version: 66.10
glider: 169
mission: 6
dive: 372
start: 7 7 112 20 28 1
data:
$ID,169
$MISSION,6
$DIVE,372
$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,-16011.467
$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
$GPS1,070712,201006,2337.754,12355.653,29,1.5,29,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.9
$GPS2,070712,202736,2337.836,12355.756,29,1.6,29,-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,175.3,236866,-15.7,-10.000
$D_GRID,2697
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.40,0.000,2,0.000,0.000,117,2471,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-194.6,3.2,-6.4,14,131,8.12,2.12,-13.45,0.000,4,0.230,0.048,2025,3851,3776,0,0,0,0,0,0,24.72,26.01,26.55
$GC,144,-0.44,-194.6,19.2,-38.1,20,152,0.25,2.00,0.00,0.000,6,0.183,0.019,2100,2439,3776,0,0,0,0,0,0,25.36,26.18,28.83
$GC,338,-0.40,-194.6,64.7,-17.3,57,346,0.00,2.42,0.00,0.000,4,0.000,0.025,2111,1011,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,399,-0.40,-194.6,73.4,-11.9,68,405,0.00,2.55,0.00,0.000,6,0.000,0.031,2098,2468,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,591,-0.38,-194.6,94.9,-11.2,105,599,0.00,2.05,0.00,0.000,4,0.000,0.039,2088,3831,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,627,-0.37,-194.6,99.0,-11.3,111,635,0.12,2.05,0.00,0.000,6,0.126,0.018,2129,2390,3777,0,0,0,0,0,0,26.10,26.39,28.83
$GC,820,-0.37,-194.6,119.9,-10.5,148,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2390,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1012,-0.39,-194.6,134.4,-6.3,185,1019,0.00,2.28,0.00,0.000,4,0.000,0.038,2118,3836,3777,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1053,-0.41,-194.6,137.0,-6.4,192,1059,0.00,1.98,0.00,0.000,6,0.000,0.018,2118,2411,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1245,-0.42,-194.6,154.3,-10.3,229,1253,0.00,2.35,0.00,0.000,4,0.000,0.024,2118,996,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1277,-0.45,-194.6,157.9,-11.1,234,1283,0.00,2.55,0.00,0.000,6,0.000,0.029,2107,2473,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1468,-0.48,-194.6,178.8,-10.2,271,1475,0.00,2.50,0.00,0.000,4,0.000,0.023,2108,996,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1569,-0.51,-194.6,187.9,-8.5,290,1576,0.00,2.83,0.00,0.000,6,0.000,0.030,2099,2584,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1762,-0.54,-194.6,203.1,-7.9,327,1768,0.00,1.77,0.00,0.000,4,0.000,0.041,2099,3844,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1816,-0.58,-194.6,207.3,-7.4,337,1825,0.12,2.10,0.00,0.000,6,0.075,0.017,1984,2363,3777,0,0,0,0,0,0,26.37,26.48,28.83
$GC,2133,-0.51,-194.6,264.4,-19.8,398,2140,0.30,2.22,0.00,0.000,4,0.145,0.021,2090,1002,3775,0,0,0,0,0,0,25.79,26.34,28.83
$GC,2175,-0.52,-194.6,270.6,-11.0,405,2183,0.00,2.47,0.00,0.000,6,0.000,0.029,2084,2442,3775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2490,-0.52,-194.6,306.2,-11.2,466,2497,0.00,2.10,0.00,0.000,4,0.000,0.039,2073,3838,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2535,-0.53,-194.6,311.4,-11.1,474,2542,0.00,2.10,0.00,0.000,6,0.000,0.018,2074,2382,3773,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2849,-0.52,-194.6,347.4,-11.6,535,2856,0.00,2.28,0.00,0.000,4,0.000,0.038,2062,3831,3772,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2875,-0.51,-194.6,350.6,-12.1,539,2881,0.00,2.08,0.00,0.000,6,0.000,0.018,2062,2384,3772,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3187,-0.49,-194.6,385.2,-9.8,600,3194,0.00,2.30,0.00,0.000,4,0.000,0.041,2051,3839,3769,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3228,-0.49,-194.6,389.4,-10.1,607,3235,0.12,2.05,0.00,0.000,6,0.122,0.018,2090,2401,3769,0,0,0,0,0,0,26.18,26.45,28.83
