version: 66.10
glider: 169
mission: 6
dive: 363
start: 7 5 112 19 24 18
data:
$ID,169
$MISSION,6
$DIVE,363
$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,-15999.386
$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
$GPS1,050712,191323,2350.285,12356.085,37,1.2,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-73.3
$GPS2,050712,192352,2350.411,12356.029,16,2.5,35,-3.4
$SPEED_LIMITS,0.173,0.296
$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,187.7,260131,-15.7,-10.000
$D_GRID,2788
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-69.85,0.000,2,0.000,0.000,116,2497,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.63,-194.6,3.2,-6.9,12,125,7.88,2.72,-14.05,0.000,4,0.223,0.037,2052,1001,3775,0,0,0,0,0,0,24.81,26.07,26.55
$GC,169,-0.57,-194.6,28.6,-24.5,25,175,0.00,2.67,0.00,0.000,6,0.000,0.030,2039,2489,3776,0,0,0,0,0,0,28.83,26.06,28.83
$GC,360,-0.50,-194.6,73.2,-20.7,62,369,0.15,2.62,0.00,0.000,4,0.170,0.022,2095,996,3776,0,0,0,0,0,0,25.96,26.20,28.83
$GC,408,-0.51,-194.6,80.4,-11.5,70,416,0.00,2.67,0.00,0.000,6,0.000,0.030,2081,2492,3776,0,0,0,0,0,0,28.83,26.16,28.83
$GC,602,-0.48,-194.6,107.8,-14.3,107,609,0.00,1.95,0.00,0.000,4,0.000,0.041,2072,3832,3777,0,0,0,0,0,0,28.83,26.16,28.83
$GC,630,-0.45,-194.6,111.4,-14.4,111,637,0.00,1.98,0.00,0.000,6,0.000,0.019,2074,2406,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,820,-0.42,-194.6,138.8,-13.2,148,828,0.12,2.40,0.00,0.000,4,0.142,0.021,2121,989,3777,0,0,0,0,0,0,26.26,26.30,28.83
$GC,868,-0.45,-194.6,143.7,-9.6,156,875,0.00,2.60,0.00,0.000,6,0.000,0.028,2109,2472,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1060,-0.45,-194.6,162.0,-9.0,193,1066,0.00,1.95,0.00,0.000,4,0.000,0.038,2099,3834,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1079,-0.45,-194.6,163.8,-9.7,196,1086,0.00,2.00,0.00,0.000,6,0.000,0.018,2100,2386,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1271,-0.44,-194.6,183.3,-10.7,233,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2386,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1463,-0.44,-194.6,202.0,-9.0,270,1471,0.00,2.33,0.00,0.000,4,0.000,0.024,2099,1006,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1499,-0.47,-194.6,205.0,-8.1,276,1505,0.00,2.55,0.00,0.000,6,0.000,0.031,2093,2452,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1811,-0.46,-194.6,237.8,-11.6,337,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2450,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.46,-194.6,272.5,-10.8,398,2130,0.00,2.50,0.00,0.000,4,0.000,0.023,2094,994,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2175,-0.49,-194.6,277.4,-10.0,407,2181,0.00,2.50,0.00,0.000,6,0.000,0.028,2084,2434,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2487,-0.48,-194.6,309.7,-10.3,468,2494,0.00,2.10,0.00,0.000,4,0.000,0.040,2073,3829,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2543,-0.49,-194.6,315.4,-10.1,478,2551,0.00,2.08,0.00,0.000,6,0.000,0.019,2073,2366,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2858,-0.47,-194.6,351.0,-11.8,539,2864,0.00,2.28,0.00,0.000,4,0.000,0.024,2073,1002,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2903,-0.50,-194.6,356.1,-10.6,547,2910,0.00,2.47,0.00,0.000,6,0.000,0.028,2062,2433,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3215,-0.48,-194.6,392.1,-11.4,608,3221,0.12,0.00,0.00,0.000,6,0.151,0.000,2103,2432,3773,0,0,0,0,0,0,26.27,28.83,28.83
