version: 66.10
glider: 169
mission: 6
dive: 365
start: 7 6 112 6 18 16
data:
$ID,169
$MISSION,6
$DIVE,365
$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,-16002.094
$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
$GPS1,060712,060659,2346.828,12355.849,37,1.8,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.6
$GPS2,060712,061751,2346.946,12355.920,14,3.0,33,-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,179.0,253721,-15.7,-10.000
$D_GRID,3057
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-81.25,0.000,2,0.000,0.000,117,2510,3056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-194.6,3.1,-6.1,14,136,7.80,2.00,-14.25,0.000,4,0.220,0.051,2029,3839,3775,0,0,0,0,0,0,24.84,26.02,26.55
$GC,160,-0.50,-194.6,24.1,-38.7,23,167,0.17,1.92,0.00,0.000,6,0.162,0.018,2085,2436,3776,0,0,0,0,0,0,25.66,26.22,28.83
$GC,352,-0.45,-194.6,66.4,-17.7,60,360,0.00,2.45,0.00,0.000,4,0.000,0.023,2085,1000,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,398,-0.45,-194.6,72.9,-11.9,68,407,0.10,2.62,0.00,0.000,6,0.136,0.031,2105,2478,3776,0,0,0,0,0,0,26.01,26.15,28.83
$GC,593,-0.43,-194.6,95.9,-11.7,105,600,0.00,2.55,0.00,0.000,4,0.000,0.024,2106,1005,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,623,-0.44,-194.6,99.3,-11.2,110,630,0.00,2.47,0.00,0.000,6,0.000,0.029,2096,2429,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,815,-0.43,-194.6,124.2,-13.4,147,822,0.00,2.10,0.00,0.000,4,0.000,0.037,2085,3835,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,831,-0.41,-194.6,126.1,-13.6,149,838,0.10,2.10,0.00,0.000,6,0.132,0.018,2116,2350,3776,0,0,0,0,0,0,26.19,26.41,28.83
$GC,1022,-0.41,-194.6,146.4,-10.1,186,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2350,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1214,-0.41,-194.6,164.4,-8.9,223,1221,0.00,2.35,0.00,0.000,4,0.000,0.038,2104,3842,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1254,-0.43,-194.6,168.0,-9.1,230,1261,0.00,2.10,0.00,0.000,6,0.000,0.018,2105,2355,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1447,-0.43,-194.6,186.9,-10.1,267,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2356,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1637,-0.43,-194.6,205.9,-9.9,304,1644,0.00,2.30,0.00,0.000,4,0.000,0.038,2094,3831,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1670,-0.44,-194.6,208.9,-9.9,309,1676,0.00,2.08,0.00,0.000,6,0.000,0.019,2095,2375,3776,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1981,-0.44,-194.6,239.1,-9.3,370,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2374,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.44,-194.6,271.7,-10.4,431,2301,0.00,2.28,0.00,0.000,4,0.000,0.038,2085,3829,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2350,-0.45,-194.6,277.4,-10.0,441,2356,0.00,2.05,0.00,0.000,6,0.000,0.019,2085,2380,3774,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2662,-0.44,-194.6,308.7,-10.1,502,2669,0.00,2.30,0.00,0.000,4,0.000,0.024,2085,1005,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2686,-0.45,-194.6,311.2,-10.4,506,2694,0.10,2.50,0.00,0.000,6,0.134,0.030,2107,2444,3773,0,0,0,0,0,0,26.14,26.28,28.83
$GC,3002,-0.49,-194.6,336.3,-7.6,567,3009,0.00,2.45,0.00,0.000,4,0.000,0.021,2108,985,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3023,-0.55,-194.6,338.0,-7.6,570,3030,0.00,2.70,0.00,0.000,6,0.000,0.027,2106,2516,3771,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3337,-0.60,-194.6,359.1,-6.5,631,3345,0.12,2.65,0.00,0.000,4,0.077,0.020,2014,987,3768,0,0,0,0,0,0,26.55,26.35,28.83
