version: 66.10
glider: 169
mission: 6
dive: 374
start: 7 8 112 7 14 6
data:
$ID,169
$MISSION,6
$DIVE,374
$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,-16013.982
$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
$GPS1,080712,070136,2333.963,12355.723,38,0.9,38,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.4
$GPS2,080712,071343,2333.951,12355.645,11,1.3,11,-3.3
$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,169.8,229679,-15.7,-10.000
$D_GRID,2766
$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,-85.78,0.000,2,0.000,0.000,116,2506,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.63,-194.6,3.0,-6.5,15,141,8.05,2.00,-14.80,0.000,4,0.229,0.050,2026,3839,3776,0,0,0,0,0,0,24.80,26.02,26.53
$GC,160,-0.49,-194.6,22.3,-37.6,23,167,0.20,2.00,0.00,0.000,6,0.161,0.020,2090,2445,3776,0,0,0,0,0,0,25.56,26.16,28.83
$GC,353,-0.45,-194.6,60.6,-14.2,60,359,0.00,2.42,0.00,0.000,4,0.000,0.023,2102,1001,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,414,-0.46,-194.6,67.8,-10.8,71,421,0.00,2.60,0.00,0.000,6,0.000,0.030,2089,2478,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,605,-0.43,-194.6,93.3,-13.1,108,612,0.00,2.00,0.00,0.000,4,0.000,0.037,2079,3837,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,661,-0.43,-194.6,100.2,-11.9,118,668,0.00,2.05,0.00,0.000,6,0.000,0.019,2085,2411,3778,0,0,0,0,0,0,28.83,26.38,28.83
$GC,856,-0.41,-194.6,124.3,-12.1,155,863,0.10,2.35,0.00,0.000,4,0.148,0.022,2121,1003,3778,0,0,0,0,0,0,26.39,26.28,28.83
$GC,917,-0.44,-194.6,130.5,-8.9,166,925,0.00,2.50,0.00,0.000,6,0.000,0.027,2110,2458,3778,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1111,-0.47,-194.6,146.1,-7.7,203,1118,0.00,2.47,0.00,0.000,4,0.000,0.021,2110,985,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1161,-0.50,-194.6,150.6,-8.7,212,1168,0.00,2.83,0.00,0.000,6,0.000,0.028,2099,2584,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1354,-0.52,-194.6,167.0,-8.1,249,1361,0.00,1.80,0.00,0.000,4,0.000,0.040,2094,3841,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1424,-0.53,-194.6,173.9,-10.5,262,1432,0.00,2.12,0.00,0.000,6,0.000,0.018,2094,2366,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1617,-0.52,-194.6,194.9,-12.1,299,1624,0.00,2.33,0.00,0.000,4,0.000,0.037,2084,3838,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1642,-0.52,-194.6,198.0,-11.9,303,1649,0.00,2.05,0.00,0.000,6,0.000,0.017,2084,2395,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1834,-0.51,-194.6,220.6,-10.8,340,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2394,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2147,-0.50,-194.6,249.9,-9.3,401,2154,0.00,2.25,0.00,0.000,4,0.000,0.037,2073,3830,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2172,-0.49,-194.6,252.5,-9.8,405,2179,0.00,2.05,0.00,0.000,6,0.000,0.018,2073,2402,3775,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2484,-0.48,-194.6,287.6,-11.6,466,2492,0.00,2.33,0.00,0.000,4,0.000,0.023,2073,990,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2500,-0.47,-194.6,289.6,-11.8,468,2507,0.12,2.53,0.00,0.000,6,0.125,0.029,2103,2460,3774,0,0,0,0,0,0,26.08,26.27,28.83
