version: 66.10
glider: 169
mission: 6
dive: 357
start: 7 4 112 12 15 52
data:
$ID,169
$MISSION,6
$DIVE,357
$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,-15991.553
$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
$GPS1,040712,120506,2351.603,12344.607,35,1.3,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-72.7
$GPS2,040712,121527,2351.678,12344.463,15,2.5,34,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,112.6,18119,-15.7,-10.000
$D_GRID,2707
$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,-85.72,0.000,2,0.000,0.000,116,2501,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.63,-194.6,3.7,-9.6,15,134,8.12,0.00,-11.85,0.000,6,0.233,0.000,2038,2502,3776,0,0,0,0,0,0,24.80,28.83,26.53
$GC,321,-0.55,-194.6,69.4,-21.7,55,328,0.12,2.67,0.00,0.000,4,0.180,0.024,2087,1015,3776,0,0,0,0,0,0,25.99,26.15,28.83
$GC,391,-0.55,-194.6,80.0,-11.9,68,398,0.00,2.70,0.00,0.000,6,0.000,0.034,2075,2485,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,583,-0.52,-194.6,108.8,-14.3,105,589,0.00,2.62,0.00,0.000,4,0.000,0.025,2078,1007,3777,0,0,0,0,0,0,28.83,26.23,28.83
$GC,618,-0.52,-194.6,113.6,-12.5,111,624,0.00,2.58,0.00,0.000,6,0.000,0.031,2066,2441,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,809,-0.48,-194.6,141.9,-14.2,148,816,0.00,2.53,0.00,0.000,4,0.000,0.024,2066,999,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,830,-0.44,-194.6,144.8,-14.1,151,837,0.17,2.50,0.00,0.000,6,0.119,0.031,2111,2411,3778,0,0,0,0,0,0,26.00,26.23,28.83
$GC,1021,-0.44,-194.6,162.7,-8.5,188,1028,0.00,2.12,0.00,0.000,4,0.000,0.041,2100,3839,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1042,-0.44,-194.6,164.6,-9.5,191,1048,0.00,2.12,0.00,0.000,6,0.000,0.018,2100,2339,3777,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1234,-0.44,-194.6,183.9,-10.3,228,1241,0.00,2.25,0.00,0.000,4,0.000,0.025,2100,999,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1265,-0.45,-194.6,187.0,-9.8,233,1271,0.00,2.45,0.00,0.000,6,0.000,0.030,2097,2398,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1456,-0.44,-194.6,207.9,-11.1,270,1464,0.00,2.12,0.00,0.000,4,0.000,0.040,2086,3833,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1481,-0.43,-194.6,210.8,-11.7,274,1489,0.00,2.12,0.00,0.000,6,0.000,0.018,2086,2333,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1795,-0.42,-194.6,247.3,-11.0,335,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2333,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2106,-0.41,-194.6,281.8,-10.4,396,2113,0.12,2.35,0.00,0.000,4,0.133,0.038,2118,3829,3776,0,0,0,0,0,0,26.32,26.20,28.83
$GC,2148,-0.44,-194.6,285.5,-7.4,403,2154,0.00,2.12,0.00,0.000,6,0.000,0.019,2119,2334,3776,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2461,-0.48,-194.6,308.5,-6.8,464,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2334,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2774,-0.51,-194.6,328.4,-7.0,525,2781,0.10,2.35,0.00,0.000,4,0.091,0.038,2026,3834,3773,0,0,0,0,0,0,26.58,26.20,28.83
$GC,2882,-0.48,-194.6,340.7,-12.8,545,2890,0.22,1.85,0.00,0.000,6,0.122,0.019,2096,2444,3772,0,0,0,0,0,0,25.97,26.45,28.83
