version: 66.10
glider: 169
mission: 6
dive: 4
start: 4 20 112 10 33 29
data:
$ID,169
$MISSION,6
$DIVE,4
$N_DIVES,7
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$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,175
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-14130.272
$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,2050
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$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,0
$ROLL_ADJ_DBAND,0
$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,3
$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
$DEVICE3,35
$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
$GPS1,200412,102431,2159.302,12101.642,11,1.9,15,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-72.1
$GPS2,200412,103306,2159.613,12101.766,14,1.2,30,-2.7
$SPEED_LIMITS,0.173,0.279
$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,348.0,125405,-16.8,-10.000
$D_GRID,1253
$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,-170.3,0.0,0.0,0,101,0.00,0.00,-81.82,0.000,2,0.000,0.000,132,2038,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-170.3,3.6,-7.0,11,130,6.88,2.12,-8.18,0.000,4,0.242,0.038,1847,521,3675,0,0,0,0,0,0,25.98,26.49,26.78
$GC,282,-0.61,-170.3,59.5,-20.7,39,288,0.00,2.22,0.00,0.000,6,0.000,0.041,1835,2024,3676,0,0,0,0,0,0,28.83,26.49,28.83
$GC,504,-0.54,-170.3,115.2,-18.3,76,513,0.12,2.28,0.00,0.000,4,0.177,0.044,1864,3433,3676,0,0,0,0,0,0,26.42,26.53,28.83
$GC,540,-0.50,-170.3,120.9,-15.5,81,549,0.00,2.28,0.00,0.000,6,0.000,0.032,1864,1953,3676,0,0,0,0,0,0,28.83,26.59,28.83
$GC,764,-0.50,-170.3,153.2,-13.1,118,773,0.00,2.03,0.00,0.000,4,0.000,0.036,1864,542,3676,0,0,0,0,0,0,28.83,26.63,28.83
$GC,780,-0.52,-170.3,155.2,-12.1,120,790,0.00,2.17,0.00,0.000,6,0.000,0.034,1861,2023,3677,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1005,-0.53,-170.3,177.4,-10.5,157,1014,0.00,2.25,0.00,0.000,4,0.000,0.045,1850,3439,3676,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1178,-0.53,-170.3,196.9,-10.8,185,1187,0.00,2.28,0.00,0.000,6,0.000,0.032,1850,1952,3676,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1380,-0.53,-170.3,219.6,-11.4,206,1391,0.00,2.35,0.00,0.000,4,0.000,0.044,1838,3440,3676,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1484,-0.53,-170.3,232.3,-12.0,215,1494,0.10,2.25,0.00,0.000,6,0.118,0.032,1878,1946,3675,0,0,0,0,0,0,26.46,26.65,28.83
$GC,1793,-0.58,-170.3,258.5,-8.2,246,1807,0.00,2.38,0.00,0.000,4,0.000,0.044,1865,3436,3673,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1891,-0.63,-170.3,266.1,-7.8,254,1902,0.00,2.30,0.00,0.000,6,0.000,0.034,1867,1959,3672,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2204,-0.67,-170.3,289.9,-6.7,285,2213,0.00,2.35,0.00,0.000,4,0.000,0.046,1856,3437,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2345,-0.71,-170.3,300.0,-7.2,297,2354,0.08,2.25,0.00,0.000,6,0.043,0.034,1777,1961,3669,0,0,0,0,0,0,26.61,26.63,28.83
$GC,2653,-0.65,-170.3,348.5,-16.5,328,2662,0.17,2.35,0.00,0.000,4,0.141,0.044,1824,3433,3667,0,0,0,0,0,0,26.48,26.55,28.83
$GC,2715,-0.65,-170.3,356.9,-12.3,334,2727,0.00,2.30,0.00,0.000,6,0.000,0.034,1824,1960,3666,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,2743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2743,begin apogee
