version: 66.10
glider: 169
mission: 6
dive: 377
start: 7 8 112 23 30 22
data:
$ID,169
$MISSION,6
$DIVE,377
$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,-16018.043
$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,2450
$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
$GPS1,080712,231936,2330.613,12356.108,26,1.5,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.0
$GPS2,080712,232957,2330.369,12356.276,12,2.4,31,-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,184.3,223016,-15.7,-10.000
$D_GRID,2755
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.63,-194.6,0.0,0.0,0,94,0.00,0.00,-74.12,0.000,2,0.000,0.000,116,2464,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.63,-194.6,3.5,-8.2,13,124,7.90,2.12,-13.32,0.000,4,0.223,0.053,2026,3847,3776,0,0,0,0,0,0,24.71,25.96,26.53
$GC,169,-0.51,-194.6,32.5,-36.3,25,176,0.17,2.03,0.00,0.000,6,0.154,0.018,2084,2408,3778,0,0,0,0,0,0,25.67,26.19,28.83
$GC,360,-0.48,-194.6,66.1,-15.1,62,367,0.00,2.40,0.00,0.000,4,0.000,0.024,2085,967,3778,0,0,0,0,0,0,28.83,26.18,28.83
$GC,376,-0.44,-194.6,68.1,-14.3,64,384,0.12,2.47,0.00,0.000,6,0.129,0.028,2112,2409,3778,0,0,0,0,0,0,25.95,26.15,28.83
$GC,570,-0.44,-194.6,86.2,-9.2,101,578,0.00,2.15,0.00,0.000,4,0.000,0.038,2101,3838,3779,0,0,0,0,0,0,28.83,26.13,28.83
$GC,667,-0.44,-194.6,94.8,-8.6,119,674,0.00,2.15,0.00,0.000,6,0.000,0.018,2110,2338,3779,0,0,0,0,0,0,28.83,26.42,28.83
$GC,857,-0.44,-194.6,112.0,-9.7,156,865,0.00,2.38,0.00,0.000,4,0.000,0.037,2098,3836,3779,0,0,0,0,0,0,28.83,26.17,28.83
$GC,899,-0.45,-194.6,116.0,-10.0,163,906,0.00,2.03,0.00,0.000,6,0.000,0.017,2098,2379,3779,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1089,-0.44,-194.6,137.1,-10.9,200,1097,0.00,2.30,0.00,0.000,4,0.000,0.023,2099,971,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1126,-0.45,-194.6,141.0,-10.7,206,1133,0.00,2.53,0.00,0.000,6,0.000,0.028,2087,2447,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1318,-0.44,-194.6,163.4,-11.3,243,1325,0.00,2.08,0.00,0.000,4,0.000,0.037,2077,3830,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1369,-0.45,-194.6,169.0,-10.1,252,1377,0.00,2.05,0.00,0.000,6,0.000,0.018,2077,2384,3779,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1562,-0.43,-194.6,189.4,-10.8,289,1568,0.10,0.00,0.00,0.000,6,0.147,0.000,2107,2384,3779,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1754,-0.44,-194.6,206.7,-9.3,326,1761,0.00,2.28,0.00,0.000,4,0.000,0.037,2096,3840,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1789,-0.45,-194.6,210.0,-9.7,332,1797,0.00,2.05,0.00,0.000,6,0.000,0.017,2096,2381,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2104,-0.45,-194.6,241.5,-9.9,393,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2382,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2415,-0.45,-194.6,272.2,-10.0,454,2421,0.00,2.28,0.00,0.000,4,0.000,0.037,2086,3829,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2457,-0.47,-194.6,276.1,-9.7,461,2463,0.00,2.00,0.00,0.000,6,0.000,0.018,2086,2401,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2768,-0.47,-194.6,308.9,-10.5,522,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2401,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3079,-0.47,-194.6,338.1,-8.0,583,3086,0.00,2.20,0.00,0.000,4,0.000,0.037,2076,3829,3774,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3117,-0.48,-194.6,341.0,-8.9,589,3123,0.00,1.98,0.00,0.000,6,0.000,0.017,2076,2408,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