version: 66.10
glider: 169
mission: 6
dive: 199
start: 6 1 112 0 25 1
data:
$ID,169
$MISSION,6
$DIVE,199
$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,-9
$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,-15710.657
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$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
$GPS1,010612,001636,2157.442,12324.744,24,1.3,24,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.6
$GPS2,010612,002436,2157.502,12324.787,13,1.0,29,-2.9
$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,287.8,236785,-13.8,-8.684
$D_GRID,4762
$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,-194.6,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,116,2522,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.58,-194.6,3.2,-6.5,11,121,7.85,1.95,-15.68,0.000,4,0.225,0.052,2067,3831,3777,0,0,1,0,0,0,25.28,25.54,26.47
$GC,240,-0.52,-194.6,59.9,-25.3,39,248,0.12,1.98,0.00,0.000,6,0.160,0.020,2109,2462,3778,0,0,0,0,0,0,25.88,26.22,28.83
$GC,433,-0.44,-194.6,116.8,-27.6,76,440,0.00,2.30,0.00,0.000,4,0.000,0.023,2120,1033,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,564,-0.44,-194.6,140.2,-12.2,101,572,0.00,2.40,0.00,0.000,6,0.000,0.031,2108,2482,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,755,-0.37,-194.6,182.2,-25.8,138,763,0.12,0.00,0.00,0.000,6,0.174,0.000,2145,2482,3778,0,0,0,0,0,0,26.12,28.83,28.83
$GC,949,-0.35,-194.6,209.8,-11.2,167,958,0.00,2.35,0.00,0.000,4,0.000,0.024,2147,1029,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,985,-0.35,-194.6,213.7,-11.4,170,992,0.00,2.35,0.00,0.000,6,0.000,0.030,2137,2461,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1291,-0.35,-194.6,244.4,-9.0,201,1300,0.00,2.08,0.00,0.000,4,0.000,0.039,2127,3838,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1314,-0.35,-194.6,246.2,-8.5,203,1323,0.08,2.08,0.00,0.000,6,0.076,0.018,2164,2375,3778,0,0,0,0,0,0,26.32,26.52,28.83
$GC,1625,-0.43,-194.6,268.6,-9.6,234,1634,0.00,2.28,0.00,0.000,4,0.000,0.037,2164,3828,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1722,-0.51,-194.6,277.6,-9.8,243,1730,0.15,2.05,0.00,0.000,6,0.092,0.020,2102,2395,3778,0,0,0,0,0,0,26.36,26.53,28.83
$GC,2029,-0.53,-194.6,300.6,-8.3,274,2037,0.00,2.25,0.00,0.000,4,0.000,0.040,2094,3832,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2121,-0.54,-194.6,309.2,-9.3,283,2124,0.00,1.77,0.00,0.000,6,0.000,0.018,2094,2529,3778,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2433,-0.52,-194.6,344.0,-11.7,314,2442,0.00,2.38,0.00,0.000,4,0.000,0.024,2094,1045,3777,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2525,-0.53,-194.6,353.4,-9.0,323,2535,0.00,2.58,0.00,0.000,6,0.000,0.031,2085,2570,3776,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2836,-0.51,-194.6,391.9,-12.4,354,2844,0.00,2.53,0.00,0.000,4,0.000,0.025,2085,1041,3775,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2880,-0.51,-194.6,396.7,-11.6,358,2888,0.12,2.55,0.00,0.000,6,0.117,0.032,2117,2557,3775,0,0,0,0,0,0,26.23,26.36,28.83
$GC,3188,-0.52,-194.6,420.8,-7.7,389,3198,0.00,2.50,0.00,0.000,4,0.000,0.024,2117,1038,3772,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3255,-0.55,-194.6,425.8,-7.8,395,3262,0.00,2.50,0.00,0.000,6,0.000,0.033,2112,2539,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3562,-0.60,-194.6,451.2,-7.6,426,3566,0.00,1.92,0.00,0.000,4,0.000,0.044,2112,3834,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3706,-0.68,-194.6,463.7,-9.1,440,3716,0.15,2.10,0.00,0.000,6,0.074,0.021,2056,2389,3768,0,0,0,0,0,0,26.25,26.51,28.83
