version: 66.10
glider: 169
mission: 6
dive: 130
start: 5 15 112 10 7 32
data:
$ID,169
$MISSION,6
$DIVE,130
$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,420
$T_MISSION,460
$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,175
$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,-15502.369
$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
$GPS1,150512,095830,2319.524,12408.235,36,1.0,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.7
$GPS2,150512,100708,2319.560,12408.236,15,1.2,15,-3.3
$SPEED_LIMITS,0.136,0.256
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,160.2,203402,-13.5,-7.857
$D_GRID,4831
$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,18,-0.55,-170.3,0.0,0.0,0,98,0.00,0.00,-77.62,0.000,2,0.000,0.000,116,2543,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.55,-170.3,3.1,-6.8,14,128,7.80,2.05,-9.35,0.000,4,0.226,0.051,2079,3830,3676,0,0,1,0,0,0,25.42,25.73,26.38
$GC,198,-0.51,-170.3,33.9,-18.0,31,204,0.00,2.05,0.00,0.000,6,0.000,0.021,2088,2463,3677,0,0,0,0,0,0,28.83,26.12,28.83
$GC,389,-0.43,-170.3,79.8,-24.1,68,397,0.12,2.22,0.00,0.000,4,0.176,0.023,2136,1041,3678,0,0,0,0,0,0,25.94,26.19,28.83
$GC,475,-0.44,-170.3,92.3,-10.4,84,483,0.00,2.38,0.00,0.000,6,0.000,0.031,2125,2511,3679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,670,-0.40,-170.3,125.2,-17.8,121,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2510,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.36,-170.3,156.1,-15.6,158,867,0.12,2.05,0.00,0.000,4,0.155,0.040,2155,3830,3679,0,0,0,0,0,0,26.19,26.25,28.83
$GC,885,-0.34,-170.3,159.4,-13.4,162,891,0.00,2.08,0.00,0.000,6,0.000,0.020,2157,2420,3679,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1077,-0.33,-170.3,179.0,-9.5,199,1084,0.00,2.12,0.00,0.000,4,0.000,0.025,2157,1034,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1122,-0.35,-170.3,182.7,-7.2,207,1129,0.00,2.33,0.00,0.000,6,0.000,0.031,2150,2497,3679,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1314,-0.34,-170.3,198.3,-9.2,244,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2496,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1504,-0.34,-170.3,214.0,-7.8,264,1514,0.00,2.28,0.00,0.000,4,0.000,0.024,2150,1035,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1537,-0.34,-170.3,216.5,-7.7,267,1546,0.00,2.30,0.00,0.000,6,0.000,0.031,2143,2484,3679,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1849,-0.32,-170.3,243.9,-10.2,298,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2484,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.32,-170.3,275.4,-9.5,329,2169,0.00,2.08,0.00,0.000,4,0.000,0.041,2132,3820,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2225,-0.32,-170.3,280.9,-7.9,335,2232,0.12,2.08,0.00,0.000,6,0.115,0.020,2173,2410,3678,0,0,0,0,0,0,26.31,26.51,28.83
$GC,2533,-0.35,-170.3,297.7,-5.7,366,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2410,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2836,-0.38,-170.3,313.8,-5.1,396,2845,0.00,2.25,0.00,0.000,4,0.000,0.041,2163,3811,3676,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2869,-0.41,-170.3,315.6,-4.9,399,2878,0.00,2.05,0.00,0.000,6,0.000,0.019,2163,2406,3676,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3178,-0.49,-170.3,339.1,-8.6,430,3180,0.15,0.00,0.00,0.000,6,0.089,0.000,2100,2407,3675,0,0,0,0,0,0,26.54,28.83,28.83
$GC,3479,-0.50,-170.3,363.9,-8.0,460,3487,0.00,2.30,0.00,0.000,4,0.000,0.041,2089,3812,3673,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3613,-0.49,-170.3,377.0,-10.4,473,3622,0.00,2.05,0.00,0.000,6,0.000,0.021,2089,2431,3672,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3921,-0.46,-170.3,417.1,-12.8,504,3930,0.12,2.12,0.00,0.000,4,0.140,0.024,2137,1040,3672,0,0,0,0,0,0,26.38,26.46,28.83
