version: 66.10
glider: 169
mission: 6
dive: 253
start: 6 12 112 23 13 31
data:
$ID,169
$MISSION,6
$DIVE,253
$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,-8
$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,-15780.585
$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,2450
$C_ROLL_CLIMB,2545
$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,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
$GPS1,120612,230507,2248.603,12203.217,34,1.8,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.3
$GPS2,120612,231308,2248.755,12203.204,14,1.9,14,-3.0
$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,256.6,69351,-13.8,-8.684
$D_GRID,4588
$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,15,begin dive
$GC,17,-0.58,-194.6,0.0,0.0,0,111,0.00,0.00,-90.70,0.000,2,0.000,0.000,116,2463,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.58,-194.6,4.3,-11.9,16,140,8.20,2.17,-11.45,0.000,4,0.233,0.042,2066,3850,3777,0,0,0,0,0,0,25.04,26.10,26.49
$GC,204,-0.50,-194.6,45.8,-33.8,32,212,0.12,2.12,0.00,0.000,6,0.155,0.023,2109,2420,3777,0,0,0,0,0,0,25.86,26.15,28.83
$GC,397,-0.42,-194.6,96.6,-33.6,69,403,0.00,2.22,0.00,0.000,4,0.000,0.034,2098,3842,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,544,-0.41,-194.6,124.0,-12.6,97,551,0.15,2.25,0.00,0.000,6,0.122,0.020,2145,2335,3778,0,0,0,0,0,0,26.07,26.36,28.83
$GC,736,-0.40,-194.6,147.9,-12.5,134,743,0.00,2.12,0.00,0.000,4,0.000,0.023,2145,974,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,777,-0.43,-194.6,152.0,-8.9,141,783,0.00,2.33,0.00,0.000,6,0.000,0.028,2137,2405,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,968,-0.43,-194.6,169.8,-9.8,178,975,0.00,2.20,0.00,0.000,4,0.000,0.038,2125,3834,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1004,-0.45,-194.6,172.9,-9.2,184,1011,0.00,2.25,0.00,0.000,6,0.000,0.018,2126,2313,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1195,-0.45,-194.6,192.3,-10.0,221,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2312,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1385,-0.45,-194.6,211.5,-9.4,258,1392,0.00,2.45,0.00,0.000,4,0.000,0.039,2115,3825,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1425,-0.47,-194.6,214.9,-8.3,265,1432,0.00,2.20,0.00,0.000,6,0.000,0.018,2115,2335,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1737,-0.47,-194.6,244.7,-9.4,326,1744,0.00,2.40,0.00,0.000,4,0.000,0.038,2104,3834,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1776,-0.48,-194.6,248.4,-8.7,333,1783,0.00,2.17,0.00,0.000,6,0.000,0.018,2104,2356,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2088,-0.46,-194.6,281.7,-11.4,394,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2356,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2399,-0.46,-194.6,312.2,-8.2,455,2407,0.00,2.38,0.00,0.000,4,0.000,0.038,2095,3837,3773,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2420,-0.46,-194.6,314.1,-8.7,458,2427,0.00,2.15,0.00,0.000,6,0.000,0.018,2094,2362,3773,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2733,-0.46,-194.6,344.9,-9.8,519,2741,0.10,2.20,0.00,0.000,4,0.133,0.022,2127,971,3772,0,0,0,0,0,0,26.50,26.41,28.83
$GC,2780,-0.50,-194.6,348.6,-6.9,527,2788,0.00,2.40,0.00,0.000,6,0.000,0.028,2125,2429,3771,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3096,-0.58,-194.6,373.1,-8.9,588,3104,0.12,2.35,0.00,0.000,4,0.115,0.023,2085,982,3769,0,0,0,0,0,0,26.46,26.39,28.83
$GC,3337,-0.68,-194.6,392.4,-6.8,634,3344,0.00,2.40,0.00,0.000,6,0.000,0.029,2085,2439,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3650,-0.70,-194.6,416.4,-7.6,695,3658,0.12,2.12,0.00,0.000,4,0.075,0.038,1966,3832,3764,0,0,0,0,0,0,26.60,26.29,28.83
