version: 66.10
glider: 169
mission: 6
dive: 6
start: 4 20 112 14 18 34
data:
$ID,169
$MISSION,6
$DIVE,6
$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,624.04321
$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,-14132.787
$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
$GPS1,200412,140557,2200.482,12101.588,34,3.3,53,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-72.4
$GPS2,200412,141810,2201.012,12101.837,13,2.9,32,-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,17.6,122918,-16.8,-10.000
$D_GRID,1250
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.63,-170.3,0.0,0.0,0,101,0.00,0.00,-80.62,0.000,2,0.000,0.000,129,1943,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-170.3,3.2,-6.6,11,130,6.78,2.03,-8.57,0.000,4,0.237,0.047,1846,528,3675,0,0,0,0,0,0,25.91,26.36,26.65
$GC,372,-0.58,-170.3,86.6,-21.4,55,378,0.00,2.20,0.00,0.000,6,0.000,0.041,1836,2028,3676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,592,-0.53,-170.3,125.1,-20.0,92,602,0.12,2.30,0.00,0.000,4,0.161,0.048,1866,3426,3677,0,0,0,0,0,0,26.37,26.44,28.83
$GC,691,-0.53,-170.3,140.1,-12.9,108,700,0.00,2.30,0.00,0.000,6,0.000,0.027,1868,1955,3677,0,0,0,0,0,0,28.83,26.54,28.83
$GC,915,-0.53,-170.3,165.6,-10.9,145,924,0.00,2.40,0.00,0.000,4,0.000,0.044,1854,3437,3677,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1092,-0.53,-170.3,188.3,-12.4,174,1101,0.00,2.30,0.00,0.000,6,0.000,0.028,1854,1958,3677,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1303,-0.53,-170.3,214.2,-12.0,201,1314,0.00,2.38,0.00,0.000,4,0.000,0.046,1843,3432,3677,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1364,-0.53,-170.3,222.6,-14.3,206,1375,0.08,2.30,0.00,0.000,6,0.115,0.029,1873,1955,3677,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1675,-0.56,-170.3,257.5,-11.0,237,1686,0.00,2.38,0.00,0.000,4,0.000,0.044,1861,3439,3677,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1892,-0.58,-170.3,284.2,-12.6,256,1903,0.00,2.25,0.00,0.000,6,0.000,0.027,1861,1954,3675,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2203,-0.62,-170.3,314.8,-8.5,287,2211,0.00,2.40,0.00,0.000,4,0.000,0.045,1852,3438,3674,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2348,-0.65,-170.3,329.3,-9.8,301,2359,0.00,2.25,0.00,0.000,6,0.000,0.028,1850,1952,3673,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2658,-0.67,-170.3,358.1,-9.6,332,2666,0.00,2.40,0.00,0.000,4,0.000,0.045,1842,3430,3671,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,2678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2678,begin apogee
$GC,2686,-0.20,0.0,360.2,-9.6,334,2872,0.40,0.12,177.15,0.680,6,0.104,0.085,1984,2302,2972,0,0,0,0,0,0,26.45,25.20,24.58
$STATE,2873,end apogee,CONTROL_FINISHED_OK
$STATE,2873,begin climb
$GC,2875,0.63,170.3,370.7,0.0,353,3032,0.70,0.00,150.48,0.717,6,0.037,0.000,2275,2302,2282,0,0,0,0,0,0,25.42,28.83,24.55
$GC,3336,0.49,170.3,295.6,19.6,399,3346,0.22,2.20,0.00,0.000,4,0.186,0.041,2210,3688,2249,0,0,0,0,0,0,25.90,26.13,28.83
$GC,3601,0.38,170.3,251.5,16.0,422,3614,0.15,2.28,0.00,0.000,6,0.167,0.029,2174,2222,2246,0,0,0,0,0,0,26.07,26.32,28.83
$GC,3915,0.35,170.3,213.7,12.1,453,3924,0.00,2.33,0.00,0.000,4,0.000,0.042,2174,3687,2241,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4203,0.30,170.3,175.8,12.8,491,4210,0.12,2.25,0.00,0.000,6,0.171,0.029,2153,2214,2242,0,0,0,0,0,0,26.28,26.49,28.83
$GC,4442,0.39,230.6,154.7,7.6,528,4498,0.00,2.45,43.95,0.653,4,0.000,0.044,2153,3685,2041,0,0,0,0,1,0,28.83,25.95,25.23
$GC,4657,0.39,230.6,134.7,10.3,560,4667,0.00,2.28,2.45,0.309,6,0.000,0.029,2164,2222,2036,0,0,0,0,0,0,28.83,26.25,25.39
$GC,4897,0.52,304.4,115.1,7.1,597,4977,0.12,2.42,64.93,0.718,4,0.076,0.042,2247,3696,1748,0,0,0,0,1,0,26.46,25.54,24.79
$GC,5056,0.47,304.4,96.5,12.8,619,5064,0.20,2.30,2.60,0.154,6,0.151,0.029,2201,2217,1737,0,0,0,0,0,0,25.78,25.93,25.75
$GC,5288,0.65,413.6,79.5,5.7,656,5409,0.12,0.00,115.70,0.276,6,0.076,0.000,2285,2216,1297,0,0,0,0,0,0,26.31,28.83,25.45
$GC,5624,0.65,413.6,33.3,13.2,708,5634,0.00,2.38,2.95,0.151,4,0.000,0.041,2286,3697,1292,0,0,0,0,0,0,28.83,26.15,25.97
$GC,5673,0.65,413.6,26.4,15.3,715,5682,0.12,2.28,0.00,0.000,6,0.155,0.030,2262,2219,1301,0,0,0,0,0,0,26.07,26.22,28.83
$GC,5895,0.77,465.4,4.3,8.0,752,5912,0.10,0.00,13.38,0.130,2,0.093,0.000,2331,2218,1218,0,0,0,0,0,0,26.45,28.83,28.83
$STATE,5913,end climb,SURFACE_DEPTH_REACHED
$STATE,5913,begin surface coast
$FINISH,-0.4,1.012268
$STATE,5956,end surface coast,CONTROL_FINISHED_OK
$STATE,5956,begin surface
$SM_CCo,5972,109.32,0.119,0,0,434,624.04
$SM_GC,0.46,5.53,0.40,109.32,0.031,0.037,0.119,125,1918,434,-5.93,0.23,624.04,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12103.41,200412,141436
$TT8_MAMPS,0.029211,0.029211
$HUMID,52.75
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,0.706
$10V_AH,10.4,0.581
$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,14.775,55.450,573.575,109.325,0.000,142.278,208.268,0.000,0.000,0.000,34.382,1880.899,1580.311,663.998,2460.100,219.963,0.000,1481.629,0.000,2069.089,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,84.915,718.335,119.340,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.381,1575.427,1199.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,56844,761
$CAP_FILE_SIZE,93368,0
$CFSIZE,260165632,221372416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,273.8,1
$GPS,200412,160106,2201.808,12101.923,36,0.9,40,-2.7