version: 66.10
glider: 169
mission: 6
dive: 446
start: 7 24 112 10 2 18
data:
$ID,169
$MISSION,6
$DIVE,446
$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,300
$T_MISSION,330
$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,300
$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,9
$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,-16389.549
$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,49
$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
$GPS1,240712,095106,2158.649,12319.722,29,1.2,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.4
$GPS2,240712,100151,2158.608,12319.774,16,3.1,35,-2.9
$SPEED_LIMITS,0.191,0.365
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,311.2,228430,-13.7,-11.000
$D_GRID,5035
$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,-0.70,-292.0,0.0,0.0,0,111,0.00,0.00,-92.03,0.000,2,0.000,0.000,118,2378,3079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.70,-292.0,4.1,-10.2,16,149,7.97,2.42,-15.95,0.000,4,0.228,0.047,2003,3833,3963,0,0,0,0,0,0,24.68,26.01,26.58
$GC,270,-0.64,-292.0,56.3,-23.1,43,277,0.00,2.08,0.00,0.000,6,0.000,0.018,2014,2417,3963,0,0,0,0,0,0,28.83,26.29,28.83
$GC,409,-0.54,-292.0,95.8,-28.9,68,417,0.17,2.42,0.00,0.000,4,0.165,0.021,2079,956,3963,0,0,0,0,0,0,25.87,26.22,28.83
$GC,436,-0.47,-292.0,103.1,-25.4,72,444,0.10,2.65,0.00,0.000,6,0.143,0.029,2096,2481,3963,0,0,0,0,0,0,25.98,26.13,28.83
$GC,573,-0.44,-292.0,123.2,-13.6,97,580,0.00,2.05,0.00,0.000,4,0.000,0.038,2086,3847,3964,0,0,0,0,0,0,28.83,26.12,28.83
$GC,604,-0.42,-292.0,127.7,-14.5,102,613,0.00,2.03,0.00,0.000,6,0.000,0.018,2089,2431,3964,0,0,0,0,0,0,28.83,26.39,28.83
$GC,743,-0.40,-292.0,148.3,-14.3,127,751,0.12,2.45,0.00,0.000,4,0.140,0.021,2137,973,3964,0,0,0,0,0,0,26.23,26.25,28.83
$GC,791,-0.43,-292.0,154.2,-10.4,135,797,0.00,2.60,0.00,0.000,6,0.000,0.027,2130,2484,3964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,928,-0.49,-292.0,166.8,-9.2,160,935,0.12,2.05,0.00,0.000,4,0.080,0.036,2069,3847,3964,0,0,0,0,0,0,26.46,26.15,28.83
$GC,1001,-0.52,-292.0,174.1,-10.0,173,1010,0.00,1.90,0.00,0.000,6,0.000,0.017,2069,2466,3964,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1139,-0.49,-292.0,189.0,-9.3,198,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2466,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.47,-292.0,206.0,-12.5,223,1278,0.00,2.55,0.00,0.000,4,0.000,0.021,2069,961,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1297,-0.46,-292.0,209.1,-12.0,227,1305,0.15,2.88,0.00,0.000,6,0.115,0.029,2107,2555,3964,0,0,0,0,0,0,26.03,26.22,28.83
$GC,1432,-0.51,-292.0,222.3,-9.9,252,1439,0.00,2.80,0.00,0.000,4,0.000,0.022,2107,955,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1671,-0.62,-292.0,247.6,-8.5,298,1679,0.17,2.58,0.00,0.000,6,0.056,0.025,1993,2469,3964,0,0,0,0,0,0,26.29,26.27,28.83
$GC,1810,-0.56,-292.0,268.5,-16.8,323,1817,0.20,2.55,0.00,0.000,4,0.135,0.021,2067,973,3964,0,0,0,0,0,0,26.03,26.28,28.83
$GC,1862,-0.57,-292.0,275.3,-9.8,332,1871,0.00,2.53,0.00,0.000,6,0.000,0.028,2055,2448,3964,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2003,-0.56,-292.0,290.1,-10.9,357,2009,0.00,2.17,0.00,0.000,4,0.000,0.036,2044,3846,3963,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2034,-0.55,-292.0,294.5,-11.7,362,2041,0.00,2.17,0.00,0.000,6,0.000,0.017,2045,2372,3963,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2172,-0.53,-292.0,310.9,-12.2,387,2179,0.12,2.30,0.00,0.000,4,0.131,0.021,2091,967,3962,0,0,0,0,0,0,26.29,26.28,28.83
