version: 66.10
glider: 169
mission: 6
dive: 200
start: 6 1 112 5 47 43
data:
$ID,169
$MISSION,6
$DIVE,200
$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,380
$T_MISSION,420
$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,-15711.916
$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
$GPS1,010612,053836,2158.749,12323.791,37,1.2,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.6
$GPS2,010612,054719,2158.817,12323.879,12,1.4,17,-2.9
$SPEED_LIMITS,0.150,0.281
$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,273.2,234205,-13.8,-8.684
$D_GRID,4890
$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,-0.58,-194.6,0.0,0.0,0,106,0.00,0.00,-87.15,0.000,2,0.000,0.000,116,2513,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.58,-194.6,3.2,-6.0,15,142,7.97,1.98,-15.50,0.000,4,0.229,0.048,2068,3851,3775,0,0,1,0,0,0,25.26,25.53,26.45
$GC,261,-0.52,-194.6,55.6,-26.7,43,267,0.00,2.00,0.00,0.000,6,0.000,0.023,2077,2470,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,452,-0.42,-194.6,123.6,-35.5,80,460,0.20,2.33,0.00,0.000,4,0.177,0.024,2145,1032,3776,0,0,0,0,0,0,25.77,26.24,28.83
$GC,529,-0.45,-194.6,138.9,-9.9,94,536,0.00,2.47,0.00,0.000,6,0.000,0.031,2132,2514,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,720,-0.40,-194.6,174.5,-17.3,131,727,0.00,2.40,0.00,0.000,4,0.000,0.023,2137,1033,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,769,-0.40,-194.6,181.5,-11.4,140,776,0.00,2.42,0.00,0.000,6,0.000,0.032,2134,2496,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,966,-0.37,-194.6,205.9,-14.0,174,974,0.00,1.98,0.00,0.000,4,0.000,0.040,2124,3830,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,998,-0.35,-194.6,210.2,-13.4,177,1008,0.12,2.00,0.00,0.000,6,0.120,0.018,2164,2417,3776,0,0,0,0,0,0,26.21,26.46,28.83
$GC,1308,-0.37,-194.6,237.9,-7.2,208,1317,0.00,2.17,0.00,0.000,4,0.000,0.024,2164,1033,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1343,-0.41,-194.6,240.0,-6.7,211,1350,0.00,2.40,0.00,0.000,6,0.000,0.030,2164,2498,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1651,-0.48,-194.6,263.3,-7.8,242,1660,0.12,1.92,0.00,0.000,4,0.103,0.036,2104,3820,3776,0,0,0,0,0,0,26.49,26.34,28.83
$GC,1776,-0.56,-194.6,273.3,-7.8,254,1785,0.00,1.98,0.00,0.000,6,0.000,0.018,2104,2414,3776,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2087,-0.62,-194.6,291.8,-6.4,285,2096,0.00,2.17,0.00,0.000,4,0.000,0.025,2107,1031,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2324,-0.70,-194.6,310.1,-8.7,308,2332,0.17,2.50,0.00,0.000,6,0.106,0.029,2047,2541,3774,0,0,0,0,0,0,26.21,26.41,28.83
$GC,2630,-0.64,-194.6,351.5,-18.4,339,2639,0.00,2.47,0.00,0.000,4,0.000,0.028,2047,1039,3773,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2713,-0.63,-194.6,363.8,-13.3,347,2722,0.08,2.45,0.00,0.000,6,0.112,0.034,2069,2516,3772,0,0,0,0,0,0,26.16,26.36,28.83
$GC,3023,-0.59,-194.6,407.7,-13.3,378,3032,0.00,2.40,0.00,0.000,4,0.000,0.024,2069,1040,3770,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3085,-0.59,-194.6,414.5,-10.0,384,3095,0.00,2.45,0.00,0.000,6,0.000,0.032,2058,2520,3769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3395,-0.56,-194.6,454.5,-12.4,415,3404,0.12,2.38,0.00,0.000,4,0.145,0.022,2105,1041,3766,0,0,0,0,0,0,26.34,26.44,28.83
$GC,3469,-0.59,-194.6,460.5,-6.2,422,3478,0.00,2.40,0.00,0.000,6,0.000,0.031,2099,2502,3766,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3779,-0.59,-194.6,483.6,-8.3,453,3788,0.00,2.00,-0.10,0.000,4,0.000,0.054,2089,3825,3784,0,0,0,0,0,0,28.83,26.29,26.03
