version: 66.10
glider: 169
mission: 6
dive: 382
start: 7 10 112 2 47 32
data:
$ID,169
$MISSION,6
$DIVE,382
$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,-16024.714
$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,2450
$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
$GPS1,100712,023600,2321.428,12356.748,39,1.0,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.2
$GPS2,100712,024707,2321.201,12356.865,13,1.1,13,-3.3
$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,188.3,206014,-15.7,-10.000
$D_GRID,4099
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-82.32,0.000,2,0.000,0.000,116,2473,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.63,-194.6,3.7,-9.2,14,138,7.88,2.65,-14.48,0.000,4,0.222,0.037,2053,987,3776,0,0,0,0,0,0,24.80,26.06,26.53
$GC,161,-0.54,-194.6,23.9,-31.1,23,168,0.12,2.60,0.00,0.000,6,0.159,0.033,2073,2465,3778,0,0,0,0,0,0,25.74,26.01,28.83
$GC,353,-0.50,-194.6,65.9,-18.1,60,360,0.00,2.55,0.00,0.000,4,0.000,0.024,2082,972,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,399,-0.50,-194.6,72.1,-11.3,68,406,0.00,2.50,0.00,0.000,6,0.000,0.031,2071,2417,3778,0,0,0,0,0,0,28.83,26.15,28.83
$GC,590,-0.48,-194.6,95.9,-11.9,105,598,0.00,2.17,0.00,0.000,4,0.000,0.041,2061,3836,3778,0,0,0,0,0,0,28.83,26.13,28.83
$GC,632,-0.47,-194.6,101.2,-11.9,112,640,0.12,2.10,0.00,0.000,6,0.134,0.018,2098,2377,3778,0,0,0,0,0,0,26.08,26.39,28.83
$GC,823,-0.46,-194.6,121.7,-10.4,149,831,0.00,2.28,0.00,0.000,4,0.000,0.022,2098,966,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,850,-0.47,-194.6,124.6,-10.8,153,860,0.00,2.58,0.00,0.000,6,0.000,0.028,2086,2455,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1044,-0.46,-194.6,144.8,-11.0,190,1051,0.00,2.05,0.00,0.000,4,0.000,0.038,2076,3831,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1085,-0.47,-194.6,149.3,-10.9,197,1093,0.00,2.05,0.00,0.000,6,0.000,0.018,2077,2385,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1277,-0.45,-194.6,172.1,-11.6,234,1284,0.00,2.30,0.00,0.000,4,0.000,0.037,2065,3841,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1304,-0.44,-194.6,175.3,-12.4,238,1312,0.12,2.00,0.00,0.000,6,0.123,0.017,2105,2409,3778,0,0,0,0,0,0,26.17,26.47,28.83
$GC,1496,-0.45,-194.6,193.9,-9.4,275,1502,0.00,2.38,0.00,0.000,4,0.000,0.023,2105,974,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1537,-0.48,-194.6,197.7,-9.2,282,1544,0.00,2.62,0.00,0.000,6,0.000,0.028,2095,2485,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1728,-0.48,-194.6,216.5,-10.1,319,1735,0.00,1.98,0.00,0.000,4,0.000,0.039,2085,3837,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1753,-0.48,-194.6,218.9,-9.9,323,1760,0.00,2.00,0.00,0.000,6,0.000,0.017,2085,2407,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2066,-0.48,-194.6,249.4,-9.3,384,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2407,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-0.48,-194.6,278.9,-10.7,445,2384,0.00,2.25,0.00,0.000,4,0.000,0.040,2076,3840,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2432,-0.49,-194.6,284.8,-11.0,455,2439,0.00,2.00,0.00,0.000,6,0.000,0.018,2076,2409,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2746,-0.48,-194.6,319.2,-9.8,516,2752,0.00,2.40,0.00,0.000,4,0.000,0.023,2076,968,3772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2776,-0.49,-194.6,322.3,-9.6,521,2784,0.00,2.67,0.00,0.000,6,0.000,0.029,2064,2496,3772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3090,-0.48,-194.6,353.9,-10.7,582