version: 66.10
glider: 169
mission: 6
dive: 255
start: 6 13 112 10 7 1
data:
$ID,169
$MISSION,6
$DIVE,255
$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,-15783.195
$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
$GPS1,130612,095557,2251.627,12159.040,35,3.0,54,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.4
$GPS2,130612,100638,2251.793,12159.114,15,1.4,15,-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,250.8,60770,-13.8,-8.684
$D_GRID,4539
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,102,0.00,0.00,-82.03,0.000,2,0.000,0.000,117,2384,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-194.6,3.5,-7.9,14,138,8.10,2.33,-15.48,0.000,4,0.230,0.048,2068,3838,3775,0,0,0,0,0,0,25.10,26.03,26.48
$GC,213,-0.54,-194.6,46.7,-22.1,33,220,0.00,2.10,0.00,0.000,6,0.000,0.020,2074,2414,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,406,-0.46,-194.6,100.6,-23.6,70,414,0.15,2.30,0.00,0.000,4,0.164,0.021,2130,977,3776,0,0,0,0,0,0,25.97,26.25,28.83
$GC,474,-0.49,-194.6,110.3,-8.7,82,481,0.00,2.40,0.00,0.000,6,0.000,0.031,2119,2431,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,664,-0.46,-194.6,136.2,-12.5,119,671,0.00,2.15,0.00,0.000,4,0.000,0.039,2108,3834,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,704,-0.46,-194.6,141.2,-12.1,126,711,0.00,2.12,0.00,0.000,6,0.000,0.018,2108,2375,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,895,-0.44,-194.6,164.8,-13.2,163,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2374,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1085,-0.42,-194.6,188.5,-12.0,200,1092,0.10,2.30,0.00,0.000,4,0.148,0.037,2125,3832,3776,0,0,0,0,0,0,26.41,26.27,28.83
$GC,1121,-0.43,-194.6,192.4,-10.4,206,1128,0.00,2.12,0.00,0.000,6,0.000,0.018,2126,2369,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1314,-0.43,-194.6,211.2,-10.3,243,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2368,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1625,-0.43,-194.6,236.5,-7.1,304,1632,0.00,2.35,0.00,0.000,4,0.000,0.038,2117,3837,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1651,-0.44,-194.6,238.5,-7.8,308,1657,0.00,2.12,0.00,0.000,6,0.000,0.018,2116,2376,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1962,-0.44,-194.6,267.6,-9.2,369,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2376,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.45,-194.6,294.0,-7.7,430,2283,0.00,2.33,0.00,0.000,4,0.000,0.039,2108,3828,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2309,-0.46,-194.6,296.4,-7.6,435,2315,0.00,2.10,0.00,0.000,6,0.000,0.018,2108,2381,3772,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2621,-0.46,-194.6,320.7,-7.8,496,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2381,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-0.47,-194.6,346.3,-8.7,557,2938,0.00,2.35,0.00,0.000,4,0.000,0.040,2098,3835,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2977,-0.50,-194.6,350.2,-8.0,565,2985,0.00,2.10,0.00,0.000,6,0.000,0.018,2098,2388,3767,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3290,-0.50,-194.6,381.9,-10.2,626,3297,0.00,2.25,0.00,0.000,4,0.000,0.024,2099,980,3766,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3330,-0.53,-194.6,385.8,-9.0,633,3338,0.00,2.47,0.00,0.000,6,0.000,0.030,2099,2458,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3643,-0.53,-194.6,412.6,-7.9,694,3651,0.00,2.12,-0.10,0.000,4,0.000,0.056,2090,3825,3783,0,0,0,0,0,0,28.83,26.24,26.02