$GC,3957,-0.45,-170.3,420.4,-10.8,507,3964,0.00,2.30,0.00,0.000,6,0.000,0.033,2134,2484,3672,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4264,-0.46,-170.3,441.2,-6.5,538,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2483,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,-0.47,-170.3,459.6,-6.1,568,4570,0.00,2.08,0.00,0.000,4,0.000,0.042,2125,3833,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4591,-0.48,-170.3,461.0,-5.9,570,4599,0.00,2.08,0.00,0.000,6,0.000,0.019,2125,2412,3669,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4899,-0.48,-170.3,483.3,-7.8,601,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2412,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-0.48,-170.3,507.8,-8.7,631,5208,0.00,2.30,0.00,0.000,4,0.000,0.043,2116,3820,3665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5243,-0.49,-170.3,511.7,-9.2,635,5252,0.00,2.05,0.00,0.000,6,0.000,0.021,2116,2430,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5551,-0.49,-170.3,540.3,-8.5,666,5561,0.00,2.15,0.00,0.000,4,0.000,0.025,2116,1028,3664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5628,-0.51,-170.3,546.4,-8.2,673,5635,0.00,2.33,0.00,0.000,6,0.000,0.031,2107,2491,3664,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5934,-0.51,-170.3,572.1,-8.3,704,5943,0.00,2.08,0.00,0.000,4,0.000,0.042,2097,3825,3662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5996,-0.51,-170.3,577.5,-8.8,710,6006,0.00,2.08,0.00,0.000,6,0.000,0.021,2097,2421,3661,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6308,-0.50,-170.3,606.2,-9.4,738,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2421,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6607,-0.49,-170.3,633.5,-8.9,753,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2421,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6906,-0.48,-170.3,658.6,-8.1,768,6911,0.00,2.10,0.00,0.000,4,0.000,0.027,2097,1048,3656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6945,-0.48,-170.3,661.7,-8.1,770,6952,0.10,2.30,0.00,0.000,6,0.139,0.035,2120,2483,3657,0,0,0,0,0,0,26.21,26.34,28.83
$GC,7269,-0.49,-170.3,680.3,-5.4,786,7274,0.00,2.05,0.00,0.000,4,0.000,0.044,2110,3812,3654,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7308,-0.51,-170.3,682.8,-5.6,788,7313,0.00,2.08,0.00,0.000,6,0.000,0.022,2110,2419,3654,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7629,-0.51,-170.3,703.3,-6.5,804,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2418,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,-0.52,-170.3,724.2,-7.1,819,7935,0.00,2.30,0.00,0.000,4,0.000,0.044,2100,3814,3650,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7961,-0.52,-170.3,725.6,-7.0,820,7968,0.00,2.08,0.00,0.000,6,0.000,0.023,2100,2428,3650,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8269,-0.52,-170.3,750.9,-8.0,836,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2429,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,-0.52,-170.3,773.8,-7.3,851,8574,0.00,2.25,0.00,0.000,4,0.000,0.044,2090,3815,3646,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8611,-0.52,-170.3,776.6,-7.0,853,8615,0.00,2.05,0.00,0.000,6,0.000,0.021,2090,2442,3645,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8925,-0.51,-170.3,797.2,-6.2,869,8930,0.00,2.15,0.00,0.000,4,0.000,0.027,2091,1047,3644,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8965,-0.51,-170.3,799.7,-6.3,871,8970,0.00,2.35,0.00,0.000,6,0.000,0.035,2085,2503,3645,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9280,-0.50,-170.3,819.8,-6.5,887,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2502,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9579,-0.50,-170.3,840.2,-6.9,902,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2502,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9879,-0.49,-170.3,861.7,-7.5,917,9881,0.10,0.00,0.00,0.000,6,0.159,0.000,2114,2502,3639,0,0,0,0,0,0,26.44,28.83,28.83
