version: 66.10
glider: 169
mission: 6
dive: 355
start: 7 4 112 1 22 31
data:
$ID,169
$MISSION,6
$DIVE,355
$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,-15988.848
$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
$GPS1,040712,011136,2351.264,12340.976,25,2.0,25,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.1
$GPS2,040712,012206,2351.287,12340.892,43,0.9,43,-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,100.9,24019,-15.7,-10.000
$D_GRID,2992
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-79.50,0.000,2,0.000,0.000,118,2505,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.63,-194.6,3.5,-8.6,14,129,8.02,1.95,-11.62,0.000,4,0.230,0.052,2028,3836,3776,0,0,0,0,0,0,24.79,26.03,26.54
$GC,163,-0.53,-194.6,28.0,-34.7,24,171,0.15,1.92,0.00,0.000,6,0.159,0.020,2077,2439,3776,0,0,0,0,0,0,25.75,26.21,28.83
$GC,356,-0.49,-194.6,68.5,-14.8,61,364,0.00,2.47,0.00,0.000,4,0.000,0.024,2081,997,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,453,-0.49,-194.6,78.3,-9.1,79,459,0.00,2.55,0.00,0.000,6,0.000,0.029,2068,2449,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,643,-0.45,-194.6,104.6,-14.9,116,650,0.12,0.00,0.00,0.000,6,0.156,0.000,2108,2447,3777,0,0,0,0,0,0,26.19,28.83,28.83
$GC,834,-0.45,-194.6,129.2,-12.5,153,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2446,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1026,-0.45,-194.6,152.1,-11.1,190,1032,0.00,2.50,0.00,0.000,4,0.000,0.024,2109,1009,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1071,-0.48,-194.6,157.0,-10.2,198,1078,0.00,2.50,0.00,0.000,6,0.000,0.028,2099,2436,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1263,-0.48,-194.6,177.5,-10.2,235,1270,0.00,2.08,0.00,0.000,4,0.000,0.040,2089,3830,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1299,-0.48,-194.6,181.1,-9.4,241,1306,0.00,2.08,0.00,0.000,6,0.000,0.019,2089,2368,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1492,-0.47,-194.6,201.3,-10.4,278,1498,0.00,2.28,0.00,0.000,4,0.000,0.025,2089,1000,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1523,-0.48,-194.6,204.7,-10.8,283,1529,0.00,2.53,0.00,0.000,6,0.000,0.029,2085,2440,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1835,-0.47,-194.6,239.7,-11.4,344,1841,0.00,2.05,0.00,0.000,4,0.000,0.038,2075,3837,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1859,-0.46,-194.6,242.6,-11.2,348,1866,0.00,2.08,0.00,0.000,6,0.000,0.018,2075,2373,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2172,-0.45,-194.6,277.1,-11.1,409,2180,0.00,2.28,0.00,0.000,4,0.000,0.024,2075,1006,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2207,-0.46,-194.6,281.0,-10.8,415,2215,0.12,2.50,0.00,0.000,6,0.125,0.029,2105,2436,3776,0,0,0,0,0,0,26.13,26.30,28.83
$GC,2523,-0.47,-194.6,310.0,-9.8,476,2529,0.00,2.10,0.00,0.000,4,0.000,0.040,2095,3839,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2556,-0.49,-194.6,313.0,-9.7,481,2563,0.00,2.08,0.00,0.000,6,0.000,0.018,2095,2367,3775,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2871,-0.50,-194.6,341.4,-8.6,542,2877,0.00,2.33,0.00,0.000,4,0.000,0.039,2086,3841,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2896,-0.51,-194.6,343.5,-8.3,546,2902,0.00,2.08,0.00,0.000,6,0.000,0.018,2086,2378,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3207,-0.51,-194.6,369.5,-8.0,607,3214,0.00,2.30,0.00,0.000,4,0.000,0.024,2086,1003,3772,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3237,-0.53,-194.6,372.1,-7.9,612,3244,0.00,2.53,0.00,0.000,6,0