$GC,3814,-0.59,-194.6,486.3,-8.1,456,3822,0.00,1.98,0.00,0.000,6,0.000,0.020,2089,2432,3784,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4123,-0.59,-194.6,515.3,-9.6,487,4131,0.00,2.20,0.00,0.000,4,0.000,0.026,2089,1041,3782,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4157,-0.59,-194.6,518.3,-9.4,490,4164,0.00,2.42,0.00,0.000,6,0.000,0.033,2085,2506,3782,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4465,-0.59,-194.6,548.6,-9.9,521,4469,0.00,1.98,0.00,0.000,4,0.000,0.043,2076,3834,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4489,-0.59,-194.6,550.9,-10.1,523,4496,0.00,2.03,0.00,0.000,6,0.000,0.020,2076,2432,3778,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4797,-0.58,-194.6,582.4,-9.8,554,4806,0.00,2.20,0.00,0.000,4,0.000,0.025,2076,1037,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4840,-0.58,-194.6,586.3,-9.4,558,4848,0.00,2.40,0.00,0.000,6,0.000,0.034,2066,2490,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5161,-0.56,-194.6,619.6,-10.4,581,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2489,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5460,-0.55,-194.6,650.6,-10.1,596,5466,0.10,2.35,0.00,0.000,4,0.154,0.025,2098,1041,3770,0,0,0,0,0,0,26.44,26.34,28.83
$GC,5503,-0.55,-194.6,653.9,-9.6,598,5507,0.00,2.42,0.00,0.000,6,0.000,0.036,2092,2491,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5815,-0.56,-194.6,676.9,-7.3,614,5821,0.00,2.05,0.00,0.000,4,0.000,0.047,2082,3825,3766,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5849,-0.56,-194.6,678.4,-7.3,615,5856,0.00,2.03,0.00,0.000,6,0.000,0.020,2082,2422,3766,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6155,-0.56,-194.6,704.2,-8.4,631,6159,0.00,2.20,0.00,0.000,4,0.000,0.027,2082,1036,3763,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6185,-0.56,-194.6,706.1,-8.5,632,6189,0.00,2.45,0.00,0.000,6,0.000,0.035,2072,2498,3764,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6493,-0.56,-194.6,736.3,-10.0,647,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2497,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.56,-194.6,766.2,-9.7,662,6797,0.00,2.40,0.00,0.000,4,0.000,0.028,2072,1036,3759,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6835,-0.56,-194.6,769.9,-9.4,664,6840,0.10,2.45,0.00,0.000,6,0.132,0.037,2098,2490,3759,0,0,0,0,0,0,26.10,26.20,28.83
$GC,7151,-0.57,-194.6,790.6,-6.1,680,7156,0.00,2.05,0.00,0.000,4,0.000,0.047,2088,3811,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7177,-0.59,-194.6,791.9,-6.0,681,7181,0.00,2.05,0.00,0.000,6,0.000,0.021,2088,2415,3756,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7486,-0.60,-194.6,812.8,-6.7,696,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2413,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7785,-0.61,-194.6,832.5,-6.5,711,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2413,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8085,-0.62,-194.6,851.5,-6.3,726,8089,0.00,2.25,0.00,0.000,4,0.000,0.047,2079,3816,3752,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8111,-0.63,-194.6,853.0,-6.4,727,8115,0.00,2.05,0.00,0.000,6,0.000,0.021,2079,2414,3751,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8423,-0.63,-194.6,875.5,-7.1,743,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2414,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.64,-194.6,897.3,-7.4,758,8731,0.00,2.25,0.00,0.000,4,0.000,0.047,2068,3821,3748,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8753,-0.65,-194.6,898.9,-7.4,759,8757,0.00,2.05,0.00,0.000,6,0.000,0.023,2068,2426,