version: 66.10
glider: 169
mission: 6
dive: 350
start: 7 2 112 22 51 38
data:
$ID,169
$MISSION,6
$DIVE,350
$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,-15982.373
$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
$GPS1,020712,224053,2351.779,12331.091,25,0.9,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.4
$GPS2,020712,225113,2351.812,12331.036,14,1.0,14,-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,104.3,40735,-15.7,-10.000
$D_GRID,2493
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-90.70,0.000,2,0.000,0.000,112,2499,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.63,-194.6,3.8,-9.9,16,140,7.97,1.98,-11.40,0.000,4,0.226,0.047,2030,3858,3776,0,0,0,0,0,0,24.82,26.06,26.52
$GC,216,-0.57,-194.6,37.2,-26.4,34,223,0.00,1.95,0.00,0.000,6,0.000,0.021,2039,2440,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,408,-0.50,-194.6,81.4,-21.0,71,416,0.15,2.53,0.00,0.000,4,0.164,0.024,2097,1003,3776,0,0,0,0,0,0,25.97,26.19,28.83
$GC,480,-0.51,-194.6,91.4,-10.8,84,487,0.00,2.65,0.00,0.000,6,0.000,0.031,2083,2481,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,671,-0.48,-194.6,117.8,-14.7,121,678,0.00,2.58,0.00,0.000,4,0.000,0.023,2085,1006,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,693,-0.46,-194.6,120.5,-14.1,124,700,0.00,2.60,0.00,0.000,6,0.000,0.030,2072,2463,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,886,-0.42,-194.6,148.5,-13.3,161,893,0.12,2.53,0.00,0.000,4,0.158,0.021,2122,1007,3777,0,0,0,0,0,0,26.21,26.31,28.83
$GC,937,-0.46,-194.6,153.7,-7.4,170,944,0.00,2.50,0.00,0.000,6,0.000,0.028,2111,2430,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1128,-0.46,-194.6,170.8,-9.5,207,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2428,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.46,-194.6,189.1,-9.9,244,1328,0.00,2.47,0.00,0.000,4,0.000,0.024,2111,1003,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1347,-0.47,-194.6,191.4,-9.1,248,1354,0.00,2.47,0.00,0.000,6,0.000,0.029,2103,2412,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1540,-0.47,-194.6,211.3,-11.2,285,1547,0.00,2.10,0.00,0.000,4,0.000,0.038,2092,3829,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1581,-0.49,-194.6,215.7,-11.2,292,1587,0.00,2.10,0.00,0.000,6,0.000,0.019,2093,2345,3777,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1892,-0.49,-194.6,250.4,-11.0,353,1898,0.00,2.30,0.00,0.000,4,0.000,0.038,2083,3834,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1933,-0.50,-194.6,254.6,-10.7,360,1940,0.00,2.05,0.00,0.000,6,0.000,0.018,2083,2358,3777,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2245,-0.49,-194.6,289.6,-11.1,421,2252,0.00,2.30,0.00,0.000,4,0.000,0.022,2083,993,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2282,-0.50,-194.6,293.3,-9.9,427,2290,0.00,2.53,0.00,0.000,6,0.000,0.028,2073,2429,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2596,-0.49,-194.6,329.5,-12.0,488,2603,0.00,2.45,0.00,0.000,4,0.000,0.023,2073,995,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2616,-0.48,-194.6,332.0,-11.7,491,2624,0.10,2.50,0.00,0.000,6,0.140,0.030,2095,2416,3775,0,0,0,0,0,0,26.14,26.29,28.83
