version: 66.10
glider: 169
mission: 6
dive: 16
start: 4 22 112 2 47 7
data:
$ID,169
$MISSION,6
$DIVE,16
$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,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,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,-14345.487
$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,2250
$C_ROLL_CLIMB,2500
$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,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,40
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,220412,023936,2222.598,12113.034,64,1.5,65,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.8
$GPS2,220412,024643,2222.790,12113.054,16,2.0,16,-2.8
$SPEED_LIMITS,0.159,0.271
$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,63.9,78659,-15.6,-9.167
$D_GRID,628
$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,-0.60,-170.3,0.0,0.0,0,88,0.00,0.00,-68.47,0.000,2,0.000,0.000,123,2196,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-170.3,3.5,-9.2,11,119,6.68,2.12,-12.32,0.000,4,0.226,0.042,1853,792,3677,0,0,0,0,0,0,25.72,26.07,26.34
$GC,243,-0.53,-170.3,61.6,-23.5,38,251,0.12,2.30,0.00,0.000,6,0.149,0.041,1877,2277,3678,0,0,0,0,0,0,26.04,26.14,28.83
$GC,440,-0.43,-170.3,112.1,-17.6,75,447,0.12,2.22,0.00,0.000,4,0.183,0.041,1904,3687,3679,0,0,0,0,0,0,26.12,26.25,28.83
$GC,528,-0.43,-170.3,121.9,-8.9,91,534,0.00,2.25,0.00,0.000,6,0.000,0.024,1904,2206,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,722,-0.43,-170.3,142.5,-11.7,128,728,0.00,2.38,0.00,0.000,4,0.000,0.044,1892,3687,3680,0,0,0,0,0,0,28.83,26.35,28.83
$GC,762,-0.45,-170.3,147.2,-11.2,135,769,0.00,2.25,0.00,0.000,6,0.000,0.024,1892,2202,3681,0,0,0,0,0,0,28.83,26.41,28.83
$GC,957,-0.45,-170.3,168.0,-11.3,172,963,0.00,2.38,0.00,0.000,4,0.000,0.043,1879,3693,3682,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1027,-0.48,-170.3,174.9,-8.8,185,1036,0.00,2.25,0.00,0.000,6,0.000,0.022,1879,2194,3682,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1226,-0.48,-170.3,195.7,-11.4,222,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2193,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.48,-170.3,215.3,-10.4,245,1431,0.00,2.42,0.00,0.000,4,0.000,0.046,1869,3682,3682,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1537,-0.50,-170.3,226.2,-9.4,256,1546,0.00,2.22,0.00,0.000,6,0.000,0.024,1869,2201,3682,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1847,-0.50,-170.3,257.2,-9.0,287,1858,0.00,2.38,0.00,0.000,4,0.000,0.046,1858,3694,3681,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1974,-0.50,-170.3,269.5,-9.6,299,1985,0.08,2.28,0.00,0.000,6,0.108,0.024,1889,2194,3681,0,0,0,0,0,0,26.46,26.60,28.83
$GC,2283,-0.54,-170.3,296.7,-9.2,330,2292,0.00,2.40,0.00,0.000,4,0.000,0.044,1877,3685,3680,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2357,-0.59,-170.3,303.5,-9.1,337,2365,0.00,2.22,0.00,0.000,6,0.000,0.024,1878,2197,3680,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2667,-0.62,-170.3,328.3,-7.5,368,2675,0.00,2.38,0.00,0.000,4,0.000,0.046,1867,3683,3678,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2741,-0.66,-170.3,334.2,-7.8,375,2750,0.00,2.20,0.00,0.000,6,0.000,0.024,1867,2203,3678,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3052,-0.68,-170.3,358.6,-7.1,406,3062,0.12,2.33,0.00,0.000,4,0.079,0.043,1770,3684,3676,0,0,0,0,0,0,26.69,26.59,28.83