$GC,3684,-0.55,-194.6,415.6,-6.5,701,3692,0.00,2.10,0.00,0.000,6,0.000,0.018,2090,2382,3783,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3997,-0.55,-194.6,441.1,-8.8,762,4004,0.00,2.33,0.00,0.000,4,0.000,0.041,2081,3824,3782,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4023,-0.55,-194.6,443.2,-8.5,766,4030,0.00,2.10,0.00,0.000,6,0.000,0.019,2081,2390,3781,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4335,-0.54,-194.6,474.0,-10.1,827,4342,0.00,2.25,0.00,0.000,4,0.000,0.025,2081,979,3779,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4370,-0.56,-194.6,477.7,-9.7,833,4378,0.00,2.45,0.00,0.000,6,0.000,0.032,2073,2445,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4683,-0.54,-194.6,512.7,-11.2,883,4692,0.00,2.10,0.00,0.000,4,0.000,0.041,2063,3832,3776,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4725,-0.54,-194.6,517.4,-11.1,887,4735,0.12,2.12,0.00,0.000,6,0.116,0.019,2103,2385,3775,0,0,0,0,0,0,26.24,26.48,28.83
$GC,5036,-0.55,-194.6,543.1,-7.9,918,5045,0.00,2.30,0.00,0.000,4,0.000,0.042,2099,3823,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5072,-0.57,-194.6,545.4,-7.3,921,5080,0.00,2.08,0.00,0.000,6,0.000,0.018,2099,2392,3773,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5379,-0.60,-194.6,565.0,-5.8,952,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2392,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.64,-194.6,583.0,-6.0,982,5690,0.00,2.33,0.00,0.000,4,0.000,0.043,2099,3828,3768,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5776,-0.69,-194.6,589.0,-6.5,991,5785,0.12,1.83,0.00,0.000,6,0.081,0.021,2035,2498,3768,0,0,0,0,0,0,26.39,26.54,28.83
$GC,6086,-0.65,-194.6,627.5,-13.7,1022,6095,0.00,2.45,0.00,0.000,4,0.000,0.024,2036,980,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6177,-0.65,-194.6,638.4,-10.2,1031,6187,0.10,2.72,0.00,0.000,6,0.148,0.034,2067,2557,3765,0,0,0,0,0,0,26.06,26.23,28.83
$GC,6489,-0.64,-194.6,668.8,-9.2,1062,6497,0.00,2.62,0.00,0.000,4,0.000,0.025,2066,988,3763,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6520,-0.64,-194.6,671.5,-8.7,1065,6530,0.00,2.70,0.00,0.000,6,0.000,0.034,2060,2547,3763,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6830,-0.63,-194.6,699.2,-9.1,1096,6839,0.00,2.60,0.00,0.000,4,0.000,0.027,2060,998,3761,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6855,-0.61,-194.6,701.3,-9.4,1098,6862,0.00,2.67,0.00,0.000,6,0.000,0.035,2049,2546,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7164,-0.59,-194.6,734.1,-11.0,1129,7174,0.12,2.60,0.00,0.000,4,0.141,0.025,2094,992,3759,0,0,0,0,0,0,26.29,26.26,28.83
$GC,7220,-0.62,-194.6,738.6,-7.5,1134,7227,0.00,2.62,0.00,0.000,6,0.000,0.034,2092,2529,3759,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7529,-0.67,-194.6,760.6,-7.7,1165,7538,0.00,2.55,0.00,0.000,4,0.000,0.024,2092,987,3758,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7768,-0.74,-194.6,780.5,-8.7,1188,7776,0.15,2.80,0.00,0.000,6,0.072,0.033,2017,2600,3756,0,0,0,0,0,0,26.20,26.21,28.83
$GC,8075,-0.70,-194.6,814.1,-12.4,1219,8084,0.12,2.75,0.00,0.000,4,0.138,0.024,2066,983,3753,0,0,0,0,0,0,26.29,26.24,28.83
