version: 66.10
glider: 169
mission: 6
dive: 17
start: 4 22 112 5 57 28
data:
$ID,169
$MISSION,6
$DIVE,17
$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,-14346.746
$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
$GPS1,220412,054936,2224.103,12114.171,9,1.3,26,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.1
$GPS2,220412,055704,2224.271,12114.186,13,3.1,32,-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,63.1,75497,-15.6,-9.167
$D_GRID,504
$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,-68.60,0.000,2,0.000,0.000,111,2179,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-170.3,3.3,-8.3,11,119,6.72,2.10,-12.93,0.000,4,0.226,0.047,1858,796,3678,0,0,0,0,0,0,25.78,26.13,26.42
$GC,218,-0.53,-170.3,52.9,-19.6,33,228,0.12,2.28,0.00,0.000,6,0.157,0.039,1882,2278,3679,0,0,0,0,0,0,26.06,26.18,28.83
$GC,419,-0.44,-170.3,102.7,-21.0,70,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2278,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,614,-0.40,-170.3,132.8,-11.7,107,622,0.12,2.22,0.00,0.000,4,0.158,0.044,1912,3699,3681,0,0,0,0,0,0,26.27,26.36,28.83
$GC,711,-0.47,-170.3,141.6,-7.6,125,719,0.00,2.28,0.00,0.000,6,0.000,0.024,1912,2201,3682,0,0,0,0,0,0,28.83,26.44,28.83
$GC,905,-0.49,-170.3,155.7,-6.8,162,911,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2200,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1096,-0.53,-170.3,169.6,-7.1,199,1103,0.10,2.38,0.00,0.000,4,0.091,0.041,1810,3687,3682,0,0,0,0,0,0,26.58,26.46,28.83
$GC,1252,-0.42,-170.3,200.5,-20.4,228,1260,0.32,2.25,0.00,0.000,6,0.132,0.024,1913,2202,3682,0,0,0,0,0,0,26.34,26.53,28.83
$GC,1560,-0.47,-170.3,225.6,-6.8,259,1569,0.00,2.35,0.00,0.000,4,0.000,0.044,1902,3686,3682,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1646,-0.54,-170.3,231.5,-6.7,267,1653,0.00,2.22,0.00,0.000,6,0.000,0.024,1902,2202,3681,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1954,-0.59,-170.3,252.4,-6.7,298,1966,0.12,2.35,0.00,0.000,4,0.076,0.043,1790,3674,3681,0,0,0,0,0,0,26.67,26.56,28.83
$GC,2042,-0.49,-170.3,266.8,-19.6,306,2052,0.30,2.22,0.00,0.000,6,0.135,0.025,1889,2205,3681,0,0,0,0,0,0,26.41,26.60,28.83
$GC,2350,-0.53,-170.3,295.1,-7.5,337,2359,0.00,2.33,0.00,0.000,4,0.000,0.044,1877,3683,3681,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2469,-0.57,-170.3,303.8,-7.3,348,2480,0.00,2.22,0.00,0.000,6,0.000,0.024,1877,2199,3681,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2778,-0.60,-170.3,328.9,-8.4,379,2787,0.00,2.40,0.00,0.000,4,0.000,0.044,1865,3693,3679,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2875,-0.63,-170.3,336.5,-7.9,388,2884,0.00,2.25,0.00,0.000,6,0.000,0.024,1865,2198,3678,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3183,-0.65,-170.3,364.7,-9.4,419,3192,0.00,2.38,0.00,0.000,4,0.000,0.045,1854,3684,3676,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3281,-0.68,-170.3,373.1,-8.6,428,3290,0.00,2.22,0.00,0.000,6,0.000,0.025,1854,2202,3675,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3589,-0.68,-170.3,400.1,-8.8,459,3598,0.00,2.38,0.00,0.000,4,0.000,0.047,1844,3692,3673,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3696,-0.69,-170.3,409.8,-9.4,469,3705,0.00,2.25,0.00,0.000,6,0.000,0.026,1844,2201,3672,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4002,-0.69,-170.3,440.4,-9.7,500,4012,0.00,2.40,0.00,0.000,4,0.000,0.047,1832,3689,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4079,-0.69,-170.3,447.6,-10.2,507,4086,0.00,2.25,0.00,0.000,6,0.000,0.025,1832,2199,3669,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4388,-0.67,-170.3,484.2,-13.2,538,4397,0.00,2.38,0.00,0.000,4,0.000,0.047,1821,3685,3667,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4482,-0.65,-170.3,498.0,-14.7,547,4491,0.00,2.22,0.00,0.000,6,0.000,0.026,1821,2202,3666,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4525,-0.20,0.0,504.3,-15.5,551,4674,0.45,0.10,140.82,0.856,6,0.103,0.078,1979,2454,2973,0,0,0,0,0,0,26.51,25.05,24.41