$GC,3197,-0.48,-194.6,369.6,-8.6,606,3205,0.00,2.53,0.00,0.000,4,0.000,0.026,2098,1010,3771,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3259,-0.51,-194.6,375.1,-7.8,617,3265,0.00,2.67,0.00,0.000,6,0.000,0.031,2087,2490,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3572,-0.50,-194.6,403.3,-9.3,678,3579,0.00,2.62,0.00,0.000,4,0.000,0.024,2087,995,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3648,-0.53,-194.6,410.4,-9.4,692,3657,0.00,2.58,0.00,0.000,6,0.000,0.030,2085,2449,3769,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3963,-0.53,-194.6,440.9,-10.3,753,3970,0.00,2.03,0.00,0.000,4,0.000,0.041,2075,3826,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3992,-0.53,-194.6,444.0,-10.4,758,4000,0.00,2.00,0.00,0.000,6,0.000,0.018,2075,2389,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4306,-0.53,-194.6,476.9,-10.3,819,4313,0.00,2.35,0.00,0.000,4,0.000,0.024,2075,1007,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4336,-0.54,-194.6,479.9,-9.5,824,4342,0.00,2.58,0.00,0.000,6,0.000,0.031,2065,2454,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4648,-0.53,-194.6,511.1,-9.8,874,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2451,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4952,-0.52,-194.6,539.4,-9.7,904,4961,0.00,2.47,0.00,0.000,4,0.000,0.026,2065,1019,3761,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5025,-0.54,-194.6,546.3,-8.7,911,5034,0.00,2.53,0.00,0.000,6,0.000,0.032,2054,2442,3761,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5334,-0.52,-194.6,578.0,-10.1,942,5338,0.00,2.05,0.00,0.000,4,0.000,0.043,2045,3834,3759,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5376,-0.51,-194.6,582.4,-10.5,946,5387,0.12,2.05,0.00,0.000,6,0.123,0.021,2083,2389,3759,0,0,0,0,0,0,26.14,26.41,28.83
$GC,5687,-0.52,-194.6,607.4,-7.7,977,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2388,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.52,-194.6,629.7,-7.7,1007,5999,0.00,2.33,0.00,0.000,4,0.000,0.026,2083,1006,3755,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6023,-0.53,-194.6,632.4,-7.5,1010,6033,0.00,2.53,0.00,0.000,6,0.000,0.032,2082,2435,3754,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6333,-0.54,-194.6,656.3,-8.1,1041,6342,0.00,2.08,0.00,0.000,4,0.000,0.043,2073,3836,3751,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6359,-0.54,-194.6,658.2,-8.6,1043,6366,0.00,2.08,0.00,0.000,6,0.000,0.020,2072,2377,3751,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6665,-0.54,-194.6,687.5,-10.1,1074,6675,0.00,2.33,0.00,0.000,4,0.000,0.027,2072,997,3749,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6690,-0.54,-194.6,689.7,-9.8,1076,6697,0.00,2.55,0.00,0.000,6,0.000,0.033,2063,2435,3749,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6998,-0.54,-194.6,721.6,-10.3,1107,7007,0.00,2.05,0.00,0.000,4,0.000,0.044,2052,3823,3746,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7049,-0.54,-194.6,726.7,-10.2,1112,7058,0.00,2.05,0.00,0.000,6,0.000,0.021,2052,2388,3746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7360,-0.53,-194.6,761.5,-11.6,1143,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2388,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7663,-0.53,-194.6,794.1,-10.5,1173,7671,0.00,2.25,0.00,0.000,4,0.000,0.046,2040,3821,3742,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7704,-0.53,-194.6,798.9,-10.8,1177,7713,0.12,2.03,0.00,0.000,6,0.119,0.021,2080,2394,3742,0,0,0,0,0,0,26.10,26.38,28.83
