version: 66.10
glider: 169
mission: 6
dive: 276
start: 6 18 112 1 54 1
data:
$ID,169
$MISSION,6
$DIVE,276
$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,-15824.037
$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
$GPS1,180612,014125,2311.667,12143.033,40,1.0,40,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.6
$GPS2,180612,015338,2311.870,12143.040,13,1.3,13,-3.1
$SPEED_LIMITS,0.150,0.281
$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,92.4,234438,-13.8,-8.684
$D_GRID,2163
$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,-86.47,0.000,2,0.000,0.000,117,2400,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.58,-194.6,4.0,-10.8,15,136,7.88,2.47,-12.50,0.000,4,0.218,0.039,2089,979,3776,0,0,0,0,0,0,25.02,26.03,26.46
$GC,250,-0.57,-194.6,48.7,-15.8,41,257,0.00,2.60,0.00,0.000,6,0.000,0.033,2077,2464,3779,0,0,0,0,0,0,28.83,26.03,28.83
$GC,445,-0.52,-194.6,82.7,-16.5,78,453,0.10,2.03,0.00,0.000,4,0.171,0.037,2093,3828,3779,0,0,0,0,0,0,26.22,26.10,28.83
$GC,491,-0.51,-194.6,89.7,-12.0,86,499,0.00,2.00,0.00,0.000,6,0.000,0.018,2094,2424,3779,0,0,0,0,0,0,28.83,26.35,28.83
$GC,684,-0.47,-194.6,114.4,-14.2,123,691,0.00,2.40,0.00,0.000,4,0.000,0.024,2094,986,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,744,-0.48,-194.6,121.3,-8.8,134,753,0.12,2.58,0.00,0.000,6,0.119,0.031,2127,2473,3780,0,0,0,0,0,0,26.08,26.22,28.83
$GC,938,-0.48,-194.6,139.4,-9.5,171,945,0.00,2.00,0.00,0.000,4,0.000,0.039,2118,3838,3780,0,0,0,0,0,0,28.83,26.21,28.83
$GC,988,-0.51,-194.6,143.8,-7.8,180,994,0.00,1.98,0.00,0.000,6,0.000,0.019,2118,2417,3780,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1180,-0.51,-194.6,161.6,-9.6,217,1187,0.00,2.40,0.00,0.000,4,0.000,0.024,2118,978,3779,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1216,-0.53,-194.6,164.6,-7.7,223,1223,0.00,2.65,0.00,0.000,6,0.000,0.031,2112,2494,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1408,-0.53,-194.6,180.6,-8.4,260,1415,0.00,1.95,0.00,0.000,4,0.000,0.040,2103,3833,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1433,-0.53,-194.6,182.8,-8.5,264,1440,0.00,1.98,0.00,0.000,6,0.000,0.018,2103,2409,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1625,-0.52,-194.6,198.7,-8.7,301,1632,0.00,2.20,0.00,0.000,4,0.000,0.038,2093,3834,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1645,-0.51,-194.6,200.6,-8.9,304,1651,0.00,1.95,0.00,0.000,6,0.000,0.018,2094,2432,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1956,-0.50,-194.6,233.1,-10.7,365,1963,0.00,2.40,0.00,0.000,4,0.000,0.024,2094,972,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2015,-0.52,-194.6,238.9,-8.9,376,2022,0.00,2.60,0.00,0.000,6,0.000,0.031,2087,2479,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2329,-0.51,-194.6,269.1,-10.2,437,2336,0.00,2.00,0.00,0.000,4,0.000,0.040,2077,3830,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2364,-0.50,-194.6,272.6,-10.7,443,2372,0.12,2.00,0.00,0.000,6,0.113,0.018,2118,2413,3775,0,0,0,0,0,0,26.25,26.48,28.83
$GC,2680,-0.51,-194.6,292.3,-6.3,504,2687,0.00,2.38,0.00,0.000,4,0.000,0.023,2119,974,3773,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2704,-0.53,-194.6,294.3,-7.3,508,2711,0.00,2.60,0.00,0.000,6,0.000,0.030,2118,2480,3772,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3018,-0.54,-194.6,315.3,-6.8,569,3025,0.00,2.00,0.00,0.000,4,0.000,0.041,2109,3828,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3054,-0.57,-194.6,317.6,-6.5,575,3060,0.00,2.00,0.00,0.000,6,0.000,0.018,2109,2401,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3368,-0.61,-194.6,336.9,-6.5,636,3375,0.00,2.33,0.00,0.000,4,0.000,0.022,2109,970,3768,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3399,-0.67,-194.6,339.0,-6.7,641,3407,0.15,2.80,0.00,0.000,6,0.071,0.027,2037,2568,3767,0,0,0,0,0,0,26.29,26.34,28.83
