version: 66.10
glider: 169
mission: 6
dive: 367
start: 7 6 112 17 21 31
data:
$ID,169
$MISSION,6
$DIVE,367
$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,-16004.799
$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
$GPS1,060712,171036,2344.323,12355.302,36,1.1,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.4
$GPS2,060712,172106,2344.332,12355.110,11,1.7,16,-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,165.4,248924,-15.7,-10.000
$D_GRID,3125
$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,-194.6,0.0,0.0,0,105,0.00,0.00,-85.18,0.000,2,0.000,0.000,117,2482,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.63,-194.6,3.8,-10.3,15,135,7.93,2.65,-11.20,0.000,4,0.225,0.038,2049,1007,3775,0,0,0,0,0,0,24.78,26.03,26.51
$GC,184,-0.56,-194.6,32.2,-28.5,28,191,0.12,2.62,0.00,0.000,6,0.158,0.031,2069,2488,3778,0,0,0,0,0,0,25.75,26.03,28.83
$GC,376,-0.51,-194.6,71.3,-15.4,65,382,0.00,2.55,0.00,0.000,4,0.000,0.022,2078,1011,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,421,-0.51,-194.6,77.8,-12.0,73,428,0.00,2.58,0.00,0.000,6,0.000,0.031,2065,2472,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,614,-0.47,-194.6,107.4,-14.2,110,622,0.12,2.00,0.00,0.000,4,0.161,0.038,2095,3829,3778,0,0,0,0,0,0,26.15,26.13,28.83
$GC,642,-0.44,-194.6,111.3,-13.6,114,649,0.00,2.03,0.00,0.000,6,0.000,0.018,2097,2398,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,834,-0.43,-194.6,131.6,-10.7,151,841,0.00,2.33,0.00,0.000,4,0.000,0.023,2098,995,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,902,-0.43,-194.6,138.4,-9.9,163,908,0.00,2.53,0.00,0.000,6,0.000,0.028,2085,2452,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1091,-0.41,-194.6,161.5,-13.1,200,1099,0.10,2.05,0.00,0.000,4,0.164,0.037,2102,3839,3779,0,0,0,0,0,0,26.36,26.19,28.83
$GC,1114,-0.40,-194.6,164.1,-12.9,203,1120,0.00,2.08,0.00,0.000,6,0.000,0.017,2103,2386,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1305,-0.39,-194.6,186.4,-11.8,240,1312,0.00,2.28,0.00,0.000,4,0.000,0.024,2103,1000,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1341,-0.41,-194.6,190.6,-11.7,246,1350,0.00,2.50,0.00,0.000,6,0.000,0.028,2093,2450,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1534,-0.40,-194.6,213.7,-12.2,283,1540,0.00,2.03,0.00,0.000,4,0.000,0.038,2083,3834,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1560,-0.39,-194.6,216.8,-11.7,287,1568,0.12,2.08,0.00,0.000,6,0.119,0.018,2122,2378,3778,0,0,0,0,0,0,26.18,26.45,28.83
$GC,1874,-0.40,-194.6,244.5,-8.2,348,1881,0.00,2.28,0.00,0.000,4,0.000,0.038,2111,3831,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1895,-0.41,-194.6,246.5,-8.6,351,1902,0.00,2.05,0.00,0.000,6,0.000,0.017,2112,2383,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2208,-0.42,-194.6,275.0,-8.8,412,2214,0.00,2.28,0.00,0.000,4,0.000,0.024,2111,998,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2252,-0.45,-194.6,279.1,-9.1,420,2259,0.00,2.50,0.00,0.000,6,0.000,0.028,2102,2451,3776,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2569,-0.48,-194.6,305.9,-7.9,481,2576,0.00,2.05,0.00,0.000,4,0.000,0.038,2093,3840,3774,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2646,-0.49,-194.6,312.7,-9.1,495,2653,0.00,1.83,0.00,0.000,6,0.000,0.018,2093,2475,3774,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2959,-0.49,-194.6,341.5,-9.5,556,2966,0.00,2.50,0.00,0.000,4,0.000,0.024,2093,1004,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3024,-0.51,-194.6,347.2,-8.6,568,3031