$GC,3383,-0.58,-194.6,363.6,-11.1,639,3390,0.20,2.88,0.00,0.000,6,0.118,0.031,2065,2583,3768,0,0,0,0,0,0,25.98,26.25,28.83
$GC,3698,-0.57,-194.6,397.1,-10.7,700,3706,0.00,2.78,0.00,0.000,4,0.000,0.023,2065,1000,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3806,-0.58,-194.6,407.5,-9.3,720,3813,0.00,2.72,0.00,0.000,6,0.000,0.029,2052,2521,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4120,-0.56,-194.6,440.8,-10.6,781,4126,0.00,2.65,0.00,0.000,4,0.000,0.024,2052,997,3765,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4200,-0.56,-194.6,449.3,-10.2,796,4208,0.00,2.65,-0.10,0.000,6,0.000,0.030,2039,2496,3785,0,0,0,0,0,0,28.83,26.25,25.67
$GC,4517,-0.53,-194.6,485.7,-11.0,857,4524,0.12,1.95,0.00,0.000,4,0.148,0.037,2073,3838,3784,0,0,0,0,0,0,26.26,26.20,28.83
$GC,4537,-0.52,-194.6,488.1,-10.6,860,4545,0.00,1.95,0.00,0.000,6,0.000,0.018,2073,2432,3784,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4848,-0.52,-194.6,515.3,-8.5,904,4857,0.00,2.40,0.00,0.000,4,0.000,0.025,2072,1015,3782,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4911,-0.54,-194.6,520.5,-8.0,910,4920,0.00,2.58,0.00,0.000,6,0.000,0.031,2061,2473,3781,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5222,-0.54,-194.6,549.2,-10.0,941,5230,0.00,1.98,0.00,0.000,4,0.000,0.041,2051,3833,3780,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5243,-0.54,-194.6,551.6,-10.5,943,5252,0.00,1.98,0.00,0.000,6,0.000,0.020,2051,2419,3779,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5554,-0.53,-194.6,586.0,-11.3,974,5563,0.00,2.38,0.00,0.000,4,0.000,0.024,2051,1000,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5608,-0.54,-194.6,592.0,-11.2,979,5616,0.12,2.60,0.00,0.000,6,0.121,0.031,2081,2477,3777,0,0,0,0,0,0,26.06,26.21,28.83
$GC,5916,-0.55,-194.6,621.2,-9.0,1010,5925,0.00,1.95,0.00,0.000,4,0.000,0.041,2071,3830,3775,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5941,-0.56,-194.6,623.2,-9.0,1012,5949,0.00,1.98,0.00,0.000,6,0.000,0.019,2071,2415,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6248,-0.56,-194.6,651.3,-8.9,1043,6257,0.00,2.17,0.00,0.000,4,0.000,0.042,2061,3825,3773,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6273,-0.57,-194.6,653.3,-8.7,1045,6279,0.00,1.95,0.00,0.000,6,0.000,0.019,2061,2422,3772,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6580,-0.57,-194.6,679.1,-7.9,1076,6590,0.00,2.17,0.00,0.000,4,0.000,0.042,2050,3831,3770,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6606,-0.57,-194.6,681.0,-8.0,1078,6613,0.00,1.92,0.00,0.000,6,0.000,0.020,2050,2445,3769,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6914,-0.56,-194.6,709.3,-9.8,1109,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2445,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,-0.55,-194.6,740.1,-9.8,1139,7224,0.00,2.45,0.00,0.000,4,0.000,0.025,2050,1003,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7269,-0.57,-194.6,745.1,-9.2,1144,7279,0.00,2.65,0.00,0.000,6,0.000,0.033,2039,2497,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7578,-0.55,-194.6,776.3,-9.7,1175,7587,0.12,2.60,0.00,0.000,4,0.145,0.024,2082,1007,3762,0,0,0,0,0,0,26.23,26.20,28.83