.000,0.031,2085,2441,3772,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3552,-0.53,-194.6,398.4,-8.7,673,3559,0.00,2.47,0.00,0.000,4,0.000,0.024,2086,990,3770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3574,-0.53,-194.6,400.2,-8.5,676,3581,0.00,2.53,0.00,0.000,6,0.000,0.030,2085,2439,3770,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3887,-0.53,-194.6,426.3,-7.9,737,3895,0.00,2.08,0.00,0.000,4,0.000,0.041,2075,3836,3768,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3933,-0.56,-194.6,430.3,-8.2,745,3941,0.00,2.08,0.00,0.000,6,0.000,0.019,2075,2380,3768,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4248,-0.56,-194.6,456.9,-7.9,806,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2380,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.56,-194.6,483.1,-8.2,867,4566,0.00,2.30,0.00,0.000,4,0.000,0.041,2064,3823,3765,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4600,-0.57,-194.6,486.3,-8.0,874,4608,0.00,2.05,-0.08,0.000,6,0.000,0.019,2065,2391,3788,0,0,0,0,0,0,28.83,26.46,25.18
$GC,4913,-0.57,-194.6,513.9,-9.5,920,4922,0.00,2.33,0.00,0.000,4,0.000,0.025,2064,1018,3787,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4945,-0.58,-194.6,517.0,-9.6,923,4954,0.00,2.53,0.00,0.000,6,0.000,0.031,2054,2452,3787,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5256,-0.58,-194.6,551.1,-11.2,954,5265,0.00,2.08,0.00,0.000,4,0.000,0.043,2044,3834,3784,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5307,-0.58,-194.6,557.0,-11.4,959,5316,0.00,2.00,0.00,0.000,6,0.000,0.021,2043,2414,3784,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5619,-0.56,-194.6,592.8,-10.7,990,5627,0.00,2.38,0.00,0.000,4,0.000,0.025,2043,1015,3782,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5653,-0.56,-194.6,596.0,-10.2,993,5661,0.12,2.60,0.00,0.000,6,0.122,0.033,2074,2473,3782,0,0,0,0,0,0,26.07,26.22,28.83
$GC,5961,-0.57,-194.6,618.9,-7.0,1024,5971,0.00,2.03,0.00,0.000,4,0.000,0.041,2064,3832,3780,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5997,-0.58,-194.6,621.3,-7.3,1027,6004,0.00,1.95,0.00,0.000,6,0.000,0.020,2063,2429,3780,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6305,-0.58,-194.6,648.5,-9.6,1058,6314,0.00,2.17,0.00,0.000,4,0.000,0.043,2053,3826,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6340,-0.59,-194.6,651.6,-9.4,1061,6348,0.00,1.92,0.00,0.000,6,0.000,0.020,2054,2439,3777,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6647,-0.59,-194.6,683.6,-9.5,1092,6656,0.00,2.42,0.00,0.000,4,0.000,0.024,2053,1015,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6710,-0.61,-194.6,689.4,-8.9,1098,6719,0.00,2.55,0.00,0.000,6,0.000,0.033,2042,2465,3774,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7020,-0.60,-194.6,720.7,-9.3,1129,7029,0.00,2.03,0.00,0.000,4,0.000,0.044,2032,3821,3772,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7053,-0.60,-194.6,724.1,-9.9,1132,7062,0.00,1.98,0.00,0.000,6,0.000,0.021,2032,2422,3772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7363,-0.58,-194.6,755.0,-10.4,1163,7372,0.00,2.40,0.00,0.000,4,0.000,0.026,2032,1006,3770,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7407,-0.58,-194.6,759.2,-10.2,1167,7414,0.12,2.62,0.00,0.000,6,0.123,0.034,2068,2473,3769,0,0,0,0,0,0,26.01,26.15,28.83