,0.00,2.72,0.00,0.000,6,0.000,0.028,2082,2533,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3337,-0.50,-194.6,378.6,-10.2,629,3344,0.00,2.67,0.00,0.000,4,0.000,0.023,2082,1003,3770,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3387,-0.53,-194.6,384.0,-10.3,638,3395,0.00,2.67,0.00,0.000,6,0.000,0.030,2070,2517,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3703,-0.51,-194.6,420.1,-11.6,699,3709,0.00,2.62,0.00,0.000,4,0.000,0.024,2070,1005,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3779,-0.52,-194.6,427.9,-9.9,713,3786,0.00,2.62,0.00,0.000,6,0.000,0.031,2058,2496,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4092,-0.50,-194.6,460.9,-10.2,774,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2494,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.49,-194.6,493.0,-10.7,835,4414,0.12,2.55,0.00,0.000,4,0.150,0.023,2104,1012,3765,0,0,0,0,0,0,26.25,26.28,28.83
$GC,4483,-0.52,-194.6,499.5,-8.1,849,4491,0.00,2.58,-0.10,0.000,6,0.000,0.029,2099,2481,3787,0,0,0,0,0,0,28.83,26.25,25.65
$GC,4799,-0.57,-194.6,525.1,-8.9,881,4808,0.00,1.98,0.00,0.000,4,0.000,0.042,2097,3834,3785,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4834,-0.61,-194.6,527.8,-8.6,884,4842,0.12,1.80,0.00,0.000,6,0.084,0.018,2036,2489,3785,0,0,0,0,0,0,26.32,26.48,28.83
$GC,5142,-0.58,-194.6,565.6,-12.7,915,5151,0.00,2.53,0.00,0.000,4,0.000,0.024,2036,1003,3783,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5226,-0.58,-194.6,574.9,-10.5,923,5234,0.10,2.83,0.00,0.000,6,0.144,0.034,2061,2570,3783,0,0,0,0,0,0,26.03,26.18,28.83
$GC,5534,-0.58,-194.6,603.9,-9.4,954,5544,0.00,2.72,0.00,0.000,4,0.000,0.024,2061,1014,3781,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5599,-0.59,-194.6,609.6,-8.2,960,5607,0.00,2.67,0.00,0.000,6,0.000,0.031,2051,2524,3781,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5909,-0.58,-194.6,642.3,-11.3,991,5918,0.00,2.62,0.00,0.000,4,0.000,0.025,2051,1010,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5944,-0.58,-194.6,645.9,-11.1,994,5951,0.00,2.67,0.00,0.000,6,0.000,0.033,2041,2509,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6251,-0.56,-194.6,680.7,-11.5,1025,6260,0.00,2.60,0.00,0.000,4,0.000,0.025,2041,1010,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6286,-0.55,-194.6,684.2,-11.0,1028,6293,0.15,2.62,0.00,0.000,6,0.116,0.034,2080,2493,3775,0,0,0,0,0,0,25.98,26.15,28.83
$GC,6595,-0.55,-194.6,709.2,-8.3,1059,6604,0.00,1.98,0.00,0.000,4,0.000,0.043,2070,3824,3773,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6622,-0.56,-194.6,711.3,-8.5,1061,6629,0.00,1.95,0.00,0.000,6,0.000,0.019,2070,2427,3773,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6927,-0.56,-194.6,739.8,-9.3,1092,6936,0.00,2.40,0.00,0.000,4,0.000,0.025,2069,1010,3770,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6960,-0.57,-194.6,742.7,-8.9,1095,6969,0.00,2.60,0.00,0.000,6,0.000,0.034,2059,2492,3770,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7269,-0.56,-194.6,774.9,-10.2,1126,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2490,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-0.56,-194.6,805.9,-10.2,1156,7579,0.00,2.60,0.00,0.000,4,0.000,0.028,2060,1014,3765,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7596,-0.56,-194.6,808.2,-10.1,1158,7604,0.00,2.65,0.00,0.000,6,0.000,0.036,2049,2488,3765,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7902,-0.56,-194.6,840.4,-10.0,1189,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2486,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8207,-0.55,-194.6,869.5,-9.1,1219,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2486,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8515,-0.54,-194.6,897.0,-8.6,1250,8525,0.00,2.58,0.00,0.000,4,0.000,0.028,2050,1015,3760,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8538,-0.54,-194.6,899.3,-8.8,1252,8548,0.08,2.60,0.00,0.000,6,0.099,0.037,2076,2472,3760,0,0,0,0,0,0,25.84,26.01,28.83