$GC,3715,-0.62,-194.6,378.2,-13.2,702,3724,0.12,2.75,0.00,0.000,4,0.140,0.023,2081,984,3766,0,0,0,0,0,0,26.32,26.33,28.83
$GC,3772,-0.65,-194.6,384.5,-7.7,712,3778,0.00,2.72,0.00,0.000,6,0.000,0.031,2069,2528,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4084,-0.63,-194.6,416.3,-10.7,773,4092,0.00,2.67,-0.10,0.000,4,0.000,0.034,2070,984,3783,0,0,0,0,0,0,28.83,26.32,25.98
$GC,4114,-0.63,-194.6,419.7,-10.7,778,4122,0.00,2.70,0.00,0.000,6,0.000,0.031,2059,2520,3783,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4427,-0.61,-194.6,456.3,-11.5,839,4434,0.00,2.65,0.00,0.000,4,0.000,0.025,2059,978,3782,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4468,-0.61,-194.6,460.5,-9.0,846,4476,0.00,2.67,0.00,0.000,6,0.000,0.032,2048,2509,3782,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4782,-0.59,-194.6,498.4,-12.3,907,4789,0.12,1.90,0.00,0.000,4,0.148,0.038,2081,3829,3779,0,0,0,0,0,0,26.27,26.22,28.83
$GC,4820,-0.58,-194.6,502.2,-10.1,911,4827,0.00,1.92,0.00,0.000,6,0.000,0.018,2081,2442,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5128,-0.58,-194.6,528.6,-8.5,942,5138,0.00,2.12,0.00,0.000,4,0.000,0.042,2071,3847,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5152,-0.58,-194.6,530.6,-8.4,944,5160,0.00,1.95,0.00,0.000,6,0.000,0.019,2071,2449,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5461,-0.57,-194.6,559.5,-9.5,975,5470,0.00,2.42,0.00,0.000,4,0.000,0.025,2071,979,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5497,-0.57,-194.6,562.7,-9.6,978,5506,0.00,2.62,0.00,0.000,6,0.000,0.031,2065,2506,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5805,-0.56,-194.6,592.8,-9.5,1009,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2505,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6108,-0.55,-194.6,623.3,-11.1,1039,6117,0.10,2.58,0.00,0.000,4,0.154,0.024,2095,995,3770,0,0,0,0,0,0,26.41,26.27,28.83
$GC,6161,-0.58,-194.6,628.2,-8.3,1044,6169,0.00,2.62,0.00,0.000,6,0.000,0.033,2092,2499,3770,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6472,-0.62,-194.6,651.3,-7.0,1075,6480,0.00,2.55,0.00,0.000,4,0.000,0.026,2092,979,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6528,-0.67,-194.6,655.2,-7.4,1080,6535,0.00,2.85,0.00,0.000,6,0.000,0.033,2092,2585,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6835,-0.72,-194.6,676.9,-6.9,1111,6845,0.12,2.75,0.00,0.000,4,0.083,0.024,2026,991,3765,0,0,0,0,0,0,26.52,26.26,28.83
$GC,6941,-0.71,-194.6,686.8,-10.2,1121,6950,0.08,2.90,0.00,0.000,6,0.117,0.037,2047,2615,3764,0,0,0,0,0,0,25.92,26.14,28.83
$GC,7248,-0.69,-194.6,721.6,-11.2,1152,7257,0.00,2.80,0.00,0.000,4,0.000,0.024,2047,985,3762,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7325,-0.70,-194.6,728.8,-9.4,1159,7332,0.00,2.90,0.00,0.000,6,0.000,0.034,2035,2604,3761,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7630,-0.67,-194.6,764.6,-10.7,1190,7640,0.00,2.80,0.00,0.000,4,0.000,0.027,2038,984,3760,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7709,-0.67,-194.6,771.3,-8.3,1197,7716,0.12,2.85,0.00,0.000,6,0.132,0.035,2066,2573,3760,0,0,0,0,0,0,25.96,26.14,28.83
