version: 66.10
glider: 169
mission: 6
dive: 368
start: 7 6 112 22 50 20
data:
$ID,169
$MISSION,6
$DIVE,368
$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,-16006.151
$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
$GPS1,060712,223930,2342.836,12356.150,38,1.3,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.4
$GPS2,060712,224955,2342.889,12356.171,11,1.5,11,-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,184.3,246199,-15.7,-10.000
$D_GRID,3035
$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,-80.03,0.000,2,0.000,0.000,114,2490,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.63,-194.6,3.1,-7.5,14,130,7.95,2.70,-13.25,0.000,4,0.225,0.037,2050,998,3775,0,0,0,0,0,0,24.77,26.05,26.52
$GC,169,-0.55,-194.6,27.0,-29.9,25,178,0.12,2.62,0.00,0.000,6,0.155,0.032,2071,2486,3777,0,0,0,0,0,0,25.75,26.01,28.83
$GC,364,-0.50,-194.6,68.4,-15.6,62,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2485,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,555,-0.46,-194.6,97.0,-13.5,99,562,0.00,2.55,0.00,0.000,4,0.000,0.024,2071,1007,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,577,-0.43,-194.6,100.1,-13.8,102,585,0.17,2.60,0.00,0.000,6,0.116,0.031,2115,2483,3778,0,0,0,0,0,0,25.94,26.17,28.83
$GC,769,-0.42,-194.6,120.7,-11.4,139,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2481,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.41,-194.6,143.4,-10.4,176,970,0.00,2.53,0.00,0.000,4,0.000,0.023,2115,1007,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1028,-0.43,-194.6,150.3,-9.8,188,1035,0.00,2.55,0.00,0.000,6,0.000,0.030,2105,2478,3778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1221,-0.42,-194.6,169.9,-10.9,225,1229,0.00,1.98,0.00,0.000,4,0.000,0.039,2095,3828,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1247,-0.41,-194.6,172.6,-9.9,229,1255,0.00,2.00,0.00,0.000,6,0.000,0.017,2095,2408,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1439,-0.40,-194.6,193.7,-10.7,266,1446,0.00,2.33,0.00,0.000,4,0.000,0.023,2095,1007,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1463,-0.40,-194.6,196.4,-11.0,270,1471,0.12,2.53,0.00,0.000,6,0.125,0.029,2126,2461,3777,0,0,0,0,0,0,26.08,26.27,28.83
$GC,1656,-0.45,-194.6,210.6,-6.5,307,1663,0.00,2.47,0.00,0.000,4,0.000,0.022,2126,992,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1897,-0.51,-194.6,227.3,-7.7,353,1905,0.12,2.70,0.00,0.000,6,0.079,0.029,2064,2528,3777,0,0,0,0,0,0,26.25,26.28,28.83
$GC,2213,-0.48,-194.6,257.3,-11.3,414,2221,0.00,1.85,0.00,0.000,4,0.000,0.040,2054,3828,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2238,-0.46,-194.6,261.0,-12.9,418,2246,0.15,1.92,0.00,0.000,6,0.120,0.018,2102,2436,3776,0,0,0,0,0,0,26.14,26.48,28.83
$GC,2555,-0.46,-194.6,289.4,-9.1,479,2561,0.00,2.40,0.00,0.000,4,0.000,0.023,2103,1003,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2610,-0.48,-194.6,294.5,-9.0,489,2617,0.00,2.60,0.00,0.000,6,0.000,0.029,2099,2490,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2925,-0.50,-194.6,323.3,-10.0,550,2933,0.00,2.00,0.00,0.000,4,0.000,0.041,2093,3822,3773,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2978,-0.54,-194.6,328.2,-10.1,559,2985,0.00,1.70,0.00,0.000,6,0.000,0.018,2093,2507,3773,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3291,-0.58,-194.6,354.9,-8.0,620,3298,0.00,2.58,0.00,0.000,4,0.000,0.022,2093,990,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3316,-0.61,-194.6,357.0,-8.0,624,3323,0.00,2.55,0.00,0.000,6,0.000,0.028,2085,2476,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3630,-0.63,-194.6,382.7,-7.5,685,3637,0.12,2.47,0.00,0.000,4,0.076,0.021,1996,1002,3769,0,0,0,0,0,0,26.57,26.33,28.83
