version: 66.10
glider: 169
mission: 6
dive: 348
start: 7 2 112 12 16 20
data:
$ID,169
$MISSION,6
$DIVE,348
$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,-15979.667
$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
$GPS1,020712,120536,2351.649,12326.453,34,1.0,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.3
$GPS2,020712,121555,2351.720,12326.388,14,1.5,14,-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,113.5,48575,-15.7,-10.000
$D_GRID,2615
$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,-194.6,0.0,0.0,0,111,0.00,0.00,-90.90,0.000,2,0.000,0.000,107,2410,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.63,-194.6,4.1,-11.0,16,141,8.32,2.33,-11.12,0.000,4,0.240,0.050,2025,3838,3775,0,0,0,0,0,0,24.81,26.01,26.52
$GC,155,-0.43,-194.6,22.9,-44.9,22,162,0.28,2.00,0.00,0.000,6,0.193,0.020,2103,2433,3776,0,0,0,0,0,0,25.29,26.18,28.83
$GC,346,-0.40,-194.6,63.6,-15.8,59,354,0.00,2.40,0.00,0.000,4,0.000,0.024,2114,1004,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,408,-0.42,-194.6,71.7,-11.7,70,415,0.00,2.58,0.00,0.000,6,0.000,0.031,2102,2478,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,599,-0.40,-194.6,96.1,-11.8,107,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2477,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.39,-194.6,117.4,-11.5,144,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2477,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,981,-0.38,-194.6,140.9,-12.4,181,988,0.00,2.53,0.00,0.000,4,0.000,0.024,2106,999,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1012,-0.39,-194.6,144.5,-11.6,186,1019,0.00,2.55,0.00,0.000,6,0.000,0.030,2099,2464,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1204,-0.38,-194.6,167.7,-11.4,223,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2462,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-0.37,-194.6,187.9,-10.0,260,1403,0.10,2.47,0.00,0.000,4,0.161,0.022,2131,1011,3776,0,0,0,0,0,0,26.39,26.34,28.83
$GC,1426,-0.40,-194.6,190.6,-8.0,265,1434,0.00,2.50,0.00,0.000,6,0.000,0.030,2125,2454,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1621,-0.44,-194.6,205.0,-7.6,302,1628,0.00,2.45,0.00,0.000,4,0.000,0.023,2125,989,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1860,-0.54,-194.6,225.6,-8.3,348,1867,0.15,2.78,0.00,0.000,6,0.070,0.028,2042,2563,3776,0,0,0,0,0,0,26.30,26.32,28.83
$GC,2175,-0.50,-194.6,269.5,-15.1,409,2182,0.12,2.72,0.00,0.000,4,0.150,0.024,2089,1002,3776,0,0,0,0,0,0,26.27,26.32,28.83
$GC,2264,-0.51,-194.6,279.0,-9.0,425,2270,0.00,2.70,0.00,0.000,6,0.000,0.031,2085,2522,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2577,-0.50,-194.6,310.1,-9.1,486,2584,0.00,2.62,0.00,0.000,4,0.000,0.024,2085,1003,3774,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2638,-0.52,-194.6,315.6,-8.1,497,2645,0.00,2.65,0.00,0.000,6,0.000,0.031,2081,2506,3774,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2951,-0.52,-194.6,347.9,-10.9,558,2959,0.00,2.58,0.00,0.000,4,0.000,0.024,2082,1003,3772,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2977,-0.52,-194.6,350.5,-10.2,562,2985,0.00,2.62,0.00,0.000,6,0.000,0.031,2071,2500,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3291,-0.51,-194.6,381.9,-9.7,623,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2499,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3600,-0.50,-194.6,414.8,-10.7,684,3607,0.00,2.58,0.00,0.000,4,0.000,0.024,2071,1001,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3676,-0.52,-194.6,422.5,-10.3,698,3684,0.00,2.62,0.00,0.000,6,0.000,0.031,2060,2496,3768,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3990,-0.50,-194.6,459.2,-12.1,759,3997,0.00,2.58,0.00,0.000,4,0.000,0.024,2060,1000,3767,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4036,-0.52,-194.6,464.7,-11.0,767,4044,0.12,2.58,0.00,0.000,6,0.127,0.032,2091,2470,3767,0,0,0,0,0,0,26.10,26.27,28.83