$GC,2933,-0.48,-194.6,363.7,-9.2,552,2940,0.00,2.10,0.00,0.000,4,0.000,0.039,2084,3827,3772,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3009,-0.50,-194.6,370.7,-8.7,566,3016,0.00,2.05,0.00,0.000,6,0.000,0.019,2085,2368,3772,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3321,-0.50,-194.6,399.8,-9.2,627,3329,0.00,2.33,0.00,0.000,4,0.000,0.024,2085,1002,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3353,-0.51,-194.6,402.6,-8.3,632,3360,0.00,2.50,0.00,0.000,6,0.000,0.028,2075,2427,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3665,-0.51,-194.6,434.0,-10.6,693,3671,0.00,2.10,0.00,0.000,4,0.000,0.040,2065,3843,3769,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3706,-0.53,-194.6,438.6,-11.0,700,3713,0.00,2.08,0.00,0.000,6,0.000,0.018,2065,2362,3769,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4019,-0.52,-194.6,472.8,-9.9,761,4026,0.00,2.30,0.00,0.000,4,0.000,0.039,2054,3842,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4044,-0.52,-194.6,475.2,-9.7,765,4051,0.00,2.05,0.00,0.000,6,0.000,0.018,2054,2367,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4357,-0.51,-194.6,505.0,-9.3,821,4366,0.10,2.30,0.00,0.000,4,0.151,0.023,2083,1005,3764,0,0,0,0,0,0,26.41,26.33,28.83
$GC,4401,-0.53,-194.6,508.4,-7.7,825,4410,0.00,2.50,0.00,0.000,6,0.000,0.030,2077,2431,3764,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4710,-0.56,-194.6,530.3,-6.9,856,4719,0.00,2.08,0.00,0.000,4,0.000,0.040,2068,3837,3762,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4805,-0.57,-194.6,537.8,-8.3,865,4808,0.00,1.80,0.00,0.000,6,0.000,0.018,2068,2488,3761,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5118,-0.57,-194.6,566.5,-9.5,896,5127,0.00,2.58,0.00,0.000,4,0.000,0.024,2068,1004,3759,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5183,-0.59,-194.6,572.8,-9.8,902,5190,0.00,2.83,0.00,0.000,6,0.000,0.031,2064,2552,3759,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5490,-0.59,-194.6,604.7,-10.4,933,5499,0.00,2.72,0.00,0.000,4,0.000,0.024,2064,1001,3756,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5574,-0.61,-194.6,612.3,-8.6,941,5582,0.00,2.70,0.00,0.000,6,0.000,0.031,2054,2499,3755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5884,-0.61,-194.6,644.3,-10.6,972,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2498,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,-0.60,-194.6,677.8,-10.8,1003,6205,0.00,2.60,0.00,0.000,4,0.000,0.025,2054,1019,3751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6264,-0.62,-194.6,684.1,-9.1,1009,6271,0.00,2.65,0.00,0.000,6,0.000,0.032,2043,2483,3750,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6570,-0.60,-194.6,717.7,-10.7,1040,6573,0.00,1.95,0.00,0.000,4,0.000,0.044,2034,3826,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6594,-0.59,-194.6,720.0,-10.6,1042,6601,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,2428,3747,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6902,-0.57,-194.6,756.8,-12.2,1073,6904,0.10,0.00,0.00,0.000,6,0.148,0.000,2063,2426,3746,0,0,0,0,0,0,26.39,28.83,28.83
$GC,7202,-0.57,-194.6,783.7,-8.2,1103,7211,0.00,2.45,0.00,0.000,4,0.000,0.025,2063,1007,3743,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7245,-0.59,-194.6,787.3,-8.4,1107,7255,0.00,2.62,0.00,0.000,6,0.000,0.034,2059,2466,3743,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7555,-0.59,-194.6,813.6,-8.4,1138,7563,0.00,2.55,0.00,0.000,4,0.000,0.026,2059,1007,3741,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7579,-0.59,-194.6,815.4,-7.9,1140,7586,0.00,2.60,0.00,0.000,6,0.000,0.034,2052,2460,3740,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7888,-0.59,-194.6,840.4,-8.1,1171,7898,0.00,2.53,0.00,0.000,4,0.000,0.026,2053,1014,3738,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7914,-0.59,-194.6,842.5,-8.4,1173,7921,