version: 66.10
glider: 169
mission: 6
dive: 352
start: 7 3 112 9 25 15
data:
$ID,169
$MISSION,6
$DIVE,352
$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,-15984.98
$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
$GPS1,030712,091436,2351.837,12335.152,33,1.0,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.6
$GPS2,030712,092451,2351.866,12335.059,13,2.1,32,-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,110.5,33958,-15.7,-10.000
$D_GRID,3295
$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,-194.6,0.0,0.0,0,104,0.00,0.00,-83.90,0.000,2,0.000,0.000,143,2505,3024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.63,-194.6,3.4,-7.9,15,139,7.88,1.98,-14.32,0.000,4,0.228,0.050,2027,3835,3775,0,0,0,0,0,0,24.82,26.04,26.54
$GC,173,-0.54,-194.6,28.5,-32.7,26,181,0.15,1.92,0.00,0.000,6,0.167,0.020,2075,2441,3775,0,0,0,0,0,0,25.71,26.20,28.83
$GC,369,-0.49,-194.6,69.6,-17.7,63,376,0.00,2.47,0.00,0.000,4,0.000,0.024,2084,1012,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,449,-0.50,-194.6,81.2,-12.0,78,457,0.00,2.55,0.00,0.000,6,0.000,0.031,2072,2448,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,641,-0.46,-194.6,110.2,-14.9,115,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2446,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,833,-0.42,-194.6,138.9,-13.7,152,841,0.12,2.50,0.00,0.000,4,0.155,0.021,2118,1002,3776,0,0,0,0,0,0,26.23,26.31,28.83
$GC,881,-0.46,-194.6,143.8,-8.6,160,888,0.00,2.53,0.00,0.000,6,0.000,0.028,2107,2448,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1074,-0.46,-194.6,162.8,-9.8,197,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2446,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-0.46,-194.6,182.5,-10.8,234,1274,0.00,2.47,0.00,0.000,4,0.000,0.022,2107,1009,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1287,-0.46,-194.6,184.9,-10.5,237,1293,0.00,2.50,0.00,0.000,6,0.000,0.029,2098,2435,3777,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1478,-0.46,-194.6,204.0,-10.3,274,1485,0.00,2.05,0.00,0.000,4,0.000,0.039,2090,3833,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1513,-0.47,-194.6,207.5,-9.8,280,1520,0.00,2.05,0.00,0.000,6,0.000,0.018,2090,2378,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1826,-0.47,-194.6,238.8,-9.8,341,1832,0.00,2.30,0.00,0.000,4,0.000,0.025,2090,1000,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1871,-0.49,-194.6,243.3,-8.9,349,1877,0.00,2.53,0.00,0.000,6,0.000,0.028,2085,2440,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2184,-0.48,-194.6,274.9,-10.5,410,2192,0.00,2.47,0.00,0.000,4,0.000,0.024,2086,991,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2219,-0.50,-194.6,278.4,-9.9,416,2226,0.00,2.55,0.00,0.000,6,0.000,0.031,2085,2441,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2533,-0.50,-194.6,312.1,-10.3,477,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2439,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.50,-194.6,340.4,-7.7,538,2852,0.00,2.47,0.00,0.000,4,0.000,0.024,2086,1015,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2892,-0.52,-194.6,344.0,-7.1,546,2900,0.00,2.47,0.00,0.000,6,0.000,0.031,2085,2421,3773,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3206,-0.52,-194.6,373.0,-9.8,607,3213,0.00,2.12,0.00,0.000,4,0.000,0.041,2075,3837,3771,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3252,-0.55,-194.6,377.5,-9.6,615,3259,0.00,2.10,0.00,0.000,6,0.000,0.018,2075,2362,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3563,-0.55,-194.6,412.6,-10.4,676,3570,0.00,2.28,0.00,0.000,4,0.000,0.