version: 66.10
glider: 169
mission: 6
dive: 262
start: 6 15 112 0 21 34
data:
$ID,169
$MISSION,6
$DIVE,262
$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,-15795.943
$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
$GPS1,150612,001107,2258.244,12142.416,32,0.9,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-75.1
$GPS2,150612,002108,2258.572,12142.583,15,1.2,15,-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,286.0,30012,-13.8,-8.684
$D_GRID,3228
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-79.65,0.000,2,0.000,0.000,129,2493,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-194.6,3.3,-8.7,14,129,8.10,2.60,-13.20,0.000,4,0.231,0.033,2089,970,3776,0,0,0,0,0,0,25.01,26.07,26.46
$GC,226,-0.53,-194.6,41.3,-21.5,36,234,0.00,2.55,0.00,0.000,6,0.000,0.031,2076,2471,3778,0,0,0,0,0,0,28.83,26.06,28.83
$GC,419,-0.45,-194.6,90.3,-23.4,73,426,0.15,2.45,0.00,0.000,4,0.164,0.024,2134,991,3778,0,0,0,0,0,0,25.93,26.18,28.83
$GC,537,-0.46,-194.6,104.0,-9.3,95,544,0.00,2.33,0.00,0.000,6,0.000,0.029,2123,2401,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,729,-0.44,-194.6,128.4,-11.0,132,737,0.00,2.25,0.00,0.000,4,0.000,0.037,2112,3841,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,754,-0.43,-194.6,131.2,-10.6,136,762,0.00,2.22,0.00,0.000,6,0.000,0.018,2112,2315,3778,0,0,0,0,0,0,28.83,26.41,28.83
$GC,948,-0.41,-194.6,152.9,-13.2,173,955,0.00,2.10,0.00,0.000,4,0.000,0.022,2112,977,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,974,-0.40,-194.6,156.3,-12.3,177,981,0.12,2.30,0.00,0.000,6,0.115,0.029,2149,2389,3778,0,0,0,0,0,0,26.15,26.28,28.83
$GC,1167,-0.42,-194.6,171.0,-7.1,214,1174,0.00,2.22,0.00,0.000,4,0.000,0.041,2138,3837,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1222,-0.45,-194.6,175.3,-7.7,224,1231,0.00,2.17,0.00,0.000,6,0.000,0.018,2138,2315,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1417,-0.51,-194.6,189.4,-7.2,261,1425,0.00,2.40,0.00,0.000,4,0.000,0.037,2138,3836,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1654,-0.58,-194.6,211.3,-8.8,307,1663,0.17,2.05,0.00,0.000,6,0.104,0.018,2088,2394,3778,0,0,0,0,0,0,26.21,26.50,28.83
$GC,1970,-0.59,-194.6,236.0,-7.9,368,1976,0.00,2.25,0.00,0.000,4,0.000,0.024,2088,980,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2049,-0.59,-194.6,242.6,-8.2,383,2057,0.00,2.83,0.00,0.000,6,0.000,0.032,2085,2608,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2362,-0.57,-194.6,276.5,-11.8,444,2369,0.00,2.75,0.00,0.000,4,0.000,0.024,2086,979,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2432,-0.59,-194.6,283.5,-9.1,457,2439,0.00,2.80,0.00,0.000,6,0.000,0.031,2085,2592,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2745,-0.58,-194.6,315.9,-11.4,518,2752,0.00,2.72,0.00,0.000,4,0.000,0.024,2086,977,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2821,-0.59,-194.6,323.0,-8.8,532,2828,0.00,2.72,0.00,0.000,6,0.000,0.032,2085,2553,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3133,-0.58,-194.6,353.3,-9.1,593,3140,0.00,2.65,0.00,0.000,4,0.000,0.024,2086,989,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3183,-0.60,-194.6,357.6,-7.9,602,3190,0.00,2.67,0.00,0.000,6,0.000,0.033,2085,2537,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3496,-0.59,-194.6,386.2,-8.6,663,3504,0.00,2.60,0.00,0.000,4,0.000,0.024,2086,987,3769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3544,-0.61