$GC,3671,-0.59,-194.6,387.5,-13.1,692,3679,0.25,2.85,0.00,0.000,6,0.116,0.031,2063,2595,3769,0,0,0,0,0,0,25.91,26.24,28.83
$GC,3987,-0.57,-194.6,424.2,-11.3,753,3994,0.00,2.78,0.00,0.000,4,0.000,0.024,2066,1006,3767,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4058,-0.59,-194.6,431.3,-9.4,766,4066,0.00,2.80,0.00,0.000,6,0.000,0.031,2053,2570,3767,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4372,-0.56,-194.6,464.2,-10.5,827,4379,0.00,2.72,0.00,0.000,4,0.000,0.024,2053,991,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4438,-0.57,-194.6,471.0,-9.1,839,4445,0.00,2.78,0.00,0.000,6,0.000,0.032,2040,2541,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4752,-0.54,-194.6,508.0,-11.4,893,4761,0.12,2.65,0.00,0.000,4,0.151,0.024,2082,1011,3763,0,0,0,0,0,0,26.23,26.27,28.83
$GC,4788,-0.54,-194.6,511.2,-10.4,896,4795,0.00,2.70,0.00,0.000,6,0.000,0.033,2071,2526,3763,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5097,-0.53,-194.6,538.3,-9.1,927,5105,0.00,2.62,0.00,0.000,4,0.000,0.024,2071,1009,3761,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5150,-0.54,-194.6,543.2,-9.0,932,5159,0.00,2.62,0.00,0.000,6,0.000,0.033,2060,2501,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5459,-0.53,-194.6,575.6,-10.8,963,5468,0.00,1.98,0.00,0.000,4,0.000,0.043,2050,3837,3758,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5513,-0.53,-194.6,581.2,-10.7,968,5521,0.00,1.92,0.00,0.000,6,0.000,0.021,2050,2458,3757,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5822,-0.51,-194.6,616.7,-11.3,999,5831,0.12,2.45,0.00,0.000,4,0.134,0.024,2095,1007,3755,0,0,0,0,0,0,26.27,26.25,28.83
$GC,5888,-0.55,-194.6,622.3,-8.3,1005,5896,0.00,2.62,0.00,0.000,6,0.000,0.033,2092,2502,3755,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6196,-0.60,-194.6,645.0,-7.1,1036,6205,0.10,1.95,0.00,0.000,4,0.093,0.041,2006,3827,3752,0,0,0,0,0,0,26.55,26.11,28.83
$GC,6232,-0.61,-194.6,648.3,-9.1,1039,6240,0.15,1.75,0.00,0.000,6,0.136,0.020,2054,2513,3752,0,0,0,0,0,0,26.00,26.40,28.83
$GC,6540,-0.60,-194.6,681.6,-10.2,1070,6550,0.00,2.58,0.00,0.000,4,0.000,0.027,2056,1018,3751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6635,-0.61,-194.6,690.5,-9.2,1079,6643,0.00,2.80,0.00,0.000,6,0.000,0.034,2043,2571,3750,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6943,-0.59,-194.6,725.4,-12.0,1110,6953,0.00,2.72,0.00,0.000,4,0.000,0.028,2044,1011,3748,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7019,-0.60,-194.6,733.6,-10.3,1117,7026,0.00,2.70,0.00,0.000,6,0.000,0.034,2031,2532,3747,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7327,-0.57,-194.6,775.0,-13.8,1148,7336,0.12,2.62,0.00,0.000,4,0.151,0.024,2073,1017,3744,0,0,0,0,0,0,26.20,26.19,28.83