024,2076,989,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3593,-0.56,-194.6,415.9,-10.6,681,3600,0.00,2.50,0.00,0.000,6,0.000,0.029,2066,2428,3769,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3907,-0.56,-194.6,448.6,-9.3,742,3914,0.00,2.10,0.00,0.000,4,0.000,0.040,2055,3832,3767,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3960,-0.57,-194.6,453.4,-8.8,751,3966,0.00,2.08,0.00,0.000,6,0.000,0.020,2055,2383,3767,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4272,-0.55,-194.6,483.5,-10.5,812,4278,0.00,2.33,0.00,0.000,4,0.000,0.025,2055,994,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4306,-0.56,-194.6,486.9,-9.9,818,4314,0.00,2.53,0.00,0.000,6,0.000,0.031,2044,2437,3765,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4619,-0.55,-194.6,524.2,-12.6,860,4627,0.00,2.08,0.00,0.000,4,0.000,0.040,2034,3836,3763,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4653,-0.53,-194.6,528.4,-12.6,863,4662,0.15,2.10,0.00,0.000,6,0.124,0.019,2081,2362,3762,0,0,0,0,0,0,26.10,26.44,28.83
$GC,4962,-0.54,-194.6,557.2,-8.8,894,4972,0.00,2.35,0.00,0.000,4,0.000,0.040,2069,3838,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5016,-0.56,-194.6,561.9,-8.8,899,5025,0.00,2.03,0.00,0.000,6,0.000,0.019,2069,2384,3760,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5326,-0.56,-194.6,587.5,-8.5,930,5335,0.00,2.28,0.00,0.000,4,0.000,0.025,2069,1008,3759,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5369,-0.58,-194.6,591.0,-8.2,934,5378,0.00,2.50,0.00,0.000,6,0.000,0.033,2062,2438,3758,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5678,-0.58,-194.6,618.1,-9.0,965,5687,0.00,2.10,0.00,0.000,4,0.000,0.044,2051,3838,3755,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5735,-0.58,-194.6,622.9,-9.3,970,5745,0.00,2.08,0.00,0.000,6,0.000,0.020,2052,2387,3755,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6043,-0.58,-194.6,655.7,-10.5,1001,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2386,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6346,-0.57,-194.6,687.0,-10.2,1031,6355,0.00,2.22,0.00,0.000,4,0.000,0.044,2041,3822,3750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6388,-0.57,-194.6,691.8,-10.6,1035,6397,0.00,2.05,0.00,0.000,6,0.000,0.021,2040,2393,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6698,-0.56,-194.6,729.2,-12.8,1066,6708,0.00,2.33,0.00,0.000,4,0.000,0.024,2040,1014,3747,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6753,-0.56,-194.6,735.4,-11.7,1071,6761,0.12,2.53,0.00,0.000,6,0.127,0.032,2070,2444,3746,0,0,0,0,0,0,26.01,26.18,28.83
$GC,7061,-0.57,-194.6,766.6,-9.8,1102,7071,0.00,2.08,0.00,0.000,4,0.000,0.042,2060,3826,3743,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7084,-0.58,-194.6,769.1,-10.1,1104,7093,0.00,2.08,0.00,0.000,6,0.000,0.021,2060,2389,3743,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7395,-0.58,-194.6,799.1,-9.0,1135,7403,0.00,2.28,0.00,0.000,4,0.000,0.044,2049,3831,3741,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7430,-0.59,-194.6,801.9,-8.6,1138,7438,0.00,2.05,0.00,0.000,6,0.000,0.022,2050,2403,3741,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7737,-0.59,-194.6,829.7,-9.2,1169,7745,0.00,2.35,0.00,0.000,4,0.000,0.026,2050,1007,3739,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7759,-0.59,-194.6,831.8,-9.2,1171,7768,0.00,2.55,0.00,0.000,6,0.000,0.033,2041,2450,3739,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8069,-0.58,-194.6,864.0,-11.1,1202,8078,0.00,2.10,0.00,0.000,4,0.000,0.045,2030,3826,3737,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8095,-0.57,-194.6,866.7,-11.3,1204,8102,0.12,2.03,0.00,0.000,6,0.124,0.021,2069,2405,3737,0,0,0,0,0,0,26.08,26.37,28.83
