version: 66.10
glider: 169
mission: 6
dive: 373
start: 7 8 112 1 41 58
data:
$ID,169
$MISSION,6
$DIVE,373
$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,-16012.724
$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
$GPS1,080712,013106,2336.107,12356.288,31,1.0,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.1
$GPS2,080712,014133,2336.099,12356.234,12,2.1,31,-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,183.4,233626,-15.7,-10.000
$D_GRID,2691
$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,-85.62,0.000,2,0.000,0.000,132,2486,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.63,-194.6,4.1,-10.7,15,135,8.10,2.08,-10.50,0.000,4,0.233,0.045,2025,3842,3776,0,0,0,0,0,0,24.74,26.06,26.53
$GC,142,-0.39,-194.6,19.8,-44.3,20,150,0.32,2.00,0.00,0.000,6,0.189,0.020,2118,2441,3777,0,0,0,0,0,0,25.18,26.17,28.83
$GC,335,-0.36,-194.6,55.3,-14.0,57,342,0.00,2.45,0.00,0.000,4,0.000,0.024,2127,1004,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,415,-0.37,-194.6,64.4,-10.7,72,422,0.00,2.55,0.00,0.000,6,0.000,0.028,2116,2470,3779,0,0,0,0,0,0,28.83,26.17,28.83
$GC,607,-0.37,-194.6,86.3,-10.3,109,614,0.00,2.05,0.00,0.000,4,0.000,0.038,2106,3829,3779,0,0,0,0,0,0,28.83,26.15,28.83
$GC,648,-0.37,-194.6,90.7,-10.4,116,654,0.00,2.05,0.00,0.000,6,0.000,0.018,2111,2398,3779,0,0,0,0,0,0,28.83,26.40,28.83
$GC,839,-0.37,-194.6,110.9,-10.6,153,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2397,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1031,-0.37,-194.6,130.8,-9.4,190,1039,0.00,2.30,0.00,0.000,4,0.000,0.023,2111,1001,3780,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1072,-0.40,-194.6,134.5,-8.9,197,1079,0.00,2.58,0.00,0.000,6,0.000,0.028,2100,2475,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1266,-0.39,-194.6,153.0,-10.6,234,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2474,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1459,-0.39,-194.6,173.7,-10.7,271,1465,0.00,2.55,0.00,0.000,4,0.000,0.024,2100,988,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1506,-0.42,-194.6,178.6,-10.4,279,1512,0.00,2.55,0.00,0.000,6,0.000,0.030,2098,2456,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1695,-0.42,-194.6,199.3,-10.0,316,1702,0.00,2.08,0.00,0.000,4,0.000,0.038,2088,3839,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1737,-0.43,-194.6,203.5,-10.5,323,1744,0.00,2.08,0.00,0.000,6,0.000,0.017,2088,2389,3779,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2050,-0.42,-194.6,235.8,-10.2,384,2057,0.00,2.30,0.00,0.000,4,0.000,0.024,2088,991,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2074,-0.42,-194.6,238.2,-10.0,388,2081,0.00,2.58,0.00,0.000,6,0.000,0.029,2085,2472,3779,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2387,-0.42,-194.6,270.1,-10.0,449,2394,0.00,2.50,0.00,0.000,4,0.000,0.023,2085,1002,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2423,-0.43,-194.6,274.1,-11.1,455,2430,0.12,2.53,0.00,0.000,6,0.122,0.028,2119,2458,3777,0,0,0,0,0,0,26.10,26.28,28.83
$GC,2739,-0.49,-194.6,299.9,-7.5,516,2746,0.00,2.45,0.00,0.000,4,0.000,0.021,2119,998,3775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2781,-0.57,-194.6,303.3,-8.1,523,2790,0.15,2.72,0.00,0.000,6,0.076,0.029,2055,2527,3776,0,0,0,0,0,0,26.22,26.27,28.83
$GC,3098,-0.55,-194.6,337.0,-11.1,584,3105,0.00,1.90,0.00,0.000,4,0.000,0.039,2046,3839,3774,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3134,-0.53,-194.6,341.8,-11.8,590,3141,0.10,1.92,0.00,0.000,6,0.138,0.018,2075,2443,3773,0,0,0,0,0,0,26.21,26.47,28.83