$GC,4016,-0.65,-194.6,488.9,-10.6,471,4026,0.00,2.12,-0.10,0.000,4,0.000,0.038,2056,1046,3786,0,0,0,0,0,0,28.83,26.39,26.03
$GC,4172,-0.65,-194.6,503.0,-8.7,486,4179,0.00,2.35,0.00,0.000,6,0.000,0.035,2045,2468,3786,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4480,-0.62,-194.6,544.7,-14.3,517,4489,0.10,2.05,0.00,0.000,4,0.161,0.041,2063,3819,3784,0,0,0,0,0,0,26.44,26.27,28.83
$GC,4504,-0.59,-194.6,547.9,-14.1,519,4513,0.00,2.05,0.00,0.000,6,0.000,0.020,2063,2412,3783,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4813,-0.57,-194.6,583.3,-11.1,550,4821,0.00,2.15,0.00,0.000,4,0.000,0.028,2063,1050,3781,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4866,-0.57,-194.6,589.0,-10.7,555,4874,0.12,2.33,0.00,0.000,6,0.120,0.034,2098,2456,3781,0,0,0,0,0,0,26.17,26.30,28.83
$GC,5177,-0.58,-194.6,611.7,-6.9,578,5183,0.00,2.08,0.00,0.000,4,0.000,0.044,2087,3813,3779,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5209,-0.59,-194.6,613.2,-6.8,579,5216,0.00,2.08,0.00,0.000,6,0.000,0.020,2087,2396,3778,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5517,-0.59,-194.6,636.0,-7.3,595,5522,0.00,2.28,0.00,0.000,4,0.000,0.044,2078,3823,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5539,-0.59,-194.6,637.6,-7.5,596,5543,0.00,2.08,0.00,0.000,6,0.000,0.021,2078,2406,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5851,-0.59,-194.6,663.3,-8.4,612,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2405,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6152,-0.59,-194.6,690.1,-9.0,627,6157,0.00,2.15,0.00,0.000,4,0.000,0.027,2078,1043,3771,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6184,-0.59,-194.6,691.9,-9.0,628,6192,0.00,2.35,0.00,0.000,6,0.000,0.034,2068,2466,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6491,-0.58,-194.6,724.5,-10.5,644,6497,0.00,2.28,0.00,0.000,4,0.000,0.027,2068,1045,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6539,-0.58,-194.6,728.6,-10.4,646,6544,0.00,2.35,0.00,0.000,6,0.000,0.035,2059,2455,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6847,-0.56,-194.6,761.5,-10.2,661,6849,0.12,0.00,0.00,0.000,6,0.135,0.000,2098,2454,3766,0,0,0,0,0,0,26.37,28.83,28.83
$GC,7149,-0.58,-194.6,780.1,-6.0,676,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2453,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7446,-0.60,-194.6,799.3,-6.8,691,7452,0.00,2.12,0.00,0.000,4,0.000,0.047,2088,3815,3762,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7469,-0.61,-194.6,800.6,-6.8,692,7473,0.00,2.10,0.00,0.000,6,0.000,0.021,2088,2385,3762,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7783,-0.62,-194.6,824.7,-7.7,708,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2384,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,-0.64,-194.6,847.3,-7.4,723,8087,0.00,2.33,0.00,0.000,4,0.000,0.045,2077,3827,3759,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8116,-0.65,-194.6,848.8,-7.4,724,8123,0.00,2.10,0.00,0.000,6,0.000,0.022,2078,2395,3759,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8422,-0.66,-194.6,871.5,-6.9,740,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2395,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8722,-0.66,-194.6,891.1,-6.3,755,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2395,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9023,-0.67,-194.6,910.6,-6.4,770,9028,0.00,2.30,0.00,0.000,4,0.000,0.046,2067,3822,3755,