$GC,2188,-0.51,-292.0,312.9,-11.1,389,2195,0.00,2.55,0.00,0.000,6,0.000,0.028,2084,2453,3962,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2325,-0.55,-292.0,325.4,-8.8,414,2332,0.00,2.15,0.00,0.000,4,0.000,0.039,2076,3840,3962,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2422,-0.61,-292.0,334.4,-8.1,432,2429,0.00,1.85,0.00,0.000,6,0.000,0.018,2076,2480,3960,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2558,-0.64,-292.0,345.1,-8.4,457,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2480,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,-0.68,-292.0,355.5,-7.4,482,2703,0.12,2.10,0.00,0.000,4,0.076,0.037,1999,3831,3959,0,0,0,0,0,0,26.52,26.15,28.83
$GC,2788,-0.65,-292.0,366.3,-13.0,499,2798,0.15,1.73,-0.05,0.000,6,0.129,0.018,2044,2521,3970,0,0,0,0,0,0,26.06,26.44,25.43
$GC,2927,-0.63,-292.0,381.9,-11.3,524,2934,0.00,2.70,0.00,0.000,4,0.000,0.023,2044,970,3970,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2999,-0.62,-292.0,389.4,-9.7,537,3006,0.00,2.92,0.00,0.000,6,0.000,0.029,2031,2609,3970,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3134,-0.59,-292.0,404.5,-10.8,562,3141,0.00,2.90,0.00,0.000,4,0.000,0.025,2031,974,3969,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3165,-0.58,-292.0,408.1,-11.0,567,3175,0.12,2.83,0.00,0.000,6,0.130,0.031,2070,2543,3969,0,0,0,0,0,0,26.01,26.18,28.83
$GC,3306,-0.63,-292.0,419.7,-8.2,592,3313,0.00,2.75,0.00,0.000,4,0.000,0.023,2070,972,3968,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3540,-0.72,-292.0,439.8,-7.3,637,3547,0.15,2.55,0.00,0.000,6,0.070,0.027,1991,2458,3966,0,0,0,0,0,0,26.20,26.22,28.83
$GC,3677,-0.67,-292.0,456.4,-13.9,662,3685,0.12,2.15,0.00,0.000,4,0.144,0.039,2022,3828,3964,0,0,0,0,0,0,26.23,26.10,28.83
$GC,3743,-0.66,-292.0,464.4,-11.4,673,3749,0.00,2.10,0.00,0.000,6,0.000,0.019,2023,2416,3963,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3878,-0.64,-292.0,480.4,-11.5,698,3885,0.00,2.40,0.00,0.000,4,0.000,0.024,2023,961,3963,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3912,-0.64,-292.0,483.9,-10.0,703,3919,0.00,2.67,0.00,0.000,6,0.000,0.031,2015,2488,3962,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4048,-0.61,-292.0,499.8,-12.5,728,4057,0.12,2.05,0.00,0.000,4,0.143,0.037,2049,3834,3961,0,0,0,0,0,0,26.25,26.11,28.83
$GC,4070,-0.58,-292.0,501.8,-10.7,730,4077,0.00,2.12,0.00,0.000,6,0.000,0.018,2049,2399,3961,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4379,-0.58,-292.0,528.8,-8.7,761,4387,0.00,2.33,0.00,0.000,4,0.000,0.041,2038,3822,3957,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4414,-0.58,-292.0,531.9,-8.7,764,4423,0.00,2.05,0.00,0.000,6,0.000,0.020,2038,2424,3957,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4722,-0.57,-292.0,562.8,-10.5,795,4730,0.00,2.42,0.00,0.000,4,0.000,0.026,2038,973,3954,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4747,-0.56,-292.0,565.1,-10.6,797,4756,0.10,2.55,0.00,0.000,6,0.091,0.030,2074,2466,3954,0,0,0,0,0,0,25.95,26.15,28.83
$GC,5055,-0.64,-292.0,592.3,-9.8,828,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2465,3951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5358,-0.72,-292.0,617.7,-7.7,858,5367,0.15,2.10,0.00,0.000,4,0.093,0.037,2004,3825,3949,0,0,0,0,0,0,26.36,26.08,28.83