$GC,8195,-0.72,-194.6,822.8,-6.5,1230,8203,0.00,2.75,0.00,0.000,6,0.000,0.034,2055,2562,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8503,-0.71,-194.6,845.7,-7.5,1261,8511,0.00,2.65,0.00,0.000,4,0.000,0.025,2056,991,3752,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8555,-0.72,-194.6,849.4,-6.7,1266,8565,0.00,2.67,0.00,0.000,6,0.000,0.035,2045,2538,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8866,-0.71,-194.6,874.6,-8.2,1297,8875,0.00,2.58,0.00,0.000,4,0.000,0.025,2045,990,3750,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8931,-0.72,-194.6,879.5,-7.1,1303,8939,0.00,2.65,0.00,0.000,6,0.000,0.037,2035,2524,3749,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9238,-0.70,-194.6,910.5,-10.9,1334,9248,0.00,2.58,0.00,0.000,4,0.000,0.026,2035,988,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9281,-0.69,-194.6,914.7,-10.0,1338,9291,0.00,2.62,0.00,0.000,6,0.000,0.037,2030,2512,3748,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9592,-0.67,-194.6,949.6,-11.5,1369,9601,0.00,2.53,0.00,0.000,4,0.000,0.024,2030,997,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9656,-0.67,-194.6,956.9,-11.2,1375,9663,0.00,2.60,0.00,0.000,6,0.000,0.036,2030,2500,3747,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,9943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9943,begin apogee
$GC,9950,-0.20,0.0,991.0,-12.2,1404,10146,0.52,0.00,190.07,1.157,4,0.100,0.000,2210,2560,2976,0,0,0,0,0,0,25.72,28.83,23.59
$STATE,10147,end apogee,CONTROL_FINISHED_OK
$STATE,10147,begin climb
$GC,10149,0.58,194.6,1002.1,0.0,1424,10367,0.65,2.72,207.20,1.086,4,0.037,0.024,2484,1078,2179,0,0,0,0,0,0,24.94,24.93,23.23
$GC,10409,0.54,194.6,976.0,15.3,1450,10418,0.12,2.78,0.00,0.000,6,0.172,0.037,2454,2550,2152,0,0,0,0,0,0,24.76,24.98,28.83
$GC,10718,0.48,194.6,921.3,18.0,1481,10726,0.00,2.58,0.00,0.000,4,0.000,0.028,2467,1085,2145,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10813,0.44,194.6,906.3,14.5,1490,10822,0.17,2.67,0.00,0.000,6,0.158,0.037,2419,2559,2143,0,0,0,0,0,0,25.65,25.98,28.83
$GC,11120,0.40,194.6,857.9,15.6,1521,11129,0.00,1.88,0.00,0.000,4,0.000,0.042,2419,3830,2142,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11165,0.36,194.6,850.7,17.3,1525,11172,0.12,1.85,0.00,0.000,6,0.177,0.021,2397,2530,2141,0,0,0,0,0,0,25.82,26.22,28.83
$GC,11472,0.34,194.6,809.4,12.6,1556,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2529,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11774,0.31,194.6,775.5,10.5,1586,11784,0.00,2.47,0.00,0.000,4,0.000,0.031,2410,1091,2140,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11797,0.30,194.6,773.0,10.4,1588,11806,0.10,2.60,0.00,0.000,6,0.110,0.033,2372,2555,2139,0,0,0,0,0,0,25.92,26.16,28.83
$GC,12109,0.29,194.6,746.2,9.1,1619,12117,0.00,1.88,0.00,0.000,4,0.000,0.043,2372,3832,2139,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,18755,end climb,SURFACE_DEPTH_REACHED
$STATE,18755,begin surface coast
$FINISH,2.5,1.020961
$STATE,18762,end surface coast,CONTROL_FINISHED_OK
$STATE,18762,begin surface
$SM_CCo,18841,0.00,0.000,0,0,565,591.91
$SM_GC,0.62,6.43,2.42,0.00,0.044,0.024,0.000,133,2475,565,-6.61,-0.40,591.91,0,0,0,0,0,0,26.20,26.15,28.83
$IRIDIUM_FIX,2241.69,12204.78,130612,040404
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.2,51.865
$10V_AH,10.0,31.795
$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,19.075,217.525,815.450,0.000,0.000,30.903,44.683,370.963,0.000,0.000,16.558,6288.491,6791.123,1066.173,4674.921,604.776,0.000,3252.173,0.000,4065.003,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,86.445,1156.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1801.625,2198.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,163437,2655
$CAP_FILE_SIZE,266172,0
$CFSIZE,260165632,194215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143, 11.4,1
$GPS,130612,152207,2252.159,12156.871,37,1.0,37,-3.0