$GC,2816,-0.47,-194.6,315.1,-6.7,529,2823,0.00,2.08,0.00,0.000,4,0.000,0.039,2093,3840,3773,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2879,-0.48,-194.6,319.4,-7.1,540,2885,0.00,2.03,0.00,0.000,6,0.000,0.017,2093,2402,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3192,-0.51,-194.6,342.5,-8.5,601,3199,0.00,2.28,0.00,0.000,4,0.000,0.040,2085,3831,3770,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3231,-0.54,-194.6,346.1,-9.2,608,3238,0.00,1.75,0.00,0.000,6,0.000,0.018,2086,2511,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3546,-0.57,-194.6,373.8,-8.1,669,3552,0.00,1.98,0.00,0.000,4,0.000,0.039,2085,3832,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3615,-0.60,-194.6,379.6,-8.4,682,3623,0.00,1.65,0.00,0.000,6,0.000,0.018,2086,2532,3768,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3931,-0.63,-194.6,400.7,-6.4,743,3938,0.12,1.92,0.00,0.000,4,0.076,0.037,1961,3843,3765,0,0,0,0,0,0,26.56,26.20,28.83
$GC,4019,-0.56,-194.6,411.7,-13.8,759,4026,0.32,1.83,0.00,0.000,6,0.139,0.018,2067,2485,3765,0,0,0,0,0,0,25.70,26.46,28.83
$GC,4334,-0.56,-194.6,441.5,-9.6,820,4341,0.00,2.58,-0.10,0.000,4,0.000,0.033,2068,993,3784,0,0,0,0,0,0,28.83,26.28,25.96
$GC,4431,-0.57,-194.6,450.5,-8.7,838,4439,0.00,2.72,0.00,0.000,6,0.000,0.030,2055,2530,3784,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4746,-0.56,-194.6,482.2,-9.8,899,4753,0.00,2.67,0.00,0.000,4,0.000,0.024,2056,994,3783,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4783,-0.57,-194.6,485.7,-9.9,905,4790,0.00,2.72,0.00,0.000,6,0.000,0.031,2043,2523,3782,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5100,-0.55,-194.6,517.3,-10.2,950,5110,0.00,2.62,0.00,0.000,4,0.000,0.024,2043,1006,3780,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5135,-0.54,-194.6,520.6,-9.8,953,5144,0.10,2.65,0.00,0.000,6,0.102,0.031,2073,2510,3780,0,0,0,0,0,0,25.97,26.21,28.83
$GC,5444,-0.54,-194.6,549.1,-9.6,984,5453,0.00,2.58,0.00,0.000,4,0.000,0.024,2073,998,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5507,-0.56,-194.6,555.5,-9.9,990,5517,0.00,2.58,0.00,0.000,6,0.000,0.030,2065,2484,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5818,-0.59,-194.6,584.8,-8.7,1021,5827,0.00,2.00,0.00,0.000,4,0.000,0.042,2055,3824,3775,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5900,-0.59,-194.6,592.4,-9.2,1029,5904,0.00,1.77,0.00,0.000,6,0.000,0.019,2055,2515,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6212,-0.58,-194.6,620.7,-8.5,1060,6223,0.00,2.55,0.00,0.000,4,0.000,0.024,2055,1016,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6306,-0.59,-194.6,628.4,-7.6,1069,6315,0.00,2.80,0.00,0.000,6,0.000,0.031,2043,2580,3772,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6617,-0.58,-194.6,657.5,-9.7,1100,6625,0.00,2.75,0.00,0.000,4,0.000,0.024,2043,1007,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6669,-0.59,-194.6,662.4,-9.3,1105,6677,0.00,2.78,0.00,0.000,6,0.000,0.033,2031,2550,3769,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6978,-0.56,-194.6,696.9,-11.3,1136,6988,0.12,2.70,0.00,0.000,4,0.152,0.024,2074,1005,3767,0,0,0,0,0,0,26.20,26.20,28.83
$GC,7032,-0.59,-194.6,701.6,-8.2,1141,7040,0.00,2.70,0.00,0.000,6,0.000,0.032,2066,2527,3766,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7341,-0.59,-194.6,725.6,-8.2,1172,7350,0.00,2.62,0.00,0.000,4,0.000,0.024,2066,1016,3764,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7374,-0.60,-194.6,727.9,-7.7,1175,7383,0.00,2.67,0.00,0.000,6,0.000,0.033,2059,2515,3764,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7683,-0.60,-194.6,754.1,-8.9,1206,7693,0.00,2.62,0.00,0.000,4,0.000,0.025,2059,1001,3762,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7710,-0.60,-194.6,756.1,-9.0,1208,7716,0.00,2.67,0.00,0.000,6,0.000,0.034,2055,2505,3762,