version: 66.10
glider: 169
mission: 6
dive: 7
start: 4 20 112 17 35 34
data:
$ID,169
$MISSION,6
$DIVE,7
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,425
$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,-14334.077
$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,2100
$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,-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
$GPS1,200412,173022,2205.880,12105.026,12,2.4,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.4
$GPS2,200412,173510,2206.086,12105.201,13,3.4,32,-2.8
$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,36.4,112172,-16.8,-10.000
$D_GRID,1258
$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,-170.3,0.0,0.0,0,118,0.00,0.00,-98.82,0.000,2,0.000,0.000,133,2149,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.63,-170.3,4.0,-8.6,16,144,6.80,2.22,-10.05,0.000,4,0.239,0.037,1846,631,3676,0,0,0,0,0,0,25.98,26.45,26.74
$GC,358,-0.58,-170.3,70.1,-21.4,59,365,0.00,2.22,0.00,0.000,6,0.000,0.038,1835,2127,3676,0,0,0,0,0,0,28.83,26.48,28.83
$GC,555,-0.50,-170.3,122.6,-19.6,96,562,0.15,2.22,0.00,0.000,4,0.165,0.042,1871,3540,3676,0,0,0,0,0,0,26.37,26.52,28.83
$GC,692,-0.50,-170.3,142.8,-13.2,121,699,0.00,2.25,0.00,0.000,6,0.000,0.024,1871,2045,3676,0,0,0,0,0,0,28.83,26.62,28.83
$GC,887,-0.50,-170.3,169.2,-13.4,158,896,0.00,2.38,0.00,0.000,4,0.000,0.042,1858,3548,3676,0,0,0,0,0,0,28.83,26.57,28.83
$GC,983,-0.50,-170.3,182.0,-13.3,175,989,0.00,2.25,0.00,0.000,6,0.000,0.024,1859,2058,3676,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1178,-0.50,-170.3,206.1,-11.6,207,1187,0.00,2.30,0.00,0.000,4,0.000,0.043,1847,3533,3676,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1240,-0.50,-170.3,215.0,-13.9,213,1250,0.12,2.20,0.00,0.000,6,0.131,0.024,1887,2053,3675,0,0,0,0,0,0,26.50,26.67,28.83
$GC,1551,-0.55,-170.3,247.3,-8.2,244,1560,0.00,2.35,0.00,0.000,4,0.000,0.043,1875,3542,3673,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1667,-0.61,-170.3,255.2,-6.6,255,1676,0.00,2.22,0.00,0.000,6,0.000,0.025,1875,2055,3672,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1975,-0.64,-170.3,275.1,-6.9,286,1986,0.00,2.35,0.00,0.000,4,0.000,0.044,1865,3542,3669,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2146,-0.68,-170.3,286.5,-6.8,302,2154,0.10,2.25,0.00,0.000,6,0.088,0.025,1774,2047,3668,0,0,0,0,0,0,26.66,26.70,28.83
$GC,2454,-0.60,-170.3,338.8,-16.7,333,2463,0.22,1.98,0.00,0.000,4,0.136,0.030,1850,649,3665,0,0,0,0,0,0,26.44,26.67,28.83
$GC,2490,-0.57,-170.3,343.3,-14.9,336,2498,0.00,2.17,-0.10,0.000,6,0.000,0.037,1845,2124,3685,0,0,0,0,0,0,28.83,26.63,26.27
$GC,2798,-0.59,-170.3,373.2,-9.4,367,2809,0.00,2.22,0.00,0.000,4,0.000,0.047,1835,3540,3684,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2979,-0.62,-170.3,390.8,-9.4,384,2986,0.00,2.25,0.00,0.000,6,0.000,0.027,1835,2056,3681,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3287,-0.62,-170.3,423.0,-10.9,415,3298,0.00,2.38,0.00,0.000,4,0.000,0.047,1823,3545,3679,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3438,-0.63,-170.3,439.2,-10.5,429,3444,0.00,2.25,0.00,0.000,6,0.000,0.027,1823,2063,3677,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3745,-0.63,-170.3,472.9,-11.5,460,3754,0.00,2.38,0.00,0.000,4,0.000,0.049,1812,3541,3673,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3841,-0.63,-170.3,483.8,-11.0,469,3848,0.12,2.28,0.00,0.000,6,0.139,0.028,1849,2047,3673,0,0,0,0,0,0,26.46,26.67,28.83
$GC,4150,-0.66,-170.3,510.6,-7.8,500,4159,0.00,2.40,0.00,0.000,4,0.000,0.048,1837,3540,3670,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4326,-0.69,-170.3,523.8,-7.0,517,4335,0.00,2.25,0.00,0.000,6,0.000,0.028,1838,2059,3668,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4637,-0.72,-170.3,548.0,-8.1,548,4646,0.00,2.38,0.00,0.000,4,0.000,0.050,1826,3527,3666,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4806,-0.73,-170.3,561.5,-8.6,564,4813,0.00,2.25,0.00,0.000,6,0.000,0.029,1826,2061,3664,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5114,-0.74,-170.3,594.7,-9.6,595,5125,0.00,2.38,0.00,0.000,4,0.000,0.053,1816,3536,3662,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5262,-0.74,-170.3,609.0,-9.8,605,5267,0.00,2.25,0.00,0.000,6,0.000,0.029,1816,2063,3660,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5580,-0.74,-170.3,640.3,-9.3,621,5586,0.00,2.38,0.00,0.000,4,0.000,0.053,1806,3524,3658,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5731,-0.74,-170.3,655.4,-10.6,628,5740,0.00,2.25,0.00,0.000,6,0.000,0.030,1805,2067,3657,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,5759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5759,begin apogee
