version: 66.10
glider: 169
mission: 6
dive: 360
start: 7 5 112 4 10 55
data:
$ID,169
$MISSION,6
$DIVE,360
$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,-15995.521
$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
$GPS1,050712,040006,2350.551,12351.253,44,0.9,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-72.9
$GPS2,050712,041030,2350.583,12351.207,17,1.2,34,-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,108.0,6516,-15.7,-10.000
$D_GRID,2764
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-84.88,0.000,2,0.000,0.000,116,2496,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.63,-194.6,3.9,-9.6,15,136,8.00,2.03,-11.07,0.000,4,0.228,0.050,2027,3849,3777,0,0,0,0,0,0,24.79,26.04,26.54
$GC,170,-0.52,-194.6,28.2,-35.3,25,177,0.15,1.98,0.00,0.000,6,0.164,0.020,2076,2444,3777,0,0,0,0,0,0,25.72,26.20,28.83
$GC,362,-0.47,-194.6,71.6,-18.7,62,370,0.00,2.47,0.00,0.000,4,0.000,0.024,2082,998,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,494,-0.46,-194.6,88.9,-12.3,87,502,0.10,2.50,0.00,0.000,6,0.148,0.029,2098,2435,3778,0,0,0,0,0,0,26.03,26.21,28.83
$GC,688,-0.44,-194.6,114.1,-13.2,124,694,0.00,2.10,0.00,0.000,4,0.000,0.038,2088,3827,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,718,-0.43,-194.6,117.9,-12.7,129,724,0.00,2.10,0.00,0.000,6,0.000,0.018,2091,2360,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,909,-0.41,-194.6,140.2,-11.0,166,917,0.00,2.33,0.00,0.000,4,0.000,0.037,2079,3834,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,931,-0.39,-194.6,142.6,-11.4,169,938,0.15,2.10,0.00,0.000,6,0.124,0.018,2125,2372,3778,0,0,0,0,0,0,26.09,26.44,28.83
$GC,1123,-0.40,-194.6,158.3,-7.5,206,1130,0.00,2.28,0.00,0.000,4,0.000,0.024,2126,997,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1159,-0.42,-194.6,161.2,-7.9,212,1166,0.00,2.47,0.00,0.000,6,0.000,0.028,2116,2430,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1351,-0.42,-194.6,176.7,-8.8,249,1358,0.00,2.10,0.00,0.000,4,0.000,0.037,2105,3840,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1391,-0.44,-194.6,180.1,-8.8,256,1398,0.00,2.10,0.00,0.000,6,0.000,0.018,2105,2366,3778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1585,-0.44,-194.6,197.8,-9.4,293,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2366,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1773,-0.44,-194.6,216.7,-10.7,330,1781,0.00,2.30,0.00,0.000,4,0.000,0.037,2095,3833,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1805,-0.45,-194.6,219.7,-10.0,335,1812,0.00,2.05,0.00,0.000,6,0.000,0.019,2095,2394,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2118,-0.44,-194.6,252.8,-10.2,396,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2395,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,-0.44,-194.6,282.5,-9.5,457,2436,0.00,2.35,0.00,0.000,4,0.000,0.024,2095,1000,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2456,-0.45,-194.6,284.8,-9.1,461,2463,0.00,2.58,0.00,0.000,6,0.000,0.030,2085,2467,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2770,-0.44,-194.6,317.7,-11.0,522,2777,0.00,2.05,0.00,0.000,4,0.000,0.040,2076,3839,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2795,-0.44,-194.6,320.8,-11.5,526,2804,0.10,2.05,0.00,0.000,6,0.129,0.018,2106,2386,3774,0,0,0,0,0,0,26.25,26.48,28.83