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9059,-0.65,-194.6,922.9,-7.4,774,9065,0.00,2.20,0.00,0.000,4,0.000,0.028,2068,1051,3746,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9088,-0.65,-194.6,924.4,-7.3,775,9097,0.00,2.42,0.00,0.000,6,0.000,0.036,2059,2497,3746,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9400,-0.64,-194.6,950.2,-8.3,791,9405,0.00,2.03,0.00,0.000,4,0.000,0.047,2049,3823,3745,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9424,-0.63,-194.6,951.9,-8.3,792,9428,0.00,2.05,0.00,0.000,6,0.000,0.022,2049,2431,3744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9736,-0.62,-194.6,980.5,-9.0,808,9740,0.00,2.22,0.00,0.000,4,0.000,0.031,2049,1042,3744,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9779,-0.61,-194.6,984.4,-9.1,810,9785,0.10,2.42,0.00,0.000,6,0.093,0.037,2082,2490,3743,0,0,0,0,0,0,25.89,26.08,28.83
$STATE,9875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9876,begin apogee
$GC,9883,-0.20,0.0,991.2,-6.4,815,10080,0.35,0.10,188.95,1.174,4,0.090,0.074,2208,2483,2971,0,0,0,0,0,0,25.99,24.64,23.65
$STATE,10081,end apogee,CONTROL_FINISHED_OK
$STATE,10081,begin climb
$GC,10084,0.58,194.6,998.2,0.0,825,10299,0.68,2.22,204.73,1.149,4,0.041,0.046,2479,3821,2179,0,0,0,0,0,0,24.88,24.83,23.21
$GC,10475,0.50,194.6,922.1,25.7,844,10484,0.20,1.98,0.00,0.000,6,0.184,0.022,2438,2503,2144,0,0,0,0,0,0,25.16,25.58,28.83
$GC,10783,0.45,194.6,862.6,17.4,860,10788,0.00,2.38,0.00,0.000,4,0.000,0.032,2450,1079,2140,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10905,0.42,194.6,844.4,14.1,866,10911,0.10,2.50,0.00,0.000,6,0.141,0.037,2416,2535,2137,0,0,0,0,0,0,25.70,25.96,28.83
$GC,11226,0.38,194.6,797.1,15.0,882,11232,0.00,1.95,0.00,0.000,4,0.000,0.045,2416,3841,2137,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11326,0.33,194.6,780.0,17.3,887,11332,0.12,1.95,0.00,0.000,6,0.146,0.024,2384,2513,2136,0,0,0,0,0,0,25.77,26.17,28.83
$GC,11647,0.32,194.6,742.5,11.4,903,11652,0.00,2.03,0.00,0.000,4,0.000,0.044,2384,3828,2135,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11694,0.30,194.6,737.4,11.9,905,11698,0.00,1.88,0.00,0.000,6,0.000,0.022,2394,2524,2135,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12000,0.28,194.6,699.8,11.6,920,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2523,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12301,0.26,194.6,665.8,11.4,935,12307,0.12,2.00,0.00,0.000,4,0.164,0.043,2353,3823,2135,0,0,0,0,0,0,26.07,26.09,28.83
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$STATE,17801,end climb,SURFACE_DEPTH_REACHED
$STATE,17801,begin surface coast
$FINISH,-0.1,1.021300
$STATE,17823,end surface coast,CONTROL_FINISHED_OK
$STATE,17824,begin surface
$SM_CCo,17901,0.00,0.000,0,0,1076,466.81
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$IRIDIUM_FIX,2150.42,12325.29,010612,000057
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.41
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.2,39.962
$10V_AH,10.1,24.644
$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,18.150,185.775,688.800,0.000,0.000,33.046,41.512,285.702,0.000,0.000,17.822,4008.822,9749.876,828.423,3344.519,455.277,0.000,2448.412,0.000,2800.932,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,101.745,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$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,100266,1591
$CAP_FILE_SIZE,214949,0
$CFSIZE,260165632,200564736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,1,0
$CURRENT,0.235, 79.6,1
$GPS,010612,104736,2159.187,12323.100,61,0.9,61,-2.9