version: 66.10
glider: 169
mission: 6
dive: 370
start: 7 7 112 9 37 0
data:
$ID,169
$MISSION,6
$DIVE,370
$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,-16008.857
$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
$GPS1,070712,092606,2339.348,12355.214,31,1.0,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.2
$GPS2,070712,093635,2339.401,12355.215,16,1.0,26,-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,160.3,239792,-15.7,-10.000
$D_GRID,2900
$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,-194.6,0.0,0.0,0,105,0.00,0.00,-85.78,0.000,2,0.000,0.000,116,2512,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.63,-194.6,3.5,-8.5,15,135,7.85,2.00,-12.27,0.000,4,0.220,0.047,2028,3848,3775,0,0,0,0,0,0,24.73,26.03,26.53
$GC,164,-0.52,-194.6,25.1,-33.5,24,172,0.15,2.00,0.00,0.000,6,0.167,0.019,2077,2436,3776,0,0,0,0,0,0,25.69,26.18,28.83
$GC,356,-0.47,-194.6,68.3,-18.9,61,363,0.00,2.40,0.00,0.000,4,0.000,0.024,2089,1013,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,427,-0.48,-194.6,78.3,-10.8,74,435,0.00,2.53,0.00,0.000,6,0.000,0.031,2077,2459,3777,0,0,0,0,0,0,28.83,26.14,28.83
$GC,620,-0.45,-194.6,103.2,-12.8,111,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2458,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.42,-194.6,127.6,-12.6,148,819,0.12,2.47,0.00,0.000,4,0.150,0.021,2124,1004,3778,0,0,0,0,0,0,26.23,26.28,28.83
$GC,858,-0.45,-194.6,132.1,-8.6,156,865,0.00,2.53,0.00,0.000,6,0.000,0.029,2113,2466,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1052,-0.48,-194.6,146.9,-7.5,193,1058,0.00,2.50,0.00,0.000,4,0.000,0.023,2114,983,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1097,-0.50,-194.6,150.6,-8.6,201,1104,0.00,2.85,0.00,0.000,6,0.000,0.030,2102,2603,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1291,-0.50,-194.6,169.9,-10.5,238,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2601,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1483,-0.49,-194.6,190.2,-10.2,275,1490,0.00,2.80,0.00,0.000,4,0.000,0.024,2102,996,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1563,-0.51,-194.6,198.4,-10.1,290,1571,0.00,2.83,0.00,0.000,6,0.000,0.030,2098,2577,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1756,-0.50,-194.6,218.4,-10.2,327,1763,0.00,2.75,0.00,0.000,4,0.000,0.024,2099,1009,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1786,-0.52,-194.6,221.3,-9.4,332,1793,0.00,2.72,0.00,0.000,6,0.000,0.031,2098,2532,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2098,-0.52,-194.6,251.7,-9.8,393,2105,0.00,2.65,0.00,0.000,4,0.000,0.023,2099,1001,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2143,-0.54,-194.6,256.2,-9.2,401,2150,0.00,2.70,0.00,0.000,6,0.000,0.031,2098,2521,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2457,-0.54,-194.6,288.0,-9.1,462,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2519,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,-0.54,-194.6,317.0,-9.5,523,2778,0.00,2.65,0.00,0.000,4,0.000,0.024,2099,996,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2819,-0.57,-194.6,321.4,-9.4,531,2826,0.00,2.67,0.00,0.000,6,0.000,0.031,2098,2511,3773,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3132,-0.60,-194.6,349.0,-8.7,592,3140,0.12,2.60,0.00,0.000,4,0.075,0.022,1977,1004,3771,0,0,0,0,0,0,26.58,26.32,28.83
$GC,3177,-0.56,-194.6,355.5,-16.0,600,3185,0.32,2.38,0.00,0.000,6,0.114,0.031,2071,2400,3770,0,0,0,0,0,0,25.87,26.25,28.83
