,-194.6,203.9,-8.7,212,1182,0.12,2.03,0.00,0.000,4,0.091,0.037,2108,3828,3778,0,0,0,0,0,0,26.51,26.30,28.83
$GC,1328,-0.49,-194.6,217.0,-8.8,227,1335,0.00,2.08,0.00,0.000,6,0.000,0.020,2116,2394,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1636,-0.56,-194.6,238.0,-7.5,258,1645,0.00,2.10,0.00,0.000,4,0.000,0.024,2124,1040,3778,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1794,-0.64,-194.6,251.9,-9.3,273,1802,0.15,2.30,0.00,0.000,6,0.073,0.029,2051,2466,3778,0,0,0,0,0,0,26.36,26.40,28.83
$GC,2103,-0.56,-194.6,313.3,-22.6,304,2112,0.12,2.28,0.00,0.000,4,0.151,0.025,2101,1038,3777,0,0,0,0,0,0,26.31,26.42,28.83
$GC,2196,-0.55,-194.6,327.3,-10.7,313,2205,0.00,2.30,0.00,0.000,6,0.000,0.031,2099,2445,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2506,-0.51,-194.6,372.0,-15.3,344,2515,0.00,2.22,0.00,0.000,4,0.000,0.024,2099,1033,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2571,-0.51,-194.6,379.6,-10.9,350,2577,0.00,2.25,0.00,0.000,6,0.000,0.032,2099,2428,3774,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2879,-0.48,-194.6,416.0,-11.3,381,2887,0.00,2.12,0.00,0.000,4,0.000,0.041,2088,3827,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2913,-0.46,-194.6,419.6,-10.9,384,2920,0.12,2.12,0.00,0.000,6,0.122,0.019,2128,2370,3772,0,0,0,0,0,0,26.27,26.51,28.83
$GC,3221,-0.46,-194.6,442.3,-7.8,415,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2369,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3524,-0.47,-194.6,464.1,-6.8,445,3533,0.00,2.28,0.00,0.000,4,0.000,0.041,2124,3815,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3558,-0.49,-194.6,466.5,-6.8,448,3566,0.00,2.10,0.00,0.000,6,0.000,0.019,2124,2374,3768,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3866,-0.50,-194.6,489.0,-7.2,479,3870,0.00,2.10,0.00,0.000,4,0.000,0.025,2124,1029,3766,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3899,-0.52,-194.6,491.5,-7.9,482,3908,0.00,2.30,0.00,0.000,6,0.000,0.031,2124,2445,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4209,-0.53,-194.6,513.9,-7.4,513,4217,0.00,2.08,0.00,0.000,4,0.000,0.041,2115,3820,3762,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4262,-0.55,-194.6,517.8,-7.4,518,4270,0.00,2.08,0.00,0.000,6,0.000,0.019,2115,2386,3762,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4571,-0.55,-194.6,543.0,-8.2,549,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2386,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-0.55,-194.6,566.4,-7.4,579,4884,0.00,2.28,0.00,0.000,4,0.000,0.043,2112,3819,3757,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4901,-0.56,-194.6,568.1,-6.7,581,4907,0.00,2.08,0.00,0.000,6,0.000,0.019,2112,2394,3757,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5207,-0.56,-194.6,586.6,-5.5,612,5216,0.00,2.12,0.00,0.000,4,0.000,0.026,2112,1034,3755,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5232,-0.57,-194.6,587.9,-5.7,614,5239,0.00,2.33,0.00,0.000,6,0.000,0.034,2112,2460,3755,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5553,-0.58,-194.6,609.4,-7.5,640,5559,0.00,2.08,0.00,0.000,4,0.000,0.044,2102,3826,3752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5585,-0.58,-194.6,611.2,-7.7,641,5592,0.00,2.10,0.00,0.000,6,0.000,0.020,2102,2391,3751,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5892,-0.58,-194.6,638.5,-8.5,657,5897,0.00,2.10,0.00,0.000,4,0.000,0.026,2102,1038,3750,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5915,-0.58,-194.6,640.2,-8.5,658,5919,0.00,2.33,0.00,0.000,6,0.000,0.033,2099,2462,3750,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6226,-0.58,-194.6,666.5,-8.4,674,6232,0.00,2.08,0.00,0.000,4,0.000,0.044,2091,3821,3746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6267,-0.58,-194.6,669.8,-8.3,676,6272,0.00,2.08,0.00,0.000,6,0.000,0.020,2090,2399,3746,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6588,-0.58,-194.6,700.0,-9.3,692,6594,0.00,2.12,0.00,0.000,4,0.000,0.027,2090,1042,3745,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6614,-0.58,-194.6,701.8,-9.3,693,6619,0.00,2.35,0.00,0.000,6,0.000,0.034,2088,2468,3744,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6923,-0.57,-194.6,727.6,-7.5,708,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2466,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7223,-0.57,-194.6,748.9,-7.3,723,7229,0.00,2.10,0.00,0.000,4,0.000,0.046,2079,3825,3740,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7250,-0.57,-194.6,750.3,-7.4,724,7254,0.00,2.08,0.00,0.000,6,0.000,0.021,2078,2410,3740,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7558,-0.55,-194.6,775.9,-8.0,739,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2409,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,-0.54,-194.6,798.1,-7.1,754,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2409,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,-0.53,-194.6,821.8,-8.4,769,8163,0.00,2.20,0.00,0.000,4,0.000,0.027,2077,1039,3734,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8181,-0.53,-194.6,823.5,-8.5,770,8188,0.12,2.38,0.00,0.000,6,0.116,0.034,2113,2469,3734,0,0,0,0,0,0,26.10,26.22,28.83