,-194.6,390.2,-8.2,671,3552,0.00,2.65,0.00,0.000,6,0.000,0.033,2085,2527,3769,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3857,-0.60,-194.6,418.3,-8.9,732,3863,0.00,2.58,0.00,0.000,4,0.000,0.024,2086,984,3767,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3906,-0.62,-194.6,422.8,-8.1,741,3913,0.00,2.62,0.00,0.000,6,0.000,0.034,2085,2515,3767,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4219,-0.62,-194.6,450.1,-9.1,802,4226,0.00,1.95,0.00,0.000,4,0.000,0.042,2077,3833,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4239,-0.62,-194.6,451.9,-9.1,805,4246,0.00,1.98,-0.08,0.000,6,0.000,0.020,2077,2445,3787,0,0,0,0,0,0,28.83,26.47,25.18
$GC,4553,-0.61,-194.6,482.7,-9.2,866,4559,0.00,2.17,0.00,0.000,4,0.000,0.043,2068,3823,3785,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4578,-0.61,-194.6,485.2,-9.6,870,4584,0.00,1.95,0.00,0.000,6,0.000,0.020,2068,2445,3785,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4894,-0.60,-194.6,517.7,-10.2,915,4903,0.00,2.38,0.00,0.000,4,0.000,0.025,2068,989,3783,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4947,-0.61,-194.6,522.8,-9.3,920,4956,0.00,2.55,0.00,0.000,6,0.000,0.032,2056,2506,3783,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5258,-0.58,-194.6,557.3,-10.9,951,5265,0.10,0.00,0.00,0.000,6,0.154,0.000,2085,2505,3781,0,0,0,0,0,0,26.41,28.83,28.83
$GC,5568,-0.58,-194.6,581.9,-7.2,982,5576,0.00,2.50,0.00,0.000,4,0.000,0.024,2085,991,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5620,-0.60,-194.6,585.3,-6.5,987,5630,0.00,2.55,0.00,0.000,6,0.000,0.032,2074,2501,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5930,-0.60,-194.6,608.6,-8.3,1018,5940,0.00,2.03,0.00,0.000,4,0.000,0.045,2064,3836,3775,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5953,-0.60,-194.6,610.5,-8.0,1020,5962,0.00,2.00,0.00,0.000,6,0.000,0.020,2065,2427,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6263,-0.60,-194.6,637.1,-9.1,1051,6273,0.00,2.35,0.00,0.000,4,0.000,0.027,2065,983,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6285,-0.60,-194.6,639.4,-9.3,1053,6295,0.00,2.60,0.00,0.000,6,0.000,0.034,2053,2502,3773,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6596,-0.58,-194.6,674.0,-11.4,1084,6606,0.12,2.53,0.00,0.000,4,0.138,0.026,2097,1000,3771,0,0,0,0,0,0,26.29,26.25,28.83
$GC,6659,-0.61,-194.6,679.1,-7.1,1090,6668,0.00,2.53,0.00,0.000,6,0.000,0.034,2091,2483,3771,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6969,-0.66,-194.6,701.1,-7.1,1121,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2482,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,-0.70,-194.6,722.0,-6.5,1151,7280,0.12,0.00,0.00,0.000,6,0.078,0.000,2014,2482,3767,0,0,0,0,0,0,26.54,28.83,28.83
$GC,7579,-0.66,-194.6,761.1,-14.2,1182,7581,0.15,0.00,0.00,0.000,6,0.132,0.000,2061,2482,3766,0,0,0,0,0,0,26.25,28.83,28.83
$GC,7879,-0.65,-194.6,788.6,-8.9,1212,7888,0.00,2.47,0.00,0.000,4,0.000,0.027,2060,988,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7911,-0.65,-194.6,791.5,-8.9,1215,7921,0.00,2.78,0.00,0.000,6,0.000,0.035,2050,2564,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8221,-0.64,-194.6,821.8,-9.7,1246,8230,0.00,2.67,0.00,0.000,4,0.000,0.027,2051,984,3762,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8276,-0.64,-194.6,826.4,-9.1,1251,8284,0.00,2.72,0.00,0.000,6,0.000,0.036,2039,2544,3762,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8583,-0.62,-194.6,859.1,-10.8,1282,8593,0.12,2.60,0.00,0.000,4,0.135,0.025,2084,989,3760,0,0,0,0,0,0,26.28,26.19,28.83