$GC,4352,-0.53,-194.6,495.0,-9.6,828,4359,0.00,2.53,-0.10,0.000,4,0.000,0.034,2091,1002,3787,0,0,0,0,0,0,28.83,26.32,25.98
$GC,4388,-0.56,-194.6,498.5,-9.9,834,4396,0.00,2.55,0.00,0.000,6,0.000,0.031,2089,2464,3787,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4700,-0.60,-194.6,521.7,-6.8,866,4710,0.00,2.08,0.00,0.000,4,0.000,0.044,2081,3831,3786,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4784,-0.63,-194.6,527.4,-7.1,874,4789,0.08,1.83,0.00,0.000,6,0.044,0.018,1980,2501,3785,0,0,0,0,0,0,26.39,26.51,28.83
$GC,5097,-0.57,-194.6,579.7,-18.0,905,5107,0.25,2.53,0.00,0.000,4,0.135,0.024,2074,1019,3783,0,0,0,0,0,0,25.95,26.30,28.83
$GC,5193,-0.60,-194.6,590.3,-9.8,914,5202,0.00,2.72,0.00,0.000,6,0.000,0.032,2062,2546,3783,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5502,-0.60,-194.6,621.5,-8.8,945,5510,0.00,2.67,0.00,0.000,4,0.000,0.025,2062,1014,3781,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5554,-0.62,-194.6,625.9,-8.7,950,5564,0.00,2.67,0.00,0.000,6,0.000,0.032,2051,2529,3780,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5865,-0.61,-194.6,653.9,-9.0,981,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2528,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,-0.60,-194.6,685.0,-10.3,1012,6184,0.00,2.62,0.00,0.000,4,0.000,0.026,2051,1006,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6271,-0.62,-194.6,693.6,-9.0,1021,6278,0.00,2.70,0.00,0.000,6,0.000,0.034,2041,2526,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6577,-0.60,-194.6,729.6,-12.1,1052,6586,0.00,2.62,0.00,0.000,4,0.000,0.026,2041,1014,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6612,-0.60,-194.6,733.3,-11.9,1055,6619,0.00,2.65,0.00,0.000,6,0.000,0.034,2030,2510,3773,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6919,-0.58,-194.6,772.4,-13.2,1086,6929,0.12,2.58,0.00,0.000,4,0.155,0.025,2072,1022,3769,0,0,0,0,0,0,26.21,26.23,28.83
$GC,6987,-0.61,-194.6,778.6,-8.4,1092,6994,0.00,2.58,0.00,0.000,6,0.000,0.034,2061,2489,3769,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7294,-0.64,-194.6,804.8,-8.5,1123,7297,0.00,2.00,0.00,0.000,4,0.000,0.044,2051,3826,3767,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7338,-0.66,-194.6,808.5,-8.7,1127,7341,0.00,1.75,0.00,0.000,6,0.000,0.021,2051,2528,3766,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7650,-0.66,-194.6,837.4,-8.5,1158,7659,0.00,2.62,0.00,0.000,4,0.000,0.028,2051,1015,3764,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7754,-0.68,-194.6,845.5,-8.0,1168,7763,0.00,2.83,0.00,0.000,6,0.000,0.034,2039,2591,3764,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8064,-0.67,-194.6,874.0,-9.2,1199,8072,0.00,2.75,0.00,0.000,4,0.000,0.027,2039,1023,3762,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8096,-0.67,-194.6,876.9,-9.0,1202,8106,0.00,2.83,0.00,0.000,6,0.000,0.036,2030,2582,3762,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8406,-0.65,-194.6,908.0,-9.9,1233,8414,0.00,2.78,0.00,0.000,4,0.000,0.028,2030,1012,3760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8470,-0.66,-194.6,913.6,-8.4,1239,8478,0.00,2.80,0.00,0.000,6,0