version: 66.10
glider: 169
mission: 6
dive: 46
start: 4 27 112 7 9 48
data:
$ID,169
$MISSION,6
$DIVE,46
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,2
$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,-15270.705
$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,2035
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$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
$GPS1,270412,070137,2307.894,12155.703,25,1.2,25,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-68.9
$GPS2,270412,070925,2307.905,12155.836,40,1.2,40,-3.1
$SPEED_LIMITS,0.159,0.302
$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,72.0,216403,-13.6,-9.167
$D_GRID,3901
$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,15,begin dive
$GC,18,-0.61,-219.0,0.0,0.0,0,109,0.00,0.00,-88.18,0.000,2,0.000,0.000,121,2457,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.61,-219.0,4.1,-10.9,16,137,6.60,2.33,-12.10,0.000,4,0.223,0.052,1841,1054,3874,0,0,0,0,0,0,25.70,26.03,26.34
$GC,282,-0.57,-219.0,66.6,-19.7,48,289,0.00,2.38,0.00,0.000,6,0.000,0.035,1830,2530,3875,0,0,0,0,0,0,28.83,26.14,28.83
$GC,475,-0.47,-219.0,126.3,-32.8,85,482,0.15,2.33,0.00,0.000,4,0.164,0.023,1886,1025,3875,0,0,0,0,0,0,26.08,26.27,28.83
$GC,506,-0.41,-219.0,135.5,-27.7,90,513,0.00,2.40,0.00,0.000,6,0.000,0.034,1875,2528,3876,0,0,0,0,0,0,28.83,26.25,28.83
$GC,697,-0.37,-219.0,171.3,-20.5,127,703,0.12,0.00,0.00,0.000,6,0.148,0.000,1916,2527,3877,0,0,0,0,0,0,26.22,28.83,28.83
$GC,889,-0.38,-219.0,190.3,-6.9,164,895,0.00,2.00,0.00,0.000,4,0.000,0.043,1906,3827,3877,0,0,0,0,0,0,28.83,26.35,28.83
$GC,929,-0.42,-219.0,193.1,-6.6,171,935,0.00,2.05,0.00,0.000,6,0.000,0.021,1907,2423,3877,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1126,-0.50,-219.0,210.3,-10.5,199,1129,0.00,2.12,0.00,0.000,4,0.000,0.026,1907,1031,3877,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1188,-0.57,-219.0,217.8,-11.9,205,1197,0.15,2.35,0.00,0.000,6,0.085,0.031,1840,2520,3877,0,0,0,0,0,0,26.39,26.43,28.83
$GC,1498,-0.62,-219.0,245.3,-8.1,236,1507,0.00,2.28,0.00,0.000,4,0.000,0.025,1840,1033,3877,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1610,-0.63,-219.0,255.7,-9.6,247,1619,0.00,2.25,0.00,0.000,6,0.000,0.034,1839,2456,3877,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1920,-0.60,-219.0,300.0,-14.6,278,1929,0.00,2.08,0.00,0.000,4,0.000,0.041,1828,3823,3877,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1994,-0.59,-219.0,310.2,-13.2,285,2001,0.00,2.10,0.00,0.000,6,0.000,0.022,1828,2384,3877,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2302,-0.56,-219.0,359.0,-14.4,316,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2383,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-0.54,-219.0,401.0,-13.6,346,2613,0.10,2.25,0.00,0.000,4,0.145,0.041,1848,3817,3875,0,0,0,0,0,0,26.52,26.53,28.83
$GC,2687,-0.56,-219.0,410.0,-9.0,354,2695,0.00,2.10,0.00,0.000,6,0.000,0.024,1848,2388,3875,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2996,-0.56,-219.0,439.9,-9.4,385,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2389,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3297,-0.56,-219.0,468.2,-9.2,415,3306,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,3818,3871,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3380,-0.57,-219.0,475.4,-8.3,423,3384,0.00,2.12,0.00,0.000,6,0.000,0.024,1838,2390,3870,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3692,-0.56,-219.0,505.9,-9.9,454,3701,0.00,2.28,0.00,0.000,4,0.000,0.044,1827,3815,3869,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3734,-0.56,-219.0,510.1,-10.1,458,3743,0.00,2.08,0.00,0.000,6,0.000,0.024,1827,2407,3869,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4044,-0.55,-219.0,545.5,-11.5,489,4053,0.10,2.22,0.00,0.000,4,0.143,0.043,1848,3811,3866,0,0,0,0,0,0,26.55,26.55,28.83