$GC,7717,-0.59,-194.6,781.8,-7.4,1198,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2471,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8027,-0.60,-194.6,804.0,-7.2,1229,8036,0.00,2.53,0.00,0.000,4,0.000,0.027,2068,1020,3765,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8061,-0.63,-194.6,806.6,-7.1,1232,8069,0.00,2.58,0.00,0.000,6,0.000,0.034,2059,2461,3765,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8370,-0.63,-194.6,830.0,-7.3,1263,8378,0.00,2.05,0.00,0.000,4,0.000,0.046,2048,3820,3762,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8415,-0.65,-194.6,833.0,-7.0,1267,8422,0.00,2.00,0.00,0.000,6,0.000,0.021,2048,2415,3762,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8722,-0.65,-194.6,855.7,-7.0,1298,8731,0.00,2.40,0.00,0.000,4,0.000,0.028,2048,1020,3761,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8748,-0.65,-194.6,857.3,-7.0,1300,8755,0.00,2.62,0.00,0.000,6,0.000,0.036,2039,2473,3761,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9054,-0.65,-194.6,880.5,-7.4,1331,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2471,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.65,-194.6,903.1,-7.9,1361,9366,0.00,2.55,0.00,0.000,4,0.000,0.029,2039,1027,3758,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9399,-0.66,-194.6,906.8,-8.1,1365,9409,0.00,2.60,0.00,0.000,6,0.000,0.036,2030,2465,3757,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9709,-0.65,-194.6,936.2,-10.1,1396,9718,0.00,2.05,0.00,0.000,4,0.000,0.046,2020,3820,3756,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9754,-0.64,-194.6,940.5,-10.4,1400,9761,0.00,2.00,0.00,0.000,6,0.000,0.022,2020,2426,3756,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10061,-0.63,-194.6,974.4,-11.2,1431,10070,0.00,2.42,0.00,0.000,4,0.000,0.028,2020,1013,3754,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10095,-0.62,-194.6,978.1,-11.5,1434,10103,0.12,2.60,0.00,0.000,6,0.126,0.035,2058,2465,3754,0,0,0,0,0,0,25.87,26.01,28.83
$STATE,10240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10240,begin apogee
$GC,10248,-0.20,0.0,990.3,-8.1,1449,10454,0.35,0.08,194.85,1.161,4,0.093,0.091,2182,2447,2964,0,0,0,0,0,0,25.93,24.70,23.34
$STATE,10455,end apogee,CONTROL_FINISHED_OK
$STATE,10455,begin climb
$GC,10458,0.63,194.6,999.3,0.0,1470,10676,0.70,2.58,208.93,1.128,4,0.044,0.029,2456,1023,2184,0,0,0,0,0,0,25.15,25.18,23.41
$GC,10769,0.61,194.6,967.1,13.6,1501,10779,0.00,2.70,0.00,0.000,6,0.000,0.037,2456,2489,2152,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11080,0.56,194.6,912.7,17.4,1532,11088,0.00,1.98,0.00,0.000,4,0.000,0.045,2456,3825,2147,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11214,0.50,194.6,885.9,20.9,1545,11219,0.20,1.95,0.00,0.000,6,0.170,0.022,2412,2463,2146,0,0,0,0,0,0,25.63,26.18,28.83
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$STATE,18705,end climb,SURFACE_DEPTH_REACHED
$STATE,18705,begin surface coast
$FINISH,-0.3,1.021712
$STATE,18733,end surface coast,CONTROL_FINISHED_OK
$STATE,18733,begin surface
$SM_CCo,18810,0.00,0.000,0,0,949,497.96
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.07
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.3,75.712
$10V_AH,9.9,46.965
$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
$DEVICE_SECS,17.350,213.275,716.950,0.000,0.000,25.505,46.103,345.342,0.000,0.000,44.558,6376.627,6711.105,982.101,4684.608,634.490,0.000,3174.621,0.000,4086.669,0.000,0.543,0.000
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$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,166811,2689
$CAP_FILE_SIZE,263345,0
$CFSIZE,260165632,180559872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,285.5,1
$GPS,040712,063706,2351.191,12342.881,37,1.0,37,-3.4