version: 66.10
glider: 169
mission: 6
dive: 24
start: 4 23 112 10 54 3
data:
$ID,169
$MISSION,6
$DIVE,24
$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,-14355.552
$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
$GPS1,230412,104552,2240.917,12125.855,15,4.8,34,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.8
$GPS2,230412,105338,2241.136,12125.821,11,1.6,11,-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,11.7,41603,-15.6,-9.167
$D_GRID,338
$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,-170.3,0.0,0.0,0,110,0.00,0.00,-90.35,0.000,2,0.000,0.000,121,2387,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.60,-170.3,3.5,-8.0,15,142,6.70,2.40,-12.07,0.000,4,0.231,0.054,1820,3830,3675,0,0,0,0,0,0,25.82,26.13,26.44
$GC,178,-0.34,-170.3,34.2,-40.7,25,187,0.32,2.12,0.00,0.000,6,0.161,0.025,1922,2413,3676,0,0,0,0,0,0,25.98,26.20,28.83
$GC,378,-0.23,-170.3,80.0,-21.2,62,386,0.12,2.17,0.00,0.000,4,0.169,0.028,1970,991,3676,0,0,0,0,0,0,26.16,26.31,28.83
$GC,501,-0.36,-170.3,89.0,-4.9,85,509,0.15,2.30,0.00,0.000,6,0.073,0.031,1898,2474,3678,0,0,0,0,0,0,26.36,26.36,28.83
$GC,698,-0.34,-170.3,111.6,-16.0,122,707,0.00,2.28,0.00,0.000,4,0.000,0.027,1898,983,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,887,-0.39,-170.3,134.8,-7.8,157,894,0.00,2.30,0.00,0.000,6,0.000,0.033,1888,2471,3678,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1081,-0.36,-170.3,158.1,-15.3,194,1088,0.10,0.00,0.00,0.000,6,0.166,0.000,1916,2471,3678,0,0,0,0,0,0,26.44,28.83,28.83
$GC,1277,-0.39,-170.3,174.1,-2.5,231,1285,0.00,2.08,0.00,0.000,4,0.000,0.041,1906,3833,3678,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1351,-0.47,-170.3,175.9,-2.0,244,1358,0.00,2.10,0.00,0.000,6,0.000,0.021,1906,2388,3678,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1546,-0.50,-170.3,186.5,-4.9,281,1553,0.00,2.08,0.00,0.000,4,0.000,0.023,1906,971,3678,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1619,-0.57,-170.3,189.9,-4.8,294,1627,0.12,2.30,0.00,0.000,6,0.074,0.034,1801,2478,3678,0,0,0,0,0,0,26.60,26.57,28.83
$GC,1812,-0.43,-170.3,227.1,-22.7,319,1824,0.28,2.03,0.00,0.000,4,0.139,0.041,1881,3826,3678,0,0,0,0,0,0,26.44,26.58,28.83
$GC,1840,-0.32,-170.3,232.3,-20.8,321,1848,0.15,2.08,0.00,0.000,6,0.129,0.021,1927,2385,3678,0,0,0,0,0,0,26.48,26.64,28.83
$GC,2149,-0.40,-170.3,244.4,-3.7,352,2158,0.00,2.22,0.00,0.000,4,0.000,0.044,1921,3811,3677,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2195,-0.49,-170.3,246.5,-4.9,356,2202,0.12,2.05,0.00,0.000,6,0.084,0.021,1828,2381,3677,0,0,0,0,0,0,26.61,26.67,28.83
$GC,2502,-0.43,-170.3,302.7,-16.6,387,2504,0.20,0.00,0.00,0.000,6,0.122,0.000,1893,2381,3676,0,0,0,0,0,0,26.52,28.83,28.83
$GC,2802,-0.47,-170.3,320.9,-5.4,417,2811,0.00,2.28,0.00,0.000,4,0.000,0.044,1882,3808,3675,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2866,-0.54,-170.3,325.2,-7.0,423,2877,0.00,2.03,0.00,0.000,6,0.000,0.023,1882,2402,3674,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3004,begin apogee
$GC,3010,-0.20,0.0,338.9,-10.6,437,3158,0.25,0.10,139.93,0.725,6,0.095,0.074,1975,2498,2973,0,0,0,0,0,0,26.58,25.25,24.68