$GC,3112,-0.45,-194.6,349.8,-8.8,587,3119,0.00,2.25,0.00,0.000,4,0.000,0.039,2096,3828,3772,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3142,-0.47,-194.6,352.9,-9.1,592,3149,0.00,2.00,0.00,0.000,6,0.000,0.018,2096,2400,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3455,-0.47,-194.6,380.9,-8.6,653,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2400,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3767,-0.48,-194.6,406.2,-7.7,714,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2400,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4082,-0.49,-194.6,431.3,-8.9,775,4089,0.00,2.25,0.00,0.000,4,0.000,0.041,2087,3830,3767,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4133,-0.51,-194.6,435.9,-9.1,784,4140,0.00,2.00,0.00,0.000,6,0.000,0.019,2087,2408,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4446,-0.52,-194.6,464.1,-8.4,845,4454,0.00,2.40,-0.08,0.000,4,0.000,0.035,2087,994,3792,0,0,0,0,0,0,28.83,26.29,25.47
$GC,4513,-0.55,-194.6,470.0,-8.3,857,4519,0.00,2.58,0.00,0.000,6,0.000,0.031,2085,2461,3792,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4826,-0.58,-194.6,493.1,-6.9,918,4834,0.00,2.08,0.00,0.000,4,0.000,0.044,2084,3829,3791,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4908,-0.62,-194.6,498.9,-7.1,933,4915,0.00,1.80,0.00,0.000,6,0.000,0.019,2084,2498,3790,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5224,-0.66,-194.6,522.9,-8.1,965,5233,0.12,2.58,0.00,0.000,4,0.076,0.023,1963,995,3788,0,0,0,0,0,0,26.55,26.32,28.83
$GC,5371,-0.63,-194.6,544.2,-15.0,979,5380,0.25,2.53,0.00,0.000,6,0.102,0.032,2041,2452,3788,0,0,0,0,0,0,25.86,26.22,28.83
$GC,5680,-0.61,-194.6,580.2,-11.0,1010,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2450,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.59,-194.6,614.7,-11.3,1040,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2450,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,-0.58,-194.6,648.3,-10.5,1071,6302,0.00,2.08,0.00,0.000,4,0.000,0.043,2031,3822,3780,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6319,-0.56,-194.6,651.3,-10.6,1073,6326,0.12,2.08,0.00,0.000,6,0.129,0.021,2069,2397,3780,0,0,0,0,0,0,26.10,26.38,28.83
$GC,6628,-0.57,-194.6,677.8,-8.9,1104,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2397,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6939,-0.57,-194.6,705.4,-9.1,1135,6947,0.00,2.33,0.00,0.000,4,0.000,0.028,2069,1010,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6971,-0.59,-194.6,708.5,-9.0,1138,6981,0.00,2.55,0.00,0.000,6,0.000,0.035,2059,2457,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7281,-0.59,-194.6,736.7,-9.1,1169,7289,0.00,2.10,0.00,0.000,4,0.000,0.045,2048,3831,3773,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7312,-0.59,-194.6,739.4,-8.7,1172,7321,0.00,2.08,0.00,0.000,6,0.000,0.022,2049,2409,3772,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7624,-0.58,-194.6,768.0,-9.0,1203,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2409,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7926,-0.58,-194.6,794.0,-8.3,1233,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2409,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,-0.58,-194.6,822.1,-9.7,1264,8243,0.00,2.30,0.00,0.000,4,0.000,0.045,2038,3823,3766,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8276,-0.58,-194.6,826.5,-10.1,1268,8285,0.00,2.08,0.00,0.000,6,0.000,0.021,2038,2411,3766,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8589,-0.57,-194.6,861.1,-11.9,1299,8597,0.00,2.35,0.00,0.000,4,0.000,0.028,2038,1020,3764,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8640,-0.58,-194.6,866.9,-10.5,1304,8650,0.08,2.53,0.00,0.000,6,0.101,0.035,2063,2455,3763,0,0,0,0,0,0,25.88,26.07,28.83