$GC,8014,-0.67,-194.6,794.4,-7.9,1228,8023,0.00,2.75,0.00,0.000,4,0.000,0.024,2066,989,3758,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8078,-0.69,-194.6,799.3,-7.8,1234,8088,0.00,2.78,0.00,0.000,6,0.000,0.035,2057,2538,3758,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8386,-0.68,-194.6,827.2,-9.5,1265,8395,0.00,2.70,0.00,0.000,4,0.000,0.027,2058,996,3757,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8422,-0.68,-194.6,830.4,-9.9,1268,8429,0.00,2.72,0.00,0.000,6,0.000,0.034,2047,2524,3756,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8729,-0.66,-194.6,861.4,-10.3,1299,8737,0.00,2.65,0.00,0.000,4,0.000,0.027,2047,986,3754,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8772,-0.66,-194.6,865.5,-9.8,1303,8780,0.00,2.67,0.00,0.000,6,0.000,0.034,2036,2508,3754,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9080,-0.64,-194.6,899.3,-11.0,1334,9091,0.10,2.62,0.00,0.000,4,0.158,0.024,2066,981,3752,0,0,0,0,0,0,26.36,26.17,28.83
$GC,9136,-0.65,-194.6,903.9,-8.4,1339,9145,0.00,2.62,0.00,0.000,6,0.000,0.034,2059,2488,3752,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9444,-0.65,-194.6,929.3,-8.3,1370,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2486,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,-0.65,-194.6,954.8,-8.7,1400,9755,0.00,2.55,0.00,0.000,4,0.000,0.026,2060,986,3750,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9789,-0.66,-194.6,958.7,-8.8,1404,9798,0.00,2.62,0.00,0.000,6,0.000,0.034,2055,2484,3750,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10100,-0.66,-194.6,986.7,-9.3,1435,10104,0.00,2.03,0.00,0.000,4,0.000,0.047,2046,3819,3748,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10131,-0.66,-194.6,989.7,-9.3,1438,10135,0.00,2.00,0.00,0.000,6,0.000,0.021,2046,2423,3748,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,10141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10141,begin apogee
$GC,10147,-0.20,0.0,990.8,-9.3,1439,10364,0.47,0.10,210.68,1.052,4,0.096,0.073,2209,2502,2975,0,0,0,0,0,0,25.75,24.66,23.45
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10368,0.58,194.6,1002.9,0.0,1461,10584,0.65,2.12,202.40,1.106,4,0.040,0.044,2474,3826,2170,0,0,0,0,0,0,24.91,24.86,23.04
$GC,10753,0.50,194.6,933.5,23.7,1499,10761,0.17,1.88,0.00,0.000,6,0.178,0.021,2439,2515,2150,0,0,0,0,0,0,25.31,25.74,28.83
$GC,11059,0.45,194.6,875.0,18.2,1530,11069,0.00,2.53,0.00,0.000,4,0.000,0.029,2452,1091,2145,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,18686,end climb,SURFACE_DEPTH_REACHED
$STATE,18686,begin surface coast
$FINISH,0.2,1.020630
$STATE,18715,end surface coast,CONTROL_FINISHED_OK
$STATE,18715,begin surface
$SM_CCo,18792,0.00,0.000,0,0,919,505.32
$SM_GC,0.56,6.20,0.40,0.00,0.023,0.039,0.000,131,2484,919,-6.62,-0.28,505.32,0,0,0,0,0,0,26.16,26.29,28.83
$IRIDIUM_FIX,2302.75,12140.44,180612,010118
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.28
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.0,56.182
$10V_AH,10.0,35.227
$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,18.175,238.825,791.425,0.000,0.000,54.229,67.349,362.299,0.000,0.000,14.314,6398.265,6664.034,1026.606,4745.975,632.653,0.000,3240.516,0.000,4108.000,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,72.675,1106.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1829.507,2187.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,166903,2693
$CAP_FILE_SIZE,271831,0
$CFSIZE,260165632,191123456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,340.5,1
$GPS,180612,070807,2312.838,12145.072,26,1.3,26,-3.1