$GC,8636,-0.65,-194.6,863.4,-7.9,1287,8648,0.00,2.65,0.00,0.000,6,0.000,0.034,2083,2529,3760,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8946,-0.69,-194.6,884.8,-6.9,1318,8955,0.00,2.55,0.00,0.000,4,0.000,0.026,2083,987,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9183,-0.77,-194.6,902.8,-8.3,1341,9191,0.15,2.80,0.00,0.000,6,0.072,0.035,2008,2594,3759,0,0,0,0,0,0,26.10,26.10,28.83
$GC,9492,-0.73,-194.6,936.7,-13.0,1372,9501,0.10,2.75,0.00,0.000,4,0.151,0.027,2049,990,3758,0,0,0,0,0,0,26.39,26.13,28.83
$GC,9596,-0.74,-194.6,946.3,-8.3,1382,9605,0.00,2.75,0.00,0.000,6,0.000,0.036,2037,2556,3757,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9905,-0.73,-194.6,977.4,-10.8,1413,9913,0.00,2.67,0.00,0.000,4,0.000,0.027,2038,990,3755,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9969,-0.73,-194.6,983.6,-9.8,1419,9977,0.00,2.75,0.00,0.000,6,0.000,0.036,2033,2547,3755,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10034,begin apogee
$GC,10039,-0.20,0.0,991.1,-11.2,1426,10236,0.50,0.00,191.35,1.151,4,0.101,0.000,2205,2546,2975,0,0,0,0,0,0,25.68,28.83,23.51
$STATE,10237,end apogee,CONTROL_FINISHED_OK
$STATE,10238,begin climb
$GC,10240,0.58,194.6,1000.0,0.0,1446,10458,0.65,2.65,206.95,1.089,4,0.039,0.025,2473,1087,2177,0,0,0,0,0,0,24.87,24.88,23.07
$GC,10533,0.54,194.6,967.5,15.1,1475,10542,0.00,2.72,0.00,0.000,6,0.000,0.038,2473,2550,2151,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10841,0.47,194.6,904.5,20.9,1506,10851,0.15,2.55,0.00,0.000,4,0.179,0.027,2442,1092,2147,0,0,0,0,0,0,25.64,25.95,28.83
$GC,10924,0.44,194.6,891.8,13.2,1514,10933,0.00,2.65,0.00,0.000,6,0.000,0.036,2442,2557,2145,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11234,0.39,194.6,839.1,17.0,1545,11243,0.12,1.88,0.00,0.000,4,0.176,0.042,2405,3824,2144,0,0,0,0,0,0,25.89,26.03,28.83
$GC,11328,0.35,194.6,823.6,16.1,1554,11332,0.00,1.85,0.00,0.000,6,0.000,0.023,2415,2540,2143,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11640,0.32,194.6,780.0,13.7,1585,11649,0.12,1.92,0.00,0.000,4,0.177,0.043,2376,3830,2143,0,0,0,0,0,0,25.97,26.07,28.83
$GC,11686,0.30,194.6,774.5,13.3,1589,11693,0.00,1.80,0.00,0.000,6,0.000,0.023,2386,2544,2142,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11993,0.28,194.6,741.8,10.4,1620,12002,0.00,1.92,0.00,0.000,4,0.000,0.044,2386,3824,2142,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,18971,end climb,SURFACE_DEPTH_REACHED
$STATE,18971,begin surface coast
$FINISH,-0.3,1.008303
$STATE,19007,end surface coast,CONTROL_FINISHED_OK
$STATE,19007,begin surface
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$IRIDIUM_FIX,2248.70,12145.19,140612,181856
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.10
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.1,53.379
$10V_AH,10.1,32.961
$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
$DEVICE_SECS,18.675,231.400,771.175,0.000,0.000,22.588,37.749,355.770,0.000,0.000,16.183,6483.856,6775.925,1013.086,4738.175,623.955,0.000,3245.509,0.000,4159.293,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,170054,2726
$CAP_FILE_SIZE,272700,0
$CFSIZE,260165632,193150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 42.3,1
$GPS,150612,054037,2259.647,12140.613,31,1.4,31,-3.0