$GC,3676,-0.67,-194.6,419.3,-10.0,699,3684,0.28,1.88,-0.10,0.000,6,0.148,0.019,2054,2493,3786,0,0,0,0,0,0,25.82,26.50,25.58
$GC,3992,-0.64,-194.6,462.2,-13.8,760,3998,0.00,2.08,0.00,0.000,4,0.000,0.041,2043,3834,3785,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4086,-0.63,-194.6,473.2,-10.1,778,4093,0.00,1.88,0.00,0.000,6,0.000,0.018,2045,2494,3785,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4403,-0.59,-194.6,515.5,-13.4,829,4413,0.12,2.40,0.00,0.000,4,0.136,0.023,2098,989,3782,0,0,0,0,0,0,26.33,26.37,28.83
$GC,4488,-0.62,-194.6,522.4,-6.8,837,4498,0.00,2.58,0.00,0.000,6,0.000,0.031,2091,2528,3781,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4798,-0.62,-194.6,548.5,-9.0,868,4806,0.00,1.95,0.00,0.000,4,0.000,0.043,2082,3839,3779,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4840,-0.63,-194.6,552.4,-9.1,872,4849,0.00,1.95,0.00,0.000,6,0.000,0.018,2082,2456,3778,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5151,-0.63,-194.6,582.3,-9.2,903,5159,0.00,2.35,0.00,0.000,4,0.000,0.025,2082,981,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5193,-0.65,-194.6,586.2,-9.2,907,5202,0.00,2.58,0.00,0.000,6,0.000,0.033,2072,2520,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5503,-0.64,-194.6,615.3,-8.5,938,5512,0.00,1.98,0.00,0.000,4,0.000,0.043,2062,3840,3773,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5535,-0.64,-194.6,618.1,-8.8,941,5544,0.00,1.98,0.00,0.000,6,0.000,0.020,2062,2454,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5845,-0.62,-194.6,647.6,-9.6,972,5854,0.00,2.33,0.00,0.000,4,0.000,0.026,2062,989,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5900,-0.63,-194.6,652.2,-8.5,977,5908,0.00,2.55,0.00,0.000,6,0.000,0.034,2051,2510,3771,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6207,-0.61,-194.6,684.5,-10.7,1008,6216,0.00,2.50,0.00,0.000,4,0.000,0.027,2053,980,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6250,-0.60,-194.6,689.0,-10.7,1012,6260,0.08,2.55,0.00,0.000,6,0.099,0.034,2077,2497,3769,0,0,0,0,0,0,26.06,26.22,28.83
$GC,6560,-0.60,-194.6,714.3,-8.0,1043,6569,0.00,2.45,0.00,0.000,4,0.000,0.026,2077,997,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6585,-0.60,-194.6,716.2,-8.0,1045,6593,0.00,2.53,0.00,0.000,6,0.000,0.034,2068,2496,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6892,-0.60,-194.6,741.6,-8.3,1076,6901,0.00,2.45,0.00,0.000,4,0.000,0.026,2068,997,3764,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6925,-0.60,-194.6,744.3,-8.1,1079,6933,0.00,2.47,0.00,0.000,6,0.000,0.034,2059,2482,3764,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7235,-0.58,-194.6,774.3,-10.6,1110,7244,0.00,2.05,0.00,0.000,4,0.000,0.046,2048,3823,3761,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7279,-0.58,-194.6,778.7,-10.5,1114,7287,0.12,2.05,0.00,0.000,6,0.117,0.021,2089,2419,3761,0,0,0,0,0,0,26.17,26.42,28.83
$GC,7587,-0.59,-194.6,802.6,-7.9,1145,7597,0.00,2.28,0.00,0.000,4,0.000,0.026,2088,992,3760,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7613,-0.60,-194.6,804.3,-7.6,1147,7619,0.00,2.50,0.00,0.000,6,0.000,0.033,2086,2483,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7921,-0.61,-194.6,828.7,-8.0,1178,7924,0.00,2.05,0.00,0.000,4,0.000,0.047,2077,3823,3758,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7957,-0.63,-194.6,831.3,-7.9,1181,7965,0.00,2.05,0.00,0.000,6,0.000,0.021,2077,2422,3758,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