version: 66.10
glider: 169
mission: 6
dive: 349
start: 7 2 112 17 31 40
data:
$ID,169
$MISSION,6
$DIVE,349
$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,330
$T_MISSION,360
$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,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,-15981.021
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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
$GPS1,020712,172036,2351.433,12328.926,33,1.1,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.1
$GPS2,020712,173115,2351.455,12328.839,10,2.4,29,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,100.0,44401,-15.7,-10.000
$D_GRID,2549
$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,-0.63,-194.6,0.0,0.0,0,105,0.00,0.00,-85.65,0.000,2,0.000,0.000,105,2405,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.63,-194.6,3.7,-9.4,15,136,7.97,2.30,-12.60,0.000,4,0.223,0.046,2029,3848,3776,0,0,0,0,0,0,24.84,26.05,26.54
$GC,155,-0.49,-194.6,22.6,-38.0,22,163,0.17,1.98,0.00,0.000,6,0.163,0.020,2086,2435,3777,0,0,0,0,0,0,25.65,26.20,28.83
$GC,349,-0.45,-194.6,61.4,-16.8,59,356,0.00,2.42,0.00,0.000,4,0.000,0.024,2095,1017,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,425,-0.46,-194.6,71.3,-11.6,73,432,0.00,2.65,0.00,0.000,6,0.000,0.032,2082,2493,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,618,-0.43,-194.6,100.3,-15.0,110,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2491,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,810,-0.40,-194.6,126.6,-12.5,147,818,0.12,2.60,0.00,0.000,4,0.153,0.022,2135,1013,3777,0,0,0,0,0,0,26.22,26.30,28.83
$GC,868,-0.44,-194.6,131.4,-7.2,157,874,0.00,2.60,0.00,0.000,6,0.000,0.029,2123,2483,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1060,-0.48,-194.6,145.5,-8.0,194,1067,0.00,2.55,0.00,0.000,4,0.000,0.021,2124,990,3778,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1115,-0.53,-194.6,150.4,-8.5,204,1123,0.12,2.88,0.00,0.000,6,0.074,0.031,2014,2594,3777,0,0,0,0,0,0,26.29,26.27,28.83
$GC,1310,-0.46,-194.6,186.2,-18.1,241,1317,0.25,2.80,0.00,0.000,4,0.145,0.023,2107,994,3777,0,0,0,0,0,0,25.92,26.32,28.83
$GC,1382,-0.49,-194.6,194.3,-9.2,254,1390,0.00,2.70,0.00,0.000,6,0.000,0.030,2099,2514,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1575,-0.48,-194.6,213.0,-9.8,291,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2513,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,-0.48,-194.6,246.4,-11.1,352,1893,0.00,2.67,0.00,0.000,4,0.000,0.025,2099,1000,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1948,-0.50,-194.6,252.3,-10.1,363,1955,0.00,2.65,0.00,0.000,6,0.000,0.030,2098,2491,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2262,-0.54,-194.6,277.7,-6.8,424,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2489,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2575,-0.56,-194.6,299.3,-7.6,485,2582,0.00,2.00,0.00,0.000,4,0.000,0.043,2095,3837,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2661,-0.58,-194.6,306.3,-8.7,501,2667,0.00,1.75,0.00,0.000,6,0.000,0.018,2095,2499,3774,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2976,-0.62,-194.6,333.7,-8.4,562,2984,0.12,2.60,0.00,0.000,4,0.077,0.021,1974,987,3773,0,0,0,0,0,0,26.57,26.36,28.83
$GC,3106,-0.59,-194.6,352.4,-15.2,586,3114,0.30,2.60,0.00,0.000,6,0.116,0.031,2058,2467,3772,0,0,0,0,0,0,25.96,26.29,28.83