.000,0.038,2029,2547,3760,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8778,-0.65,-194.6,943.1,-9.6,1270,8789,0.00,2.70,0.00,0.000,4,0.000,0.028,2030,1013,3758,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8836,-0.65,-194.6,947.9,-8.7,1275,8843,0.00,2.75,0.00,0.000,6,0.000,0.037,2030,2530,3757,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9143,-0.64,-194.6,977.1,-10.7,1306,9152,0.00,2.65,0.00,0.000,4,0.000,0.028,2030,1014,3756,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9210,-0.65,-194.6,983.0,-9.3,1312,9217,0.00,2.70,0.00,0.000,6,0.000,0.037,2029,2515,3756,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9289,-0.20,0.0,990.6,-9.8,1320,9487,0.45,0.15,190.05,1.132,4,0.105,0.073,2182,2504,2970,0,0,0,0,0,0,25.75,24.93,23.55
$STATE,9488,end apogee,CONTROL_FINISHED_OK
$STATE,9488,begin climb
$GC,9491,0.63,194.6,999.8,0.0,1340,9706,0.73,2.70,205.50,1.071,4,0.049,0.028,2460,1021,2182,0,0,0,0,0,0,25.16,25.20,23.57
$GC,9791,0.62,194.6,972.1,12.6,1370,9800,0.00,2.65,0.00,0.000,6,0.000,0.037,2460,2487,2152,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10099,0.56,194.6,920.1,16.8,1401,10108,0.00,2.00,0.00,0.000,4,0.000,0.043,2460,3835,2148,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10282,0.50,194.6,885.0,20.2,1419,10291,0.17,1.95,0.00,0.000,6,0.161,0.022,2416,2475,2147,0,0,0,0,0,0,25.65,26.22,28.83
$GC,10591,0.47,194.6,847.4,11.6,1450,10601,0.00,2.08,0.00,0.000,4,0.000,0.044,2416,3823,2145,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10654,0.44,194.6,838.6,14.6,1456,10658,0.12,1.90,0.00,0.000,6,0.172,0.023,2393,2502,2144,0,0,0,0,0,0,25.89,26.27,28.83
$GC,10967,0.43,194.6,801.5,12.2,1487,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2501,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11270,0.43,194.6,767.9,10.2,1517,11279,0.00,2.00,0.00,0.000,4,0.000,0.045,2393,3827,2143,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11302,0.43,194.6,763.9,11.2,1520,11311,0.00,1.88,0.00,0.000,6,0.000,0.023,2403,2503,2142,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11613,0.42,199.8,732.4,9.8,1551,11621,0.00,2.58,0.00,0.000,4,0.000,0.032,2417,1019,2142,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11655,0.45,217.6,728.3,9.4,1555,11684,0.00,2.75,23.80,0.939,6,0.000,0.036,2416,2532,2090,0,0,0,0,0,0,28.83,26.11,24.21
$GC,11984,0.44,217.6,693.1,10.7,1588,11993,0.00,1.92,0.00,0.000,4,0.000,0.045,2416,3827,2065,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,18090,end climb,SURFACE_DEPTH_REACHED
$STATE,18090,begin surface coast
$FINISH,0.1,1.021410
$STATE,18115,end surface coast,CONTROL_FINISHED_OK
$STATE,18115,begin surface
$SM_CCo,18193,0.00,0.000,0,0,699,559.28
$SM_GC,0.72,6.15,0.12,0.00,0.022,0.061,0.000,105,2405,699,-6.55,0.28,559.28,0,0,0,0,0,0,26.32,26.49,28.83
$IRIDIUM_FIX,2345.05,12256.29,020712,060618
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.5,74.187
$10V_AH,10.0,45.829
$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,18.000,224.350,759.125,0.000,0.000,31.593,38.385,361.037,0.000,0.000,15.811,6121.682,6464.432,1000.583,4551.672,623.069,0.000,3143.641,0.000,3968.914,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,73.440,1132.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1746.269,2102.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,163393,2580
$CAP_FILE_SIZE,258984,0
$CFSIZE,260165632,181587968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016, 16.9,1
$GPS,020712,172036,2351.433,12328.926,33,1.1,33,-3.4