8263,-0.64,-194.6,857.2,-8.2,1212,8272,0.00,2.30,0.00,0.000,4,0.000,0.027,2077,991,3757,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8288,-0.65,-194.6,858.9,-7.7,1214,8295,0.00,2.53,0.00,0.000,6,0.000,0.034,2071,2490,3756,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8596,-0.65,-194.6,883.1,-7.7,1245,8606,0.00,2.03,0.00,0.000,4,0.000,0.046,2061,3827,3754,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8639,-0.66,-194.6,886.7,-8.1,1249,8649,0.00,2.05,0.00,0.000,6,0.000,0.021,2061,2421,3754,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8949,-0.66,-194.6,915.6,-9.8,1280,8958,0.00,2.33,0.00,0.000,4,0.000,0.027,2061,979,3753,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8971,-0.66,-194.6,917.9,-10.0,1282,8980,0.00,2.55,0.00,0.000,6,0.000,0.034,2052,2498,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9281,-0.65,-194.6,951.2,-10.9,1313,9290,0.00,2.47,0.00,0.000,4,0.000,0.028,2052,1000,3751,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9306,-0.64,-194.6,953.7,-10.9,1315,9313,0.00,2.53,0.00,0.000,6,0.000,0.034,2043,2489,3751,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9615,-0.63,-194.6,988.9,-11.5,1346,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2488,3750,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9631,begin apogee
$GC,9637,-0.20,0.0,991.1,-11.2,1348,9834,0.47,0.08,190.65,1.164,4,0.096,0.092,2207,2505,2975,0,0,0,0,0,0,25.82,24.64,23.61
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9835,begin climb
$GC,9838,0.58,194.6,1002.6,0.0,1368,10057,0.62,2.50,209.20,1.083,4,0.035,0.026,2473,1086,2181,0,0,0,0,0,0,24.93,24.93,23.20
$GC,10145,0.54,194.6,969.5,15.5,1399,10156,0.00,2.70,0.00,0.000,6,0.000,0.036,2473,2552,2149,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10456,0.48,194.6,904.8,21.7,1430,10466,0.12,2.55,0.00,0.000,4,0.184,0.028,2449,1092,2145,0,0,0,0,0,0,25.72,25.98,28.83
$GC,10530,0.45,194.6,892.2,15.2,1437,10540,0.00,2.60,0.00,0.000,6,0.000,0.035,2449,2558,2143,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10840,0.40,194.6,834.0,19.5,1468,10849,0.15,1.88,0.00,0.000,4,0.172,0.041,2405,3829,2142,0,0,0,0,0,0,25.83,26.07,28.83
$GC,10916,0.36,194.6,820.8,17.3,1475,10923,0.00,1.85,0.00,0.000,6,0.000,0.020,2415,2527,2141,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11223,0.33,194.6,774.4,14.4,1506,11225,0.12,0.00,0.00,0.000,6,0.177,0.000,2382,2526,2140,0,0,0,0,0,0,26.03,28.83,28.83
$GC,11523,0.32,194.6,741.4,10.7,1536,11532,0.00,2.00,0.00,0.000,4,0.000,0.043,2382,3828,2140,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,18284,end climb,SURFACE_DEPTH_REACHED
$STATE,18284,begin surface coast
$FINISH,-0.0,1.020983
$STATE,18317,end surface coast,CONTROL_FINISHED_OK
$STATE,18317,begin surface
$SM_CCo,18394,0.00,0.000,0,0,924,504.09
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$IRIDIUM_FIX,2239.35,12204.78,120612,171743
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.2,51.422
$10V_AH,10.0,31.458
$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,18.675,214.825,755.075,0.000,0.000,32.310,22.908,267.844,0.000,0.000,15.515,6160.812,6652.599,1031.373,4402.163,588.171,0.000,3160.211,0.000,3935.850,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,97.155,1163.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1762.361,2128.477,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,163620,2599
$CAP_FILE_SIZE,259333,0
$CFSIZE,260165632,194514944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,  2.3,1
$GPS,130612,042107,2249.951,12201.028,34,1.1,34,-3.0