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9045,-0.68,-194.6,911.8,-6.5,771,9049,0.00,2.10,0.00,0.000,6,0.000,0.022,2067,2403,3754,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9358,-0.68,-194.6,935.9,-7.7,787,9362,0.00,2.17,0.00,0.000,4,0.000,0.028,2067,1035,3754,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9383,-0.68,-194.6,937.7,-7.6,788,9387,0.00,2.38,0.00,0.000,6,0.000,0.035,2057,2460,3754,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9696,-0.67,-194.6,964.2,-8.6,804,9701,0.00,2.10,0.00,0.000,4,0.000,0.047,2047,3811,3752,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9725,-0.66,-194.6,965.8,-8.5,805,9733,0.00,2.10,0.00,0.000,6,0.000,0.023,2047,2411,3752,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,9973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9973,begin apogee
$GC,9979,-0.20,0.0,990.2,-9.4,818,10176,0.47,0.08,189.35,1.172,4,0.097,0.090,2211,2481,2972,0,0,0,0,0,0,25.78,24.59,23.68
$STATE,10177,end apogee,CONTROL_FINISHED_OK
$STATE,10177,begin climb
$GC,10179,0.58,194.6,997.3,0.0,828,10396,0.65,0.12,205.35,1.145,6,0.027,0.079,2492,2552,2171,0,0,0,0,0,0,24.86,24.82,23.19
$GC,10698,0.50,194.6,893.7,24.2,854,10703,0.17,1.92,0.00,0.000,4,0.185,0.042,2441,3825,2144,0,0,0,0,0,0,25.43,25.75,28.83
$GC,10865,0.44,194.6,858.7,20.9,862,10869,0.12,1.90,0.00,0.000,6,0.185,0.023,2421,2518,2141,0,0,0,0,0,0,25.63,25.99,28.83
$GC,11173,0.40,194.6,806.2,15.9,877,11179,0.00,2.00,0.00,0.000,4,0.000,0.045,2420,3822,2140,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11236,0.35,194.6,795.0,17.8,880,11242,0.15,1.88,0.00,0.000,6,0.169,0.021,2390,2519,2139,0,0,0,0,0,0,25.73,26.15,28.83
$GC,11553,0.33,194.6,752.7,12.2,896,11558,0.00,2.00,0.00,0.000,4,0.000,0.044,2390,3830,2138,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11594,0.30,194.6,747.2,13.0,898,11599,0.00,1.90,0.00,0.000,6,0.000,0.022,2400,2516,2138,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11913,0.28,194.6,706.4,12.7,914,11919,0.12,2.38,0.00,0.000,4,0.171,0.031,2373,1069,2137,0,0,0,0,0,0,26.01,26.12,28.83
$GC,11945,0.26,194.6,704.1,12.4,915,11952,0.00,2.53,0.00,0.000,6,0.000,0.035,2373,2554,2136,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12253,0.26,194.6,675.5,8.9,931,12258,0.00,2.45,0.00,0.000,4,0.000,0.031,2385,1079,2136,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12276,0.26,194.6,673.8,8.8,932,12282,0.00,2.50,0.00,0.000,6,0.000,0.034,2385,2547,2135,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12595,0.25,194.6,642.2,10.0,948,12600,0.00,1.92,0.00,0.000,4,0.000,0.046,2385,3821,2135,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,18644,end climb,SURFACE_DEPTH_REACHED
$STATE,18644,begin surface coast
$FINISH,-0.1,1.021250
$STATE,18672,end surface coast,CONTROL_FINISHED_OK
$STATE,18673,begin surface
$SM_CCo,18749,0.00,0.000,0,0,556,594.36
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$IRIDIUM_FIX,2145.77,12327.23,310512,191954
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.2,39.748
$10V_AH,10.2,24.521
$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
$DEVICE_SECS,18.000,183.100,854.250,0.000,0.000,31.489,41.418,237.737,0.000,0.000,31.697,4158.171,10237.768,948.648,3375.840,473.770,0.000,2619.226,0.000,2874.944,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,106939,1689
$CAP_FILE_SIZE,214153,0
$CFSIZE,260165632,200663040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$CURRENT,0.195, 73.6,1
$GPS,010612,053836,2158.749,12323.791,37,1.2,37,-2.9