$GC,3422,-0.57,-194.6,390.3,-12.4,647,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2465,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-0.55,-194.6,427.1,-11.2,708,3741,0.00,2.53,0.00,0.000,4,0.000,0.025,2058,1003,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3819,-0.56,-194.6,436.1,-9.9,724,3826,0.00,2.53,0.00,0.000,6,0.000,0.031,2046,2449,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4133,-0.54,-194.6,473.2,-11.2,785,4139,0.00,2.47,0.00,0.000,4,0.000,0.023,2046,993,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4168,-0.54,-194.6,477.1,-10.6,791,4175,0.12,2.53,0.00,0.000,6,0.126,0.032,2077,2439,3767,0,0,0,0,0,0,26.11,26.27,28.83
$GC,4482,-0.54,-194.6,504.6,-9.2,847,4491,0.00,2.10,0.00,0.000,4,0.000,0.042,2067,3832,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4546,-0.56,-194.6,510.2,-8.7,853,4554,0.00,2.05,0.00,0.000,6,0.000,0.020,2067,2390,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4857,-0.56,-194.6,540.2,-9.7,884,4865,0.00,2.30,0.00,0.000,4,0.000,0.025,2067,1015,3763,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4878,-0.56,-194.6,542.5,-9.6,886,4888,0.00,2.50,0.00,0.000,6,0.000,0.032,2057,2447,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5189,-0.55,-194.6,571.9,-9.5,917,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2446,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5492,-0.54,-194.6,597.6,-8.7,947,5501,0.00,2.45,0.00,0.000,4,0.000,0.026,2057,1021,3759,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5537,-0.55,-194.6,601.4,-8.2,951,5544,0.00,2.50,0.00,0.000,6,0.000,0.034,2047,2438,3758,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5845,-0.53,-194.6,632.1,-10.5,982,5855,0.10,2.12,0.00,0.000,4,0.162,0.042,2065,3834,3755,0,0,0,0,0,0,26.37,26.16,28.83
$GC,5901,-0.55,-194.6,636.9,-8.7,987,5908,0.00,2.12,0.00,0.000,6,0.000,0.021,2064,2379,3755,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6208,-0.55,-194.6,662.1,-7.7,1018,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2378,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,-0.55,-194.6,684.8,-8.1,1048,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2378,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6822,-0.55,-194.6,711.5,-8.8,1079,6830,0.00,2.33,0.00,0.000,4,0.000,0.044,2053,3820,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6864,-0.56,-194.6,715.4,-8.8,1083,6873,0.00,2.05,0.00,0.000,6,0.000,0.021,2053,2387,3747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7173,-0.56,-194.6,742.8,-8.5,1114,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2388,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7475,-0.56,-194.6,769.0,-9.2,1144,7483,0.00,2.28,0.00,0.000,4,0.000,0.043,2042,3818,3743,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7508,-0.56,-194.6,772.1,-9.4,1147,7512,0.00,2.08,0.00,0.000,6,0.000,0.020,2043,2390,3742,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7820,-0.55,-194.6,803.2,-10.0,1178,7830,0.10,2.33,0.00,0.000,4,0.141,0.024,2076,1009,3740,0,0,0,0,0,0,26.39,26.22,28.83
$GC,7885,-0.58,-194.6,808.1,-6.8,1184,7894,0.00,2.47,0.00,0.000,6,0.000,0.033,2069,2430,3740,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8195,-0.61,-194.6,827.6,-6.3,1215,8199,0.00,2.15,0.00,0.000,4,0.000,0.044,2059,3826,3738,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8273,-0.63,-194.6,832.8,-7.4,1222,8281,0.00,1.83,0.00,0.000,6,0.000,0.021,2060,2493,3737,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8580,-0.63,-194.6,858.6,-9.0,1253,8589,0.00,2.55,0.00,0.000,4,0.000,0.025,2059,1006,3736,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8663,-0.65,-194.6,865.8,-8.7,1261,8672,0.00,2.75,0.00,0.000,6,0.000,0.034,2049,2532,3735,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8974,-