version: 66.10
glider: 169
mission: 6
dive: 23
start: 4 23 112 8 57 16
data:
$ID,169
$MISSION,6
$DIVE,23
$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,-14354.294
$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,2035
$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,2450
$C_ROLL_CLIMB,2550
$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
$GPS1,230412,084807,2238.227,12125.707,33,1.2,33,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.9
$GPS2,230412,085650,2238.385,12125.707,13,1.4,13,-2.9
$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,15.7,46699,-15.6,-9.167
$D_GRID,386
$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,-0.60,-170.3,0.0,0.0,0,103,0.00,0.00,-81.97,0.000,2,0.000,0.000,119,2384,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.60,-170.3,3.1,-7.2,14,133,6.75,0.00,-12.60,0.000,6,0.230,0.000,1831,2384,3676,0,0,0,0,0,0,25.65,28.83,26.30
$GC,325,-0.40,-170.3,92.5,-29.9,54,333,0.22,2.12,0.00,0.000,4,0.190,0.028,1906,987,3678,0,0,0,0,0,0,25.92,26.17,28.83
$GC,428,-0.44,-170.3,111.3,-10.1,73,437,0.00,2.35,0.00,0.000,6,0.000,0.037,1896,2470,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,625,-0.40,-170.3,141.7,-13.4,110,632,0.00,2.10,0.00,0.000,4,0.000,0.045,1885,3828,3680,0,0,0,0,0,0,28.83,26.28,28.83
$GC,664,-0.36,-170.3,147.2,-13.4,117,674,0.12,2.08,0.00,0.000,6,0.135,0.023,1922,2405,3680,0,0,0,0,0,0,26.20,26.36,28.83
$GC,862,-0.36,-170.3,163.6,-9.1,154,870,0.00,2.15,0.00,0.000,4,0.000,0.028,1922,984,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,910,-0.41,-170.3,167.9,-8.4,162,917,0.00,2.33,0.00,0.000,6,0.000,0.036,1921,2473,3680,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1104,-0.45,-170.3,182.0,-7.0,199,1110,0.00,2.05,0.00,0.000,4,0.000,0.045,1912,3818,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1149,-0.51,-170.3,185.5,-7.6,207,1157,0.12,2.08,0.00,0.000,6,0.076,0.024,1798,2398,3680,0,0,0,0,0,0,26.46,26.48,28.83
$GC,1344,-0.38,-170.3,222.6,-21.7,234,1353,0.32,2.20,0.00,0.000,4,0.142,0.043,1892,3813,3680,0,0,0,0,0,0,26.27,26.45,28.83
$GC,1397,-0.36,-170.3,230.6,-13.1,239,1406,0.00,2.05,0.00,0.000,6,0.000,0.023,1892,2402,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1708,-0.39,-170.3,256.6,-10.4,270,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2401,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.42,-170.3,280.3,-7.1,301,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2401,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2331,-0.45,-170.3,301.1,-6.9,332,2339,0.00,2.22,0.00,0.000,4,0.000,0.046,1882,3811,3677,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2384,-0.49,-170.3,304.8,-7.0,337,2394,0.00,2.05,0.00,0.000,6,0.000,0.023,1882,2386,3677,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2694,-0.52,-170.3,331.3,-8.8,368,2702,0.00,2.28,0.00,0.000,4,0.000,0.045,1872,3825,3675,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2739,-0.55,-170.3,334.9,-8.5,372,2746,0.00,2.08,0.00,0.000,6,0.000,0.024,1872,2404,3675,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3047,-0.55,-170.3,363.3,-8.9,403,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2403,3673,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3306,begin apogee
$GC,3312,-0.20,0.0,386.6,-9.1,429,3458,0.28,0.10,135.75,0.778,6,0.099,0.075,1972,2502,2969,0,0,0,0,0,0,26.53,25.13,24.54
$STATE,3459,end apogee,CONTROL_FINISHED_OK
$STATE,3460,begin climb
$GC,3462,0.60,170.3,392.2,0.0,444,3621,0.70,2.25,146.68,0.760,4,0.066,0.041,2230,3826,2270,0,0,0,0,0,0,25.26,24.98,24.37
$GC,3686,0.46,170.3,362.1,22.6,466,3696,0.20,2.00,0.00,0.000,6,0.179,0.024,2189,2521,2256,0,0,0,0,0,0,25.37,25.55,28.83
$GC,3996,0.39,170.3,309.6,15.0,497,4005,0.00,2.05,0.00,0.000,4,0.000,0.041,2189,3824,2252,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4131,0.30,170.3,287.0,17.5,510,4141,0.17,1.92,0.00,0.000,6,0.142,0.023,2141,2522,2250,0,0,0,0,0,0,26.01,26.20,28.83
$GC,4440,0.36,217.1,260.1,7.5,541,4483,0.00,0.00,40.75,0.672,6,0.000,0.000,2141,2521,2092,0,0,0,0,0,0,28.83,28.83,25.16
$GC,4782,0.42,250.8,232.3,7.9,575,4820,0.00,2.33,29.17,0.656,4,0.000,0.033,2152,1104,1941,0,0,0,0,0,0,28.83,25.80,25.18
$GC,4855,0.54,297.7,226.7,7.5,582,4905,0.12,2.33,40.78,0.659,6,0.034,0.035,2248,2556,1755,0,0,0,0,0,0,25.94,25.89,24.87
$GC,5216,0.44,297.7,144.9,24.3,639,5223,0.22,1.92,0.00,0.000,4,0.165,0.038,2181,3825,1734,0,0,0,0,0,0,25.92,26.08,28.83
$GC,5253,0.39,297.7,137.6,18.4,645,5259,0.00,1.95,0.00,0.000,6,0.000,0.024,2190,2518,1733,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5451,0.41,297.7,113.2,10.0,682,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2516,1732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5646,0.43,299.7,93.9,9.1,719,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2516,1731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5838,0.82,523.8,87.8,1.1,756,6055,0.25,2.33,203.57,0.273,4,0.044,0.029,2360,1094,843,0,0,0,0,0,0,26.51,25.66,25.37
$GC,6063,0.72,523.8,44.0,24.4,791,6070,0.30,2.38,0.00,0.000,6,0.141,0.033,2270,2565,848,0,0,0,0,0,0,25.58,25.72,28.83
$GC,6259,0.96,616.4,25.0,5.8,828,6337,0.17,1.95,68.68,0.165,4,0.057,0.041,2396,3814,468,0,0,1,0,0,0,26.13,25.91,25.73
$STATE,6364,end climb,SURFACE_DEPTH_REACHED
$STATE,6365,begin surface coast
$FINISH,-0.1,1.020977
$STATE,6376,end surface coast,CONTROL_FINISHED_OK
$STATE,6376,begin surface
$SM_CCo,6454,0.00,0.000,0,0,476,614.23
$SM_GC,0.72,5.72,2.17,0.00,0.026,0.021,0.000,122,2399,476,-5.88,0.23,614.23,0,0,0,0,0,0
$IRIDIUM_FIX,2225.34,12122.23,230412,030332
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.4,3.701
$10V_AH,10.5,2.423
$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,15.700,56.100,665.375,0.000,0.000,31.809,47.912,292.917,0.000,0.000,14.174,2034.746,2213.682,697.315,1766.978,230.074,0.000,1507.630,0.000,1334.947,0.000,1.010,0.000
$DEVICE_MAMPS,230.265,74.970,778.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.918,926.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,53476,847
$CAP_FILE_SIZE,91125,0
$CFSIZE,260165632,219820032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.266,351.2,1
$GPS,230412,104552,2240.917,12125.855,15,4.8,34,-2.9