version: 66.10
glider: 169
mission: 6
dive: 351
start: 7 3 112 4 17 14
data:
$ID,169
$MISSION,6
$DIVE,351
$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,-15983.725
$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
$GPS1,030712,040630,2351.402,12333.142,41,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.9
$GPS2,030712,041649,2351.367,12333.088,16,1.8,16,-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,95.5,37206,-15.7,-10.000
$D_GRID,2932
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.72,0.000,2,0.000,0.000,121,2417,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-194.6,3.9,-9.7,14,130,8.20,2.22,-11.35,0.000,4,0.236,0.049,2028,3852,3775,0,0,0,0,0,0,24.83,26.01,26.52
$GC,175,-0.54,-194.6,33.7,-34.2,26,182,0.15,1.92,0.00,0.000,6,0.151,0.020,2076,2444,3775,0,0,0,0,0,0,25.77,26.18,28.83
$GC,367,-0.50,-194.6,72.1,-16.4,63,374,0.00,2.50,0.00,0.000,4,0.000,0.024,2083,1000,3776,0,0,0,0,0,0,28.83,26.19,28.83
$GC,428,-0.51,-194.6,79.9,-11.3,74,435,0.00,2.60,0.00,0.000,6,0.000,0.031,2071,2462,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,620,-0.47,-194.6,106.6,-14.3,111,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2460,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,810,-0.43,-194.6,134.2,-15.3,148,817,0.12,2.55,0.00,0.000,4,0.161,0.023,2111,1001,3776,0,0,0,0,0,0,26.20,26.28,28.83
$GC,870,-0.46,-194.6,141.4,-10.4,159,876,0.00,2.58,0.00,0.000,6,0.000,0.029,2100,2461,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1062,-0.45,-194.6,166.3,-13.1,196,1069,0.00,2.53,0.00,0.000,4,0.000,0.024,2100,1003,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1094,-0.46,-194.6,169.9,-11.8,201,1101,0.00,2.53,0.00,0.000,6,0.000,0.031,2099,2437,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1288,-0.45,-194.6,193.1,-10.5,238,1295,0.00,2.08,0.00,0.000,4,0.000,0.041,2089,3835,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1322,-0.45,-194.6,197.1,-11.4,244,1329,0.00,1.98,0.00,0.000,6,0.000,0.018,2089,2393,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1516,-0.44,-194.6,217.7,-10.2,281,1523,0.00,2.35,0.00,0.000,4,0.000,0.024,2089,1001,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1531,-0.43,-194.6,219.2,-10.4,283,1537,0.00,2.62,0.00,0.000,6,0.000,0.031,2083,2474,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1843,-0.43,-194.6,252.7,-11.6,344,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2473,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-0.41,-194.6,291.9,-12.8,405,2163,0.12,2.55,0.00,0.000,4,0.147,0.022,2127,1007,3776,0,0,0,0,0,0,26.29,26.33,28.83
$GC,2228,-0.46,-194.6,299.0,-9.0,418,2235,0.00,2.62,0.00,0.000,6,0.000,0.029,2125,2482,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2545,-0.54,-194.6,320.4,-6.4,479,2552,0.12,1.98,0.00,0.000,4,0.083,0.037,2067,3834,3773,0,0,0,0,0,0,26.52,26.24,28.83
$GC,2582,-0.61,-194.6,322.9,-7.0,485,2588,0.00,2.05,0.00,0.000,6,0.000,0.019,2067,2365,3774,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2893,-0.61,-194.6,351.1,-10.8,546,2900,0.00,2.30,0.00,0.000,4,0.000,0.039,2056,3838,3772,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2944,-0.60,-194.6,356.6,-12.0,555,2952,0.00,1.77,0.00,0.000,6,0.000,0.018,2056,2485,3771,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3259,-0.58,-194.6,397.2,-12.6,616,3266,0.00,2.60,0.00,0.000,4,0.000,0.024,2056,998,3770,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3354,-0.57,-194.6,407.7,-10.6,634,3360,0.00,2.83,0.00,0.000,6,0.000,0.031,2043,2560,3770,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3667,-0.55,-194.6,446.9,-11.9,695,3675,0.00,2.75,0.00,0.000,4,0.000,0.026,2043,1018,3769,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3729,-0.56,-194.6,453.4,-9.4,706,3737,0.12,2.75,0.00,0.000,6,0.136,0.032,2070,2528,3769,0,0,0,0,0,0,26.07,26.27,28.83