$GC,8499,-0.54,-194.6,844.6,-6.7,786,8504,0.00,2.12,0.00,0.000,4,0.000,0.047,2103,3825,3732,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8527,-0.56,-194.6,845.8,-6.6,787,8537,0.00,2.10,0.00,0.000,6,0.000,0.021,2103,2398,3731,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8838,-0.57,-194.6,868.3,-6.8,803,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2399,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9138,-0.58,-194.6,888.2,-6.4,818,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2398,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9439,-0.59,-194.6,906.3,-5.9,833,9444,0.00,2.30,0.00,0.000,4,0.000,0.047,2099,3817,3726,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9480,-0.61,-194.6,908.5,-5.8,835,9484,0.00,2.08,0.00,0.000,6,0.000,0.021,2099,2410,3726,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9794,-0.64,-194.6,926.9,-5.8,851,9799,0.00,2.15,0.00,0.000,4,0.000,0.025,2098,1039,3725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9821,-0.68,-194.6,928.1,-5.8,852,9826,0.12,2.55,0.00,0.000,6,0.081,0.032,2032,2562,3725,0,0,0,0,0,0,26.17,26.17,28.83
$GC,10129,-0.64,-194.6,961.2,-11.1,867,10135,0.12,2.50,0.00,0.000,4,0.142,0.027,2079,1051,3724,0,0,0,0,0,0,26.29,26.20,28.83
$GC,10181,-0.62,-194.6,964.7,-10.0,869,10188,0.00,2.50,0.00,0.000,6,0.000,0.037,2070,2536,3724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10489,-0.61,-194.6,987.0,-6.8,885,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2535,3722,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10546,begin apogee
$GC,10553,-0.20,0.0,991.1,-6.9,888,10740,0.40,0.00,180.00,1.173,4,0.100,0.000,2210,2534,2972,0,0,0,0,0,0,25.86,28.83,23.78
$STATE,10741,end apogee,CONTROL_FINISHED_OK
$STATE,10741,begin climb
$GC,10743,0.55,194.6,995.0,0.0,897,10951,0.65,2.12,198.98,1.158,4,0.039,0.047,2467,3829,2183,0,0,0,0,0,0,24.91,24.85,23.33
$GC,11148,0.46,194.6,910.3,26.2,917,11155,0.20,2.00,0.00,0.000,6,0.181,0.022,2426,2499,2149,0,0,0,0,0,0,25.18,25.60,28.83
$GC,11454,0.41,194.6,852.1,16.7,933,11460,0.00,2.35,0.00,0.000,4,0.000,0.029,2438,1068,2145,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11569,0.37,194.6,837.8,13.5,938,11577,0.15,2.55,0.00,0.000,6,0.149,0.035,2397,2553,2141,0,0,0,0,0,0,25.69,25.96,28.83
$GC,11874,0.34,194.6,796.4,12.9,954,11878,0.00,1.95,0.00,0.000,4,0.000,0.045,2397,3821,2141,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11918,0.30,194.6,790.3,13.7,956,11924,0.08,1.95,0.00,0.000,6,0.149,0.023,2380,2506,2141,0,0,0,0,0,0,25.86,26.15,28.83
$GC,12241,0.28,194.6,752.2,12.1,972,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2504,2140,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19044,end climb,SURFACE_DEPTH_REACHED
$STATE,19044,begin surface coast
$FINISH,0.4,1.021457
$STATE,19071,end surface coast,CONTROL_FINISHED_OK
$STATE,19071,begin surface
$SM_CCo,19087,15.52,0.122,0,0,1143,450.13
$SM_GC,0.55,6.03,0.00,15.52,0.025,0.000,0.122,121,2488,1143,-6.63,-0.34,450.13,0,0,0,0,0,0,26.37,28.83,25.87
$IRIDIUM_FIX,2129.53,12350.40,260512,171734
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.77
$INTERNAL_PRESSURE,8.38279
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.3,34.580
$10V_AH,10.2,21.526
$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,17.575,201.525,645.125,15.525,0.000,57.005,67.400,259.839,0.000,0.000,35.362,4396.897,10392.097,823.829,3592.581,485.935,0.000,2534.622,0.000,3002.385,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,47.430,1172.745,121.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.753,2210.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,110214,1743
$CAP_FILE_SIZE,228562,0
$CFSIZE,260165632,203292672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.176,131.0,1
$GPS,260512,223730,2137.350,12348.055,40,1.1,40,-2.9