version: 66.10
glider: 169
mission: 6
dive: 366
start: 7 6 112 11 49 30
data:
$ID,169
$MISSION,6
$DIVE,366
$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,-16003.445
$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
$GPS1,060712,113836,2345.128,12355.395,34,1.0,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.1
$GPS2,060712,114905,2345.089,12355.353,16,1.4,33,-3.4
$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,164.2,250313,-15.7,-10.000
$D_GRID,3115
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-79.72,0.000,2,0.000,0.000,119,2494,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-194.6,3.1,-7.1,14,136,7.80,2.03,-14.15,0.000,4,0.220,0.052,2030,3838,3775,0,0,0,0,0,0,24.77,26.00,26.54
$GC,160,-0.50,-194.6,24.6,-39.5,23,168,0.17,1.98,0.00,0.000,6,0.161,0.019,2087,2435,3775,0,0,0,0,0,0,25.65,26.20,28.83
$GC,353,-0.46,-194.6,63.0,-14.6,60,361,0.00,2.42,0.00,0.000,4,0.000,0.023,2094,1002,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,415,-0.47,-194.6,69.9,-10.1,71,422,0.00,2.53,0.00,0.000,6,0.000,0.029,2082,2454,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,607,-0.44,-194.6,93.5,-13.1,108,615,0.00,2.47,0.00,0.000,4,0.000,0.024,2083,1008,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,640,-0.43,-194.6,97.3,-12.5,113,647,0.12,2.47,0.00,0.000,6,0.122,0.030,2113,2448,3776,0,0,0,0,0,0,26.04,26.20,28.83
$GC,830,-0.43,-194.6,115.1,-8.9,150,837,0.00,2.05,0.00,0.000,4,0.000,0.039,2103,3839,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,856,-0.44,-194.6,117.3,-9.4,154,863,0.00,2.03,0.00,0.000,6,0.000,0.017,2103,2387,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1048,-0.44,-194.6,136.5,-10.2,191,1054,0.00,2.28,0.00,0.000,4,0.000,0.023,2103,995,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1084,-0.46,-194.6,140.1,-10.2,197,1091,0.00,2.53,0.00,0.000,6,0.000,0.028,2093,2460,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1275,-0.45,-194.6,161.8,-11.7,234,1282,0.00,2.00,0.00,0.000,4,0.000,0.038,2082,3829,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1307,-0.45,-194.6,165.3,-11.7,239,1314,0.00,2.03,0.00,0.000,6,0.000,0.018,2082,2389,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1500,-0.43,-194.6,188.7,-11.8,276,1508,0.00,2.28,0.00,0.000,4,0.000,0.023,2082,1002,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1536,-0.44,-194.6,192.8,-11.6,282,1544,0.12,2.50,0.00,0.000,6,0.128,0.029,2111,2457,3776,0,0,0,0,0,0,26.08,26.27,28.83
$GC,1728,-0.45,-194.6,210.5,-8.2,319,1735,0.00,2.03,0.00,0.000,4,0.000,0.040,2101,3836,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1760,-0.47,-194.6,213.2,-8.8,324,1768,0.00,2.03,0.00,0.000,6,0.000,0.018,2101,2396,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2074,-0.47,-194.6,242.5,-9.4,385,2080,0.00,2.22,0.00,0.000,4,0.000,0.038,2092,3843,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2088,-0.47,-194.6,244.2,-9.8,387,2094,0.00,2.00,0.00,0.000,6,0.000,0.018,2092,2413,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2400,-0.47,-194.6,278.2,-11.0,448,2407,0.00,2.38,0.00,0.000,4,0.000,0.023,2092,987,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2441,-0.49,-194.6,282.7,-10.2,455,2447,0.00,2.58,0.00,0.000,6,0.000,0.028,2082,2471,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2756,-0.48,-194.6,314.9,-9.3,516,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2470,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.47,-194.6,343.1,-9.7,577,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