version: 66.10
glider: 169
mission: 6
dive: 346
start: 7 2 112 1 44 17
data:
$ID,169
$MISSION,6
$DIVE,346
$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,-15977.057
$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
$GPS1,020712,013336,2350.940,12320.854,41,1.2,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.5
$GPS2,020712,014354,2350.961,12320.832,10,1.3,15,-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,103.4,57910,-15.7,-10.000
$D_GRID,2919
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-82.35,0.000,2,0.000,0.000,109,2409,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.63,-194.6,3.1,-6.8,14,137,7.93,2.30,-15.00,0.000,4,0.225,0.051,2026,3836,3776,0,0,0,0,0,0,24.85,26.01,26.53
$GC,172,-0.51,-194.6,30.0,-41.8,25,179,0.17,1.98,0.00,0.000,6,0.153,0.023,2085,2450,3777,0,0,0,0,0,0,25.70,26.15,28.83
$GC,364,-0.48,-194.6,65.5,-15.6,62,370,0.00,2.47,0.00,0.000,4,0.000,0.025,2085,998,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,435,-0.48,-194.6,74.9,-11.7,75,441,0.00,2.60,0.00,0.000,6,0.000,0.030,2072,2483,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,626,-0.44,-194.6,105.0,-15.5,112,634,0.12,2.55,0.00,0.000,4,0.156,0.022,2122,1003,3777,0,0,0,0,0,0,26.17,26.28,28.83
$GC,659,-0.44,-194.6,109.1,-12.3,117,666,0.00,2.58,0.00,0.000,6,0.000,0.031,2111,2472,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,849,-0.44,-194.6,129.8,-10.8,154,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2470,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1041,-0.44,-194.6,151.7,-10.9,191,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2470,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-0.44,-194.6,172.9,-11.0,228,1241,0.00,2.50,0.00,0.000,4,0.000,0.024,2112,1007,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1274,-0.46,-194.6,177.2,-9.9,235,1281,0.00,2.53,0.00,0.000,6,0.000,0.030,2102,2457,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1468,-0.46,-194.6,199.0,-11.0,272,1476,0.00,2.10,0.00,0.000,4,0.000,0.041,2091,3837,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1493,-0.46,-194.6,202.1,-11.2,276,1501,0.00,2.08,0.00,0.000,6,0.000,0.018,2092,2379,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1806,-0.45,-194.6,235.7,-10.7,337,1813,0.00,2.28,0.00,0.000,4,0.000,0.024,2092,1001,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1867,-0.47,-194.6,242.0,-9.5,348,1874,0.00,2.45,0.00,0.000,6,0.000,0.029,2082,2428,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2181,-0.46,-194.6,279.6,-12.6,409,2188,0.00,2.12,0.00,0.000,4,0.000,0.039,2071,3839,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2227,-0.48,-194.6,285.0,-11.3,417,2233,0.00,2.12,0.00,0.000,6,0.000,0.018,2072,2368,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2538,-0.46,-194.6,322.2,-10.9,478,2545,0.00,2.25,0.00,0.000,4,0.000,0.024,2072,1000,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2584,-0.47,-194.6,326.7,-8.8,486,2592,0.12,2.45,0.00,0.000,6,0.129,0.029,2101,2427,3775,0,0,0,0,0,0,26.13,26.32,28.83