$GC,3493,-0.55,-194.6,392.4,-11.6,661,3499,0.00,2.25,0.00,0.000,4,0.000,0.042,2058,3838,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3553,-0.55,-194.6,399.8,-12.3,672,3560,0.00,2.17,0.00,0.000,6,0.000,0.018,2060,2355,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3866,-0.54,-194.6,436.0,-10.3,733,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2354,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-0.53,-194.6,467.3,-9.9,794,4183,0.00,2.40,0.00,0.000,4,0.000,0.041,2048,3834,3765,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4212,-0.53,-194.6,471.2,-10.9,800,4219,0.00,2.15,-0.10,0.000,6,0.000,0.019,2048,2367,3786,0,0,0,0,0,0,28.83,26.42,25.75
$GC,4524,-0.52,-194.6,507.3,-11.4,855,4533,0.12,2.33,0.00,0.000,4,0.135,0.038,2081,3824,3785,0,0,0,0,0,0,26.29,26.17,28.83
$GC,4549,-0.51,-194.6,509.7,-10.7,857,4556,0.00,2.10,0.00,0.000,6,0.000,0.018,2081,2379,3785,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4857,-0.54,-194.6,534.1,-8.0,888,4861,0.00,2.28,0.00,0.000,4,0.000,0.024,2081,1011,3783,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4882,-0.57,-194.6,536.0,-7.9,890,4890,0.00,2.75,0.00,0.000,6,0.000,0.031,2078,2539,3782,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5192,-0.61,-194.6,560.6,-7.8,921,5201,0.00,1.88,0.00,0.000,4,0.000,0.043,2069,3834,3780,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5247,-0.64,-194.6,565.0,-8.3,926,5255,0.00,1.67,0.00,0.000,6,0.000,0.019,2069,2540,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5555,-0.66,-194.6,587.6,-7.0,957,5563,0.00,2.65,0.00,0.000,4,0.000,0.024,2069,996,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5642,-0.69,-194.6,593.7,-7.3,965,5649,0.00,2.65,0.00,0.000,6,0.000,0.031,2057,2509,3775,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5948,-0.68,-194.6,622.4,-10.2,996,5952,0.00,1.98,0.00,0.000,4,0.000,0.042,2047,3839,3774,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5984,-0.68,-194.6,625.7,-10.1,999,5990,0.00,1.98,0.00,0.000,6,0.000,0.019,2048,2453,3773,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6293,-0.67,-194.6,657.0,-9.5,1030,6302,0.00,2.42,0.00,0.000,4,0.000,0.025,2048,1016,3771,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6318,-0.66,-194.6,659.3,-9.7,1032,6325,0.00,2.65,0.00,0.000,6,0.000,0.033,2036,2511,3770,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6628,-0.64,-194.6,689.7,-10.2,1063,6638,0.00,2.60,0.00,0.000,4,0.000,0.026,2037,1005,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6684,-0.64,-194.6,694.9,-9.4,1068,6691,0.00,2.62,0.00,0.000,6,0.000,0.034,2025,2495,3768,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6993,-0.61,-194.6,730.7,-12.7,1099,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2494,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,-0.59,-194.6,772.8,-14.1,1130,7312,0.12,0.00,0.00,0.000,6,0.151,0.000,2067,2494,3764,0,0,0,0,0,0,26.20,28.83,28.83
$GC,7612,-0.59,-194.6,804.0,-9.1,1161,7620,0.00,2.55,0.00,0.000,4,0.000,0.026,2067,1008,3762,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7667,-0.61,-194.6,808.9,-9.3,1166,7675,0.00,2.60,0.00,0.000,6,0.000,0.034,2057,2487,3762,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7973,-0.61,-194.6,835.3,-7.8,1197,7982,0.00,2.03,0.00,0.000,4,0.000,0.046,2046,3826,3760,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8015,-0.62,-194.6,838.7,-8.2,1201,8024,0.00,2.00,0.00,0.000,6,0.000,0.021,2046,2439,3759,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8326,-0.61,-194.6,867.5,-9.4,1232,8334,0.00,2.38,0.00,0.000,4,0.000,0.026,2046,1019,3757,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8390,-0.63,-194.6,872.8,-8.3,1238,8399,0.00,2.60,0.00,0.000,6,0.000,0.036,2036,2484,3757,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8698,-0.61,-194.6,903.3,-10.2,1269,8706,0.00,2.05,0.00,0.000,4,0.000,0.046,2025,3848,3755,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8722,-0.60,-194.6,905.6,-10.3,1271,8729,0.10,2.05,0.00,0.000,6,0.134,0.021,2055,2434,3755,0,0,0,0,0,0,26.07,26.30,28.83
