version: 66.10
glider: 169
mission: 6
dive: 376
start: 7 8 112 18 8 32
data:
$ID,169
$MISSION,6
$DIVE,376
$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,-16016.689
$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
$GPS1,080712,175806,2331.865,12355.479,28,1.2,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.1
$GPS2,080712,180807,2331.899,12355.522,15,1.4,15,-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,171.1,225888,-15.7,-10.000
$D_GRID,2891
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-86.05,0.000,2,0.000,0.000,117,2513,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.63,-194.6,3.4,-7.5,15,136,8.02,2.00,-12.30,0.000,4,0.228,0.050,2026,3847,3775,0,0,0,0,0,0,24.77,26.02,26.53
$GC,164,-0.52,-194.6,24.3,-33.6,24,172,0.15,2.05,0.00,0.000,6,0.168,0.018,2075,2404,3776,0,0,0,0,0,0,25.69,26.20,28.83
$GC,357,-0.47,-194.6,61.8,-15.0,61,364,0.00,2.40,0.00,0.000,4,0.000,0.025,2087,978,3776,0,0,0,0,0,0,28.83,26.18,28.83
$GC,437,-0.47,-194.6,70.7,-10.0,76,444,0.00,2.50,0.00,0.000,6,0.000,0.028,2075,2427,3777,0,0,0,0,0,0,28.83,26.17,28.83
$GC,628,-0.44,-194.6,97.6,-15.7,113,635,0.10,2.10,0.00,0.000,4,0.161,0.037,2092,3832,3777,0,0,0,0,0,0,26.32,26.15,28.83
$GC,659,-0.43,-194.6,102.0,-13.9,118,667,0.00,2.10,0.00,0.000,6,0.000,0.018,2094,2368,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,854,-0.42,-194.6,124.0,-11.0,155,861,0.00,2.30,0.00,0.000,4,0.000,0.023,2095,959,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,902,-0.44,-194.6,129.0,-10.0,163,908,0.00,2.50,0.00,0.000,6,0.000,0.029,2084,2423,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1092,-0.42,-194.6,151.3,-11.8,200,1098,0.00,2.12,0.00,0.000,4,0.000,0.038,2073,3842,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1137,-0.42,-194.6,156.3,-10.7,208,1144,0.12,2.10,0.00,0.000,6,0.131,0.018,2110,2357,3777,0,0,0,0,0,0,26.13,26.44,28.83
$GC,1328,-0.42,-194.6,171.8,-7.1,245,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2357,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.43,-194.6,186.9,-8.4,282,1527,0.00,2.33,0.00,0.000,4,0.000,0.037,2099,3846,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1561,-0.44,-194.6,190.6,-9.2,289,1567,0.00,2.08,0.00,0.000,6,0.000,0.017,2099,2369,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1753,-0.44,-194.6,209.6,-9.9,326,1761,0.00,2.30,0.00,0.000,4,0.000,0.024,2099,972,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1779,-0.45,-194.6,212.3,-10.4,330,1787,0.00,2.55,0.00,0.000,6,0.000,0.028,2098,2446,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2093,-0.45,-194.6,245.4,-10.1,391,2100,0.00,2.05,0.00,0.000,4,0.000,0.038,2088,3832,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2129,-0.46,-194.6,249.2,-11.2,397,2136,0.00,2.08,0.00,0.000,6,0.000,0.018,2088,2381,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2442,-0.46,-194.6,283.2,-10.4,458,2450,0.00,2.33,0.00,0.000,4,0.000,0.022,2088,970,3774,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2483,-0.49,-194.6,287.3,-9.7,465,2490,0.00,2.55,0.00,0.000,6,0.000,0.028,2085,2446,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2797,-0.48,-194.6,318.6,-9.4,526,2804,0.00,2.08,0.00,0.000,4,0.000,0.038,2075,3841,3773,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2822,-0.48,-194.6,321.1,-9.2,530,2830,0.00,2.10,0.00,0.000,6,0.000,0.018,2075,2377,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3137,-0.47,-194.6,350.7,-9.3,591,3144,0.00,2.33,0.00,0.000,4,0.000,0.024,2075,972,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3156,-0.47,-194.6,352.5,-8.8,594,3165,0.12,2.55,0.00,0.000,6,0.123,0.029,2106,2445,3770,0,0,0,0,0,0,26.10,26.27,28.83