$GC,5383,-0.79,-292.0,620.0,-8.0,860,5391,0.00,2.17,0.00,0.000,6,0.000,0.018,2005,2365,3948,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5692,-0.78,-292.0,649.4,-9.8,891,5701,0.00,2.28,0.00,0.000,4,0.000,0.026,2005,984,3946,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5735,-0.77,-292.0,654.0,-10.6,895,5743,0.00,2.60,0.00,0.000,6,0.000,0.031,1993,2485,3946,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6046,-0.73,-292.0,694.5,-13.2,926,6054,0.00,2.05,0.00,0.000,4,0.000,0.042,1982,3831,3944,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6101,-0.71,-292.0,701.5,-13.3,931,6109,0.12,2.05,0.00,0.000,6,0.132,0.019,2022,2442,3943,0,0,0,0,0,0,26.01,26.34,28.83
$GC,6410,-0.69,-292.0,734.6,-10.3,962,6419,0.00,2.45,0.00,0.000,4,0.000,0.025,2022,977,3941,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6446,-0.68,-292.0,737.8,-9.6,965,6455,0.00,2.65,0.00,0.000,6,0.000,0.032,2017,2487,3941,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6754,-0.66,-292.0,770.3,-10.6,996,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2486,3938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7058,-0.64,-292.0,803.8,-11.5,1026,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2485,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7366,-0.62,-292.0,841.7,-12.6,1057,7375,0.12,0.00,0.00,0.000,6,0.143,0.000,2061,2485,3933,0,0,0,0,0,0,26.20,28.83,28.83
$GC,7675,-0.63,-292.0,869.6,-7.9,1088,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2485,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7987,-0.66,-292.0,893.1,-7.2,1119,7995,0.00,2.12,0.00,0.000,4,0.000,0.046,2056,3819,3929,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8029,-0.72,-292.0,896.5,-7.5,1123,8038,0.08,2.05,0.00,0.000,6,0.057,0.020,2011,2421,3929,0,0,0,0,0,0,26.17,26.36,28.83
$GC,8339,-0.72,-292.0,924.1,-9.2,1154,8348,0.00,2.35,0.00,0.000,4,0.000,0.044,2000,3833,3927,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8393,-0.70,-292.0,929.5,-10.9,1159,8397,0.00,1.77,0.00,0.000,6,0.000,0.020,2000,2550,3926,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8705,-0.68,-292.0,968.9,-12.6,1190,8714,0.10,2.80,0.00,0.000,4,0.148,0.026,2030,980,3924,0,0,0,0,0,0,26.31,26.01,28.83
$GC,8782,-0.69,-292.0,976.1,-9.2,1197,8790,0.00,2.95,0.00,0.000,6,0.000,0.034,2029,2599,3924,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,8926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8926,begin apogee
$GC,8932,-0.20,0.0,990.5,-9.7,1212,9169,0.43,0.15,229.12,1.114,4,0.093,0.070,2180,2499,2972,0,0,0,0,0,0,25.75,24.96,23.41
$STATE,9170,end apogee,CONTROL_FINISHED_OK
$STATE,9170,begin climb
$GC,9172,0.70,292.0,1003.7,0.0,1236,9479,0.80,2.20,297.20,1.125,4,0.056,0.044,2482,3836,1786,0,0,0,0,0,0,25.22,25.24,23.53
$GC,9595,0.66,292.0,935.9,17.4,1278,9599,0.00,2.10,0.00,0.000,6,0.000,0.023,2492,2462,1751,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,16689,end climb,SURFACE_DEPTH_REACHED
$STATE,16689,begin surface coast
$FINISH,-0.1,1.018764
$STATE,16712,end surface coast,CONTROL_FINISHED_OK
$STATE,16712,begin surface
$SM_CCo,16789,0.00,0.000,0,0,400,632.38
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.44
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.4,95.847
$10V_AH,9.9,62.419
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330256
$DATA_FILE_SIZE,146828,2272
$CAP_FILE_SIZE,257633,0
$CFSIZE,260165632,166367232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.325,124.8,1
$GPS,240712,144306,2158.740,12319.336,31,1.0,31,-2.9