$GC,9031,-0.60,-194.6,931.5,-8.0,1302,9041,0.00,2.40,0.00,0.000,4,0.000,0.028,2056,1005,3753,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9054,-0.61,-194.6,933.4,-8.0,1304,9063,0.00,2.60,0.00,0.000,6,0.000,0.034,2045,2485,3753,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9364,-0.61,-194.6,958.6,-7.8,1335,9375,0.00,2.53,0.00,0.000,4,0.000,0.027,2046,1020,3752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9398,-0.61,-194.6,961.4,-7.7,1338,9408,0.00,2.55,0.00,0.000,6,0.000,0.034,2035,2477,3752,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9708,-0.60,-194.6,988.3,-9.1,1369,9717,0.00,2.05,0.00,0.000,4,0.000,0.047,2025,3829,3750,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,9730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9730,begin apogee
$GC,9737,-0.20,0.0,990.5,-9.6,1371,9932,0.45,0.12,188.80,1.121,4,0.099,0.080,2180,2503,2978,0,0,0,0,0,0,25.71,24.84,23.38
$STATE,9933,end apogee,CONTROL_FINISHED_OK
$STATE,9933,begin climb
$GC,9935,0.63,194.6,999.1,0.0,1391,10144,0.75,2.10,200.02,1.140,4,0.058,0.045,2458,3825,2184,0,0,0,0,0,0,25.08,25.09,23.34
$GC,10232,0.58,194.6,962.0,16.5,1420,10240,0.12,2.05,0.00,0.000,6,0.185,0.022,2438,2458,2150,0,0,0,0,0,0,25.39,25.73,28.83
$GC,10539,0.55,194.6,923.0,12.7,1451,10547,0.00,2.47,0.00,0.000,4,0.000,0.031,2451,1018,2144,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10603,0.54,194.6,915.6,11.2,1457,10610,0.00,2.67,0.00,0.000,6,0.000,0.034,2451,2513,2141,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10911,0.50,194.6,868.1,16.2,1488,10922,0.12,1.95,0.00,0.000,4,0.168,0.040,2413,3829,2141,0,0,0,0,0,0,25.98,26.05,28.83
$GC,10987,0.48,194.6,856.5,15.2,1495,10994,0.00,1.92,0.00,0.000,6,0.000,0.021,2423,2481,2140,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11295,0.46,194.6,812.2,14.0,1526,11296,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2479,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11597,0.44,194.6,773.8,12.5,1556,11605,0.00,2.08,0.00,0.000,4,0.000,0.043,2423,3825,2139,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,18264,end climb,SURFACE_DEPTH_REACHED
$STATE,18264,begin surface coast
$FINISH,0.0,1.021686
$STATE,18296,end surface coast,CONTROL_FINISHED_OK
$STATE,18296,begin surface
$SM_CCo,18372,0.00,0.000,0,0,846,522.98
$SM_GC,0.56,6.28,0.08,0.00,0.026,0.106,0.000,133,2502,846,-6.53,-0.45,522.98,0,0,0,0,0,0,26.13,26.45,28.83
$IRIDIUM_FIX,2333.28,12357.07,070712,040405
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.89
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,78.794
$10V_AH,9.9,49.419
$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,17.450,218.775,731.700,0.000,0.000,29.684,44.210,354.247,0.000,0.000,27.544,6237.312,6531.966,973.332,4580.570,625.447,0.000,3124.523,0.000,3986.130,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,105.570,1139.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1778.649,2139.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330332
$DATA_FILE_SIZE,163207,2623
$CAP_FILE_SIZE,260986,0
$CFSIZE,260165632,178364416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,315.9,1
$GPS,070712,144406,2338.479,12354.901,26,2.0,26,-3.4