,3097,0.10,0.00,0.00,0.000,6,0.160,0.000,2093,2494,3770,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3402,-0.50,-194.6,384.2,-10.0,643,3410,0.00,2.62,0.00,0.000,4,0.000,0.022,2092,964,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3448,-0.53,-194.6,388.8,-10.2,651,3454,0.00,2.60,0.00,0.000,6,0.000,0.028,2085,2470,3768,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3760,-0.56,-194.6,413.1,-6.8,712,3767,0.00,2.03,0.00,0.000,4,0.000,0.040,2078,3829,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3812,-0.59,-194.6,416.7,-7.4,721,3820,0.00,1.83,0.00,0.000,6,0.000,0.018,2077,2472,3766,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4127,-0.63,-194.6,437.5,-6.9,782,4135,0.00,2.55,-0.10,0.000,4,0.000,0.031,2078,965,3785,0,0,0,0,0,0,28.83,26.32,25.96
$GC,4183,-0.67,-194.6,442.0,-7.3,792,4191,0.12,3.00,0.00,0.000,6,0.074,0.029,1974,2656,3785,0,0,0,0,0,0,26.25,26.24,28.83
$GC,4499,-0.61,-194.6,492.2,-16.7,853,4510,0.22,2.95,0.00,0.000,4,0.139,0.023,2061,975,3784,0,0,0,0,0,0,25.97,26.26,28.83
$GC,4611,-0.63,-194.6,504.0,-9.4,869,4620,0.00,2.90,0.00,0.000,6,0.000,0.031,2048,2606,3783,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4920,-0.62,-194.6,535.5,-10.1,900,4929,0.00,2.80,0.00,0.000,4,0.000,0.023,2048,978,3781,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4986,-0.63,-194.6,541.8,-9.5,906,4994,0.00,2.85,0.00,0.000,6,0.000,0.031,2036,2579,3781,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5293,-0.61,-194.6,575.6,-11.5,937,5303,0.00,2.78,0.00,0.000,4,0.000,0.024,2037,987,3779,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5349,-0.61,-194.6,581.5,-11.1,942,5356,0.00,2.78,0.00,0.000,6,0.000,0.032,2029,2539,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5656,-0.59,-194.6,616.1,-10.7,973,5665,0.00,2.67,0.00,0.000,4,0.000,0.024,2030,980,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5724,-0.60,-194.6,622.4,-9.3,979,5730,0.00,2.70,0.00,0.000,6,0.000,0.033,2029,2512,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6030,-0.58,-194.6,656.8,-11.7,1010,6032,0.12,0.00,0.00,0.000,6,0.149,0.000,2067,2510,3773,0,0,0,0,0,0,26.28,28.83,28.83
$GC,6331,-0.59,-194.6,686.8,-9.7,1040,6339,0.00,2.62,0.00,0.000,4,0.000,0.026,2067,986,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6376,-0.61,-194.6,690.8,-9.5,1044,6383,0.00,2.67,0.00,0.000,6,0.000,0.032,2057,2505,3771,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6683,-0.64,-194.6,716.3,-7.3,1075,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2503,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.67,-194.6,734.5,-5.7,1105,6995,0.00,1.98,0.00,0.000,4,0.000,0.044,2047,3836,3765,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7070,-0.68,-194.6,740.0,-6.9,1113,7080,0.00,2.30,0.00,0.000,6,0.000,0.021,2048,2323,3764,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7379,-0.68,-194.6,764.4,-8.5,1144,7388,0.00,2.45,0.00,0.000,4,0.000,0.041,2036,3831,3762,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7411,-0.68,-194.6,767.3,-8.8,1147,7420,0.00,2.22,0.00,0.000,6,0.000,0.020,2036,2339,3762,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7722,-0.67,-194.6,796.4,-9.6,1178,7731,0.00,2.42,0.00,0.000,4,0.000,0.041,2024,3821,3760,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7757,-0.67,-194.6,799.5,-9.6,1181,7765,0.00,2.22,0.00,0.000,6,0.000,0.020,2025,2345,3759,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8064,-0.65,-194.6,830.7,-10.6,1212,8073,0.00,2.42,0.00,0.000,4,0.000,0.043,2013,3831,3757,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8096,-0.64,-194.6,834.2,-10.8,1215,8106,0.10,2.20,0.00,0.000,6,0.143,0.021,2042,2352,3757,0,0,0,0,0,0,26.07,26.32,28.83
