version: 66.10
glider: 169
mission: 6
dive: 513
start: 8 8 112 2 46 47
data:
$ID,169
$MISSION,6
$DIVE,513
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,9
$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,-18663.344
$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,2235
$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,2400
$C_ROLL_CLIMB,2400
$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,48
$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
$GPS1,080812,023524,2247.117,12205.375,42,1.2,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-60.8
$GPS2,080812,024624,2247.419,12205.459,11,1.7,16,-3.0
$SPEED_LIMITS,0.173,0.296
$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,251.9,73863,-15.7,-10.000
$D_GRID,4727
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.63,-194.6,0.0,0.0,0,119,0.00,0.00,-97.10,0.000,2,0.000,0.000,116,2455,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.63,-194.6,3.5,-8.7,16,152,8.10,2.65,-13.60,0.000,4,0.232,0.034,2036,929,3773,0,0,0,0,0,0,24.82,25.94,26.51
$GC,193,-0.59,-194.6,22.0,-18.6,27,200,0.00,2.60,0.00,0.000,6,0.000,0.029,2024,2424,3774,0,0,0,0,0,0,28.83,25.88,28.83
$GC,331,-0.51,-194.6,54.0,-22.5,52,338,0.12,2.28,0.00,0.000,4,0.173,0.039,2050,3844,3774,0,0,0,0,0,0,25.90,25.74,28.83
$GC,385,-0.46,-194.6,65.0,-16.2,61,392,0.00,2.25,0.00,0.000,6,0.000,0.019,2061,2364,3774,0,0,0,0,0,0,28.83,26.12,28.83
$GC,521,-0.42,-194.6,84.9,-13.8,86,530,0.12,2.42,0.00,0.000,4,0.152,0.037,2089,3846,3774,0,0,0,0,0,0,26.03,25.78,28.83
$GC,598,-0.41,-194.6,93.9,-11.4,99,605,0.00,2.05,0.00,0.000,6,0.000,0.017,2094,2425,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,734,-0.40,-194.6,108.7,-10.2,124,740,0.00,2.55,0.00,0.000,4,0.000,0.025,2094,937,3774,0,0,0,0,0,0,28.83,25.96,28.83
$GC,775,-0.40,-194.6,113.1,-10.4,131,782,0.00,2.70,0.00,0.000,6,0.000,0.028,2082,2464,3774,0,0,0,0,0,0,28.83,25.93,28.83
$GC,913,-0.38,-194.6,127.4,-8.6,156,920,0.10,2.10,0.00,0.000,4,0.162,0.035,2100,3836,3774,0,0,0,0,0,0,26.23,25.84,28.83
$GC,985,-0.38,-194.6,134.7,-10.9,169,992,0.00,1.88,0.00,0.000,6,0.000,0.017,2104,2475,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1122,-0.39,-194.6,146.3,-7.9,194,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2475,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.44,-194.6,158.0,-9.3,219,1270,0.00,2.10,0.00,0.000,4,0.000,0.038,2099,3848,3774,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1327,-0.47,-194.6,164.6,-10.8,230,1333,0.00,1.77,0.00,0.000,6,0.000,0.018,2099,2519,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1463,-0.50,-194.6,177.8,-9.1,255,1470,0.00,1.95,0.00,0.000,4,0.000,0.038,2098,3845,3774,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1523,-0.54,-194.6,183.4,-9.3,265,1530,0.12,2.03,0.00,0.000,6,0.076,0.016,2006,2424,3774,0,0,0,0,0,0,26.14,26.27,28.83
$GC,1661,-0.49,-194.6,202.2,-15.1,290,1668,0.20,2.55,0.00,0.000,4,0.132,0.022,2077,931,3774,0,0,0,0,0,0,25.88,26.00,28.83
$GC,1694,-0.48,-194.6,206.5,-11.2,295,1701,0.00,2.80,0.00,0.000,6,0.000,0.028,2064,2502,3774,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1829,-0.49,-194.6,220.4,-10.3,320,1838,0.00,2.75,0.00,0.000,4,0.000,0.021,2064,916,3774,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1856,-0.50,-194.6,223.5,-10.2,324,1865,0.00,2.60,0.00,0.000,6,0.000,0.026,2052,2430,3774,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1997,-0.48,-194.6,238.8,-10.7,349,2004,0.00,2.17,0.00,0.000,4,0.000,0.037,2041,3836,3774,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2069,-0.45,-194.6,247.9,-12.0,362,2079,0.15,2.05,0.00,0.000,6,0.136,0.018,2085,2415,3774,0,0,0,0,0,0,25.79,26.25,28.83