3428,-0.48,-194.6,369.2,-10.0,650,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2408,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.48,-194.6,403.5,-11.1,711,3749,0.00,2.42,0.00,0.000,4,0.000,0.024,2076,973,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3768,-0.49,-194.6,406.3,-10.8,715,3775,0.00,2.65,0.00,0.000,6,0.000,0.029,2066,2493,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4083,-0.48,-194.6,437.6,-9.0,776,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2491,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4397,-0.47,-194.6,467.8,-10.0,837,4405,0.10,2.62,0.00,0.000,4,0.158,0.023,2095,970,3767,0,0,0,0,0,0,26.39,26.27,28.83
$GC,4453,-0.51,-194.6,473.1,-8.9,847,4460,0.00,2.62,0.00,0.000,6,0.000,0.028,2092,2482,3767,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4767,-0.55,-194.6,498.0,-7.8,908,4774,0.00,2.00,0.00,0.000,4,0.000,0.042,2092,3828,3765,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4817,-0.60,-194.6,501.6,-7.6,914,4824,0.12,1.75,0.00,0.000,6,0.081,0.017,2025,2477,3764,0,0,0,0,0,0,26.35,26.51,28.83
$GC,5123,-0.57,-194.6,532.2,-11.8,945,5132,0.12,2.53,0.00,0.000,4,0.138,0.023,2068,983,3762,0,0,0,0,0,0,26.27,26.27,28.83
$GC,5149,-0.55,-194.6,534.7,-11.2,947,5156,0.00,2.88,0.00,0.000,6,0.000,0.031,2056,2588,3762,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5458,-0.55,-194.6,563.5,-9.4,978,5466,0.00,2.78,0.00,0.000,4,0.000,0.024,2057,986,3760,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5534,-0.56,-194.6,570.0,-8.7,985,5540,0.00,2.78,0.00,0.000,6,0.000,0.031,2045,2541,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5840,-0.55,-194.6,601.0,-10.3,1016,5850,0.00,2.72,0.00,0.000,4,0.000,0.027,2045,980,3758,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5904,-0.56,-194.6,607.2,-9.2,1022,5915,0.08,2.70,0.00,0.000,6,0.111,0.033,2065,2507,3757,0,0,0,0,0,0,25.96,26.17,28.83
$GC,6214,-0.56,-194.6,633.5,-8.0,1053,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2506,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.56,-194.6,660.1,-9.5,1083,6526,0.00,2.62,0.00,0.000,4,0.000,0.025,2065,983,3752,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6581,-0.58,-194.6,666.2,-8.9,1089,6589,0.00,2.62,0.00,0.000,6,0.000,0.031,2059,2485,3752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6890,-0.58,-194.6,696.1,-9.3,1120,6899,0.00,2.00,0.00,0.000,4,0.000,0.044,2049,3832,3749,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6905,-0.58,-194.6,696.8,-9.3,1121,6912,0.00,2.00,0.00,0.000,6,0.000,0.020,2049,2419,3749,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7213,-0.58,-194.6,723.6,-8.0,1152,7222,0.00,2.38,0.00,0.000,4,0.000,0.025,2049,973,3746,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7235,-0.58,-194.6,725.5,-8.0,1154,7244,0.00,2.62,0.00,0.000,6,0.000,0.032,2039,2478,3746,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7546,-0.56,-194.6,754.5,-10.2,1185,7548,0.10,0.00,0.00,0.000,6,0.160,0.000,2067,2476,3745,0,0,0,0,0,0,26.34,28.83,28.83