$GC,2900,-0.47,-194.6,353.2,-8.8,547,2907,0.00,2.15,0.00,0.000,4,0.000,0.039,2091,3834,3773,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2925,-0.48,-194.6,355.5,-8.2,551,2932,0.00,2.15,0.00,0.000,6,0.000,0.018,2091,2352,3773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3239,-0.48,-194.6,385.2,-8.8,612,3247,0.00,2.35,0.00,0.000,4,0.000,0.039,2080,3833,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3281,-0.50,-194.6,388.8,-8.2,619,3287,0.00,2.10,0.00,0.000,6,0.000,0.018,2081,2377,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3593,-0.50,-194.6,417.1,-9.5,680,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2376,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-0.50,-194.6,448.0,-9.8,741,3914,0.00,2.33,0.00,0.000,4,0.000,0.040,2070,3825,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3955,-0.52,-194.6,452.4,-9.4,749,3961,0.00,2.08,0.00,0.000,6,0.000,0.018,2070,2389,3768,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4267,-0.51,-194.6,487.3,-12.0,810,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2388,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,-0.51,-194.6,518.8,-8.5,852,4590,0.00,2.33,0.00,0.000,4,0.000,0.025,2070,991,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4605,-0.51,-194.6,520.6,-8.4,854,4613,0.00,2.53,0.00,0.000,6,0.000,0.031,2062,2453,3764,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4916,-0.50,-194.6,550.5,-10.2,885,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2452,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5227,-0.50,-194.6,580.6,-9.9,916,5237,0.00,2.08,0.00,0.000,4,0.000,0.041,2051,3820,3760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5272,-0.50,-194.6,584.6,-8.8,920,5280,0.12,2.10,0.00,0.000,6,0.120,0.019,2092,2373,3760,0,0,0,0,0,0,26.18,26.44,28.83
$GC,5580,-0.51,-194.6,610.8,-9.3,951,5589,0.00,2.25,0.00,0.000,4,0.000,0.026,2092,1005,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5623,-0.54,-194.6,614.9,-9.6,955,5631,0.00,2.47,0.00,0.000,6,0.000,0.031,2089,2437,3757,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5933,-0.58,-194.6,643.7,-9.1,986,5941,0.00,2.12,0.00,0.000,4,0.000,0.045,2085,3820,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6015,-0.63,-194.6,650.9,-9.0,994,6024,0.12,1.85,0.00,0.000,6,0.080,0.019,1993,2472,3754,0,0,0,0,0,0,26.34,26.45,28.83
$GC,6327,-0.58,-194.6,698.9,-15.4,1025,6336,0.20,2.47,0.00,0.000,4,0.131,0.027,2073,1023,3752,0,0,0,0,0,0,26.07,26.25,28.83
$GC,6421,-0.60,-194.6,707.3,-7.3,1034,6430,0.00,2.67,0.00,0.000,6,0.000,0.032,2061,2522,3751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6730,-0.60,-194.6,734.2,-8.9,1065,6738,0.00,2.62,0.00,0.000,4,0.000,0.026,2061,1013,3750,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6773,-0.61,-194.6,738.0,-8.9,1069,6781,0.00,2.65,0.00,0.000,6,0.000,0.035,2054,2505,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7082,-0.61,-194.6,765.5,-9.0,1100,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2504,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7384,-0.61,-194.6,792.8,-9.7,1130,7393,0.00,2.60,0.00,0.000,4,0.000,0.028,2054,1024,3745,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7417,-0.62,-194.6,796.1,-9.4,1133,7426,0.00,2.65,0.00,0.000,6,0.000,0.035,2044,2498,3744,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7727,-0.61,-194.6,829.8,-11.1,1164,7737,0.00,2.58,0.00,0.000,4,0.000,0.027,2044,1017,3742,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7781,-0.62,-194.6,835.4,-10.3,1169,7789,0.00,2.60,0.00,0.000,6,0.000,0.035,2034,2484,3742,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8091,-0.61,-194.6,868.9,-10.5,1200,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2482,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8404,-0.60,-194.6,900.6,-10.0,1231,8412,0.00,2.53,0.00,0.000,4,0.000,0.027,2034,1022,3737,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8478,-0.61,-194.6,907.7,