$GC,3527,-0.49,-194.6,416.7,-6.2,669,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2431,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.51,-194.6,436.8,-6.9,730,3845,0.00,2.10,0.00,0.000,4,0.000,0.040,2094,3837,3769,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3879,-0.55,-194.6,439.5,-6.8,737,3886,0.00,2.10,0.00,0.000,6,0.000,0.018,2094,2349,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4193,-0.58,-194.6,463.2,-7.8,798,4201,0.00,2.35,0.00,0.000,4,0.000,0.040,2085,3835,3767,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4235,-0.62,-194.6,466.7,-8.7,805,4243,0.10,1.80,0.00,0.000,6,0.088,0.019,1975,2469,3767,0,0,0,0,0,0,26.37,26.50,28.83
$GC,4550,-0.55,-194.6,522.2,-17.4,854,4560,0.28,2.50,0.00,0.000,4,0.138,0.024,2073,1004,3765,0,0,0,0,0,0,25.86,26.28,28.83
$GC,4637,-0.57,-194.6,530.6,-8.1,862,4645,0.00,2.75,0.00,0.000,6,0.000,0.031,2061,2537,3765,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4945,-0.56,-194.6,558.4,-8.3,893,4954,0.00,2.70,0.00,0.000,4,0.000,0.024,2061,998,3763,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4989,-0.57,-194.6,561.9,-8.2,897,4996,0.00,2.70,0.00,0.000,6,0.000,0.031,2048,2516,3763,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5298,-0.55,-194.6,589.8,-8.8,928,5306,0.00,2.62,0.00,0.000,4,0.000,0.026,2049,1004,3760,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5349,-0.55,-194.6,594.3,-8.5,933,5359,0.08,2.62,0.00,0.000,6,0.101,0.034,2071,2492,3760,0,0,0,0,0,0,26.01,26.19,28.83
$GC,5659,-0.55,-194.6,619.4,-8.9,964,5670,0.00,1.98,0.00,0.000,4,0.000,0.043,2061,3836,3758,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5694,-0.55,-194.6,622.4,-9.2,967,5697,0.00,1.95,0.00,0.000,6,0.000,0.020,2061,2441,3758,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6007,-0.54,-194.6,654.0,-10.1,998,6016,0.00,2.40,0.00,0.000,4,0.000,0.024,2061,1015,3755,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6033,-0.54,-194.6,656.6,-10.3,1000,6040,0.00,2.65,0.00,0.000,6,0.000,0.032,2050,2499,3755,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6342,-0.53,-194.6,689.8,-10.8,1031,6350,0.00,2.60,0.00,0.000,4,0.000,0.025,2050,1007,3753,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6395,-0.54,-194.6,695.1,-9.9,1036,6404,0.10,2.60,0.00,0.000,6,0.095,0.033,2079,2475,3753,0,0,0,0,0,0,25.95,26.16,28.83
$GC,6706,-0.55,-194.6,721.4,-8.3,1067,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2473,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,-0.56,-194.6,744.8,-6.9,1098,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2473,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,-0.57,-194.6,765.4,-6.9,1129,7334,0.00,2.55,0.00,0.000,4,0.000,0.027,2080,1009,3746,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7361,-0.59,-194.6,767.7,-7.0,1132,7367,0.00,2.60,0.00,0.000,6,0.000,0.034,2070,2472,3746,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7668,-0.62,-194.6,790.1,-7.7,1163,7677,0.00,2.05,0.00,0.000,4,0.000,0.047,2060,3826,3743,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7711,-0.64,-194.6,793.7,-8.5,1167,7715,0.00,1.77,0.00,0.000,6,0.000,0.021,2060,2519,3742,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8023,-0.67,-194.6,820.2,-8.0,1198,8032,0.00,2.62,0.00,0.000,4,0.000,0.026,2060,1000,3741,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8116,-0.69,-194.6,828.1,-9.1,1207,8125,0.00,2.58,0.00,0.000,6,0.000,0.034,2052,2463,3741,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8426,-0.69,-194.6,856.4,-8.6,1