$GC,3542,-0.50,-194.6,414.9,-8.7,668,3549,0.00,2.33,0.00,0.000,4,0.000,0.025,2090,1003,3768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3593,-0.53,-194.6,419.8,-9.2,677,3600,0.00,2.55,0.00,0.000,6,0.000,0.030,2085,2466,3768,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3906,-0.55,-194.6,445.4,-7.3,738,3914,0.00,2.05,0.00,0.000,4,0.000,0.042,2083,3827,3765,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3973,-0.57,-194.6,450.6,-8.2,750,3980,0.00,1.80,0.00,0.000,6,0.000,0.019,2084,2489,3765,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4288,-0.61,-194.6,474.7,-8.6,811,4295,0.00,2.58,-0.10,0.000,4,0.000,0.032,2084,1002,3784,0,0,0,0,0,0,28.83,26.31,25.96
$GC,4322,-0.65,-194.6,477.6,-9.4,816,4329,0.00,3.05,0.00,0.000,6,0.000,0.030,2073,2701,3784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4637,-0.67,-194.6,506.3,-8.7,870,4646,0.12,2.95,0.00,0.000,4,0.076,0.024,1959,1010,3782,0,0,0,0,0,0,26.55,26.27,28.83
$GC,4781,-0.64,-194.6,527.1,-14.7,884,4790,0.28,2.78,0.00,0.000,6,0.105,0.034,2044,2542,3782,0,0,0,0,0,0,25.82,26.20,28.83
$GC,5091,-0.62,-194.6,560.4,-10.7,915,5100,0.00,2.67,0.00,0.000,4,0.000,0.026,2044,1014,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5164,-0.63,-194.6,567.7,-10.0,922,5173,0.00,2.65,0.00,0.000,6,0.000,0.033,2032,2515,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5473,-0.60,-194.6,606.7,-13.1,953,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2513,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5777,-0.58,-194.6,642.9,-11.8,983,5787,0.10,2.60,0.00,0.000,4,0.159,0.024,2068,1004,3774,0,0,0,0,0,0,26.36,26.24,28.83
$GC,5845,-0.61,-194.6,649.4,-8.6,989,5853,0.00,2.65,0.00,0.000,6,0.000,0.032,2057,2503,3774,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6151,-0.61,-194.6,679.1,-9.9,1020,6155,0.00,2.00,0.00,0.000,4,0.000,0.043,2046,3826,3772,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6187,-0.61,-194.6,682.4,-10.2,1023,6194,0.00,1.92,0.00,0.000,6,0.000,0.019,2047,2452,3771,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6494,-0.60,-194.6,715.7,-10.3,1054,6502,0.00,2.40,0.00,0.000,4,0.000,0.025,2046,1015,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6515,-0.59,-194.6,718.1,-10.3,1056,6524,0.00,2.65,0.00,0.000,6,0.000,0.033,2039,2513,3769,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6827,-0.57,-194.6,753.0,-11.4,1087,6836,0.00,2.60,0.00,0.000,4,0.000,0.026,2039,1019,3766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6868,-0.57,-194.6,757.7,-11.0,1091,6878,0.10,2.67,0.00,0.000,6,0.138,0.035,2068,2503,3766,0,0,0,0,0,0,25.97,26.10,28.83
$GC,7181,-0.58,-194.6,783.2,-7.7,1122,7190,0.00,1.98,0.00,0.000,4,0.000,0.045,2058,3847,3763,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7205,-0.59,-194.6,785.2,-7.9,1124,7213,0.00,2.00,0.00,0.000,6,0.000,0.020,2058,2438,3763,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7513,-0.59,-194.6,811.0,-8.2,1155,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2438,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7817,-0.59,-194.6,834.2,-7.1,1185,7827,0.00,2.25,0.00,0.000,4,0.000,0.044,2047,3831,3759,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7850,-0.59,-194.6,837.0,-7.7,1188,7859,0.00,1.98,0.00,0.000,6,0.000,0.021,2048,2456,3758,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8160,-0.58,-194.6,862.2,-7.7,1219,8169,0.00,2.47,0.00,0.000,4,0.000,0.026,2048,1001,3757,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8193,-0.58,-194.6,864.7,-7.7,1222,8201,0.00,2.65,0.00,0.000,6,0.000,0.033,2039,2506,3756,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8503,-0.58,-194.6,893.6,-9.9,1253,8512,0.00,1.98,0.00,0.000,4,0.000,0.045,2029,3831,3754,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8525,-0.57,-194.6,896.0,-10.2,1255,8534,0.12,1.95,0.00,0.000,6,0.122,0.021,2068,2453,3754,0,0,0,0,0,0,26.06,26.34,28.83
