version: 66.10
glider: 169
mission: 6
dive: 5
start: 4 20 112 12 18 0
data:
$ID,169
$MISSION,6
$DIVE,5
$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,-14131.531
$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
$GPS1,200412,121206,2159.942,12101.727,12,1.4,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.6
$GPS2,200412,121736,2200.123,12101.825,18,1.4,34,-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,346.8,124478,-16.8,-10.000
$D_GRID,1252
$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,18,-0.63,-170.3,0.0,0.0,0,103,0.00,0.00,-82.57,0.000,2,0.000,0.000,128,1939,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.63,-170.3,4.1,-9.6,12,134,6.85,2.45,-8.15,0.000,4,0.238,0.047,1825,3452,3674,0,0,0,0,0,0,25.86,26.33,26.66
$GC,164,-0.27,-170.3,39.1,-68.8,19,171,0.43,2.40,0.00,0.000,6,0.171,0.044,1959,1977,3674,0,0,0,0,0,0,26.02,26.31,28.83
$GC,401,-0.32,-170.3,73.5,-8.9,56,410,0.00,2.40,0.00,0.000,4,0.000,0.046,1948,3434,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,437,-0.37,-170.3,76.7,-9.0,61,443,0.00,2.28,0.00,0.000,6,0.000,0.029,1949,1951,3676,0,0,0,0,0,0,28.83,26.48,28.83
$GC,668,-0.46,-170.3,96.7,-6.9,98,678,0.12,2.42,0.00,0.000,4,0.080,0.041,1836,3437,3675,0,0,0,0,0,0,26.63,26.49,28.83
$GC,765,-0.41,-170.3,111.5,-16.2,113,774,0.25,2.28,0.00,0.000,6,0.128,0.030,1915,1958,3677,0,0,0,0,0,0,26.32,26.55,28.83
$GC,993,-0.49,-170.3,133.8,-8.0,150,1002,0.00,2.40,0.00,0.000,4,0.000,0.044,1906,3429,3677,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1114,-0.57,-170.3,143.1,-7.5,169,1123,0.12,2.28,0.00,0.000,6,0.080,0.029,1801,1952,3678,0,0,0,0,0,0,26.58,26.58,28.83
$GC,1338,-0.52,-170.3,184.4,-17.1,206,1348,0.22,2.42,0.00,0.000,4,0.125,0.044,1866,3433,3676,0,0,0,0,0,0,26.43,26.55,28.83
$GC,1523,-0.55,-170.3,202.1,-8.8,234,1532,0.00,2.30,0.00,0.000,6,0.000,0.029,1867,1959,3678,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1833,-0.58,-170.3,232.9,-9.6,265,1842,0.00,2.35,0.00,0.000,4,0.000,0.044,1856,3427,3677,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2018,-0.59,-170.3,251.0,-9.4,281,2025,0.00,2.28,0.00,0.000,6,0.000,0.031,1856,1961,3680,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2327,-0.62,-170.3,279.2,-8.5,312,2339,0.00,2.35,0.00,0.000,4,0.000,0.046,1846,3436,3676,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2490,-0.64,-170.3,293.3,-9.1,326,2499,0.00,2.33,0.00,0.000,6,0.000,0.031,1845,1956,3675,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2797,-0.66,-170.3,326.3,-10.1,357,2806,0.00,2.40,0.00,0.000,4,0.000,0.047,1835,3435,3674,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2955,-0.66,-170.3,342.2,-9.8,372,2963,0.00,2.28,0.00,0.000,6,0.000,0.031,1835,1960,3673,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,3139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3139,begin apogee
$GC,3145,-0.20,0.0,360.5,-9.8,391,3295,0.43,0.10,141.07,0.727,6,0.103,0.083,1984,2205,2973,0,0,0,0,0,0,26.42,25.29,24.67
$STATE,3296,end apogee,CONTROL_FINISHED_OK
$STATE,3296,begin climb