-8.3,1238,8487,0.00,2.60,0.00,0.000,6,0.000,0.036,2030,2478,3737,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8787,-0.59,-194.6,941.6,-11.6,1269,8796,0.00,2.53,0.00,0.000,4,0.000,0.028,2030,1014,3735,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8831,-0.59,-194.6,946.1,-10.7,1273,8839,0.00,2.58,0.00,0.000,6,0.000,0.038,2030,2461,3735,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9140,-0.58,-194.6,978.6,-10.3,1304,9150,0.12,2.08,0.00,0.000,4,0.149,0.046,2063,3818,3733,0,0,0,0,0,0,26.22,25.98,28.83
$GC,9173,-0.58,-194.6,981.6,-9.1,1307,9182,0.00,2.00,0.00,0.000,6,0.000,0.020,2063,2420,3733,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,9290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9290,begin apogee
$GC,9298,-0.20,0.0,990.7,-7.8,1319,9495,0.35,0.08,185.43,1.121,4,0.092,0.036,2187,2442,2965,0,0,0,0,0,0,25.98,24.79,23.53
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9499,0.63,194.6,1000.9,0.0,1339,9714,0.70,2.28,204.02,1.062,4,0.050,0.046,2457,3836,2174,0,0,0,0,0,0,25.22,25.19,23.58
$GC,9822,0.57,194.6,954.2,20.1,1371,9829,0.12,2.05,0.00,0.000,6,0.186,0.022,2437,2453,2146,0,0,0,0,0,0,25.48,25.83,28.83
$GC,10131,0.53,194.6,907.3,15.2,1402,10139,0.00,2.47,0.00,0.000,4,0.000,0.028,2450,1021,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10172,0.50,194.6,901.0,14.6,1406,10182,0.10,2.70,0.00,0.000,6,0.135,0.035,2415,2521,2138,0,0,0,0,0,0,25.78,26.06,28.83
$GC,10484,0.48,194.6,858.5,13.4,1437,10493,0.00,1.95,0.00,0.000,4,0.000,0.044,2415,3835,2137,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10582,0.44,194.6,843.9,16.0,1446,10589,0.12,1.88,0.00,0.000,6,0.176,0.021,2393,2498,2136,0,0,0,0,0,0,25.87,26.28,28.83
$GC,10889,0.47,220.6,811.7,9.1,1477,10929,0.00,2.70,27.65,0.810,4,0.000,0.031,2406,1018,2076,0,0,0,0,1,0,28.83,25.89,23.85
$GC,10942,0.47,228.6,806.5,9.7,1482,10973,0.00,2.75,23.88,0.751,6,0.000,0.034,2406,2523,2045,0,0,0,0,0,0,28.83,25.90,24.49
$GC,11274,0.46,228.6,771.4,10.7,1515,11282,0.00,1.92,0.00,0.000,4,0.000,0.044,2406,3835,2029,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11368,0.45,228.6,759.5,12.8,1524,11376,0.00,1.88,0.00,0.000,6,0.000,0.021,2417,2506,2028,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11675,0.44,228.6,723.2,11.4,1555,11684,0.00,2.00,0.00,0.000,4,0.000,0.045,2417,3824,2027,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11720,0.42,228.6,717.6,13.1,1559,11728,0.15,1.83,0.00,0.000,6,0.156,0.022,2385,2517,2026,0,0,0,0,0,0,25.82,26.25,28.83
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$STATE,17355,end climb,SURFACE_DEPTH_REACHED
$STATE,17355,begin surface coast
$FINISH,-0.3,1.021448
$STATE,17380,end surface coast,CONTROL_FINISHED_OK
$STATE,17381,begin surface
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$IRIDIUM_FIX,2342.70,12315.26,010712,202052
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.18
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.5,73.717
$10V_AH,9.9,45.501
$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,18.175,206.825,879.450,0.000,0.000,30.706,18.684,385.080,0.000,0.000,16.649,5829.616,6119.045,1091.884,4369.512,612.335,0.000,3171.754,0.000,3802.506,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,66.555,1120.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,156865,2483
$CAP_FILE_SIZE,249304,0
$CFSIZE,260165632,181891072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.060,  9.0,1
$GPS,020712,063624,2351.221,12323.645,42,0.9,42,-3.4