$GC,8402,-0.58,-194.6,896.0,-9.4,1235,8411,0.00,2.38,0.00,0.000,4,0.000,0.026,2069,1004,3735,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8445,-0.61,-194.6,899.8,-9.1,1239,8454,0.00,2.55,0.00,0.000,6,0.000,0.032,2061,2447,3735,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8754,-0.62,-194.6,929.5,-9.3,1270,8764,0.00,2.08,0.00,0.000,4,0.000,0.045,2051,3820,3733,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8780,-0.63,-194.6,931.7,-9.2,1272,8787,0.00,2.05,0.00,0.000,6,0.000,0.021,2051,2390,3733,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9089,-0.63,-194.6,960.0,-8.6,1303,9098,0.00,2.33,0.00,0.000,4,0.000,0.027,2051,1020,3732,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9121,-0.64,-194.6,962.8,-8.2,1306,9131,0.00,2.53,0.00,0.000,6,0.000,0.034,2046,2443,3732,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9431,-0.64,-194.6,988.9,-8.3,1337,9435,0.00,2.10,0.00,0.000,4,0.000,0.045,2036,3827,3730,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,9451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9451,begin apogee
$GC,9459,-0.20,0.0,990.8,-8.3,1339,9654,0.43,0.12,184.48,1.125,4,0.093,0.048,2185,2503,2966,0,0,0,0,0,0,25.83,24.87,23.49
$STATE,9655,end apogee,CONTROL_FINISHED_OK
$STATE,9655,begin climb
$GC,9657,0.63,194.6,998.2,0.0,1359,9867,0.70,0.10,203.23,1.076,6,0.044,0.072,2460,2435,2185,0,0,0,0,0,0,25.18,25.29,23.52
$GC,10176,0.58,194.6,920.9,16.7,1411,10185,0.00,2.12,0.00,0.000,4,0.000,0.042,2460,3825,2146,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10327,0.52,194.6,891.9,19.1,1426,10337,0.17,1.95,0.00,0.000,6,0.177,0.021,2424,2459,2143,0,0,0,0,0,0,25.65,26.17,28.83
$GC,10639,0.49,194.6,851.1,12.2,1457,10647,0.00,2.05,0.00,0.000,4,0.000,0.042,2424,3821,2143,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10743,0.45,194.6,836.4,14.7,1467,10751,0.15,1.88,0.00,0.000,6,0.168,0.021,2395,2479,2141,0,0,0,0,0,0,25.80,26.27,28.83
$GC,11051,0.48,220.6,805.9,9.1,1498,11089,0.00,0.00,31.55,0.893,6,0.000,0.000,2395,2478,2069,0,0,0,0,0,0,28.83,28.83,24.33
$GC,11391,0.51,248.7,774.3,9.0,1532,11434,0.00,2.08,38.15,0.859,4,0.000,0.039,2395,3832,1961,0,0,0,0,0,0,28.83,25.63,24.32
$GC,11458,0.52,255.9,767.9,9.8,1538,11468,0.00,1.90,4.18,0.711,6,0.000,0.020,2405,2492,1933,0,0,0,0,0,0,28.83,25.81,23.92
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$STATE,18320,end climb,SURFACE_DEPTH_REACHED
$STATE,18320,begin surface coast
$FINISH,-0.2,1.022077
$STATE,18335,end surface coast,CONTROL_FINISHED_OK
$STATE,18335,begin surface
$SM_CCo,18415,0.00,0.000,0,0,758,544.81
$SM_GC,0.58,6.18,1.98,0.00,0.022,0.021,0.000,108,2425,758,-6.54,0.37,544.81,0,0,0,0,0,0,26.22,26.22,28.83
$IRIDIUM_FIX,2342.70,12332.25,030712,040422
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.66
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.5,75.057
$10V_AH,9.9,46.476
$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,17.000,212.200,744.925,0.000,0.000,27.957,40.633,345.775,0.000,0.000,34.155,6184.467,6603.959,1012.932,4565.118,613.324,0.000,3157.616,0.000,3969.114,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,71.910,1125.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1774.994,2143.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,163773,2620
$CAP_FILE_SIZE,255493,0
$CFSIZE,260165632,181006336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,325.1,1
$GPS,030712,143306,2351.898,12337.212,28,1.0,28,-3.4