$GC,3298,0.63,170.3,367.0,0.0,406,3463,0.68,2.28,150.93,0.716,4,0.040,0.037,2276,802,2267,0,0,0,0,0,0,25.51,25.25,24.58
$GC,3529,0.52,170.3,344.8,18.3,429,3538,0.17,2.25,0.00,0.000,6,0.164,0.035,2223,2275,2252,0,0,0,0,0,0,25.60,25.79,28.83
$GC,3840,0.43,170.3,292.4,18.3,460,3852,0.12,2.22,0.00,0.000,4,0.197,0.036,2198,804,2247,0,0,0,0,0,0,26.03,26.23,28.83
$GC,3992,0.41,170.3,269.6,14.9,473,4001,0.00,2.22,0.00,0.000,6,0.000,0.037,2198,2268,2245,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4301,0.34,170.3,221.7,14.5,504,4313,0.12,2.20,0.00,0.000,4,0.177,0.043,2159,3685,2243,0,0,0,0,0,0,26.26,26.41,28.83
$GC,4527,0.32,170.3,193.1,12.6,528,4536,0.00,2.28,0.00,0.000,6,0.000,0.034,2171,2224,2241,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4751,0.30,170.3,167.2,11.3,565,4757,0.00,2.33,0.00,0.000,4,0.000,0.046,2171,3685,2240,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4863,0.25,170.3,154.3,10.9,583,4872,0.17,2.25,0.00,0.000,6,0.164,0.030,2134,2214,2240,0,0,0,0,0,0,26.25,26.51,28.83
$GC,5088,0.42,285.1,141.0,5.5,620,5188,0.12,2.42,86.05,0.738,4,0.080,0.044,2218,3682,1820,0,0,0,0,1,0,26.67,25.50,24.75
$GC,5240,0.37,285.1,120.2,17.0,641,5249,0.20,2.30,2.65,0.352,6,0.146,0.034,2171,2220,1815,0,0,0,0,0,0,25.75,25.84,25.08
$GC,5461,0.52,352.6,98.4,7.3,678,5556,0.12,2.45,87.45,0.324,4,0.078,0.044,2256,3685,1543,0,0,0,0,0,0,26.28,25.77,25.39
$GC,5579,0.48,352.6,84.6,13.4,693,5587,0.20,2.28,2.92,0.167,6,0.145,0.031,2209,2223,1540,0,0,0,0,0,0,25.75,25.90,25.65
$GC,5802,0.61,395.8,65.8,8.3,730,5858,0.10,2.40,46.22,0.250,4,0.092,0.041,2272,3689,1369,0,0,0,0,0,0,26.31,26.01,25.68
$GC,5881,0.60,395.8,55.7,16.5,740,5892,0.10,2.30,2.50,0.158,6,0.135,0.030,2248,2227,1369,0,0,0,0,0,0,25.94,26.09,25.84
$GC,6106,0.67,419.7,35.3,9.1,777,6138,0.00,2.38,21.00,0.190,4,0.000,0.044,2249,3681,1276,0,0,0,0,0,0,28.83,26.20,25.91
$GC,6161,0.76,442.4,30.6,9.1,784,6185,0.08,2.28,18.70,0.180,6,0.044,0.030,2338,2227,1173,0,0,0,0,0,0,26.25,26.25,25.91
$STATE,6321,end climb,SURFACE_DEPTH_REACHED
$STATE,6321,begin surface coast
$FINISH,-0.1,1.021418
$STATE,6340,end surface coast,CONTROL_FINISHED_OK
$STATE,6340,begin surface
$SM_CCo,6356,34.10,0.124,0,0,937,500.17
$SM_GC,0.30,5.55,0.40,34.10,0.032,0.045,0.124,131,1945,937,-5.92,0.42,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12103.41,200412,101034
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.65
$INTERNAL_PRESSURE,8.37302
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.6,0.594
$10V_AH,10.5,0.467
$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,16.175,75.450,559.500,34.100,0.000,27.433,17.754,146.998,0.000,0.000,35.793,2047.867,1370.413,594.137,2451.209,248.959,0.000,1478.137,0.000,2239.258,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,83.385,738.225,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.380,1706.804,1316.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,60461,813
$CAP_FILE_SIZE,106463,0
$CFSIZE,260165632,221437952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.265,194.6,1
$GPS,200412,140557,2200.482,12101.588,34,3.3,53,-2.7