version: 66.10
glider: 169
mission: 6
dive: 48
start: 4 27 112 17 16 12
data:
$ID,169
$MISSION,6
$DIVE,48
$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,-15273.219
$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
$GPS1,270412,170755,2311.105,12201.374,40,1.2,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-70.6
$GPS2,270412,171549,2311.086,12201.560,14,1.5,31,-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,72.5,205244,-13.6,-9.167
$D_GRID,4198
$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,-219.0,0.0,0.0,0,122,0.00,0.00,-100.82,0.000,2,0.000,0.000,118,2445,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.61,-219.0,4.4,-13.5,18,150,6.65,2.25,-10.57,0.000,4,0.226,0.054,1839,1062,3873,0,0,0,0,0,0,25.69,26.01,26.32
$GC,303,-0.57,-219.0,58.2,-19.2,52,310,0.00,2.38,0.00,0.000,6,0.000,0.037,1828,2528,3874,0,0,0,0,0,0,28.83,26.13,28.83
$GC,495,-0.49,-219.0,113.3,-30.8,89,502,0.15,2.35,0.00,0.000,4,0.160,0.026,1885,1038,3874,0,0,0,0,0,0,26.09,26.25,28.83
$GC,536,-0.45,-219.0,123.7,-21.5,96,543,0.00,2.33,0.00,0.000,6,0.000,0.034,1874,2492,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,726,-0.41,-219.0,158.1,-19.0,133,733,0.00,2.05,0.00,0.000,4,0.000,0.041,1864,3831,3874,0,0,0,0,0,0,28.83,26.31,28.83
$GC,781,-0.39,-219.0,167.7,-15.5,143,789,0.15,2.05,0.00,0.000,6,0.119,0.021,1911,2438,3874,0,0,0,0,0,0,26.22,26.39,28.83
$GC,973,-0.40,-219.0,185.9,-8.5,180,980,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2437,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1165,-0.41,-219.0,202.9,-8.8,214,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2437,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1475,-0.43,-219.0,226.6,-7.6,245,1484,0.00,2.17,0.00,0.000,4,0.000,0.044,1906,3810,3874,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1507,-0.45,-219.0,229.1,-7.3,248,1516,0.00,2.00,0.00,0.000,6,0.000,0.021,1906,2432,3875,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1818,-0.53,-219.0,257.1,-10.1,279,1825,0.12,0.00,0.00,0.000,6,0.109,0.000,1855,2431,3874,0,0,0,0,0,0,26.49,28.83,28.83
$GC,2127,-0.62,-219.0,283.6,-8.2,310,2136,0.00,2.17,0.00,0.000,4,0.000,0.041,1855,3812,3874,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2169,-0.70,-219.0,287.5,-9.3,314,2179,0.15,2.00,0.00,0.000,6,0.096,0.021,1798,2431,3874,0,0,0,0,0,0,26.50,26.60,28.83
$GC,2479,-0.63,-219.0,337.4,-23.9,345,2481,0.12,0.00,0.00,0.000,6,0.142,0.000,1835,2431,3873,0,0,0,0,0,0,26.48,28.83,28.83
$GC,2779,-0.61,-219.0,384.6,-14.9,375,2789,0.00,2.25,0.00,0.000,4,0.000,0.043,1824,3826,3872,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2812,-0.58,-219.0,389.8,-16.1,378,2815,0.00,2.00,0.00,0.000,6,0.000,0.021,1824,2453,3872,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3124,-0.56,-219.0,436.2,-14.2,409,3133,0.10,2.15,0.00,0.000,4,0.142,0.026,1856,1048,3872,0,0,0,0,0,0,26.55,26.59,28.83
$GC,3146,-0.54,-219.0,439.0,-13.0,411,3155,0.00,2.35,0.00,0.000,6,0.000,0.033,1846,2536,3872,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3457,-0.54,-219.0,468.0,-9.4,442,3465,0.00,2.33,0.00,0.000,4,0.000,0.027,1846,1036,3870,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3491,-0.54,-219.0,471.1,-9.7,445,3498,0.00,2.35,0.00,0.000,6,0.000,0.034,1839,2527,3869,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3799,-0.53,-219.0,500.5,-9.7,476,3807,0.00,2.00,0.00,0.000,4,0.000,0.046,1829,3828,3868,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3833,-0.53,-219.0,503.5,-9.8,479,3840,0.12,2.03,0.00,0.000,6,0.111,0.023,1872,2433,3867,0,0,0,0,0,0,26.51,26.63,28.83
