version: 66.10
glider: 169
mission: 6
dive: 517
start: 8 8 112 16 26 18
data:
$ID,169
$MISSION,6
$DIVE,517
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$D_ABORT,1040
$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,40
$T_MISSION,50
$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,250
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-18668.561
$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,2235
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,080812,161806,2255.369,12207.763,37,1.8,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.7
$GPS2,080812,162554,2255.601,12207.828,14,1.9,31,-3.0
$SPEED_LIMITS,0.231,0.360
$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,239.7,73067,-17.9,-13.333
$D_GRID,5039
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.75,-243.3,0.0,0.0,0,105,0.00,0.00,-86.18,0.000,2,0.000,0.000,100,2430,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.75,-243.3,3.3,-6.5,14,144,8.05,2.62,-20.08,0.000,4,0.236,0.035,1998,927,3964,0,0,0,0,0,0,24.90,26.08,26.62
$GC,183,-0.71,-243.3,24.5,-20.5,26,190,0.00,2.55,0.00,0.000,6,0.000,0.029,1986,2425,3966,0,0,0,0,0,0,28.83,26.03,28.83
$GC,323,-0.63,-243.3,56.9,-24.4,51,330,0.12,2.28,0.00,0.000,4,0.190,0.038,2011,3841,3966,0,0,0,0,0,0,25.94,25.95,28.83
$GC,390,-0.60,-243.3,69.9,-16.3,63,397,0.00,2.08,0.00,0.000,6,0.000,0.018,2016,2448,3966,0,0,0,0,0,0,28.83,26.27,28.83
$GC,527,-0.55,-243.3,90.4,-15.5,88,537,0.12,2.58,0.00,0.000,4,0.161,0.022,2069,915,3967,0,0,0,0,0,0,26.11,26.12,28.83
$GC,571,-0.56,-243.3,97.1,-13.0,95,578,0.00,2.62,0.00,0.000,6,0.000,0.027,2055,2459,3967,0,0,0,0,0,0,28.83,26.09,28.83
$GC,708,-0.55,-243.3,115.0,-12.4,120,717,0.00,2.15,0.00,0.000,4,0.000,0.036,2044,3840,3967,0,0,0,0,0,0,28.83,26.02,28.83
$GC,742,-0.54,-243.3,119.4,-12.5,125,749,0.00,2.15,0.00,0.000,6,0.000,0.016,2044,2381,3967,0,0,0,0,0,0,28.83,26.34,28.83
$GC,879,-0.53,-243.3,136.1,-11.6,150,886,0.00,2.38,0.00,0.000,4,0.000,0.036,2033,3843,3967,0,0,0,0,0,0,28.83,26.01,28.83
$GC,914,-0.52,-243.3,140.4,-12.1,155,921,0.12,2.03,0.00,0.000,6,0.135,0.018,2069,2442,3967,0,0,0,0,0,0,25.99,26.34,28.83
$GC,1050,-0.56,-243.3,154.2,-9.5,180,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2443,3968,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1118,-0.20,0.0,160.4,-8.7,191,1316,0.28,0.25,190.50,0.612,4,0.076,0.047,2176,2438,2975,0,0,0,0,0,0,26.15,25.54,24.40
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,0.75,243.3,174.3,0.0,223,1537,0.90,2.60,202.02,0.596,4,0.102,0.022,2475,908,1976,0,0,0,0,0,0,25.39,25.75,24.48
$GC,1545,0.97,399.7,164.5,7.6,258,1683,0.20,2.58,128.38,0.573,6,0.056,0.024,2583,2433,1339,0,0,0,0,0,0,25.82,25.82,24.51
$GC,1814,0.97,408.2,129.5,13.0,304,1825,0.12,2.35,4.40,0.450,4,0.165,0.033,2546,3840,1312,0,0,0,0,0,0,25.91,25.99,24.69
$GC,1882,1.07,475.4,121.9,10.9,315,1953,0.00,2.25,62.38,0.548,6,0.000,0.017,2557,2364,1030,0,0,0,0,0,0,28.83,26.19,24.60
$GC,2077,1.26,549.6,101.4,10.6,350,2174,0.20,2.42,83.85,0.516,4,0.066,0.023,2657,922,741,0,0,0,0,1,0,26.15,25.73,24.38
$GC,2236,1.27,554.4,82.6,13.2,376,2250,0.00,2.50,8.00,0.226,6,0.000,0.022,2657,2425,720,0,0,0,0,0,0,28.83,25.98,24.82
$GC,2381,1.30,575.0,63.3,12.6,402,2416,0.00,2.35,29.12,0.233,4,0.000,0.034,2657,3847,634,0,0,0,0,0,0,28.83,26.01,25.12
$GC,2455,1.33,582.0,52.5,13.1,414,2470,0.00,2.28,10.12,0.204,6,0.000,0.018,2670,2358,607,0,0,0,0,0,0,28.83,26.19,25.06
$GC,2603,1.37,608.6,34.5,12.4,440,2636,0.00,2.42,26.10,0.179,4,0.000,0.032,2670,3834,497,0,0,0,0,0,0,28.83,26.03,25.21
$GC,2656,1.41,622.2,27.6,12.8,448,2683,0.00,2.17,19.38,0.167,6,0.000,0.018,2682,2394,441,0,0,0,0,0,0,28.83,26.21,25.27
$GC,2812,1.42,622.2,5.9,16.6,476,2819,0.00,2.42,0.00,0.000,4,0.000,0.024,2694,928,444,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,2830,end climb,SURFACE_DEPTH_REACHED
$STATE,2830,begin surface coast
$FINISH,0.4,1.021682
$STATE,2851,end surface coast,CONTROL_FINISHED_OK
$STATE,2851,begin surface
$SM_CCo,2929,0.00,0.000,0,0,443,622.08
$SM_GC,1.14,6.32,2.50,0.00,0.020,0.018,0.000,127,2444,443,-6.50,-0.40,622.08,0,0,0,0,0,0
$IRIDIUM_FIX,2244.02,12208.01,080812,141415
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,8.44138
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,114.714
$10V_AH,10.1,73.641
$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,16.450,52.650,764.250,0.000,0.000,31.298,40.006,231.742,0.000,0.000,32.311,989.436,388.555,762.598,1028.103,203.479,0.000,1273.894,0.000,704.268,0.000,0.546,0.000
$DEVICE_MAMPS,235.620,61.200,612.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.081,368.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,30351,483
$CAP_FILE_SIZE,60780,0
$CFSIZE,260165632,156184576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.815, 40.1,1
$GPS,080812,171603,2256.542,12208.305,7,2.3,26,-3.0