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4678,0.60,170.3,508.2,0.0,566,4843,0.68,2.28,150.73,0.835,4,0.037,0.042,2258,3820,2268,0,0,0,0,0,0,25.25,24.94,24.30
$GC,4922,0.42,170.3,471.1,24.5,590,4930,0.30,2.10,0.00,0.000,6,0.187,0.024,2190,2460,2254,0,0,0,0,0,0,25.41,25.60,28.83
$GC,5229,0.34,170.3,415.4,16.5,621,5231,0.12,0.00,0.00,0.000,6,0.183,0.000,2160,2458,2249,0,0,0,0,0,0,25.93,28.83,28.83
$GC,5529,0.30,170.3,377.9,12.3,651,5533,0.00,2.15,0.00,0.000,4,0.000,0.044,2159,3816,2247,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5695,0.24,170.3,354.7,14.2,667,5706,0.15,2.05,0.00,0.000,6,0.161,0.025,2129,2458,2245,0,0,0,0,0,0,26.16,26.34,28.83
$GC,6004,0.24,170.3,323.8,10.0,698,6013,0.00,2.12,0.00,0.000,4,0.000,0.045,2129,3818,2243,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6089,0.24,170.3,314.5,11.4,706,6097,0.00,1.98,0.00,0.000,6,0.000,0.025,2140,2463,2242,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6397,0.24,174.8,285.1,9.0,737,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2462,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6699,0.24,174.8,258.4,9.9,767,6703,0.00,2.12,0.00,0.000,4,0.000,0.046,2140,3814,2240,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6724,0.24,174.8,256.0,10.0,769,6731,0.00,2.03,0.00,0.000,6,0.000,0.026,2150,2456,2240,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7033,0.26,188.3,227.5,8.7,800,7052,0.00,2.22,13.77,0.652,4,0.000,0.047,2150,3824,2206,0,0,0,0,0,0,28.83,26.32,25.71
$GC,7105,0.25,188.3,220.7,9.7,807,7116,0.00,2.05,0.00,0.000,6,0.000,0.027,2161,2458,2192,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7420,0.25,188.3,193.4,9.5,844,7427,0.00,2.15,0.00,0.000,4,0.000,0.046,2161,3824,2190,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7476,0.23,188.3,187.2,11.1,854,7483,0.17,2.03,0.00,0.000,6,0.148,0.026,2122,2462,2190,0,0,0,0,0,0,26.32,26.49,28.83
$GC,7671,0.45,330.7,176.4,4.0,891,7818,0.17,2.28,137.32,0.613,4,0.058,0.034,2252,1057,1615,0,0,0,0,0,0,26.59,25.31,24.75
$GC,7870,0.45,330.7,143.3,13.7,923,7877,0.20,2.35,0.00,0.000,6,0.132,0.035,2192,2525,1598,0,0,0,0,0,0,25.52,25.63,28.83
$GC,8069,0.48,344.2,122.5,8.7,960,8084,0.00,2.10,9.95,0.568,4,0.000,0.043,2193,3817,1568,0,0,0,0,0,0,28.83,25.89,25.34
$GC,8129,0.62,390.2,118.0,7.5,970,8183,0.12,2.05,43.65,0.578,6,0.072,0.025,2309,2460,1373,0,0,0,0,0,0,26.01,26.01,25.01
$GC,8373,0.54,390.2,63.4,23.1,1014,8380,0.25,2.20,0.00,0.000,4,0.159,0.031,2243,1043,1360,0,0,0,0,0,0,25.84,26.00,28.83
$GC,8449,0.64,394.8,53.5,9.0,1028,8455,0.00,2.33,0.00,0.000,6,0.000,0.034,2242,2529,1357,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8641,0.86,510.4,40.3,5.0,1065,8727,0.20,2.08,78.18,0.190,4,0.053,0.041,2381,3826,899,0,0,0,0,0,0,26.31,25.97,25.75
$GC,8777,0.81,510.4,9.3,22.9,1087,8785,0.28,2.08,1.80,0.181,6,0.156,0.026,2314,2461,895,0,0,0,0,0,0,25.89,26.08,25.89
$STATE,8811,end climb,SURFACE_DEPTH_REACHED
$STATE,8811,begin surface coast
$FINISH,-0.0,1.021309
$STATE,8828,end surface coast,CONTROL_FINISHED_OK
$STATE,8828,begin surface
$SM_CCo,8904,0.00,0.000,0,0,908,508.02
$SM_GC,0.50,5.55,0.38,0.00,0.034,0.036,0.000,134,2176,908,-5.91,0.37,508.02,0,0,0,0,0,0
$IRIDIUM_FIX,2213.68,12113.41,220412,020235
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.78
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.3,2.686
$10V_AH,10.4,1.740
$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,16.475,94.075,576.225,0.000,0.000,24.452,41.868,227.640,0.750,0.000,34.392,2761.284,3417.145,674.612,2204.545,271.365,0.000,1697.137,0.000,1793.547,0.000,7.130,0.000
$DEVICE_MAMPS,225.675,78.030,856.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.175,1294.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,66907,1096
$CAP_FILE_SIZE,120963,0
$CFSIZE,260165632,220393472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,343.5,1
$GPS,220412,082701,2226.145,12115.712,40,0.9,41,-2.9