238,8435,0.00,2.08,0.00,0.000,4,0.000,0.046,2042,3827,3738,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8461,-0.69,-194.6,859.3,-8.8,1241,8468,0.00,2.05,0.00,0.000,6,0.000,0.022,2042,2411,3737,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8769,-0.68,-194.6,888.0,-9.2,1272,8777,0.00,2.35,0.00,0.000,4,0.000,0.027,2042,1019,3737,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8801,-0.68,-194.6,890.9,-9.6,1275,8809,0.00,2.55,0.00,0.000,6,0.000,0.034,2031,2456,3737,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9110,-0.66,-194.6,924.4,-11.5,1306,9120,0.00,2.10,0.00,0.000,4,0.000,0.045,2021,3834,3735,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9153,-0.65,-194.6,929.4,-12.1,1310,9163,0.00,2.05,0.00,0.000,6,0.000,0.023,2021,2417,3734,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9465,-0.63,-194.6,967.9,-12.3,1341,9473,0.00,2.40,0.00,0.000,4,0.000,0.028,2022,1019,3733,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9527,-0.63,-194.6,975.1,-10.8,1347,9536,0.08,2.55,0.00,0.000,6,0.107,0.037,2045,2451,3733,0,0,0,0,0,0,25.81,26.00,28.83
$STATE,9694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9694,begin apogee
$GC,9701,-0.20,0.0,990.8,-9.2,1364,9890,0.40,0.10,183.38,1.136,4,0.104,0.072,2181,2447,2978,0,0,0,0,0,0,25.75,24.85,23.42
$STATE,9891,end apogee,CONTROL_FINISHED_OK
$STATE,9891,begin climb
$GC,9894,0.63,194.6,997.6,0.0,1383,10099,0.70,0.12,198.23,1.079,6,0.045,0.078,2454,2504,2181,0,0,0,0,0,0,25.10,25.15,23.49
$GC,10399,0.59,194.6,924.1,16.3,1434,10408,0.00,1.98,0.00,0.000,4,0.000,0.043,2454,3854,2148,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10534,0.53,194.6,899.2,18.4,1447,10539,0.15,1.95,0.00,0.000,6,0.173,0.022,2425,2471,2146,0,0,0,0,0,0,25.72,26.17,28.83
$GC,10847,0.51,194.6,857.4,12.3,1478,10857,0.00,2.08,0.00,0.000,4,0.000,0.043,2425,3832,2144,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10913,0.48,194.6,848.4,14.5,1484,10920,0.12,1.90,0.00,0.000,6,0.168,0.021,2402,2483,2143,0,0,0,0,0,0,25.86,26.24,28.83
$GC,11222,0.49,212.2,816.9,9.4,1515,11240,0.00,0.00,15.45,1.030,6,0.000,0.000,2403,2482,2112,0,0,0,0,0,0,28.83,28.83,24.19
$GC,11542,0.51,234.3,786.7,9.2,1547,11573,0.00,2.10,25.75,0.981,4,0.000,0.043,2402,3821,2017,0,0,0,0,0,0,28.83,25.75,24.30
$GC,11608,0.50,234.3,779.7,10.3,1553,11616,0.00,1.90,0.00,0.000,6,0.000,0.022,2412,2488,2000,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11918,0.53,255.0,749.9,9.3,1584,11948,0.00,2.08,21.65,0.933,4,0.000,0.044,2412,3831,1928,0,0,0,0,0,0,28.83,25.78,24.32
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$STATE,18880,end climb,SURFACE_DEPTH_REACHED
$STATE,18880,begin surface coast
$FINISH,-0.1,1.022045
$STATE,18914,end surface coast,CONTROL_FINISHED_OK
$STATE,18914,begin surface
$SM_CCo,18990,0.00,0.000,0,0,993,487.17
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$IRIDIUM_FIX,2342.70,12354.47,050712,141412
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.4,77.301
$10V_AH,9.9,48.256
$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
$DEVICE_SECS,17.125,202.050,678.100,0.000,0.000,27.739,20.810,378.090,0.000,0.000,37.792,6443.541,6852.172,934.897,4717.574,625.639,0.000,3119.613,0.000,4103.944,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330340
$DATA_FILE_SIZE,170280,2707
$CAP_FILE_SIZE,263263,0
$CFSIZE,260165632,179400704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 21.6,1
$GPS,060712,004154,2348.594,12356.301,38,1.1,38,-3.4