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8017,-0.60,-194.6,784.3,-9.4,1239,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2503,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8319,-0.60,-194.6,812.9,-9.5,1269,8328,0.00,2.60,0.00,0.000,4,0.000,0.026,2055,1014,3758,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8356,-0.61,-194.6,816.1,-9.2,1272,8364,0.00,2.65,0.00,0.000,6,0.000,0.034,2045,2492,3757,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8664,-0.60,-194.6,846.4,-9.5,1303,8667,0.00,2.03,0.00,0.000,4,0.000,0.047,2035,3828,3756,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8709,-0.60,-194.6,850.4,-9.6,1307,8716,0.00,1.98,0.00,0.000,6,0.000,0.021,2035,2447,3755,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9017,-0.58,-194.6,881.8,-10.4,1338,9027,0.00,2.42,0.00,0.000,4,0.000,0.026,2035,1019,3754,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9064,-0.58,-194.6,886.2,-10.0,1342,9072,0.12,2.60,0.00,0.000,6,0.134,0.034,2065,2489,3754,0,0,0,0,0,0,25.86,26.06,28.83
$GC,9373,-0.59,-194.6,912.3,-8.3,1373,9381,0.00,2.03,0.00,0.000,4,0.000,0.044,2055,3829,3751,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9397,-0.60,-194.6,914.3,-8.4,1375,9400,0.00,2.03,0.00,0.000,6,0.000,0.021,2055,2431,3751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9709,-0.60,-194.6,942.8,-9.0,1406,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2430,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10012,-0.60,-194.6,970.1,-9.1,1436,10020,0.00,2.20,0.00,0.000,4,0.000,0.044,2044,3821,3748,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10037,-0.60,-194.6,972.2,-8.8,1438,10044,0.00,1.98,0.00,0.000,6,0.000,0.021,2044,2443,3748,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,10223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10223,begin apogee
$GC,10231,-0.20,0.0,990.9,-9.7,1457,10425,0.40,0.10,186.75,1.151,4,0.102,0.070,2181,2438,2972,0,0,0,0,0,0,25.75,24.83,23.39
$STATE,10426,end apogee,CONTROL_FINISHED_OK
$STATE,10426,begin climb
$GC,10429,0.63,194.6,1001.0,0.0,1477,10637,0.73,2.28,199.45,1.126,4,0.057,0.042,2453,3823,2184,0,0,0,0,0,0,25.12,25.13,23.40
$GC,10719,0.58,194.6,961.4,19.0,1506,10729,0.00,2.00,0.00,0.000,6,0.000,0.021,2464,2463,2151,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11027,0.54,194.6,909.3,16.3,1537,11036,0.12,2.47,0.00,0.000,4,0.185,0.026,2440,1028,2145,0,0,0,0,0,0,25.82,26.03,28.83
$GC,11121,0.54,194.6,897.1,12.0,1546,11130,0.00,2.62,0.00,0.000,6,0.000,0.032,2440,2501,2142,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19160,end climb,SURFACE_DEPTH_REACHED
$STATE,19160,begin surface coast
$FINISH,0.2,1.021532
$STATE,19186,end surface coast,CONTROL_FINISHED_OK
$STATE,19186,begin surface
$SM_CCo,19263,0.00,0.000,0,0,843,523.96
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$TT8_MAMPS,0.025466,0.025466
$HUMID,54.13
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.4,79.661
$10V_AH,9.9,50.085
$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
$DEVICE_SECS,17.875,245.875,696.450,0.000,0.000,54.486,61.979,361.718,0.000,0.000,12.750,6550.879,6914.663,988.479,4791.603,689.014,0.000,3230.222,0.000,4167.729,0.000,0.544,0.000
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$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,173709,2746
$CAP_FILE_SIZE,278381,0
$CFSIZE,260165632,177750016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,300.1,1
$GPS,080712,123606,2332.544,12355.257,29,1.1,29,-3.3