$GC,3182,-0.60,-170.3,377.4,-16.1,418,3189,0.28,2.22,0.00,0.000,6,0.133,0.025,1855,2200,3675,0,0,0,0,0,0,26.45,26.64,28.83
$GC,3487,-0.60,-170.3,409.5,-9.2,449,3498,0.00,2.38,0.00,0.000,4,0.000,0.046,1843,3688,3673,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3556,-0.61,-170.3,415.4,-8.7,455,3563,0.00,2.25,0.00,0.000,6,0.000,0.025,1843,2193,3672,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3864,-0.61,-170.3,445.4,-9.1,486,3873,0.00,2.38,0.00,0.000,4,0.000,0.046,1832,3696,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3991,-0.61,-170.3,457.6,-10.1,498,3999,0.00,2.25,0.00,0.000,6,0.000,0.026,1832,2200,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4298,-0.60,-170.3,489.7,-10.7,529,4309,0.00,2.38,0.00,0.000,4,0.000,0.046,1821,3678,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4405,-0.60,-170.3,502.0,-11.2,539,4415,0.08,2.22,0.00,0.000,6,0.117,0.028,1852,2203,3666,0,0,0,0,0,0,26.51,26.65,28.83
$GC,4717,-0.61,-170.3,531.7,-9.8,570,4726,0.00,2.38,0.00,0.000,4,0.000,0.048,1840,3684,3664,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4801,-0.63,-170.3,540.5,-10.6,578,4810,0.00,2.22,0.00,0.000,6,0.000,0.026,1841,2201,3664,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5110,-0.63,-170.3,574.3,-9.7,609,5121,0.00,2.33,0.00,0.000,4,0.000,0.048,1829,3679,3661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5225,-0.63,-170.3,585.7,-9.4,620,5234,0.00,2.25,0.00,0.000,6,0.000,0.028,1829,2195,3661,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5538,-0.62,-170.3,617.0,-9.7,643,5544,0.00,2.38,0.00,0.000,4,0.000,0.052,1819,3676,3659,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5637,-0.61,-170.3,627.1,-9.9,648,5644,0.12,2.25,0.00,0.000,6,0.133,0.029,1857,2200,3658,0,0,0,0,0,0,26.51,26.65,28.83
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5662,-0.20,0.0,629.0,-9.6,649,5880,0.35,0.10,211.25,0.807,6,0.099,0.078,1983,2456,2975,0,0,0,0,0,0,26.53,24.91,24.32
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5884,0.60,170.3,636.3,0.0,660,6060,0.68,2.35,161.52,0.907,4,0.033,0.032,2284,1052,2267,0,0,0,0,0,0,25.12,24.85,24.15
$GC,6208,0.46,170.3,584.0,22.1,679,6217,0.25,2.35,0.00,0.000,6,0.169,0.039,2209,2521,2249,0,0,0,0,0,0,25.52,25.69,28.83
$GC,6516,0.35,170.3,527.4,18.0,710,6528,0.12,2.00,0.00,0.000,4,0.200,0.045,2166,3813,2245,0,0,0,0,0,0,25.90,26.06,28.83
$GC,6729,0.28,170.3,487.9,19.1,730,6739,0.12,2.05,0.00,0.000,6,0.176,0.027,2144,2460,2242,0,0,0,0,0,0,26.03,26.21,28.83
$GC,7037,0.25,170.3,445.8,12.5,761,7041,0.00,2.15,0.00,0.000,4,0.000,0.047,2145,3818,2241,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7070,0.22,170.3,441.2,13.7,764,7074,0.12,2.05,0.00,0.000,6,0.167,0.027,2122,2454,2240,0,0,0,0,0,0,26.15,26.33,28.83