$GC,3476,-0.52,-194.6,374.9,-6.9,655,3483,0.00,2.50,0.00,0.000,4,0.000,0.021,2106,956,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3612,-0.59,-194.6,385.4,-7.7,681,3620,0.15,2.75,0.00,0.000,6,0.073,0.029,2039,2522,3768,0,0,0,0,0,0,26.23,26.27,28.83
$GC,3929,-0.56,-194.6,419.1,-12.3,742,3936,0.00,2.70,0.00,0.000,4,0.000,0.024,2039,972,3766,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3975,-0.56,-194.6,424.4,-10.8,750,3983,0.12,2.67,0.00,0.000,6,0.137,0.031,2066,2497,3766,0,0,0,0,0,0,26.03,26.24,28.83
$GC,4291,-0.56,-194.6,456.4,-10.9,811,4299,0.00,2.65,-0.10,0.000,4,0.000,0.032,2066,983,3785,0,0,0,0,0,0,28.83,26.28,25.96
$GC,4331,-0.57,-194.6,460.9,-10.4,818,4339,0.00,2.62,0.00,0.000,6,0.000,0.030,2054,2474,3785,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4646,-0.56,-194.6,494.5,-9.5,879,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2472,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4956,-0.55,-194.6,521.4,-8.5,915,4965,0.00,2.58,0.00,0.000,4,0.000,0.024,2055,970,3783,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4990,-0.55,-194.6,524.3,-8.9,918,4998,0.00,2.60,0.00,0.000,6,0.000,0.030,2043,2458,3783,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5298,-0.54,-194.6,558.6,-11.1,949,5308,0.12,2.50,0.00,0.000,4,0.145,0.024,2087,985,3781,0,0,0,0,0,0,26.26,26.26,28.83
$GC,5321,-0.54,-194.6,561.0,-10.8,951,5330,0.00,2.55,0.00,0.000,6,0.000,0.031,2085,2446,3780,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5633,-0.57,-194.6,584.9,-7.4,982,5642,0.00,2.08,0.00,0.000,4,0.000,0.044,2086,3822,3778,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5688,-0.62,-194.6,589.0,-7.3,987,5697,0.12,1.80,0.00,0.000,6,0.079,0.018,1998,2466,3778,0,0,0,0,0,0,26.34,26.48,28.83
$GC,5999,-0.58,-194.6,630.0,-13.7,1018,6011,0.17,2.53,0.00,0.000,4,0.132,0.024,2066,981,3776,0,0,0,0,0,0,26.12,26.25,28.83
$GC,6097,-0.60,-194.6,638.9,-8.1,1027,6106,0.00,2.72,0.00,0.000,6,0.000,0.031,2054,2519,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6405,-0.62,-194.6,662.5,-7.7,1058,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2519,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,-0.64,-194.6,685.6,-7.2,1088,6710,0.00,1.92,0.00,0.000,4,0.000,0.043,2044,3838,3771,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6772,-0.64,-194.6,690.8,-8.4,1094,6781,0.00,2.22,0.00,0.000,6,0.000,0.021,2044,2333,3770,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7079,-0.63,-194.6,720.2,-9.4,1125,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2333,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7383,-0.62,-194.6,748.8,-9.5,1155,7391,0.00,2.38,0.00,0.000,4,0.000,0.041,2033,3822,3766,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7418,-0.62,-194.6,752.3,-9.9,1158,7425,0.00,2.17,0.00,0.000,6,0.000,0.020,2033,2346,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7724,-0.60,-194.6,784.4,-10.2,1189,7733,0.00,2.38,0.00,0.000,4,0.000,0.042,2021,3834,3763,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7787,-0.59,-194.6,790.6,-10.0,1195,7796,0.08,2.10,0.00,0.000,6,0.110,0.020,2053,2365,3762,0,0,0,0,0,0,26.07,26.36,28.83