2469,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3380,-0.47,-194.6,377.0,-11.4,638,3387,0.00,2.53,0.00,0.000,4,0.000,0.024,2082,1005,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3415,-0.49,-194.6,380.8,-11.4,644,3424,0.00,2.53,0.00,0.000,6,0.000,0.031,2071,2456,3769,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3731,-0.49,-194.6,416.4,-9.8,705,3738,0.00,2.05,0.00,0.000,4,0.000,0.039,2061,3838,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3792,-0.50,-194.6,422.3,-9.2,716,3800,0.00,2.03,0.00,0.000,6,0.000,0.018,2061,2401,3768,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4108,-0.48,-194.6,450.0,-9.4,777,4114,0.10,0.00,0.00,0.000,6,0.145,0.000,2091,2401,3767,0,0,0,0,0,0,26.43,28.83,28.83
$GC,4421,-0.50,-194.6,476.3,-8.7,838,4427,0.00,2.22,0.00,0.000,4,0.000,0.040,2080,3828,3764,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4482,-0.52,-194.6,481.4,-8.4,849,4489,0.00,2.00,-0.10,0.000,6,0.000,0.018,2080,2402,3786,0,0,0,0,0,0,28.83,26.47,25.77
$GC,4801,-0.55,-194.6,504.9,-7.6,905,4810,0.00,2.20,0.00,0.000,4,0.000,0.041,2071,3821,3785,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4867,-0.57,-194.6,510.5,-9.2,911,4873,0.00,1.73,0.00,0.000,6,0.000,0.018,2070,2504,3784,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5174,-0.60,-194.6,537.0,-7.8,942,5182,0.00,2.58,0.00,0.000,4,0.000,0.023,2071,1004,3782,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5218,-0.63,-194.6,540.7,-8.4,946,5225,0.00,3.03,0.00,0.000,6,0.000,0.031,2058,2698,3782,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5527,-0.65,-194.6,563.9,-6.8,977,5535,0.00,2.92,0.00,0.000,4,0.000,0.025,2058,1011,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5613,-0.66,-194.6,570.0,-7.7,985,5620,0.00,2.78,0.00,0.000,6,0.000,0.033,2045,2552,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5919,-0.65,-194.6,600.9,-11.2,1016,5929,0.00,2.70,0.00,0.000,4,0.000,0.025,2046,1008,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5955,-0.64,-194.6,604.4,-10.7,1019,5962,0.00,2.70,0.00,0.000,6,0.000,0.032,2035,2529,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6263,-0.62,-194.6,641.1,-11.8,1050,6271,0.00,2.62,0.00,0.000,4,0.000,0.026,2035,1020,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6337,-0.63,-194.6,648.6,-9.5,1057,6345,0.00,2.60,0.00,0.000,6,0.000,0.033,2027,2496,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6645,-0.60,-194.6,683.2,-11.1,1088,6654,0.00,1.95,0.00,0.000,4,0.000,0.042,2017,3835,3772,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6687,-0.58,-194.6,688.1,-11.7,1092,6698,0.15,1.98,0.00,0.000,6,0.119,0.021,2067,2446,3772,0,0,0,0,0,0,26.06,26.38,28.83
$GC,6999,-0.58,-194.6,715.6,-8.5,1123,7008,0.00,2.42,0.00,0.000,4,0.000,0.025,2068,1002,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7042,-0.60,-194.6,719.5,-9.0,1127,7051,0.00,2.60,0.00,0.000,6,0.000,0.032,2059,2487,3770,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7351,-0.60,-194.6,748.4,-9.4,1158,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2485,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7654,-0.60,-194.6,778.1,-9.8,1188,7663,0.00,2.55,0.00,0.000,4,0.000,0.026,2059,1009,3765,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7690,-0.61,-194.6,781.6,-9.9,1191,7696,0.00,2.60,0.00,0.000,6,0.000,0.034,2049,2479,3765,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7997,-0.61,-194.6,812.6,-9.7,1222,8005,0.00,2.00,0.00,0.000,4,0.000,0.044,2039,3825,3763,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