$GC,7384,0.23,177.6,410.0,8.9,795,7392,0.00,2.15,0.00,0.000,4,0.000,0.048,2123,3813,2239,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7446,0.23,177.6,402.9,11.6,801,7455,0.00,2.05,0.00,0.000,6,0.000,0.027,2133,2459,2238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7757,0.23,177.6,365.8,13.1,832,7766,0.00,2.15,0.00,0.000,4,0.000,0.050,2133,3822,2238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7810,0.21,177.6,358.1,14.7,837,7814,0.00,2.03,0.00,0.000,6,0.000,0.028,2143,2464,2238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8122,0.19,177.6,321.3,10.0,868,8131,0.00,2.15,0.00,0.000,4,0.000,0.047,2144,3824,2237,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8198,0.16,177.6,312.3,12.7,875,8206,0.17,2.05,0.00,0.000,6,0.151,0.027,2104,2454,2236,0,0,0,0,0,0,26.31,26.50,28.83
$GC,8506,0.34,289.8,293.7,5.1,906,8616,0.12,2.30,97.38,0.886,4,0.075,0.047,2194,3820,1802,0,0,0,0,1,0,26.60,25.11,24.32
$GC,8716,0.30,289.8,262.1,16.5,926,8726,0.20,2.10,1.92,0.191,6,0.144,0.028,2147,2470,1795,0,0,0,0,0,0,25.56,25.69,25.51
$GC,9025,0.36,307.9,233.7,8.5,957,9056,0.00,0.00,29.15,0.660,6,0.000,0.000,2147,2468,1722,0,0,0,0,0,0,28.83,28.83,25.10
$GC,9355,0.50,381.1,208.7,6.5,990,9434,0.15,2.33,67.15,0.649,4,0.065,0.046,2248,3818,1408,0,0,0,0,0,0,26.17,25.37,24.79
$GC,9504,0.45,381.1,181.2,19.2,1012,9512,0.22,2.10,0.00,0.000,6,0.145,0.028,2194,2472,1398,0,0,0,0,0,0,25.56,25.70,28.83
$GC,9702,0.45,381.1,150.1,15.7,1049,9709,0.00,2.22,0.00,0.000,4,0.000,0.037,2205,1048,1396,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9748,0.51,381.1,144.4,10.5,1057,9754,0.00,2.35,0.00,0.000,6,0.000,0.037,2205,2525,1394,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9945,0.52,381.1,123.2,10.4,1094,9954,0.00,2.03,0.00,0.000,4,0.000,0.045,2205,3815,1394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10011,0.59,381.1,116.0,10.2,1105,10018,0.00,2.05,0.00,0.000,6,0.000,0.026,2215,2464,1394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10208,0.61,381.1,93.3,12.9,1142,10217,0.00,2.17,0.00,0.000,4,0.000,0.034,2227,1048,1393,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10255,0.71,400.1,88.5,8.5,1150,10277,0.15,2.30,13.65,0.210,6,0.065,0.035,2329,2524,1356,0,0,0,0,0,0,26.34,26.29,25.82
$GC,10469,0.62,400.1,39.8,22.2,1189,10476,0.22,0.00,3.17,0.158,6,0.162,0.000,2258,2525,1349,0,0,0,0,0,0,26.15,28.83,26.03
$GC,10667,0.76,467.7,19.2,6.7,1226,10719,0.10,2.05,42.12,0.162,4,0.092,0.042,2332,3822,1078,0,0,0,0,0,0,26.46,26.23,26.03
$GC,10742,0.72,467.7,8.8,17.7,1238,10753,0.20,2.05,1.77,0.184,6,0.140,0.027,2281,2467,1070,0,0,0,0,0,0,26.13,26.28,26.08
$STATE,10788,end climb,SURFACE_DEPTH_REACHED
$STATE,10788,begin surface coast
$FINISH,0.5,1.021174
$STATE,10821,end surface coast,CONTROL_FINISHED_OK
$STATE,10821,begin surface
$SM_CCo,10896,0.00,0.000,0,0,1080,466.07
$SM_GC,0.56,5.38,0.38,0.00,0.026,0.034,0.000,114,2184,1080,-5.92,0.45,466.07,0,0,0,0,0,0
$IRIDIUM_FIX,2213.68,12108.21,210412,232328
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.02
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.2,2.560
$10V_AH,10.5,1.659
$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,16.175,121.450,629.100,0.000,0.000,28.002,16.043,244.457,1.250,0.000,16.874,3262.556,4365.358,753.446,2596.855,320.869,0.000,1998.700,0.000,2182.208,0.000,12.761,0.000
$DEVICE_MAMPS,226.440,78.030,906.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.568,1537.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,77067,1251
$CAP_FILE_SIZE,146163,0
$CFSIZE,260165632,220438528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.217,299.0,1
$GPS,220412,054936,2224.103,12114.171,9,1.3,26,-2.8