$GC,8096,-0.59,-194.6,818.1,-9.1,1226,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2365,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8399,-0.59,-194.6,846.3,-9.7,1256,8408,0.00,2.33,0.00,0.000,4,0.000,0.044,2042,3826,3758,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8451,-0.59,-194.6,851.4,-9.4,1261,8455,0.00,2.15,0.00,0.000,6,0.000,0.021,2042,2368,3758,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8764,-0.58,-194.6,882.0,-9.7,1292,8772,0.00,2.28,0.00,0.000,4,0.000,0.027,2042,989,3757,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8785,-0.58,-194.6,884.2,-9.8,1294,8795,0.00,2.50,0.00,0.000,6,0.000,0.033,2032,2427,3757,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9097,-0.57,-194.6,915.9,-10.1,1325,9106,0.12,2.17,0.00,0.000,4,0.147,0.042,2064,3828,3755,0,0,0,0,0,0,26.20,25.96,28.83
$GC,9150,-0.59,-194.6,920.2,-7.4,1330,9160,0.00,2.12,0.00,0.000,6,0.000,0.020,2064,2374,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9460,-0.60,-194.6,942.3,-7.2,1361,9469,0.00,2.30,0.00,0.000,4,0.000,0.044,2052,3823,3752,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9495,-0.61,-194.6,944.8,-7.4,1364,9501,0.00,2.10,0.00,0.000,6,0.000,0.020,2054,2388,3752,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9802,-0.61,-194.6,971.4,-8.7,1395,9811,0.00,2.28,0.00,0.000,4,0.000,0.044,2042,3818,3751,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9826,-0.61,-194.6,973.5,-9.0,1397,9836,0.00,2.05,0.00,0.000,6,0.000,0.021,2043,2399,3751,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,10002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10002,begin apogee
$GC,10008,-0.20,0.0,990.7,-9.6,1415,10206,0.40,0.08,189.32,1.139,4,0.096,0.089,2181,2446,2971,0,0,0,0,0,0,25.79,24.79,23.37
$STATE,10207,end apogee,CONTROL_FINISHED_OK
$STATE,10207,begin climb
$GC,10209,0.63,194.6,1000.0,0.0,1435,10418,0.73,2.25,200.32,1.147,4,0.055,0.042,2454,3832,2184,0,0,0,0,0,0,25.13,25.13,23.37
$GC,10543,0.58,194.6,953.7,18.4,1468,10547,0.00,2.03,0.00,0.000,6,0.000,0.020,2464,2458,2151,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10856,0.53,194.6,901.1,16.8,1499,10865,0.12,2.50,0.00,0.000,4,0.184,0.026,2441,1019,2145,0,0,0,0,0,0,25.84,26.06,28.83
$GC,10952,0.53,194.6,889.0,11.7,1508,10959,0.00,2.65,0.00,0.000,6,0.000,0.032,2440,2502,2142,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11259,0.50,194.6,845.1,14.2,1539,11267,0.00,1.98,0.00,0.000,4,0.000,0.041,2440,3838,2142,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11352,0.46,194.6,830.3,16.2,1548,11361,0.15,1.95,0.00,0.000,6,0.151,0.019,2403,2466,2141,0,0,0,0,0,0,25.70,26.27,28.83
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$STATE,18505,end climb,SURFACE_DEPTH_REACHED
$STATE,18505,begin surface coast
$FINISH,-0.0,1.021268
$STATE,18530,end surface coast,CONTROL_FINISHED_OK
$STATE,18530,begin surface
$SM_CCo,18610,0.00,0.000,0,0,1001,485.45
$SM_GC,0.71,6.22,2.60,0.00,0.024,0.029,0.000,121,2466,1001,-6.55,-0.17,485.45,0,0,0,0,0,0,26.29,26.13,28.83
$IRIDIUM_FIX,2323.87,12357.70,080712,121204
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.4,80.105
$10V_AH,9.9,50.413
$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,18.075,216.500,709.125,0.000,0.000,22.816,31.183,356.494,0.000,0.000,16.469,6337.924,6614.045,953.953,4606.916,645.618,0.000,3128.231,0.000,4040.586,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,88.740,1146.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1801.471,2152.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,166969,2656
$CAP_FILE_SIZE,264894,0
$CFSIZE,260165632,177471488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,  5.2,1
$GPS,080712,231936,2330.613,12356.108,26,1.5,26,-3.3