$GC,2209,-0.47,-194.6,260.7,-9.2,387,2216,0.00,2.25,0.00,0.000,4,0.000,0.037,2077,3843,3774,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2271,-0.50,-194.6,266.8,-9.5,398,2277,0.00,1.85,0.00,0.000,6,0.000,0.018,2078,2497,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2411,-0.51,-194.6,279.1,-8.7,423,2417,0.00,2.03,0.00,0.000,4,0.000,0.037,2069,3846,3773,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2488,-0.51,-194.6,286.5,-9.2,437,2495,0.00,2.15,0.00,0.000,6,0.000,0.017,2069,2380,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2625,-0.52,-194.6,297.2,-7.2,462,2632,0.00,2.35,0.00,0.000,4,0.000,0.037,2059,3844,3772,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2694,-0.50,-194.6,303.2,-9.3,474,2700,0.00,1.88,0.00,0.000,6,0.000,0.018,2059,2486,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2832,-0.51,-194.6,314.5,-8.5,499,2838,0.00,2.05,0.00,0.000,4,0.000,0.037,2050,3843,3772,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2862,-0.51,-194.6,317.6,-9.2,504,2871,0.00,1.80,0.00,0.000,6,0.000,0.018,2050,2513,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3004,-0.50,-194.6,329.9,-8.7,529,3011,0.00,2.80,0.00,0.000,4,0.000,0.022,2050,922,3771,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3075,-0.50,-194.6,337.6,-10.1,542,3083,0.12,2.92,0.00,0.000,6,0.124,0.029,2077,2540,3771,0,0,0,0,0,0,25.73,25.92,28.83
$GC,3214,-0.54,-194.6,349.3,-8.7,567,3221,0.00,2.88,0.00,0.000,4,0.000,0.022,2077,917,3770,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3282,-0.56,-194.6,355.8,-9.3,579,3289,0.00,2.65,0.00,0.000,6,0.000,0.028,2067,2449,3770,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3420,-0.59,-194.6,367.7,-8.7,604,3429,0.00,2.60,0.00,0.000,4,0.000,0.023,2067,916,3769,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3516,-0.60,-194.6,376.5,-9.1,621,3523,0.00,2.92,0.00,0.000,6,0.000,0.029,2056,2533,3768,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3656,-0.62,-194.6,387.5,-7.7,646,3662,0.00,2.85,0.00,0.000,4,0.000,0.023,2056,922,3766,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3728,-0.62,-194.6,394.1,-8.9,659,3735,0.00,2.60,0.00,0.000,6,0.000,0.028,2044,2430,3766,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3865,-0.62,-194.6,406.4,-8.9,684,3874,0.00,2.22,0.00,0.000,4,0.000,0.038,2034,3843,3766,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3961,-0.60,-194.6,417.0,-11.3,701,3968,0.00,1.95,0.00,0.000,6,0.000,0.019,2034,2466,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4099,-0.59,-194.6,432.1,-10.9,726,4107,0.00,2.70,-0.10,0.000,4,0.000,0.032,2034,934,3785,0,0,0,0,0,0,28.83,25.94,25.77
$GC,4145,-0.59,-194.6,438.1,-11.9,734,4152,0.00,2.90,0.00,0.000,6,0.000,0.030,2021,2532,3785,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4283,-0.56,-194.6,453.7,-10.9,759,4289,0.12,0.00,0.00,0.000,6,0.145,0.000,2064,2530,3785,0,0,0,0,0,0,26.11,28.83,28.83
$GC,4420,-0.59,-194.6,465.3,-7.4,784,4429,0.00,2.85,0.00,0.000,4,0.000,0.023,2064,922,3784,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4527,-0.60,-194.6,473.9,-8.1,803,4534,0.00,2.83,0.00,0.000,6,0.000,0.029,2052,2503,3782,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4663,-0.62,-194.6,483.6,-7.2,828,4669,0.00,2.03,0.00,0.000,4,0.000,0.040,2043,3844,3781,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4763,-0.62,-194.6,491.3,-7.9,846,4769,0.00,1.83,0.00,0.000,6,0.000,0.020,2043,2520,3781,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4902,-0.64,-194.6,502.6,-7.9,869