$GC,4045,-0.56,-194.6,481.4,-9.3,767,4053,0.00,2.70,0.00,0.000,4,0.000,0.024,2072,997,3767,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4086,-0.58,-194.6,485.4,-8.7,774,4093,0.00,2.70,0.00,0.000,6,0.000,0.030,2059,2509,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4403,-0.57,-194.6,519.2,-11.3,819,4412,0.00,2.62,0.00,0.000,4,0.000,0.026,2060,1022,3764,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4476,-0.58,-194.6,527.0,-10.0,826,4484,0.00,2.60,0.00,0.000,6,0.000,0.031,2050,2478,3764,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4786,-0.57,-194.6,561.3,-10.8,857,4795,0.00,2.53,0.00,0.000,4,0.000,0.024,2050,1019,3762,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4827,-0.57,-194.6,565.6,-10.3,861,4837,0.00,2.60,0.00,0.000,6,0.000,0.032,2040,2468,3761,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5138,-0.55,-194.6,600.2,-11.3,892,5140,0.12,0.00,0.00,0.000,6,0.153,0.000,2077,2466,3760,0,0,0,0,0,0,26.29,28.83,28.83
$GC,5439,-0.55,-194.6,623.9,-7.5,922,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2466,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5742,-0.56,-194.6,646.9,-7.8,952,5751,0.00,2.53,0.00,0.000,4,0.000,0.024,2077,1010,3755,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5804,-0.59,-194.6,651.7,-7.3,958,5814,0.00,2.55,0.00,0.000,6,0.000,0.031,2074,2457,3754,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6114,-0.61,-194.6,673.2,-7.1,989,6118,0.00,2.05,0.00,0.000,4,0.000,0.043,2065,3825,3753,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6208,-0.62,-194.6,680.7,-8.5,998,6211,0.00,1.75,0.00,0.000,6,0.000,0.019,2065,2509,3751,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6519,-0.62,-194.6,709.0,-9.4,1029,6528,0.00,2.62,0.00,0.000,4,0.000,0.026,2065,1014,3749,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6612,-0.65,-194.6,717.0,-8.5,1038,6621,0.00,2.85,0.00,0.000,6,0.000,0.033,2055,2578,3748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6922,-0.64,-194.6,745.5,-9.6,1069,6930,0.00,2.78,0.00,0.000,4,0.000,0.026,2055,1015,3746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6978,-0.66,-194.6,749.7,-7.9,1074,6985,0.00,2.80,0.00,0.000,6,0.000,0.034,2044,2544,3745,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7284,-0.65,-194.6,778.4,-9.5,1105,7293,0.00,2.70,0.00,0.000,4,0.000,0.027,2044,1013,3743,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7319,-0.65,-194.6,781.5,-9.8,1108,7326,0.00,2.78,0.00,0.000,6,0.000,0.036,2033,2531,3743,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7626,-0.63,-194.6,817.4,-12.0,1139,7635,0.00,2.70,0.00,0.000,4,0.000,0.027,2033,1009,3741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7681,-0.63,-194.6,823.5,-11.4,1144,7688,0.00,2.78,0.00,0.000,6,0.000,0.036,2029,2520,3741,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7989,-0.61,-194.6,860.3,-11.8,1175,7998,0.00,2.67,0.00,0.000,4,0.000,0.026,2030,1011,3738,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8041,-0.61,-194.6,866.0,-10.8,1180,8051,0.00,2.72,0.00,0.000,6,0.000,0.037,2030,2505,3737,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8352,-0.60,-194.6,900.1,-10.9,1211,8361,0.00,2.62,0.00,0.000,4,0.000,0.027,2030,1018,3736,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8415,-0.60,-194.6,906.4,-9.4,1217,8423,0.00,2.67,0.00,0.000,6,0.000,0.037,2030,2493,3736,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8725,-0.59,-194.6,939.8,-11.3,1248,8727,0.10,0.00,0.00,0.000,6,0.165,0.000,2058,2491,3734,0,0,0,0,0,0,26.33,28.83,28.83