0.65,-194.6,895.7,-10.0,1292,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2530,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9284,-0.65,-194.6,925.3,-9.7,1323,9292,0.00,2.70,0.00,0.000,4,0.000,0.028,2050,1016,3733,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9346,-0.67,-194.6,931.1,-8.7,1329,9354,0.00,2.75,0.00,0.000,6,0.000,0.035,2039,2526,3732,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9656,-0.66,-194.6,963.0,-10.6,1360,9665,0.00,2.67,0.00,0.000,4,0.000,0.028,2039,1027,3730,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9739,-0.68,-194.6,971.5,-9.9,1368,9748,0.00,2.65,0.00,0.000,6,0.000,0.036,2030,2499,3730,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9915,begin apogee
$GC,9921,-0.20,0.0,991.0,-10.9,1386,10118,0.45,0.12,188.40,1.131,4,0.109,0.081,2182,2504,2970,0,0,0,0,0,0,25.70,24.86,23.48
$STATE,10119,end apogee,CONTROL_FINISHED_OK
$STATE,10119,begin climb
$GC,10122,0.63,194.6,999.6,0.0,1406,10339,0.70,0.10,205.82,1.111,6,0.044,0.073,2455,2440,2169,0,0,0,0,0,0,25.12,25.23,23.42
$GC,10638,0.59,194.6,928.1,15.8,1458,10647,0.00,2.15,0.00,0.000,4,0.000,0.044,2455,3827,2143,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10875,0.53,194.6,883.5,19.7,1481,10883,0.17,1.92,0.00,0.000,6,0.174,0.021,2419,2471,2140,0,0,0,0,0,0,25.68,26.21,28.83
$GC,11184,0.51,194.6,840.3,13.6,1512,11193,0.00,2.05,0.00,0.000,4,0.000,0.044,2419,3822,2138,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11219,0.48,194.6,835.2,14.6,1515,11227,0.00,1.90,0.00,0.000,6,0.000,0.021,2429,2477,2138,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11526,0.45,194.6,792.9,12.9,1546,11537,0.12,2.05,0.00,0.000,4,0.177,0.040,2391,3829,2137,0,0,0,0,0,0,26.01,26.10,28.83
$GC,11562,0.43,194.6,788.5,12.9,1549,11570,0.00,1.92,0.00,0.000,6,0.000,0.021,2401,2475,2136,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11871,0.42,194.6,756.6,10.2,1580,11880,0.00,2.53,0.00,0.000,4,0.000,0.029,2415,1031,2136,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11902,0.42,194.6,753.2,10.7,1583,11913,0.00,2.70,0.00,0.000,6,0.000,0.032,2415,2517,2135,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12214,0.41,194.6,718.2,10.2,1614,12223,0.12,1.90,0.00,0.000,4,0.158,0.042,2374,3827,2135,0,0,0,0,0,0,26.10,26.08,28.83
$GC,12289,0.42,204.2,710.6,9.7,1621,12296,0.00,1.88,0.00,0.000,6,0.000,0.021,2384,2492,2135,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12599,0.50,266.0,685.1,7.9,1652,12706,0.00,0.00,104.45,0.838,6,0.000,0.000,2384,2490,1893,0,0,0,0,0,0,28.83,28.83,23.90
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$STATE,18382,end climb,SURFACE_DEPTH_REACHED
$STATE,18383,begin surface coast
$FINISH,-0.1,1.021581
$STATE,18406,end surface coast,CONTROL_FINISHED_OK
$STATE,18406,begin surface
$SM_CCo,18482,0.00,0.000,0,0,650,571.30
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$IRIDIUM_FIX,2345.05,12328.99,020712,121231
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.46
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,74.414
$10V_AH,10.0,45.991
$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,18.400,202.750,792.600,0.000,0.000,31.005,42.528,362.244,0.000,0.000,31.352,6153.608,6698.760,1029.222,4572.583,615.255,0.000,3160.777,0.000,3964.537,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,91.800,1130.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,163410,2602
$CAP_FILE_SIZE,253696,0
$CFSIZE,260165632,181448704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,  2.0,1
$GPS,020712,224053,2351.779,12331.091,25,0.9,42,-3.4