$GC,3448,-0.53,-194.6,376.3,-11.6,651,3455,0.00,2.42,0.00,0.000,4,0.000,0.023,2077,998,3772,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3514,-0.54,-194.6,383.7,-10.9,663,3520,0.00,2.62,0.00,0.000,6,0.000,0.029,2065,2497,3772,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3826,-0.53,-194.6,419.2,-10.3,724,3833,0.00,2.58,0.00,0.000,4,0.000,0.024,2065,998,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3876,-0.54,-194.6,424.6,-10.2,733,3884,0.00,2.58,0.00,0.000,6,0.000,0.030,2054,2475,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4191,-0.53,-194.6,457.8,-10.3,794,4198,0.00,2.03,0.00,0.000,4,0.000,0.042,2044,3825,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4215,-0.51,-194.6,460.7,-11.2,798,4223,0.12,1.98,0.00,0.000,6,0.124,0.018,2082,2419,3768,0,0,0,0,0,0,26.17,26.45,28.83
$GC,4533,-0.52,-194.6,487.8,-8.6,859,4540,0.00,2.38,0.00,0.000,4,0.000,0.024,2083,1001,3766,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4599,-0.54,-194.6,493.4,-8.0,871,4605,0.00,2.55,0.00,0.000,6,0.000,0.029,2073,2469,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4915,-0.56,-194.6,517.8,-7.5,910,4924,0.00,2.05,0.00,0.000,4,0.000,0.041,2063,3836,3763,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5009,-0.57,-194.6,525.9,-8.9,919,5012,0.00,1.77,0.00,0.000,6,0.000,0.020,2063,2516,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5321,-0.57,-194.6,554.5,-9.1,950,5330,0.00,2.60,0.00,0.000,4,0.000,0.024,2063,999,3760,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5415,-0.58,-194.6,562.7,-8.4,959,5424,0.00,2.80,0.00,0.000,6,0.000,0.031,2052,2564,3760,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5726,-0.57,-194.6,593.6,-9.9,990,5735,0.00,2.72,0.00,0.000,4,0.000,0.026,2052,1003,3758,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5789,-0.58,-194.6,600.0,-9.6,996,5798,0.00,2.70,0.00,0.000,6,0.000,0.031,2040,2525,3757,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6100,-0.56,-194.6,633.7,-11.1,1027,6109,0.00,2.65,0.00,0.000,4,0.000,0.025,2041,1015,3755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6145,-0.56,-194.6,638.1,-10.4,1031,6152,0.12,2.65,0.00,0.000,6,0.135,0.031,2068,2512,3755,0,0,0,0,0,0,25.98,26.17,28.83
$GC,6455,-0.56,-194.6,666.2,-9.4,1062,6464,0.00,2.60,0.00,0.000,4,0.000,0.024,2068,1011,3752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6491,-0.57,-194.6,669.5,-9.7,1065,6499,0.00,2.62,0.00,0.000,6,0.000,0.033,2057,2498,3752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6800,-0.57,-194.6,700.5,-9.3,1096,6804,0.00,2.00,0.00,0.000,4,0.000,0.044,2047,3839,3750,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6822,-0.56,-194.6,702.7,-9.1,1098,6831,0.00,1.98,0.00,0.000,6,0.000,0.020,2047,2432,3750,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7133,-0.55,-194.6,733.5,-10.3,1129,7142,0.00,2.40,0.00,0.000,4,0.000,0.025,2047,1011,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7187,-0.56,-194.6,738.6,-9.6,1134,7196,0.08,2.60,0.00,0.000,6,0.104,0.033,2069,2484,3747,0,0,0,0,0,0,25.94,26.14,28.83