$GC,10179,-0.50,-170.3,878.8,-5.7,932,10184,0.00,2.30,0.00,0.000,4,0.000,0.028,2114,1045,3638,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10207,-0.52,-170.3,880.0,-5.9,933,10211,0.00,2.35,0.00,0.000,6,0.000,0.035,2110,2498,3638,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10514,-0.53,-170.3,899.9,-6.4,948,10520,0.00,2.10,0.00,0.000,4,0.000,0.047,2102,3820,3637,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10554,-0.54,-170.3,902.6,-6.5,950,10559,0.00,2.08,0.00,0.000,6,0.000,0.022,2102,2432,3637,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10876,-0.55,-170.3,924.5,-6.9,966,10881,0.00,2.15,0.00,0.000,4,0.000,0.028,2102,1042,3636,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10908,-0.56,-170.3,926.0,-7.0,967,10915,0.00,2.38,0.00,0.000,6,0.000,0.035,2099,2502,3636,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11215,-0.56,-170.3,948.4,-6.8,983,11220,0.00,2.05,0.00,0.000,4,0.000,0.047,2089,3809,3634,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11244,-0.56,-170.3,949.8,-6.9,984,11248,0.00,2.08,0.00,0.000,6,0.000,0.023,2089,2435,3634,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11550,-0.56,-170.3,974.0,-7.9,999,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2433,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11748,begin apogee
$GC,11754,-0.20,0.0,990.1,-8.0,1009,11924,0.35,0.10,160.62,1.168,4,0.096,0.073,2212,2478,2973,0,0,0,0,0,0,26.01,24.75,23.91
$STATE,11925,end apogee,CONTROL_FINISHED_OK
$STATE,11925,begin climb
$GC,11927,0.55,170.3,997.0,0.0,1017,12114,0.65,2.33,174.65,1.161,4,0.039,0.046,2472,3824,2277,0,0,0,0,0,0,24.98,24.92,23.55
$GC,12327,0.46,170.3,922.0,24.1,1037,12332,0.22,2.10,0.00,0.000,6,0.184,0.024,2425,2489,2250,0,0,0,0,0,0,25.16,25.58,28.83
$GC,12635,0.41,170.3,868.7,15.7,1052,12641,0.00,2.28,0.00,0.000,4,0.000,0.030,2437,1070,2245,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12703,0.37,170.3,859.7,15.1,1055,12713,0.15,2.50,0.00,0.000,6,0.157,0.034,2397,2568,2243,0,0,0,0,0,0,25.64,25.92,28.83
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$STATE,20414,end climb,SURFACE_DEPTH_REACHED
$STATE,20414,begin surface coast
$FINISH,0.7,1.022512
$STATE,20436,end surface coast,CONTROL_FINISHED_OK
$STATE,20436,begin surface
$SM_CCo,20513,0.00,0.000,0,0,870,517.34
$SM_GC,0.72,5.95,0.10,0.00,0.021,0.074,0.000,130,2422,870,-6.63,0.48,517.34,0,0,0,0,0,0,26.10,26.29,28.83
$IRIDIUM_FIX,2312.13,12408.75,150512,040430
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.68
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.5,25.977
$10V_AH,10.2,15.143
$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,17.775,188.800,626.025,0.000,0.000,28.463,44.026,281.987,0.000,0.000,16.461,4537.381,11541.153,818.037,3597.170,494.890,0.000,2545.275,0.000,3057.828,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,74.205,1168.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1239.344,2381.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330484
$DATA_FILE_SIZE,113520,1826
$CAP_FILE_SIZE,227575,0
$CFSIZE,260165632,208752640
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.146,310.2,1
$GPS,150512,155030,2317.967,12408.117,37,1.3,37,-3.3