$GC,4141,-0.55,-219.0,522.6,-6.1,510,4150,0.00,2.17,0.00,0.000,4,0.000,0.044,1862,3818,3865,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4175,-0.57,-219.0,524.7,-6.4,513,4184,0.00,2.00,0.00,0.000,6,0.000,0.022,1863,2435,3864,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4484,-0.59,-219.0,545.5,-6.5,544,4492,0.00,2.17,0.00,0.000,4,0.000,0.046,1855,3820,3862,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4519,-0.61,-219.0,547.7,-6.8,547,4526,0.00,1.98,0.00,0.000,6,0.000,0.024,1855,2459,3862,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4827,-0.62,-219.0,569.8,-7.0,578,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2459,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,-0.63,-219.0,592.5,-7.7,609,5147,0.00,2.10,0.00,0.000,4,0.000,0.045,1846,3810,3857,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5193,-0.65,-219.0,596.7,-7.6,614,5200,0.00,1.95,0.00,0.000,6,0.000,0.023,1846,2461,3857,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5501,-0.66,-219.0,624.4,-9.2,632,5506,0.00,2.17,0.00,0.000,4,0.000,0.030,1846,1045,3855,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5520,-0.66,-219.0,626.3,-9.3,633,5526,0.00,2.38,0.00,0.000,6,0.000,0.037,1839,2540,3855,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5840,-0.66,-219.0,659.1,-10.6,649,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2539,3853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.66,-219.0,688.3,-9.2,664,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2539,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6440,-0.66,-219.0,714.0,-8.5,679,6446,0.00,2.33,0.00,0.000,4,0.000,0.031,1839,1045,3848,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6460,-0.66,-219.0,715.8,-8.5,680,6466,0.00,2.40,0.00,0.000,6,0.000,0.037,1839,2541,3848,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6782,-0.66,-219.0,742.0,-8.1,696,6787,0.00,1.98,0.00,0.000,4,0.000,0.048,1829,3829,3846,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6834,-0.67,-219.0,745.2,-8.1,698,6841,0.00,1.95,0.00,0.000,6,0.000,0.024,1830,2478,3846,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7141,-0.67,-219.0,774.5,-9.4,714,7146,0.00,2.20,0.00,0.000,4,0.000,0.030,1829,1047,3845,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7164,-0.67,-219.0,776.3,-9.3,715,7168,0.00,2.42,0.00,0.000,6,0.000,0.038,1825,2555,3844,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7476,-0.67,-219.0,804.7,-8.8,731,7482,0.00,2.35,0.00,0.000,4,0.000,0.029,1826,1047,3843,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7500,-0.67,-219.0,806.5,-8.8,732,7504,0.00,2.42,0.00,0.000,6,0.000,0.039,1826,2551,3843,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7814,-0.67,-219.0,833.9,-8.7,748,7819,0.00,1.95,0.00,0.000,4,0.000,0.050,1817,3825,3841,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7855,-0.67,-219.0,837.7,-9.2,750,7858,0.00,1.95,0.00,0.000,6,0.000,0.024,1817,2480,3841,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8169,-0.66,-219.0,870.6,-10.7,766,8175,0.00,2.20,0.00,0.000,4,0.000,0.031,1817,1051,3839,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8201,-0.66,-219.0,872.9,-10.8,767,8208,0.00,2.42,0.00,0.000,6,0.000,0.039,1813,2553,3839,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