$GC,5765,-0.20,0.0,660.1,-11.3,630,5984,0.50,0.08,213.12,0.819,6,0.106,0.045,1980,2212,2977,0,0,0,0,0,0,26.34,25.02,24.41
$STATE,5985,end apogee,CONTROL_FINISHED_OK
$STATE,5985,begin climb
$GC,5988,0.63,170.3,671.4,0.0,641,6165,0.70,2.55,165.70,0.913,4,0.028,0.046,2290,3682,2272,0,0,0,0,0,0,25.27,25.01,24.27
$GC,6393,0.42,170.3,585.4,30.9,663,6403,0.43,2.30,0.00,0.000,6,0.203,0.031,2189,2218,2246,0,0,0,0,0,0,25.72,25.99,28.83
$GC,6701,0.35,170.3,529.3,16.5,694,6710,0.00,2.35,0.00,0.000,4,0.000,0.048,2190,3688,2242,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6942,0.25,170.3,481.2,21.1,717,6950,0.25,2.25,0.00,0.000,6,0.165,0.031,2130,2217,2240,0,0,0,0,0,0,26.08,26.34,28.83
$GC,7251,0.25,170.3,440.5,11.8,748,7259,0.00,2.12,0.00,0.000,4,0.000,0.039,2142,801,2238,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7369,0.33,196.8,429.0,9.0,759,7404,0.00,2.25,23.95,0.732,6,0.000,0.038,2141,2281,2174,0,0,0,0,1,0,28.83,26.41,25.21
$GC,7704,0.33,196.8,394.2,10.1,793,7713,0.00,2.25,0.00,0.000,4,0.000,0.050,2141,3691,2171,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7944,0.33,196.8,365.8,11.6,816,7951,0.00,2.28,0.00,0.000,6,0.000,0.031,2153,2214,2169,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8252,0.34,206.4,334.9,9.6,847,8282,0.00,2.38,17.50,0.645,4,0.000,0.048,2153,3682,2132,0,0,0,0,1,0,28.83,26.20,25.60
$GC,8512,0.32,206.4,304.1,12.5,872,8519,0.00,2.28,0.00,0.000,6,0.000,0.031,2165,2211,2131,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8821,0.31,206.4,266.5,13.2,903,8832,0.00,2.35,0.00,0.000,4,0.000,0.050,2165,3695,2130,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8908,0.27,206.4,255.0,13.3,911,8918,0.12,2.25,0.00,0.000,6,0.167,0.029,2143,2215,2129,0,0,0,0,0,0,26.27,26.46,28.83
$GC,9218,0.37,263.1,225.9,7.8,942,9278,0.00,2.47,47.28,0.777,4,0.000,0.047,2143,3683,1915,0,0,0,0,1,0,28.83,25.75,24.92
$GC,9427,0.41,263.1,204.9,11.2,962,9435,0.00,2.28,3.00,0.451,6,0.000,0.030,2155,2218,1904,0,0,0,0,0,0,28.83,26.10,25.21
$GC,9744,0.55,344.0,174.4,6.8,1019,9827,0.17,2.47,70.05,0.805,4,0.060,0.047,2261,3691,1579,0,0,0,0,1,0,26.37,25.32,24.54
$GC,10028,0.48,344.0,116.5,20.4,1070,10037,0.22,2.30,1.77,0.173,6,0.153,0.031,2208,2221,1573,0,0,0,0,0,0,25.83,25.98,25.81
$GC,10229,0.57,376.6,92.7,8.7,1107,10275,0.00,2.38,38.53,0.314,4,0.000,0.045,2209,3691,1453,0,0,0,0,0,0,28.83,25.92,25.53
$GC,10324,0.65,376.6,83.7,10.5,1123,10333,0.12,2.30,3.05,0.162,6,0.074,0.029,2317,2213,1443,0,0,0,0,0,0,26.07,26.06,25.79
$GC,10520,0.59,376.6,48.5,19.6,1160,10528,0.22,2.45,2.72,0.147,4,0.164,0.044,2246,3692,1445,0,0,0,0,0,0,26.01,26.17,25.98
$GC,10654,0.63,376.6,31.0,11.0,1185,10664,0.00,2.28,2.33,0.164,6,0.000,0.030,2257,2219,1445,0,0,0,0,0,0,28.83,26.27,26.05
$GC,10855,0.78,450.9,11.9,7.1,1222,10907,0.12,0.00,45.03,0.144,6,0.078,0.000,2359,2218,1142,0,0,0,0,0,0,26.43,28.83,26.03
$STATE,10917,end climb,SURFACE_DEPTH_REACHED
$STATE,10917,begin surface coast
$FINISH,-0.1,1.021783
$STATE,10933,end surface coast,CONTROL_FINISHED_OK
$STATE,10934,begin surface
$SM_CCo,11010,0.00,0.000,0,0,1150,448.65
$SM_GC,0.61,5.53,0.22,0.00,0.021,0.057,0.000,106,2048,1150,-5.92,0.31,448.65,0,0,0,0,0,0
$IRIDIUM_FIX,2155.06,12104.61,200412,171756
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.67
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.3,1.019
$10V_AH,10.4,0.721
$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,15.925,110.825,634.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,33.754,3205.463,4430.958,749.691,2459.068,247.176,0.000,2019.413,0.000,2296.703,0.000,0.547,0.000
$DEVICE_MAMPS,238.680,56.610,912.645,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.652,1521.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,76725,1235
$CAP_FILE_SIZE,184873,0
$CFSIZE,260165632,221224960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.057,163.5,1
$GPS,200412,204027,2207.025,12106.126,36,2.2,56,-2.8