$GC,7360,-0.57,-194.6,779.0,-12.5,1151,7368,0.00,2.67,0.00,0.000,6,0.000,0.034,2063,2521,3744,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7669,-0.57,-194.6,808.6,-8.0,1182,7673,0.00,1.95,0.00,0.000,4,0.000,0.044,2053,3837,3742,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7703,-0.57,-194.6,811.0,-8.0,1185,7706,0.00,1.95,0.00,0.000,6,0.000,0.020,2054,2466,3741,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8015,-0.57,-194.6,834.1,-7.6,1216,8023,0.00,2.45,0.00,0.000,4,0.000,0.025,2054,1017,3740,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8071,-0.58,-194.6,837.8,-7.3,1221,8078,0.00,2.70,0.00,0.000,6,0.000,0.034,2042,2524,3740,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8377,-0.57,-194.6,865.8,-9.5,1252,8386,0.00,2.62,0.00,0.000,4,0.000,0.027,2042,1012,3737,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8413,-0.57,-194.6,868.8,-9.5,1255,8420,0.12,2.67,0.00,0.000,6,0.125,0.037,2070,2502,3737,0,0,0,0,0,0,25.89,26.03,28.83
$GC,8719,-0.58,-194.6,891.3,-7.4,1286,8723,0.00,2.00,0.00,0.000,4,0.000,0.046,2061,3828,3735,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8746,-0.58,-194.6,893.1,-7.5,1288,8753,0.00,1.98,0.00,0.000,6,0.000,0.020,2061,2450,3735,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9052,-0.58,-194.6,918.8,-8.2,1319,9061,0.00,2.45,0.00,0.000,4,0.000,0.027,2061,1002,3733,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9098,-0.60,-194.6,922.3,-8.2,1323,9107,0.00,2.62,0.00,0.000,6,0.000,0.034,2050,2493,3733,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9405,-0.60,-194.6,949.4,-8.7,1354,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2491,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.60,-194.6,976.9,-8.7,1384,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2491,3730,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9853,begin apogee
$GC,9858,-0.20,0.0,990.6,-9.3,1399,10048,0.38,0.00,183.95,1.136,4,0.106,0.000,2179,2491,2976,0,0,0,0,0,0,25.76,28.83,23.39
$STATE,10049,end apogee,CONTROL_FINISHED_OK
$STATE,10049,begin climb
$GC,10051,0.63,194.6,998.7,0.0,1418,10265,0.77,2.12,199.88,1.144,4,0.056,0.044,2462,3829,2169,0,0,0,0,0,0,25.08,25.10,23.37
$GC,10443,0.58,194.6,937.8,19.0,1457,10450,0.12,2.03,0.00,0.000,6,0.184,0.022,2441,2459,2148,0,0,0,0,0,0,25.59,25.96,28.83
$GC,10752,0.54,194.6,892.0,14.8,1488,10761,0.00,2.45,0.00,0.000,4,0.000,0.031,2455,1029,2143,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10819,0.53,194.6,882.9,13.7,1494,10826,0.12,2.67,0.00,0.000,6,0.155,0.035,2422,2513,2141,0,0,0,0,0,0,25.80,26.06,28.83
$GC,11125,0.51,194.6,838.8,14.0,1525,11133,0.00,1.98,0.00,0.000,4,0.000,0.044,2421,3837,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11190,0.49,194.6,829.0,16.2,1531,11198,0.00,1.95,0.00,0.000,6,0.000,0.022,2431,2476,2140,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11496,0.46,194.6,784.8,13.6,1562,11506,0.12,2.05,0.00,0.000,4,0.174,0.039,2392,3827,2139,0,0,0,0,0,0,26.01,26.07,28.83
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$STATE,18530,end climb,SURFACE_DEPTH_REACHED
$STATE,18530,begin surface coast
$FINISH,-0.3,1.021306
$STATE,18557,end surface coast,CONTROL_FINISHED_OK
$STATE,18558,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.75
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.4,78.361
$10V_AH,9.9,49.090
$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
$DEVICE_SECS,18.600,231.950,704.925,0.000,0.000,29.175,44.492,363.166,0.000,0.000,12.773,6301.874,6674.162,970.028,4607.992,653.394,0.000,3141.016,0.000,4020.323,0.000,0.544,0.000
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$MEM,330340
$DATA_FILE_SIZE,166785,2639
$CAP_FILE_SIZE,268325,0
$CFSIZE,260165632,178651136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,308.3,1
$GPS,070712,040206,2341.130,12355.694,43,0.9,43,-3.4