$GC,9025,-0.60,-194.6,966.7,-9.0,1278,9035,0.00,2.60,0.00,0.000,4,0.000,0.027,2058,1013,3732,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9080,-0.62,-194.6,971.5,-8.9,1283,9090,0.00,2.67,0.00,0.000,6,0.000,0.037,2056,2488,3732,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9288,begin apogee
$GC,9295,-0.20,0.0,990.3,-8.9,1304,9488,0.38,0.00,184.88,1.092,4,0.099,0.000,2186,2486,2968,0,0,0,0,0,0,25.86,28.83,23.58
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9491,0.63,194.6,1000.5,0.0,1324,9701,0.73,2.08,200.18,1.052,4,0.050,0.046,2462,3833,2179,0,0,0,0,0,0,25.20,25.18,23.59
$GC,9824,0.56,194.6,950.5,21.0,1357,9832,0.15,2.00,0.00,0.000,6,0.181,0.021,2435,2452,2145,0,0,0,0,0,0,25.48,25.88,28.83
$GC,10130,0.53,194.6,900.0,15.8,1388,10139,0.00,2.53,0.00,0.000,4,0.000,0.028,2448,1013,2139,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10236,0.51,194.6,886.3,12.3,1398,10243,0.12,2.67,0.00,0.000,6,0.157,0.035,2415,2500,2137,0,0,0,0,0,0,25.82,26.07,28.83
$GC,10542,0.49,194.6,849.4,10.8,1429,10552,0.00,1.98,0.00,0.000,4,0.000,0.044,2414,3828,2136,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10607,0.46,194.6,841.3,13.3,1435,10615,0.00,1.92,0.00,0.000,6,0.000,0.021,2424,2469,2136,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10916,0.43,194.6,805.1,11.3,1466,10920,0.12,2.05,0.00,0.000,4,0.177,0.041,2386,3828,2135,0,0,0,0,0,0,26.01,26.09,28.83
$GC,10940,0.41,194.6,802.4,11.6,1468,10949,0.00,1.88,0.00,0.000,6,0.000,0.021,2396,2484,2135,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11249,0.40,194.6,770.9,10.8,1499,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2484,2134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11552,0.41,206.1,740.9,9.6,1529,11561,0.00,2.00,0.00,0.000,4,0.000,0.044,2396,3818,2133,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11575,0.41,211.8,738.2,9.8,1531,11594,0.00,1.85,12.43,0.939,6,0.000,0.021,2407,2491,2112,0,0,0,0,0,0,28.83,26.32,24.27
$GC,11894,0.40,211.8,704.9,10.1,1563,11903,0.00,2.62,0.00,0.000,4,0.000,0.030,2420,1014,2095,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,17685,end climb,SURFACE_DEPTH_REACHED
$STATE,17686,begin surface coast
$FINISH,0.1,1.021461
$STATE,17701,end surface coast,CONTROL_FINISHED_OK
$STATE,17702,begin surface
$SM_CCo,17779,0.00,0.000,0,0,732,551.43
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$IRIDIUM_FIX,2342.70,12327.02,020712,222251
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.78
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.4,74.851
$10V_AH,9.9,46.313
$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
$DEVICE_SECS,18.125,213.250,786.900,0.000,0.000,28.735,41.448,359.877,0.000,0.000,17.474,5906.361,6428.819,1003.617,4401.342,607.194,0.000,3082.623,0.000,3823.573,0.000,0.544,0.000
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$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,157122,2499
$CAP_FILE_SIZE,251955,0
$CFSIZE,260165632,181157888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.069,332.5,1
$GPS,030712,091436,2351.837,12335.152,33,1.0,33,-3.4