,4913,0.00,2.80,0.00,0.000,4,0.000,0.023,2043,918,3779,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4927,-0.66,-194.6,504.9,-8.1,871,4935,0.00,2.80,0.00,0.000,6,0.000,0.028,2031,2496,3779,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5238,-0.67,-194.6,533.7,-9.5,902,5247,0.00,2.75,0.00,0.000,4,0.000,0.024,2031,923,3777,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5325,-0.67,-194.6,542.5,-10.5,910,5332,0.00,2.55,0.00,0.000,6,0.000,0.030,2022,2409,3776,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5632,-0.67,-194.6,571.6,-8.7,941,5643,0.00,2.28,0.00,0.000,4,0.000,0.039,2012,3839,3774,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5670,-0.66,-194.6,574.8,-8.8,944,5676,0.00,2.03,0.00,0.000,6,0.000,0.018,2011,2453,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5977,-0.64,-194.6,604.9,-9.4,975,5986,0.00,2.60,0.00,0.000,4,0.000,0.024,2012,925,3771,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6022,-0.62,-194.6,609.1,-9.9,979,6030,0.12,2.83,0.00,0.000,6,0.132,0.031,2036,2502,3771,0,0,0,0,0,0,25.58,25.80,28.83
$GC,6330,-0.63,-194.6,633.6,-7.9,1010,6341,0.00,2.05,0.00,0.000,4,0.000,0.043,2027,3823,3769,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6347,-0.65,-194.6,634.4,-8.0,1011,6354,0.00,2.30,0.00,0.000,6,0.000,0.019,2027,2341,3769,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,6634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6635,begin apogee
$GC,6641,-0.20,0.0,660.3,-8.9,1040,6827,0.40,0.10,174.10,0.962,4,0.089,0.033,2169,2343,2967,0,0,0,0,0,0,25.67,24.98,23.84
$STATE,6828,end apogee,CONTROL_FINISHED_OK
$STATE,6828,begin climb
$GC,6831,0.63,194.6,671.1,0.0,1059,7028,0.75,2.40,188.62,0.968,4,0.075,0.024,2437,932,2179,0,0,0,0,0,0,25.12,25.41,23.86
$GC,7069,0.66,218.5,656.2,9.2,1083,7100,0.00,2.58,24.30,0.897,6,0.000,0.029,2436,2418,2083,0,0,0,0,0,0,28.83,25.59,23.94
$GC,7411,0.66,224.8,622.5,9.8,1117,7420,0.00,2.53,0.00,0.000,4,0.000,0.028,2449,943,2055,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7443,0.67,239.4,619.2,9.5,1120,7473,0.00,2.58,20.00,0.894,6,0.000,0.028,2449,2436,1992,0,0,0,0,0,0,28.83,25.90,24.29
$GC,7776,0.67,244.1,586.0,9.8,1153,7785,0.00,2.58,0.00,0.000,4,0.000,0.030,2462,942,1975,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7870,0.70,275.7,577.0,8.9,1162,7914,0.00,2.67,37.67,0.910,6,0.000,0.028,2462,2464,1855,0,0,0,0,0,0,28.83,25.89,24.16
$GC,8216,0.69,275.7,539.7,11.3,1196,8227,0.00,2.15,0.00,0.000,4,0.000,0.038,2462,3830,1826,0,0,0,0,0,0,28.83,25.80,28.83
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$STATE,13052,end climb,SURFACE_DEPTH_REACHED
$STATE,13052,begin surface coast
$FINISH,0.2,1.021506
$STATE,13069,end surface coast,CONTROL_FINISHED_OK
$STATE,13069,begin surface
$SM_CCo,13147,0.00,0.000,0,0,828,527.64
$SM_GC,0.67,6.40,2.33,0.00,0.025,0.018,0.000,124,2314,828,-6.48,0.14,527.64,0,0,0,0,0,0
$IRIDIUM_FIX,2237.01,12200.32,070812,212138
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.8,114.044
$10V_AH,9.9,73.254
$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,18.300,242.650,727.050,0.000,0.000,29.449,21.915,412.489,0.000,0.000,17.615,5173.470,3281.324,1054.623,3574.455,667.916,0.000,2776.571,0.000,3038.506,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,65.025,968.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1369.268,1698.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,130544,2037
$CAP_FILE_SIZE,228921,0
$CFSIZE,260165632,156372992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.417, 38.2,1
$GPS,080812,062723,2249.338,12206.138,61,1.0,61,-3.0