$GC,8849,-0.55,-194.6,921.2,-7.4,1283,8857,0.00,2.05,0.00,0.000,4,0.000,0.047,2066,3826,3757,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8884,-0.57,-194.6,923.8,-7.9,1286,8892,0.00,1.98,0.00,0.000,6,0.000,0.021,2066,2438,3757,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9192,-0.58,-194.6,949.9,-8.3,1317,9201,0.00,2.45,0.00,0.000,4,0.000,0.028,2066,995,3757,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9226,-0.59,-194.6,952.7,-8.7,1320,9235,0.00,2.65,0.00,0.000,6,0.000,0.034,2057,2489,3756,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9534,-0.59,-194.6,982.9,-10.1,1351,9543,0.00,2.00,0.00,0.000,4,0.000,0.046,2047,3825,3754,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9557,-0.59,-194.6,985.2,-10.1,1353,9565,0.00,2.00,0.00,0.000,6,0.000,0.021,2047,2436,3754,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,9603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9603,begin apogee
$GC,9609,-0.20,0.0,990.6,-11.0,1358,9806,0.40,0.10,189.60,1.155,4,0.100,0.071,2184,2441,2973,0,0,0,0,0,0,25.78,24.84,23.44
$STATE,9807,end apogee,CONTROL_FINISHED_OK
$STATE,9807,begin climb
$GC,9810,0.63,194.6,1002.5,0.0,1378,10019,0.73,2.28,200.15,1.116,4,0.058,0.043,2454,3831,2182,0,0,0,0,0,0,25.10,25.12,23.44
$GC,10152,0.58,194.6,957.8,17.1,1412,10159,0.00,2.03,0.00,0.000,6,0.000,0.021,2464,2459,2150,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10460,0.54,194.6,909.2,15.9,1443,10472,0.12,2.47,0.00,0.000,4,0.187,0.028,2441,1029,2144,0,0,0,0,0,0,25.84,26.06,28.83
$GC,10547,0.54,194.6,898.8,11.2,1451,10555,0.00,2.67,0.00,0.000,6,0.000,0.035,2441,2507,2142,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10855,0.51,194.6,856.7,13.2,1482,10859,0.00,1.98,0.00,0.000,4,0.000,0.044,2441,3838,2142,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10937,0.47,194.6,844.0,15.5,1490,10946,0.17,1.95,0.00,0.000,6,0.164,0.021,2403,2475,2141,0,0,0,0,0,0,25.72,26.24,28.83
$GC,11248,0.47,194.6,810.4,10.6,1521,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2474,2140,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18901,end climb,SURFACE_DEPTH_REACHED
$STATE,18902,begin surface coast
$FINISH,-0.3,1.021719
$STATE,18935,end surface coast,CONTROL_FINISHED_OK
$STATE,18935,begin surface
$SM_CCo,19013,0.00,0.000,0,0,893,511.70
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$IRIDIUM_FIX,2335.63,12358.38,060712,111133
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.48
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,78.146
$10V_AH,9.9,48.926
$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,17.050,225.875,718.500,0.000,0.000,28.046,41.419,367.486,0.000,0.000,17.247,6398.183,6903.124,981.056,4667.681,639.132,0.000,3168.348,0.000,4067.353,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,74.205,1155.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,166822,2692
$CAP_FILE_SIZE,266191,0
$CFSIZE,260165632,178802688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 10.5,1
$GPS,060712,223930,2342.836,12356.150,38,1.3,38,-3.4