version: 66.10
glider: 169
mission: 6
dive: 380
start: 7 9 112 15 51 13
data:
$ID,169
$MISSION,6
$DIVE,380
$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,-16022.008
$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
$GPS1,090712,154036,2324.608,12355.522,35,1.0,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.1
$GPS2,090712,155048,2324.541,12355.529,13,1.2,24,-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,166.1,212270,-15.7,-10.000
$D_GRID,3752
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-79.97,0.000,2,0.000,0.000,116,2477,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.63,-194.6,3.6,-8.6,14,129,7.88,0.00,-12.95,0.000,6,0.223,0.000,2036,2476,3775,0,0,0,0,0,0,24.79,28.83,26.53
$GC,314,-0.57,-194.6,64.7,-21.6,54,322,0.10,2.58,0.00,0.000,4,0.187,0.022,2074,974,3777,0,0,0,0,0,0,26.15,26.16,28.83
$GC,380,-0.57,-194.6,75.2,-13.4,66,387,0.00,2.60,0.00,0.000,6,0.000,0.030,2061,2469,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,574,-0.53,-194.6,101.6,-12.7,103,580,0.00,2.03,0.00,0.000,4,0.000,0.037,2050,3837,3778,0,0,0,0,0,0,28.83,26.14,28.83
$GC,594,-0.50,-194.6,104.2,-12.7,106,601,0.12,2.08,0.00,0.000,6,0.138,0.018,2091,2393,3778,0,0,0,0,0,0,26.04,26.37,28.83
$GC,786,-0.49,-194.6,123.2,-9.2,143,793,0.00,2.33,0.00,0.000,4,0.000,0.022,2091,977,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,816,-0.50,-194.6,126.0,-9.2,148,823,0.00,2.58,0.00,0.000,6,0.000,0.029,2080,2465,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1010,-0.49,-194.6,147.9,-12.4,185,1017,0.00,2.05,0.00,0.000,4,0.000,0.037,2070,3846,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1050,-0.49,-194.6,153.0,-12.3,192,1057,0.00,2.00,0.00,0.000,6,0.000,0.017,2071,2411,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1242,-0.47,-194.6,178.5,-12.8,229,1250,0.00,2.40,0.00,0.000,4,0.000,0.022,2070,960,3778,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1263,-0.46,-194.6,181.2,-13.4,232,1270,0.12,2.62,0.00,0.000,6,0.124,0.029,2101,2473,3778,0,0,0,0,0,0,26.06,26.25,28.83
$GC,1456,-0.46,-194.6,201.4,-9.5,269,1464,0.00,2.05,0.00,0.000,4,0.000,0.040,2091,3840,3778,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1483,-0.47,-194.6,204.0,-9.5,273,1491,0.00,2.03,0.00,0.000,6,0.000,0.017,2091,2397,3778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1797,-0.47,-194.6,237.3,-11.1,334,1803,0.00,2.28,0.00,0.000,4,0.000,0.039,2081,3844,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1821,-0.47,-194.6,240.1,-11.9,338,1828,0.00,2.00,0.00,0.000,6,0.000,0.018,2081,2415,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2134,-0.47,-194.6,277.1,-10.9,399,2141,0.00,2.42,0.00,0.000,4,0.000,0.024,2081,969,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2155,-0.47,-194.6,279.1,-10.0,402,2162,0.00,2.62,0.00,0.000,6,0.000,0.029,2072,2479,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2468,-0.46,-194.6,308.7,-9.2,463,2474,0.00,2.00,0.00,0.000,4,0.000,0.040,2062,3839,3775,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2497,-0.46,-194.6,311.6,-9.6,468,2505,0.12,2.00,0.00,0.000,6,0.118,0.018,2102,2413,3775,0,0,0,0,0,0,26.19,26.46,28.83
$GC,2813,-0.51,-194.6,336.0,-8.7,529,2821,0.00,2.40,0.00,0.000,4,0.000,0.023,2103,966,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2914,-0.58,-194.6,344.7,-8.3,547,2922,0.12,2.85,0.00,0.000,6,0.083,0.028,2044,2576,3773,0,0,0,0,0,0,26.22,26.27,28.83