$GC,4078,-0.55,-219.0,548.8,-10.5,492,4085,0.00,2.05,0.00,0.000,6,0.000,0.022,1848,2406,3866,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4388,-0.56,-219.0,574.7,-7.7,523,4397,0.00,2.22,0.00,0.000,4,0.000,0.044,1838,3814,3862,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4443,-0.57,-219.0,578.9,-8.1,528,4450,0.00,2.03,0.00,0.000,6,0.000,0.023,1839,2426,3862,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4762,-0.57,-219.0,607.8,-9.5,556,4766,0.00,2.17,0.00,0.000,4,0.000,0.045,1829,3818,3861,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4786,-0.57,-219.0,610.1,-9.5,557,4790,0.00,2.03,0.00,0.000,6,0.000,0.022,1829,2428,3861,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5100,-0.56,-219.0,641.7,-9.7,573,5105,0.00,2.15,0.00,0.000,4,0.000,0.046,1820,3815,3859,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5127,-0.55,-219.0,643.7,-9.8,574,5132,0.12,2.00,0.00,0.000,6,0.114,0.023,1861,2437,3859,0,0,0,0,0,0,26.49,26.65,28.83
$GC,5437,-0.57,-219.0,665.2,-6.5,589,5441,0.00,2.17,0.00,0.000,4,0.000,0.047,1852,3826,3857,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5467,-0.59,-219.0,666.8,-6.6,590,5471,0.00,2.00,0.00,0.000,6,0.000,0.024,1852,2446,3856,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5776,-0.61,-219.0,686.8,-6.1,605,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2445,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,-0.62,-219.0,703.4,-5.6,620,6080,0.00,2.10,0.00,0.000,4,0.000,0.046,1844,3810,3852,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6122,-0.64,-219.0,705.7,-5.6,622,6126,0.00,1.98,0.00,0.000,6,0.000,0.024,1845,2447,3852,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6431,-0.65,-219.0,728.6,-7.7,637,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2446,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,-0.66,-219.0,750.5,-7.6,652,6734,0.00,2.15,0.00,0.000,4,0.000,0.047,1837,3823,3848,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6777,-0.68,-219.0,753.5,-7.5,654,6781,0.00,1.98,0.00,0.000,6,0.000,0.024,1837,2458,3848,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7086,-0.68,-219.0,779.3,-8.4,669,7091,0.00,2.10,0.00,0.000,4,0.000,0.047,1828,3821,3847,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7108,-0.68,-219.0,781.1,-8.4,670,7111,0.00,1.95,0.00,0.000,6,0.000,0.024,1827,2462,3847,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7425,-0.68,-219.0,812.2,-9.9,686,7430,0.00,2.20,0.00,0.000,4,0.000,0.031,1828,1042,3845,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7452,-0.68,-219.0,814.2,-9.9,687,7456,0.00,2.40,0.00,0.000,6,0.000,0.040,1826,2539,3845,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7759,-0.68,-219.0,845.0,-9.7,702,7763,0.00,1.95,0.00,0.000,4,0.000,0.049,1817,3819,3844,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7788,-0.68,-219.0,847.1,-9.5,703,7792,0.00,1.98,0.00,0.000,6,0.000,0.025,1817,2471,3844,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8098,-0.67,-219.0,877.5,-9.5,718,8103,0.00,2.17,0.00,0.000,4,0.000,0.031,1817,1053,3842,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8116,-0.67,-219.0,879.6,-9.6,719,8122,0.00,2.38,0.00,0.000,6,0.000,0.039,1813,2540,3842,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8438,-0.67,-219.0,909.3,-9.1,735,8443,0.00,1.95,0.00,0.000,4,0.000,0.049,1804,3830,3841,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8476,-0.66,-219.0,913.0,-9.2,737,8482,0.00,2.00,0.00,0.000,6,0.000,0.025,1804,2472,3840,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8797,-0.64,-219.0,943.0,-9.1,753,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2471,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9097,-0.63,-219.0,971.4,-9.6,768,9103,0.00,2.10,0.00,0.000,4,0.000,0.050,1797,3807,3838,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9159,-0.62,-219.0,977.3,-9.9,771,9163,0.12,1.95,0.00,0.000,6,0.119,0.026,1838,2480,3838,0,0,0,0,0,0,26.44,26.61,28.83