$GC,7611,-0.56,-194.6,778.9,-8.2,1178,7620,0.00,2.62,0.00,0.000,6,0.000,0.033,2071,2485,3762,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7922,-0.59,-194.6,799.4,-6.4,1209,7930,0.00,1.98,0.00,0.000,4,0.000,0.044,2061,3822,3759,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7955,-0.63,-194.6,801.7,-6.9,1212,7958,0.00,1.73,0.00,0.000,6,0.000,0.020,2061,2518,3758,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8267,-0.66,-194.6,821.4,-6.0,1243,8276,0.00,2.62,0.00,0.000,4,0.000,0.025,2062,1002,3757,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8291,-0.69,-194.6,822.9,-6.2,1245,8300,0.00,2.62,0.00,0.000,6,0.000,0.032,2052,2485,3757,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8599,-0.72,-194.6,844.7,-7.5,1276,8609,0.00,1.98,0.00,0.000,4,0.000,0.045,2043,3825,3755,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8717,-0.73,-194.6,854.4,-8.9,1287,8720,0.00,1.75,0.00,0.000,6,0.000,0.021,2043,2525,3754,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9030,-0.72,-194.6,887.3,-10.6,1318,9038,0.00,2.65,0.00,0.000,4,0.000,0.027,2043,1021,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9122,-0.73,-194.6,896.9,-10.0,1327,9130,0.00,2.85,0.00,0.000,6,0.000,0.034,2031,2588,3752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9432,-0.72,-194.6,932.1,-11.1,1358,9440,0.00,2.80,0.00,0.000,4,0.000,0.027,2032,1010,3751,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9496,-0.73,-194.6,938.7,-9.8,1364,9504,0.00,2.88,0.00,0.000,6,0.000,0.036,2019,2580,3751,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9805,-0.71,-194.6,974.5,-11.4,1395,9814,0.00,2.80,0.00,0.000,4,0.000,0.028,2020,1015,3749,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9890,-0.72,-194.6,983.3,-9.7,1403,9897,0.00,2.80,0.00,0.000,6,0.000,0.038,2017,2535,3749,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,9956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9956,begin apogee
$GC,9963,-0.20,0.0,990.9,-11.8,1410,10158,0.47,0.12,188.27,1.149,4,0.110,0.080,2177,2504,2977,0,0,0,0,0,0,25.60,24.84,23.44
$STATE,10159,end apogee,CONTROL_FINISHED_OK
$STATE,10159,begin climb
$GC,10161,0.63,194.6,999.1,0.0,1430,10371,0.73,2.72,200.12,1.112,4,0.053,0.025,2452,1014,2182,0,0,0,0,0,0,25.10,25.16,23.44
$GC,10455,0.62,194.6,969.6,13.2,1459,10462,0.00,2.70,0.00,0.000,6,0.000,0.035,2451,2489,2151,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10760,0.58,194.6,918.1,16.3,1490,10769,0.00,2.03,0.00,0.000,4,0.000,0.044,2451,3831,2147,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10884,0.53,194.6,895.5,18.5,1502,10894,0.10,1.98,0.00,0.000,6,0.159,0.021,2428,2465,2145,0,0,0,0,0,0,25.75,26.18,28.83
$GC,11194,0.50,194.6,852.7,13.2,1533,11202,0.00,2.08,0.00,0.000,4,0.000,0.043,2428,3833,2144,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19047,end climb,SURFACE_DEPTH_REACHED
$STATE,19048,begin surface coast
$FINISH,0.1,1.021656
$STATE,19082,end surface coast,CONTROL_FINISHED_OK
$STATE,19082,begin surface
$SM_CCo,19158,0.00,0.000,0,0,855,521.02
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.67
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,22.4,77.726
$10V_AH,9.9,48.590
$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
$DEVICE_SECS,17.250,247.575,715.300,0.000,0.000,30.929,59.503,354.066,0.000,0.000,35.097,6487.675,6843.295,993.367,4760.247,674.205,0.000,3229.026,0.000,4146.307,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330340
$DATA_FILE_SIZE,170169,2718
$CAP_FILE_SIZE,276748,0
$CFSIZE,260165632,179089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,294.5,1
$GPS,060712,113836,2345.128,12355.395,34,1.0,34,-3.4