version: 66.10
glider: 169
mission: 6
dive: 57
start: 4 29 112 15 4 30
data:
$ID,169
$MISSION,6
$DIVE,57
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,450
$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,-15286.617
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$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,1.75
$ROLL_ADJ_DBAND,0.029999999
$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,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
$GPS1,290412,145632,2316.291,12224.192,42,1.2,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-68.6
$GPS2,290412,150407,2316.299,12224.380,14,1.9,14,-3.1
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,71.0,165719,-13.6,-9.167
$D_GRID,5323
$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,-0.61,-219.0,0.0,0.0,0,113,0.00,0.00,-93.95,0.000,2,0.000,0.000,117,2430,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.61,-219.0,4.0,-11.5,17,141,6.62,2.22,-9.48,0.000,4,0.224,0.050,1816,3824,3874,0,0,0,0,0,0,25.69,26.08,26.37
$GC,276,-0.45,-219.0,99.5,-49.7,47,283,0.22,2.05,0.00,0.000,6,0.194,0.024,1882,2459,3875,0,0,0,0,0,0,25.84,26.20,28.83
$GC,472,-0.28,-219.0,206.2,-54.5,84,482,0.20,2.22,0.00,0.000,4,0.216,0.031,1946,1040,3876,0,0,0,0,0,0,25.91,26.27,28.83
$GC,708,-0.17,-219.0,293.4,-34.5,107,715,0.15,2.28,0.00,0.000,6,0.195,0.032,1972,2471,3877,0,0,0,0,0,0,26.06,26.34,28.83
$GC,1016,-0.06,-219.0,396.4,-31.9,138,1025,0.12,2.17,0.00,0.000,4,0.204,0.024,2016,1046,3877,0,0,0,0,0,0,26.16,26.43,28.83
$GC,1252,-0.02,-219.0,442.5,-17.6,161,1259,0.00,2.22,0.00,0.000,6,0.000,0.035,2006,2448,3878,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1559,0.05,-219.0,514.8,-22.1,192,1569,0.12,2.17,0.00,0.000,4,0.178,0.026,2054,1041,3878,0,0,0,0,0,0,26.29,26.48,28.83
$GC,1717,0.06,-219.0,536.9,-11.8,207,1724,0.00,2.20,0.00,0.000,6,0.000,0.034,2043,2437,3878,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2024,0.11,-219.0,589.2,-17.2,238,2033,0.00,2.15,0.00,0.000,4,0.000,0.029,2045,1036,3876,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2057,0.14,-219.0,594.5,-16.7,241,2066,0.10,2.15,0.00,0.000,6,0.121,0.035,2074,2418,3876,0,0,0,0,0,0,26.33,26.50,28.83
$GC,2376,0.16,-219.0,637.6,-12.8,259,2382,0.00,2.17,0.00,0.000,4,0.000,0.046,2062,3816,3873,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2431,0.19,-219.0,642.9,-12.9,261,2438,0.00,2.20,0.00,0.000,6,0.000,0.025,2073,2356,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2736,0.21,-219.0,681.6,-12.1,277,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2356,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,0.23,-219.0,717.8,-11.7,292,3043,0.12,2.38,0.00,0.000,4,0.148,0.044,2104,3821,3866,0,0,0,0,0,0,26.41,26.49,28.83
$GC,3084,0.23,-219.0,721.8,-11.0,294,3089,0.00,2.20,0.00,0.000,6,0.000,0.023,2103,2347,3865,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3391,0.23,-219.0,749.3,-8.5,309,3397,0.00,2.33,0.00,0.000,4,0.000,0.044,2094,3813,3862,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3419,0.23,-219.0,751.0,-8.4,310,3423,0.00,2.17,0.00,0.000,6,0.000,0.023,2094,2357,3862,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3728,0.23,-219.0,780.3,-9.5,325,3733,0.00,2.33,0.00,0.000,4,0.000,0.046,2084,3808,3860,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3769,0.23,-219.0,784.2,-9.5,327,3773,0.00,2.15,0.00,0.000,6,0.000,0.024,2083,2368,3860,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4082,0.24,-219.0,814.8,-9.3,343,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2368,3857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4382,0.25,-219.0,840.5,-8.4,358,4387,0.00,2.33,0.00,0.000,4,0.000,0.047,2073,3818,3855,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4429,0.25,-219.0,843.6,-8.1,360,4434,0.12,2.17,0.00,0.000,6,0.127,0.025,2112,2372,3854,0,0,0,0,0,0,26.40,26.58,28.83
$GC,4741,0.24,-219.0,861.1,-5.4,375,4746,0.00,2.30,0.00,0.000,4,0.000,0.046,2102,3808,3851,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4782,0.22,-219.0,863.4,-5.4,377,4786,0.00,2.12,0.00,0.000,6,0.000,0.023,2102,2379,3851,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5097,0.21,-219.0,883.2,-6.6,393,5102,0.00,2.28,0.00,0.000,4,0.000,0.047,2093,3813,3849,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5125,0.21,-219.0,884.6,-6.6,394,5134,0.00,2.12,0.00,0.000,6,0.000,0.024,2093,2391,3849,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5436,0.21,-219.0,908.2,-7.4,410,5441,0.00,2.25,0.00,0.000,4,0.000,0.047,2083,3811,3847,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5469,0.21,-219.0,909.6,-7.4,411,5476,0.00,2.08,0.00,0.000,6,0.000,0.023,2083,2404,3847,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5776,0.21,-219.0,934.7,-8.1,427,5781,0.00,2.20,0.00,0.000,4,0.000,0.047,2073,3808,3845,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5796,0.21,-219.0,936.3,-8.0,428,5801,0.00,2.10,0.00,0.000,6,0.000,0.024,2073,2404,3845,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6118,0.22,-219.0,963.4,-8.2,444,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2404,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,0.23,-219.0,988.5,-8.4,459,6422,0.12,2.25,0.00,0.000,4,0.139,0.048,2106,3820,3842,0,0,0,0,0,0,26.43,26.46,28.83
$STATE,6453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6453,begin apogee
$GC,6462,-0.20,0.0,991.1,-7.5,461,6618,0.32,0.00,150.07,1.088,2,0.042,0.000,1938,2471,3273,0,0,0,0,0,0,26.62,28.83,28.83
$STATE,6619,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,6632,699.47,1.364,2,0,435,624.04
$SM_GC,0.47,4.43,0.12,0.00,0.024,0.080,0.000,119,2555,403,-5.88,-0.45,631.89,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12220.71,290412,090939
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.21
$INTERNAL_PRESSURE,8.19723
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.1,10.775
$10V_AH,10.4,6.215
$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,12.675,66.125,150.075,699.475,0.000,31.973,19.954,251.028,0.000,0.000,14.910,1413.458,11217.557,969.619,1267.456,208.826,0.000,1653.450,0.000,918.592,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,80.325,1087.830,1363.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.829,650.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,30309,469
$CAP_FILE_SIZE,98743,0
$CFSIZE,260165632,216604672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,290412,190955,2315.762,12225.146,39,1.2,39,-3.1