8509,-0.65,-219.0,905.6,-9.8,783,8514,0.00,2.35,0.00,0.000,4,0.000,0.029,1813,1051,3837,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8528,-0.64,-219.0,907.5,-9.7,784,8533,0.00,2.42,0.00,0.000,6,0.000,0.038,1813,2547,3837,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8850,-0.63,-219.0,936.7,-8.9,800,8855,0.00,2.33,0.00,0.000,4,0.000,0.031,1813,1053,3836,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8892,-0.63,-219.0,940.4,-9.0,802,8896,0.00,2.42,0.00,0.000,6,0.000,0.041,1813,2546,3836,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9204,-0.62,-219.0,969.7,-9.4,818,9210,0.00,1.95,0.00,0.000,4,0.000,0.051,1805,3816,3835,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9264,-0.62,-219.0,975.1,-9.3,821,9270,0.00,1.98,0.00,0.000,6,0.000,0.027,1805,2479,3834,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,9441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9441,begin apogee
$GC,9447,-0.20,0.0,991.9,-9.5,830,9665,0.45,0.10,210.88,1.137,4,0.091,0.076,1968,2481,2976,0,0,0,0,0,0,26.41,24.64,23.95
$STATE,9666,end apogee,CONTROL_FINISHED_OK
$STATE,9666,begin climb
$GC,9669,0.61,219.0,1000.4,0.0,841,9911,0.65,2.38,233.75,1.099,4,0.030,0.031,2253,1063,2086,0,0,0,0,0,0,24.89,24.84,23.77
$GC,10048,0.55,219.0,938.3,21.8,860,10053,0.15,2.50,0.00,0.000,6,0.170,0.039,2216,2539,2047,0,0,0,0,0,0,25.22,25.36,28.83
$GC,10357,0.48,219.0,862.2,24.0,875,10362,0.00,2.35,0.00,0.000,4,0.000,0.033,2228,1072,2043,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10435,0.42,219.0,845.4,20.8,879,10442,0.15,2.42,0.00,0.000,6,0.145,0.037,2179,2544,2041,0,0,0,0,0,0,25.75,25.92,28.83
$GC,10757,0.37,219.0,784.1,19.2,895,10763,0.00,1.98,0.00,0.000,4,0.000,0.047,2178,3834,2041,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10880,0.33,219.0,759.6,20.2,901,10886,0.17,1.95,0.00,0.000,6,0.163,0.024,2141,2528,2039,0,0,0,0,0,0,25.96,26.19,28.83
$GC,11198,0.30,219.0,714.0,13.5,917,11203,0.00,2.03,0.00,0.000,4,0.000,0.047,2140,3818,2039,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11225,0.28,219.0,711.1,13.7,918,11228,0.00,1.85,0.00,0.000,6,0.000,0.024,2150,2542,2039,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11532,0.25,219.0,666.5,13.9,933,11538,0.12,2.30,0.00,0.000,4,0.170,0.033,2123,1085,2038,0,0,0,0,0,0,26.14,26.29,28.83
$GC,11555,0.23,219.0,663.9,13.8,934,11559,0.00,2.45,0.00,0.000,6,0.000,0.038,2123,2573,2038,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11867,0.23,219.0,630.6,10.4,950,11873,0.00,1.90,0.00,0.000,4,0.000,0.049,2123,3815,2037,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11891,0.22,219.0,628.4,10.6,951,11897,0.00,1.92,0.00,0.000,6,0.000,0.026,2133,2523,2037,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,16375,end climb,SURFACE_DEPTH_REACHED
$STATE,16375,begin surface coast
$FINISH,-0.3,1.021867
$STATE,16402,end surface coast,CONTROL_FINISHED_OK
$STATE,16402,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.8,8.711
$10V_AH,10.3,5.178
$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
$DEVICE_SECS,15.850,167.850,841.500,0.000,0.000,33.159,24.906,252.773,0.000,0.000,32.640,3484.409,9023.586,921.281,3096.655,393.197,0.000,2476.585,0.000,2608.286,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,93565,1513
$CAP_FILE_SIZE,190183,0
$CFSIZE,260165632,217395200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,5,0
$GPS,270412,215201,2312.141,12203.910,42,1.0,42,-3.1