$GC,8952,-0.59,-194.6,895.1,-8.4,1335,8960,0.00,2.15,0.00,0.000,4,0.000,0.047,2052,3829,3762,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8987,-0.60,-194.6,897.9,-8.4,1338,8995,0.00,2.08,0.00,0.000,6,0.000,0.021,2052,2410,3761,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9293,-0.60,-194.6,923.6,-8.5,1369,9302,0.00,2.35,0.00,0.000,4,0.000,0.028,2052,1016,3760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9325,-0.61,-194.6,926.2,-8.4,1372,9334,0.00,2.55,0.00,0.000,6,0.000,0.035,2046,2461,3759,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9635,-0.61,-194.6,952.7,-8.8,1403,9639,0.00,2.12,0.00,0.000,4,0.000,0.047,2035,3835,3758,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9667,-0.61,-194.6,955.6,-8.9,1406,9671,0.00,2.10,0.00,0.000,6,0.000,0.023,2035,2415,3757,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9979,-0.60,-194.6,986.2,-10.1,1437,9988,0.00,2.38,0.00,0.000,4,0.000,0.029,2035,1014,3757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10011,-0.60,-194.6,989.5,-10.4,1440,10020,0.00,2.58,0.00,0.000,6,0.000,0.037,2029,2459,3757,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,10028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10029,begin apogee
$GC,10036,-0.20,0.0,991.5,-10.0,1442,10232,0.45,0.08,189.85,1.139,4,0.113,0.091,2180,2443,2977,0,0,0,0,0,0,25.63,24.77,23.44
$STATE,10233,end apogee,CONTROL_FINISHED_OK
$STATE,10233,begin climb
$GC,10235,0.63,194.6,1001.8,0.0,1462,10442,0.73,0.12,200.00,1.105,6,0.049,0.080,2458,2507,2184,0,0,0,0,0,0,25.10,25.13,23.45
$GC,10744,0.59,194.6,932.8,16.2,1513,10753,0.00,1.98,0.00,0.000,4,0.000,0.044,2458,3840,2146,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10906,0.54,194.6,901.9,18.7,1529,10916,0.15,2.00,0.00,0.000,6,0.176,0.022,2429,2470,2144,0,0,0,0,0,0,25.71,26.16,28.83
$GC,11217,0.51,194.6,859.4,13.0,1560,11225,0.00,2.08,0.00,0.000,4,0.000,0.044,2429,3817,2143,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11293,0.48,194.6,848.2,15.3,1567,11301,0.12,1.90,0.00,0.000,6,0.169,0.023,2406,2493,2142,0,0,0,0,0,0,25.85,26.22,28.83
$GC,11600,0.47,194.6,812.9,10.9,1598,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2491,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11903,0.46,194.6,779.9,10.9,1628,11912,0.00,2.00,0.00,0.000,4,0.000,0.045,2406,3820,2140,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11955,0.44,194.6,773.0,12.9,1633,11959,0.00,1.90,0.00,0.000,6,0.000,0.023,2416,2502,2140,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,18869,end climb,SURFACE_DEPTH_REACHED
$STATE,18869,begin surface coast
$FINISH,0.3,1.021653
$STATE,18899,end surface coast,CONTROL_FINISHED_OK
$STATE,18899,begin surface
$SM_CCo,18915,0.17,0.556,0,0,1142,450.13
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.64
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,76.790
$10V_AH,9.9,47.785
$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
$DEVICE_SECS,17.450,206.250,665.950,0.175,0.000,30.707,34.241,351.519,0.000,0.000,35.730,6505.329,6682.204,928.474,4717.228,657.684,0.000,3125.104,0.000,4124.835,0.000,0.544,0.000
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$MEM,330340
$DATA_FILE_SIZE,170460,2733
$CAP_FILE_SIZE,264856,0
$CFSIZE,260165632,179822592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,315.9,1
$GPS,050712,092723,2350.288,12353.454,41,1.0,41,-3.4