$GC,3229,-0.59,-194.6,375.1,-9.2,608,3236,0.00,1.80,0.00,0.000,4,0.000,0.041,2035,3827,3771,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3279,-0.57,-194.6,380.4,-10.8,617,3287,0.10,2.00,0.00,0.000,6,0.142,0.018,2065,2416,3770,0,0,0,0,0,0,26.19,26.45,28.83
$GC,3595,-0.56,-194.6,410.9,-10.1,678,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2416,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-0.56,-194.6,443.8,-10.5,739,3913,0.00,2.42,0.00,0.000,4,0.000,0.024,2066,964,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3930,-0.57,-194.6,446.4,-10.6,743,3937,0.00,2.62,0.00,0.000,6,0.000,0.029,2055,2475,3767,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4247,-0.56,-194.6,478.6,-9.4,804,4254,0.00,2.53,0.00,0.000,4,0.000,0.023,2055,979,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4267,-0.56,-194.6,480.9,-9.4,807,4274,0.00,2.58,0.00,0.000,6,0.000,0.031,2044,2470,3765,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4585,-0.54,-194.6,512.2,-10.1,857,4588,0.00,2.08,0.00,0.000,4,0.000,0.041,2035,3829,3763,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4629,-0.54,-194.6,516.6,-10.3,861,4639,0.10,2.05,0.00,0.000,6,0.106,0.019,2074,2398,3763,0,0,0,0,0,0,26.10,26.44,28.83
$GC,4938,-0.57,-194.6,541.4,-7.6,892,4947,0.00,2.35,0.00,0.000,4,0.000,0.023,2074,961,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4963,-0.60,-194.6,543.3,-7.7,894,4971,0.00,2.85,0.00,0.000,6,0.000,0.030,2069,2573,3760,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5271,-0.64,-194.6,566.7,-7.6,925,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2571,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5574,-0.68,-194.6,589.5,-7.9,955,5580,0.12,0.00,0.00,0.000,6,0.074,0.000,1966,2571,3756,0,0,0,0,0,0,26.55,28.83,28.83
$GC,5881,-0.62,-194.6,638.1,-16.6,986,5890,0.25,2.78,0.00,0.000,4,0.144,0.025,2060,997,3754,0,0,0,0,0,0,25.84,26.20,28.83
$GC,5936,-0.63,-194.6,644.1,-9.9,991,5945,0.00,2.97,0.00,0.000,6,0.000,0.033,2047,2642,3754,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6247,-0.62,-194.6,673.6,-9.3,1022,6255,0.00,2.88,0.00,0.000,4,0.000,0.026,2047,996,3752,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6339,-0.64,-194.6,682.2,-8.9,1031,6348,0.00,2.90,0.00,0.000,6,0.000,0.033,2035,2612,3751,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6649,-0.62,-194.6,713.6,-10.6,1062,6657,0.00,2.83,0.00,0.000,4,0.000,0.026,2035,990,3748,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6722,-0.63,-194.6,720.9,-9.4,1069,6732,0.00,2.90,0.00,0.000,6,0.000,0.035,2028,2591,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7032,-0.61,-194.6,754.4,-10.7,1100,7040,0.00,2.80,0.00,0.000,4,0.000,0.027,2029,994,3745,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7104,-0.62,-194.6,761.3,-9.1,1107,7113,0.08,2.80,0.00,0.000,6,0.103,0.034,2050,2542,3745,0,0,0,0,0,0,25.91,26.11,28.83
$GC,7414,-0.62,-194.6,789.9,-9.3,1138,7423,0.00,2.72,0.00,0.000,4,0.000,0.026,2050,993,3743,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7446,-0.63,-194.6,792.9,-9.1,1141,7456,0.00,2.78,0.00,0.000,6,0.000,0.033,2039,2537,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7756,-0.62,-194.6,822.7,-8.9,1172,7765,0.00,2.70,0.00,0.000,4,0.000,0.027,2040,992,3740,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7781,-0.62,-194.6,824.9,-9.2,1174,7789,0.00,2.78,0.00,0.000,6,0.000,0.035,2030,2528,3740,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8089,-0.60,-194.6,856.5,-10.0,1205,8098,0.00,2.67,0.00,0.000,4,0.000,0.026,2031,992,3738,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8121,-0.60,-194.6,859.6,-9.7,1208,8131,0.08,2.72,0.00,0.000,6,0.105,0.036,2053,2515,3738,0,0,0,0,0,0,25.84,26.04,28.83