$GC,7497,-0.57,-194.6,766.9,-9.1,1165,7507,0.00,2.03,0.00,0.000,4,0.000,0.044,2059,3823,3744,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7533,-0.58,-194.6,769.9,-9.2,1168,7539,0.00,2.00,0.00,0.000,6,0.000,0.020,2059,2429,3744,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7841,-0.58,-194.6,798.6,-8.7,1199,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2429,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8152,-0.58,-194.6,824.2,-7.7,1230,8156,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,3831,3740,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8197,-0.58,-194.6,827.9,-8.4,1234,8203,0.00,2.00,0.00,0.000,6,0.000,0.021,2048,2440,3740,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8504,-0.58,-194.6,857.7,-10.1,1265,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2439,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8808,-0.57,-194.6,888.0,-10.7,1295,8817,0.00,2.42,0.00,0.000,4,0.000,0.026,2048,1012,3736,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8870,-0.59,-194.6,894.4,-9.2,1301,8880,0.00,2.62,0.00,0.000,6,0.000,0.034,2037,2497,3735,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9180,-0.58,-194.6,926.5,-9.9,1332,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2495,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,-0.57,-194.6,954.2,-8.9,1362,9492,0.00,2.55,0.00,0.000,4,0.000,0.028,2037,1019,3732,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9528,-0.57,-194.6,958.0,-8.4,1366,9536,0.12,2.62,0.00,0.000,6,0.135,0.036,2066,2487,3732,0,0,0,0,0,0,25.82,26.00,28.83
$GC,9836,-0.58,-194.6,979.0,-6.9,1397,9845,0.00,2.05,0.00,0.000,4,0.000,0.047,2055,3823,3730,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9873,-0.60,-194.6,981.4,-7.0,1400,9879,0.00,2.00,0.00,0.000,6,0.000,0.021,2056,2436,3730,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,9985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9985,begin apogee
$GC,9992,-0.20,0.0,990.3,-7.6,1412,10181,0.35,0.10,181.93,1.144,4,0.094,0.070,2180,2444,2973,0,0,0,0,0,0,25.86,24.86,23.45
$STATE,10182,end apogee,CONTROL_FINISHED_OK
$STATE,10182,begin climb
$GC,10184,0.63,194.6,997.7,0.0,1431,10392,0.73,2.28,198.65,1.114,4,0.056,0.044,2454,3822,2184,0,0,0,0,0,0,25.13,25.13,23.44
$GC,10490,0.58,194.6,955.5,17.9,1461,10497,0.00,2.05,0.00,0.000,6,0.000,0.022,2464,2457,2151,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10797,0.53,194.6,906.8,14.9,1492,10807,0.12,2.47,0.00,0.000,4,0.186,0.028,2441,1020,2145,0,0,0,0,0,0,25.82,26.03,28.83
$GC,10880,0.54,202.7,897.7,9.7,1500,10889,0.00,2.65,0.00,0.000,6,0.000,0.032,2441,2507,2142,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11190,0.51,202.7,859.7,12.4,1531,11194,0.00,2.00,0.00,0.000,4,0.000,0.042,2440,3837,2142,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11232,0.47,202.7,853.7,14.4,1535,11242,0.12,2.00,0.00,0.000,6,0.176,0.021,2412,2469,2141,0,0,0,0,0,0,25.77,26.23,28.83
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$STATE,19012,end climb,SURFACE_DEPTH_REACHED
$STATE,19013,begin surface coast
$FINISH,-0.3,1.012098
$STATE,19034,end surface coast,CONTROL_FINISHED_OK
$STATE,19036,begin surface
$SM_CCo,19112,0.00,0.000,0,0,657,569.59
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$IRIDIUM_FIX,2328.57,12319.87,070712,202016
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.15
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.9,49.915
$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
$DEVICE_SECS,18.275,224.625,723.925,0.000,0.000,29.787,48.114,344.973,0.000,0.000,34.914,6436.979,6922.030,983.288,4675.248,670.900,0.000,3178.082,0.000,4084.916,0.000,0.543,0.000
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$MEM,330340
$DATA_FILE_SIZE,170423,2699
$CAP_FILE_SIZE,268621,0
$CFSIZE,260165632,177909760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,287.1,1
$GPS,080712,070136,2333.963,12355.723,38,0.9,38,-3.3