$GC,7848,-0.57,-194.6,780.2,-8.5,1215,7856,0.00,2.53,0.00,0.000,4,0.000,0.024,2067,984,3743,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7880,-0.58,-194.6,782.8,-8.2,1218,7888,0.00,2.60,0.00,0.000,6,0.000,0.032,2059,2472,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8190,-0.58,-194.6,808.1,-8.1,1249,8199,0.00,2.05,0.00,0.000,4,0.000,0.045,2049,3823,3740,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8236,-0.59,-194.6,811.2,-7.4,1253,8242,0.00,1.98,0.00,0.000,6,0.000,0.020,2049,2425,3739,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8542,-0.59,-194.6,835.5,-7.8,1284,8551,0.00,2.42,0.00,0.000,4,0.000,0.025,2049,974,3739,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8586,-0.60,-194.6,838.9,-8.2,1288,8596,0.00,2.58,0.00,0.000,6,0.000,0.032,2039,2473,3738,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8895,-0.59,-194.6,867.2,-9.5,1319,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2471,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9198,-0.58,-194.6,898.2,-10.3,1349,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2471,3734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,-0.57,-194.6,929.8,-10.6,1380,9519,0.00,2.05,0.00,0.000,4,0.000,0.046,2028,3826,3732,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9532,-0.56,-194.6,932.6,-10.4,1382,9536,0.12,2.05,0.00,0.000,6,0.122,0.021,2067,2420,3732,0,0,0,0,0,0,26.03,26.32,28.83
$GC,9847,-0.57,-194.6,958.6,-8.0,1413,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2419,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10158,-0.58,-194.6,983.1,-8.0,1444,10167,0.00,2.28,0.00,0.000,4,0.000,0.045,2056,3818,3729,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10195,-0.59,-194.6,986.0,-7.8,1447,10201,0.00,2.03,0.00,0.000,6,0.000,0.021,2057,2420,3729,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,10238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10238,begin apogee
$GC,10244,-0.20,0.0,990.2,-8.4,1452,10433,0.35,0.10,183.85,1.102,4,0.097,0.070,2180,2433,2977,0,0,0,0,0,0,25.84,24.83,23.36
$STATE,10434,end apogee,CONTROL_FINISHED_OK
$STATE,10435,begin climb
$GC,10438,0.63,194.6,998.7,0.0,1471,10646,0.73,2.30,199.55,1.098,4,0.057,0.041,2451,3832,2184,0,0,0,0,0,0,25.12,25.13,23.41
$GC,10795,0.57,194.6,949.1,17.6,1506,10802,0.00,2.03,0.00,0.000,6,0.000,0.019,2462,2453,2150,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11103,0.52,194.6,900.9,15.4,1537,11112,0.12,2.45,0.00,0.000,4,0.188,0.026,2438,1028,2144,0,0,0,0,0,0,25.83,26.08,28.83
$GC,11178,0.52,194.6,892.1,10.7,1544,11186,0.00,2.65,0.00,0.000,6,0.000,0.033,2438,2510,2142,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11486,0.49,194.6,848.3,14.7,1575,11495,0.12,1.92,0.00,0.000,4,0.168,0.038,2399,3820,2142,0,0,0,0,0,0,25.98,26.06,28.83
$GC,11610,0.47,194.6,831.6,13.0,1587,11618,0.00,1.88,0.00,0.000,6,0.000,0.020,2410,2500,2141,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11918,0.45,194.6,792.8,11.8,1618,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2499,2141,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18949,end climb,SURFACE_DEPTH_REACHED
$STATE,18949,begin surface coast
$FINISH,-0.2,1.021464
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
$SM_CCo,19052,0.00,0.000,0,0,911,507.28
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$IRIDIUM_FIX,2321.52,12725.09,080712,181811
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,9.9,50.580
$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
$DEVICE_SECS,17.500,202.750,731.725,0.000,0.000,31.052,23.063,361.051,0.000,0.000,33.352,6451.863,6875.013,968.443,4691.609,635.483,0.000,3159.739,0.000,4102.161,0.000,0.543,0.000
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$MEM,330340
$DATA_FILE_SIZE,170139,2716
$CAP_FILE_SIZE,265084,0
$CFSIZE,260165632,177319936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,320.4,1
$GPS,090712,044900,2328.191,12356.145,38,1.7,38,-3.3