$GC,8408,-0.64,-194.6,863.5,-9.7,1246,8417,0.00,2.38,0.00,0.000,4,0.000,0.041,2030,3819,3755,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8450,-0.64,-194.6,868.0,-10.5,1250,8459,0.00,2.15,0.00,0.000,6,0.000,0.020,2030,2372,3755,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8761,-0.63,-194.6,900.6,-10.4,1281,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2373,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.62,-194.6,932.3,-10.2,1312,9082,0.00,2.35,0.00,0.000,4,0.000,0.042,2020,3823,3751,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9099,-0.61,-194.6,934.9,-10.1,1314,9106,0.12,2.15,0.00,0.000,6,0.126,0.020,2059,2377,3751,0,0,0,0,0,0,26.01,26.31,28.83
$GC,9405,-0.62,-194.6,959.5,-7.7,1345,9415,0.00,2.33,0.00,0.000,4,0.000,0.042,2047,3823,3750,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9432,-0.63,-194.6,961.5,-8.1,1347,9438,0.00,2.12,0.00,0.000,6,0.000,0.019,2047,2390,3749,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9739,-0.63,-194.6,988.2,-8.3,1378,9747,0.00,2.28,0.00,0.000,4,0.000,0.043,2036,3817,3748,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,9758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9758,begin apogee
$GC,9766,-0.20,0.0,990.1,-8.2,1380,9961,0.43,0.12,187.57,1.126,4,0.091,0.080,2186,2504,2972,0,0,0,0,0,0,25.80,24.87,23.41
$STATE,9962,end apogee,CONTROL_FINISHED_OK
$STATE,9962,begin climb
$GC,9964,0.63,194.6,999.5,0.0,1400,10171,0.70,2.08,198.55,1.136,4,0.050,0.043,2455,3824,2183,0,0,0,0,0,0,25.18,25.15,23.42
$GC,10330,0.58,194.6,949.5,16.9,1436,10337,0.00,2.03,0.00,0.000,6,0.000,0.021,2465,2459,2151,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10636,0.53,194.6,901.7,15.4,1467,10645,0.12,2.45,0.00,0.000,4,0.185,0.028,2440,1028,2145,0,0,0,0,0,0,25.84,26.06,28.83
$GC,10702,0.52,194.6,893.8,11.4,1473,10710,0.00,2.65,0.00,0.000,6,0.000,0.033,2441,2522,2143,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11009,0.49,194.6,849.4,14.9,1504,11013,0.12,1.95,0.00,0.000,4,0.165,0.038,2402,3828,2143,0,0,0,0,0,0,26.00,26.07,28.83
$GC,11075,0.47,194.6,840.4,14.2,1510,11082,0.00,1.98,0.00,0.000,6,0.000,0.019,2412,2480,2142,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11381,0.45,194.6,801.8,12.0,1541,11391,0.00,2.08,0.00,0.000,4,0.000,0.042,2412,3824,2141,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,18351,end climb,SURFACE_DEPTH_REACHED
$STATE,18351,begin surface coast
$FINISH,-0.2,1.011725
$STATE,18382,end surface coast,CONTROL_FINISHED_OK
$STATE,18383,begin surface
$SM_CCo,18462,0.00,0.000,0,0,669,566.64
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$IRIDIUM_FIX,2312.13,12355.08,090712,212153
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.79
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.4,81.402
$10V_AH,9.9,51.408
$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
$DEVICE_SECS,18.125,228.700,741.000,0.000,0.000,30.681,22.430,423.137,0.000,0.000,14.492,6208.341,6623.455,999.542,4598.668,645.331,0.000,3156.918,0.000,3972.323,0.000,0.544,0.000
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$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,163285,2607
$CAP_FILE_SIZE,263966,0
$CFSIZE,260165632,176582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,293.0,1
$GPS,100712,075623,2319.115,12356.297,24,1.0,41,-3.3