$STATE,9349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9349,begin apogee
$GC,9356,-0.20,0.0,991.4,-7.1,781,9575,0.35,0.10,213.62,1.122,4,0.084,0.076,1970,2480,2978,0,0,0,0,0,0,26.45,24.63,23.94
$STATE,9576,end apogee,CONTROL_FINISHED_OK
$STATE,9576,begin climb
$GC,9579,0.61,219.0,1000.8,0.0,792,9828,0.65,2.35,235.00,1.094,4,0.029,0.031,2252,1060,2073,0,0,0,0,0,0,24.87,24.82,23.77
$GC,9931,0.55,219.0,945.1,21.0,810,9937,0.10,2.50,0.00,0.000,6,0.155,0.040,2221,2536,2048,0,0,0,0,0,0,25.12,25.25,28.83
$GC,10253,0.48,219.0,869.7,24.0,826,10258,0.00,2.35,0.00,0.000,4,0.000,0.034,2233,1088,2043,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10377,0.44,219.0,845.8,18.9,832,10383,0.15,2.40,0.00,0.000,6,0.145,0.041,2182,2543,2041,0,0,0,0,0,0,25.75,25.93,28.83
$GC,10693,0.39,219.0,786.8,18.2,848,10698,0.00,1.95,0.00,0.000,4,0.000,0.047,2182,3818,2040,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10792,0.34,219.0,767.2,19.7,853,10799,0.12,2.00,0.00,0.000,6,0.149,0.026,2150,2501,2040,0,0,0,0,0,0,25.95,26.17,28.83
$GC,11113,0.31,219.0,720.3,14.9,869,11119,0.00,2.08,0.00,0.000,4,0.000,0.049,2150,3813,2039,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11155,0.28,219.0,713.6,15.5,871,11159,0.12,1.95,0.00,0.000,6,0.162,0.025,2126,2517,2039,0,0,0,0,0,0,26.07,26.27,28.83
$GC,11468,0.27,219.0,674.4,11.9,887,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2515,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11768,0.26,219.0,640.7,11.1,902,11774,0.00,2.25,0.00,0.000,4,0.000,0.035,2138,1082,2038,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11800,0.25,219.0,638.6,11.0,903,11807,0.00,2.40,0.00,0.000,6,0.000,0.038,2138,2556,2038,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12108,0.24,219.0,601.3,11.9,919,12113,0.00,1.98,0.00,0.000,4,0.000,0.047,2138,3828,2037,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12132,0.22,219.0,598.7,12.2,920,12139,0.15,1.98,0.00,0.000,6,0.148,0.024,2106,2500,2037,0,0,0,0,0,0,26.19,26.41,28.83
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$GC,14750,0.41,353.7,309.5,9.1,1180,14760,0.00,2.05,4.82,0.634,4,0.000,0.046,2159,3822,1537,0,0,1,0,0,0,28.83,25.97,25.22
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$GC,16964,0.70,540.7,35.7,16.1,1508,16977,0.22,2.35,3.12,0.156,6,0.122,0.034,2260,2515,776,0,0,0,0,0,0,25.75,25.86,25.66
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$STATE,17238,end climb,SURFACE_DEPTH_REACHED
$STATE,17238,begin surface coast
$FINISH,-0.2,1.021881
$STATE,17249,end surface coast,CONTROL_FINISHED_OK
$STATE,17249,begin surface
$SM_CCo,17327,0.00,0.000,0,0,438,623.31
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.22653
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.8,8.239
$10V_AH,10.3,4.942
$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
$DEVICE_SECS,16.250,177.725,908.825,0.000,0.000,32.950,20.937,242.484,0.000,0.000,41.490,3601.146,9578.432,959.266,3210.045,413.600,0.000,2576.109,0.000,2721.308,0.000,0.542,0.000
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$MEM,324640
$DATA_FILE_SIZE,96873,1561
$CAP_FILE_SIZE,201779,0
$CFSIZE,260165632,217579520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,5,0
$GPS,270412,115937,2309.567,12158.478,34,1.0,34,-3.1