$GC,8016,-0.54,-194.6,823.9,-7.9,1208,8025,0.00,2.40,0.00,0.000,4,0.000,0.026,2081,1002,3739,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8042,-0.55,-194.6,825.9,-7.8,1210,8050,0.00,2.60,0.00,0.000,6,0.000,0.033,2076,2455,3739,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8350,-0.56,-194.6,850.8,-8.4,1241,8359,0.00,2.03,0.00,0.000,4,0.000,0.045,2066,3826,3737,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8382,-0.58,-194.6,853.8,-8.8,1244,8391,0.00,2.03,0.00,0.000,6,0.000,0.021,2066,2400,3737,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8693,-0.58,-194.6,881.5,-9.0,1275,8697,0.00,2.22,0.00,0.000,4,0.000,0.044,2056,3832,3736,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8716,-0.58,-194.6,883.5,-8.6,1277,8724,0.00,2.00,0.00,0.000,6,0.000,0.021,2056,2416,3735,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9025,-0.58,-194.6,912.1,-8.6,1308,9034,0.00,2.40,0.00,0.000,4,0.000,0.027,2056,1020,3734,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9051,-0.58,-194.6,913.9,-8.4,1310,9059,0.00,2.60,0.00,0.000,6,0.000,0.034,2046,2466,3734,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9358,-0.57,-194.6,941.3,-8.9,1341,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2464,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,-0.56,-194.6,968.0,-8.8,1371,9671,0.00,2.55,0.00,0.000,4,0.000,0.028,2046,1010,3731,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9697,-0.56,-194.6,971.5,-9.2,1374,9706,0.10,2.60,0.00,0.000,6,0.138,0.036,2067,2455,3731,0,0,0,0,0,0,25.89,26.03,28.83
$STATE,9951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9951,begin apogee
$GC,9957,-0.20,0.0,990.3,-7.5,1400,10148,0.32,0.08,183.98,1.107,4,0.099,0.038,2181,2443,2974,0,0,0,0,0,0,25.91,24.77,23.46
$STATE,10149,end apogee,CONTROL_FINISHED_OK
$STATE,10149,begin climb
$GC,10153,0.63,194.6,997.5,0.0,1419,10364,0.73,0.10,201.73,1.089,6,0.051,0.090,2457,2499,2175,0,0,0,0,0,0,25.10,25.18,23.50
$GC,10665,0.59,194.6,922.4,17.1,1471,10673,0.00,1.98,0.00,0.000,4,0.000,0.046,2457,3847,2148,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10756,0.54,194.6,905.2,18.5,1480,10761,0.15,1.95,0.00,0.000,6,0.174,0.023,2428,2469,2146,0,0,0,0,0,0,25.69,26.13,28.83
$GC,11070,0.51,194.6,860.3,14.3,1511,11078,0.00,2.05,0.00,0.000,4,0.000,0.044,2428,3823,2145,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11153,0.47,194.6,846.8,16.4,1519,11162,0.12,1.88,0.00,0.000,6,0.170,0.022,2405,2484,2144,0,0,0,0,0,0,25.86,26.25,28.83
$GC,11461,0.46,194.6,809.8,10.9,1550,11471,0.00,2.60,0.00,0.000,4,0.000,0.031,2419,1029,2142,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11508,0.46,194.6,805.4,10.3,1554,11516,0.00,2.75,0.00,0.000,6,0.000,0.034,2419,2522,2141,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11814,0.45,194.6,769.9,11.2,1585,11823,0.00,1.90,0.00,0.000,4,0.000,0.044,2419,3839,2141,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,18454,end climb,SURFACE_DEPTH_REACHED
$STATE,18454,begin surface coast
$FINISH,-0.1,1.021779
$STATE,18481,end surface coast,CONTROL_FINISHED_OK
$STATE,18481,begin surface
$SM_CCo,18558,0.00,0.000,0,0,679,564.19
$SM_GC,0.49,6.22,0.08,0.00,0.024,0.109,0.000,121,2493,679,-6.54,-0.42,564.19,0,0,0,0,0,0,26.22,26.41,28.83
$IRIDIUM_FIX,2340.34,12342.71,040712,060602
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.5,76.152
$10V_AH,9.9,47.294
$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,18.400,208.100,807.725,0.000,0.000,28.734,21.556,360.990,0.000,0.000,36.354,6252.228,6657.459,1022.112,4566.771,629.066,0.000,3166.063,0.000,3984.651,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,109.395,1106.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1792.536,2151.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330340
$DATA_FILE_SIZE,166869,2646
$CAP_FILE_SIZE,258059,0
$CFSIZE,260165632,180269056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,  4.3,1
$GPS,040712,172606,2351.624,12347.109,27,1.1,27,-3.4