$GC,8431,-0.60,-194.6,883.7,-8.1,1239,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2514,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8733,-0.60,-194.6,907.2,-8.2,1269,8742,0.00,2.67,0.00,0.000,4,0.000,0.027,2054,987,3734,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8767,-0.62,-194.6,910.0,-8.0,1272,8775,0.00,2.72,0.00,0.000,6,0.000,0.036,2043,2503,3734,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9075,-0.62,-194.6,936.9,-9.3,1303,9084,0.00,2.00,0.00,0.000,4,0.000,0.046,2033,3828,3731,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9109,-0.62,-194.6,939.8,-9.3,1306,9117,0.00,1.98,0.00,0.000,6,0.000,0.020,2033,2454,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9417,-0.61,-194.6,971.3,-10.2,1337,9427,0.00,2.50,0.00,0.000,4,0.000,0.028,2034,988,3730,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9452,-0.61,-194.6,974.6,-10.1,1340,9459,0.00,2.72,0.00,0.000,6,0.000,0.035,2030,2509,3729,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,9607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9607,begin apogee
$GC,9615,-0.20,0.0,990.9,-10.4,1356,9809,0.45,0.15,184.35,1.132,4,0.105,0.071,2183,2501,2967,0,0,0,0,0,0,25.65,24.88,23.39
$STATE,9810,end apogee,CONTROL_FINISHED_OK
$STATE,9811,begin climb
$GC,9814,0.63,194.6,1000.0,0.0,1376,10021,0.70,0.10,200.02,1.133,6,0.043,0.071,2461,2432,2185,0,0,0,0,0,0,25.20,25.32,23.39
$GC,10320,0.59,194.6,931.0,15.4,1427,10329,0.00,2.17,0.00,0.000,4,0.000,0.042,2460,3828,2148,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10504,0.53,194.6,898.2,18.3,1445,10508,0.17,1.98,0.00,0.000,6,0.174,0.021,2424,2468,2146,0,0,0,0,0,0,25.65,26.17,28.83
$GC,10817,0.50,194.6,856.3,13.1,1476,10825,0.00,2.12,0.00,0.000,4,0.000,0.042,2424,3839,2144,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10874,0.47,194.6,848.4,15.3,1481,10882,0.12,1.95,0.00,0.000,6,0.168,0.021,2402,2481,2143,0,0,0,0,0,0,25.85,26.25,28.83
$GC,11180,0.46,194.6,814.8,10.5,1512,11189,0.00,2.08,0.00,0.000,4,0.000,0.041,2402,3838,2142,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11206,0.44,194.6,812.1,11.5,1514,11213,0.00,1.90,0.00,0.000,6,0.000,0.020,2412,2491,2142,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11512,0.43,194.6,777.8,11.1,1545,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2490,2142,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18786,end climb,SURFACE_DEPTH_REACHED
$STATE,18786,begin surface coast
$FINISH,1.4,1.020740
$STATE,18797,end surface coast,CONTROL_FINISHED_OK
$STATE,18798,begin surface
$SM_CCo,18876,0.00,0.000,0,0,966,493.79
$SM_GC,0.72,6.32,2.10,0.00,0.033,0.018,0.000,141,2417,966,-6.53,0.25,493.79,0,0,0,0,0,0,26.05,26.22,28.83
$IRIDIUM_FIX,2316.83,12358.34,090712,101033
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,80.954
$10V_AH,9.9,51.079
$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,18.075,225.975,678.625,0.000,0.000,25.158,21.736,361.410,0.000,0.000,25.114,6406.434,6799.206,950.872,4610.485,670.155,0.000,3115.713,0.000,4049.777,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,72.675,1132.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1821.416,2196.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,166851,2686
$CAP_FILE_SIZE,266612,0
$CFSIZE,260165632,176873472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,320.5,1
$GPS,090712,210700,2323.053,12355.828,42,1.1,42,-3.3