8029,-0.61,-194.6,815.4,-9.0,1225,8037,0.00,2.00,0.00,0.000,6,0.000,0.021,2039,2426,3763,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8339,-0.60,-194.6,842.4,-8.3,1256,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2426,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,-0.59,-194.6,869.0,-9.6,1286,8650,0.00,2.20,0.00,0.000,4,0.000,0.044,2029,3830,3759,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8676,-0.58,-194.6,872.7,-10.1,1289,8685,0.08,2.00,0.00,0.000,6,0.096,0.021,2062,2426,3758,0,0,0,0,0,0,26.10,26.35,28.83
$GC,8984,-0.58,-194.6,899.2,-8.7,1320,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2425,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9287,-0.59,-194.6,923.5,-8.1,1350,9295,0.00,2.40,0.00,0.000,4,0.000,0.027,2062,1004,3755,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9320,-0.61,-194.6,926.3,-8.2,1353,9328,0.00,2.65,0.00,0.000,6,0.000,0.034,2054,2499,3756,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9629,-0.61,-194.6,952.3,-8.2,1384,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2497,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9930,-0.61,-194.6,976.9,-8.2,1414,9939,0.00,2.58,0.00,0.000,4,0.000,0.029,2054,1019,3752,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9987,-0.63,-194.6,980.9,-7.7,1419,9994,0.00,2.60,0.00,0.000,6,0.000,0.034,2045,2485,3752,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,10089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10089,begin apogee
$GC,10095,-0.20,0.0,990.2,-9.0,1430,10292,0.40,0.00,188.48,1.168,4,0.100,0.000,2183,2484,2970,0,0,0,0,0,0,25.77,28.83,23.43
$STATE,10293,end apogee,CONTROL_FINISHED_OK
$STATE,10293,begin climb
$GC,10295,0.63,194.6,998.7,0.0,1450,10513,0.70,2.65,207.57,1.095,4,0.045,0.028,2457,1026,2181,0,0,0,0,0,0,25.13,25.16,23.46
$GC,10606,0.62,194.6,968.9,12.0,1481,10615,0.00,2.62,0.00,0.000,6,0.000,0.036,2457,2484,2152,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10916,0.57,194.6,923.4,14.5,1512,10926,0.00,2.05,0.00,0.000,4,0.000,0.042,2457,3836,2148,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11053,0.52,194.6,900.7,16.9,1525,11060,0.17,1.92,0.00,0.000,6,0.167,0.021,2420,2481,2146,0,0,0,0,0,0,25.69,26.19,28.83
$GC,11359,0.50,194.6,864.2,11.2,1556,11368,0.00,2.08,0.00,0.000,4,0.000,0.042,2420,3836,2145,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11455,0.47,194.6,851.5,14.1,1565,11462,0.00,1.85,0.00,0.000,6,0.000,0.021,2430,2504,2144,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,19099,end climb,SURFACE_DEPTH_REACHED
$STATE,19099,begin surface coast
$FINISH,-0.3,1.021545
$STATE,19125,end surface coast,CONTROL_FINISHED_OK
$STATE,19125,begin surface
$SM_CCo,19202,0.00,0.000,0,0,800,534.51
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$IRIDIUM_FIX,2335.63,12217.80,060712,060609
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.56
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.4,77.940
$10V_AH,9.9,48.759
$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
$DEVICE_SECS,17.575,224.325,725.500,0.000,0.000,29.260,28.478,354.764,0.000,0.000,33.935,6486.559,6889.280,996.033,4747.589,658.734,0.000,3223.107,0.000,4151.054,0.000,0.543,0.000
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$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,170116,2730
$CAP_FILE_SIZE,271348,0
$CFSIZE,260165632,178941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,331.2,1
$GPS,060712,171036,2344.323,12355.302,36,1.1,36,-3.4