$GC,2750,-0.20,0.0,360.5,-12.1,337,2898,0.45,0.10,139.18,0.731,6,0.105,0.083,1981,2208,2975,0,0,0,0,0,0,26.42,25.38,24.75
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2899,begin climb
$GC,2901,0.63,170.3,368.2,0.0,352,3068,0.70,2.47,152.52,0.705,4,0.041,0.044,2265,3685,2269,0,0,0,0,0,0,25.60,25.37,24.71
$GC,3230,0.46,170.3,315.6,23.3,384,3237,0.30,2.30,0.00,0.000,6,0.190,0.036,2200,2225,2256,0,0,0,0,0,0,25.85,26.10,28.83
$GC,3539,0.40,170.3,265.7,14.5,415,3548,0.00,2.33,0.00,0.000,4,0.000,0.045,2200,3685,2251,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3804,0.30,170.3,223.8,14.6,438,3817,0.17,2.30,0.00,0.000,6,0.154,0.035,2154,2229,2249,0,0,0,0,0,0,26.22,26.46,28.83
$GC,4118,0.47,302.8,201.1,4.8,469,4246,0.12,2.50,115.07,0.620,4,0.082,0.045,2229,3689,1727,0,0,0,0,0,0,26.65,25.56,24.95
$GC,4404,0.42,302.8,156.9,17.3,509,4411,0.17,2.30,0.00,0.000,6,0.161,0.032,2192,2220,1719,0,0,0,0,0,0,25.96,26.13,28.83
$GC,4642,0.43,302.8,127.7,12.4,546,4653,0.00,2.38,0.00,0.000,4,0.000,0.045,2192,3683,1713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4719,0.47,302.8,117.6,12.9,557,4726,0.00,2.28,0.00,0.000,6,0.000,0.035,2204,2219,1712,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4958,0.50,302.8,90.7,11.8,594,4969,0.00,2.17,0.00,0.000,4,0.000,0.042,2215,806,1709,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4997,0.57,302.8,86.4,11.6,599,5004,0.00,2.22,0.00,0.000,6,0.000,0.037,2216,2278,1708,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5235,0.62,321.3,59.8,9.3,636,5267,0.10,2.25,16.85,0.159,4,0.093,0.045,2277,3688,1671,0,0,0,0,1,0,26.66,26.48,25.42
$GC,5318,0.55,321.3,48.4,15.5,647,5327,0.20,2.22,3.05,0.164,6,0.158,0.034,2230,2223,1671,0,0,0,0,0,0,26.30,26.51,26.22
$GC,5556,0.74,438.7,29.8,5.4,684,5643,0.12,2.20,80.55,0.177,4,0.082,0.041,2324,808,1190,0,0,0,0,0,0,26.67,26.29,26.04
$GC,5676,0.74,438.7,14.7,14.3,700,5687,0.10,2.25,2.10,0.145,6,0.129,0.034,2288,2279,1193,0,0,0,0,0,0,26.18,26.36,26.14
$STATE,5779,end climb,SURFACE_DEPTH_REACHED
$STATE,5779,begin surface coast
$FINISH,-0.2,1.021684
$STATE,5810,end surface coast,CONTROL_FINISHED_OK
$STATE,5810,begin surface
$SM_CCo,5824,34.38,0.124,0,0,939,500.17
$SM_GC,0.48,5.32,0.50,34.38,0.026,0.034,0.124,130,1940,939,-5.90,0.28,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12103.41,200412,101018
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.87
$INTERNAL_PRESSURE,8.39255
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.7,0.491
$10V_AH,10.5,0.347
$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,15.125,69.450,509.325,34.375,0.000,0.000,0.000,0.000,0.000,0.000,31.687,1795.388,1349.594,582.158,2023.108,190.601,0.000,1368.617,0.000,1991.211,0.000,0.545,0.000
$DEVICE_MAMPS,241.740,82.620,730.575,123.930,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.205,1535.390,1178.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324700
$DATA_FILE_SIZE,53714,720
$CAP_FILE_SIZE,106154,0
$CFSIZE,260165632,221499392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.266,162.1,1
$GPS,200412,121206,2159.942,12101.727,12,1.4,28,-2.7