$GC,8836,-0.58,-194.6,923.9,-9.0,1286,8845,0.00,2.45,0.00,0.000,4,0.000,0.027,2068,1006,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8871,-0.60,-194.6,926.7,-8.8,1289,8879,0.00,2.67,0.00,0.000,6,0.000,0.033,2059,2508,3752,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9178,-0.60,-194.6,957.6,-10.6,1320,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2506,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,-0.60,-194.6,988.8,-10.5,1350,9489,0.00,2.60,0.00,0.000,4,0.000,0.027,2060,1013,3750,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,9500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9501,begin apogee
$GC,9510,-0.20,0.0,991.3,-10.5,1352,9702,0.35,0.00,185.38,1.162,4,0.090,0.000,2182,2487,2976,0,0,0,0,0,0,25.92,28.83,23.42
$STATE,9702,end apogee,CONTROL_FINISHED_OK
$STATE,9703,begin climb
$GC,9706,0.63,194.6,1005.3,0.0,1372,9912,0.73,2.15,195.02,1.132,4,0.054,0.043,2457,3831,2175,0,0,0,0,0,0,25.14,25.13,23.46
$GC,10040,0.58,194.6,959.7,18.4,1405,10048,0.12,2.03,0.00,0.000,6,0.184,0.021,2437,2455,2149,0,0,0,0,0,0,25.53,25.89,28.83
$GC,10349,0.55,194.6,911.5,15.5,1436,10358,0.00,2.45,0.00,0.000,4,0.000,0.031,2450,1026,2144,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10426,0.54,194.6,900.8,13.8,1443,10432,0.00,2.67,0.00,0.000,6,0.000,0.035,2450,2509,2141,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10734,0.50,194.6,850.1,16.9,1474,10743,0.12,1.95,0.00,0.000,4,0.170,0.040,2411,3825,2141,0,0,0,0,0,0,25.99,26.07,28.83
$GC,10811,0.48,194.6,838.7,14.9,1481,10818,0.00,1.92,0.00,0.000,6,0.000,0.021,2421,2482,2140,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11117,0.46,194.6,802.9,10.8,1512,11125,0.00,2.08,0.00,0.000,4,0.000,0.044,2421,3828,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11159,0.43,194.6,797.8,12.0,1516,11168,0.15,1.90,0.00,0.000,6,0.157,0.021,2390,2493,2139,0,0,0,0,0,0,25.84,26.27,28.83
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$STATE,18014,end climb,SURFACE_DEPTH_REACHED
$STATE,18014,begin surface coast
$FINISH,0.0,1.021607
$STATE,18046,end surface coast,CONTROL_FINISHED_OK
$STATE,18046,begin surface
$SM_CCo,18126,0.00,0.000,0,0,807,533.04
$SM_GC,0.74,6.20,2.65,0.00,0.028,0.028,0.000,135,2482,807,-6.54,-0.40,533.04,0,0,0,0,0,0,26.14,26.06,28.83
$IRIDIUM_FIX,2328.57,12353.80,070712,202005
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.05
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.4,79.235
$10V_AH,10.0,49.748
$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,18.325,220.150,718.975,0.000,0.000,120.348,101.354,411.916,0.000,0.000,30.658,6149.312,6619.277,994.987,4720.060,638.380,0.000,3087.368,0.000,3901.811,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,48.195,1162.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$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,160268,2582
$CAP_FILE_SIZE,260554,0
$CFSIZE,260165632,178069504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,  5.8,1
$GPS,080712,013106,2336.107,12356.288,31,1.0,31,-3.4