$STATE,3159,end apogee,CONTROL_FINISHED_OK
$STATE,3159,begin climb
$GC,3161,0.60,170.3,350.2,0.0,452,3320,0.68,2.25,146.23,0.724,4,0.064,0.041,2226,3823,2270,0,0,0,0,0,0,25.35,25.12,24.52
$GC,3504,0.47,170.3,301.8,20.0,485,3511,0.17,1.95,0.00,0.000,6,0.183,0.024,2192,2518,2253,0,0,0,0,0,0,25.76,25.97,28.83
$GC,3811,0.40,170.3,246.2,14.8,516,3820,0.00,2.03,0.00,0.000,4,0.000,0.044,2192,3816,2250,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3897,0.32,170.3,233.8,14.1,524,3905,0.22,1.90,0.00,0.000,6,0.152,0.024,2137,2520,2248,0,0,0,0,0,0,26.13,26.32,28.83
$GC,4204,0.35,184.8,200.8,8.6,555,4219,0.00,2.08,8.82,0.598,4,0.000,0.044,2137,3823,2221,0,0,0,0,0,0,28.83,26.28,25.68
$GC,4273,0.45,252.6,195.8,6.7,566,4357,0.10,1.92,74.12,0.607,6,0.089,0.025,2214,2519,1940,0,0,0,0,0,0,26.33,26.36,25.04
$GC,4546,0.39,252.6,153.4,18.9,615,4556,0.15,2.03,0.00,0.000,4,0.171,0.039,2168,3827,1924,0,0,0,0,0,0,25.92,26.06,28.83
$GC,4621,0.39,252.6,142.9,10.9,628,4628,0.00,1.92,0.00,0.000,6,0.000,0.024,2177,2521,1922,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4815,0.43,287.7,127.5,7.9,665,4853,0.00,2.25,31.15,0.582,4,0.000,0.029,2189,1096,1793,0,0,0,0,0,0,28.83,25.95,25.37
$GC,4891,0.49,287.7,118.8,10.5,678,4898,0.00,2.35,0.00,0.000,6,0.000,0.034,2189,2564,1782,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5087,0.51,291.5,98.5,9.0,715,5096,0.00,1.92,0.00,0.000,4,0.000,0.043,2189,3827,1779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5114,0.57,324.2,96.4,8.0,719,5155,0.00,1.92,35.62,0.314,6,0.000,0.024,2200,2518,1658,0,0,0,0,0,0,28.83,26.28,25.65
$GC,5346,0.84,462.4,74.8,4.2,761,5490,0.25,2.30,134.20,0.260,4,0.047,0.031,2356,1097,1101,0,0,0,0,0,0,26.32,25.79,25.51
$GC,5543,0.80,462.4,37.7,15.8,793,5551,0.20,2.38,2.12,0.172,6,0.143,0.035,2299,2565,1092,0,0,0,0,0,0,25.80,25.94,25.77
$GC,5741,0.82,462.4,8.0,10.5,830,5749,0.00,1.98,1.77,0.164,4,0.000,0.040,2298,3822,1092,0,0,0,0,0,0,28.83,26.17,26.03
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5787,begin surface coast
$FINISH,2.4,1.021152
$STATE,5793,end surface coast,CONTROL_FINISHED_OK
$STATE,5793,begin surface
$SM_CCo,5871,0.00,0.000,0,0,1102,460.43
$SM_GC,0.96,5.75,2.17,0.00,0.056,0.024,0.000,125,2409,1102,-5.88,0.23,460.43,0,0,0,0,0,0
$IRIDIUM_FIX,2234.68,12127.88,230412,101035
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,8.36325
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.5,3.807
$10V_AH,10.6,2.483
$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,16.050,68.550,573.975,0.000,0.000,58.619,58.411,170.415,0.250,0.000,13.518,2055.919,1761.780,637.985,1662.881,208.366,0.000,1423.109,0.000,1314.626,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,74.205,725.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.863,828.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,53679,839
$CAP_FILE_SIZE,92498,0
$CFSIZE,260165632,219762688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.450, 25.4,1
$GPS,230412,123300,2243.684,12126.497,39,1.4,39,-2.9