0.00,2.60,0.00,0.000,6,0.000,0.035,2045,2453,3738,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8223,-0.59,-194.6,871.5,-9.9,1204,8232,0.00,2.05,0.00,0.000,4,0.000,0.046,2035,3822,3735,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8248,-0.59,-194.6,874.0,-10.1,1206,8255,0.00,2.03,0.00,0.000,6,0.000,0.021,2035,2397,3735,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8555,-0.58,-194.6,907.5,-10.8,1237,8564,0.00,2.38,0.00,0.000,4,0.000,0.026,2035,1013,3734,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8588,-0.58,-194.6,910.9,-10.7,1240,8598,0.08,2.55,0.00,0.000,6,0.109,0.034,2062,2444,3734,0,0,0,0,0,0,25.91,26.08,28.83
$GC,8897,-0.59,-194.6,936.0,-7.7,1271,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2442,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,-0.60,-194.6,957.6,-6.8,1301,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2441,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9510,-0.61,-194.6,976.7,-5.9,1332,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2441,3730,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9734,begin apogee
$GC,9740,-0.20,0.0,990.2,-6.6,1355,9937,0.35,0.10,185.80,1.079,4,0.097,0.073,2185,2437,2966,0,0,0,0,0,0,25.90,24.88,23.56
$STATE,9938,end apogee,CONTROL_FINISHED_OK
$STATE,9938,begin climb
$GC,9940,0.63,194.6,997.3,0.0,1375,10157,0.73,2.22,202.62,1.014,4,0.053,0.044,2460,3836,2169,0,0,0,0,0,0,25.20,25.19,23.63
$GC,10251,0.57,194.6,951.7,19.9,1406,10261,0.12,2.00,0.00,0.000,6,0.184,0.022,2440,2453,2147,0,0,0,0,0,0,25.44,25.79,28.83
$GC,10562,0.53,194.6,906.1,13.7,1437,10570,0.00,2.55,0.00,0.000,4,0.000,0.031,2453,1020,2140,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10664,0.52,194.6,894.2,11.0,1447,10673,0.10,2.72,0.00,0.000,6,0.134,0.036,2419,2503,2139,0,0,0,0,0,0,25.76,26.05,28.83
$GC,10973,0.49,194.6,857.2,12.9,1478,10982,0.00,1.95,0.00,0.000,4,0.000,0.044,2418,3834,2138,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11028,0.46,194.6,849.8,14.3,1483,11035,0.00,1.92,0.00,0.000,6,0.000,0.023,2428,2467,2137,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11336,0.44,194.6,804.7,15.0,1514,11345,0.12,2.55,0.00,0.000,4,0.180,0.029,2404,1031,2136,0,0,0,0,0,0,26.00,26.11,28.83
$GC,11369,0.42,194.6,800.2,13.8,1517,11378,0.00,2.67,0.00,0.000,6,0.000,0.035,2404,2497,2135,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11679,0.42,194.6,761.7,12.4,1548,11689,0.00,2.62,0.00,0.000,4,0.000,0.030,2417,1029,2135,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18718,end climb,SURFACE_DEPTH_REACHED
$STATE,18718,begin surface coast
$FINISH,0.2,1.021495
$STATE,18745,end surface coast,CONTROL_FINISHED_OK
$STATE,18745,begin surface
$SM_CCo,18823,0.00,0.000,0,0,933,502.13
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$IRIDIUM_FIX,2340.34,12328.99,020712,171731
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.48
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.6,74.627
$10V_AH,9.9,46.157
$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
$DEVICE_SECS,17.000,224.150,783.450,0.000,0.000,34.216,40.888,356.093,0.000,0.000,15.496,6277.261,6800.448,1039.097,4639.190,636.770,0.000,3235.714,0.000,4049.839,0.000,0.542,0.000
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$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,166984,2658
$CAP_FILE_SIZE,263595,0
$CFSIZE,260165632,181284864
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.036,259.0,1
$GPS,030712,040630,2351.402,12333.142,41,1.0,41,-3.4