version: 66.10
glider: 169
mission: 6
dive: 8
start: 4 20 112 20 56 44
data:
$ID,169
$MISSION,6
$DIVE,8
$N_DIVES,10
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,-14335.335
$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,2100
$C_ROLL_CLIMB,2250
$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,3
$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
$GPS1,200412,204027,2207.025,12106.126,36,2.2,56,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-70.5
$GPS2,200412,205620,2207.515,12106.529,17,1.5,17,-2.8
$SPEED_LIMITS,0.173,0.279
$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,13.7,108958,-16.8,-10.000
$D_GRID,1249
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.63,-170.3,0.0,0.0,0,93,0.00,0.00,-72.12,0.000,2,0.000,0.000,106,2045,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.63,-170.3,3.2,-8.2,13,120,6.85,2.10,-10.48,0.000,4,0.233,0.044,1846,644,3678,0,0,0,0,0,0,25.75,26.15,26.44
$GC,228,-0.63,-170.3,42.4,-18.6,36,234,0.00,2.22,0.00,0.000,6,0.000,0.039,1837,2121,3679,0,0,0,0,0,0,28.83,26.20,28.83
$GC,424,-0.51,-170.3,90.6,-21.1,73,432,0.12,2.12,0.00,0.000,4,0.177,0.027,1881,642,3679,0,0,0,0,0,0,26.16,26.35,28.83
$GC,560,-0.57,-170.3,108.4,-10.9,98,567,0.00,2.20,0.00,0.000,6,0.000,0.036,1877,2126,3679,0,0,0,0,0,0,28.83,26.37,28.83
$GC,757,-0.55,-170.3,134.4,-14.3,135,766,0.00,2.25,0.00,0.000,4,0.000,0.045,1865,3539,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,923,-0.55,-170.3,157.9,-12.7,166,930,0.00,2.25,0.00,0.000,6,0.000,0.025,1865,2061,3679,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1117,-0.55,-170.3,183.2,-11.3,203,1125,0.00,2.40,0.00,0.000,4,0.000,0.044,1853,3550,3680,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1158,-0.55,-170.3,187.9,-11.2,210,1165,0.00,2.28,0.00,0.000,6,0.000,0.026,1853,2060,3680,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1358,-0.55,-170.3,209.9,-10.7,239,1368,0.00,2.35,0.00,0.000,4,0.000,0.045,1842,3534,3680,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1425,-0.55,-170.3,218.4,-12.9,245,1432,0.10,2.25,0.00,0.000,6,0.143,0.024,1871,2045,3679,0,0,0,0,0,0,26.43,26.58,28.83
$GC,1734,-0.58,-170.3,252.4,-9.1,276,1743,0.00,2.38,0.00,0.000,4,0.000,0.044,1859,3542,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1931,-0.62,-170.3,268.0,-7.0,295,1940,0.00,2.22,0.00,0.000,6,0.000,0.025,1859,2053,3679,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2241,-0.64,-170.3,295.9,-9.3,326,2250,0.00,2.40,0.00,0.000,4,0.000,0.045,1849,3539,3678,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2367,-0.66,-170.3,308.8,-10.6,338,2375,0.00,2.22,0.00,0.000,6,0.000,0.026,1850,2051,3677,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2677,-0.68,-170.3,339.4,-8.9,369,2686,0.00,2.38,0.00,0.000,4,0.000,0.046,1838,3538,3675,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2782,-0.70,-170.3,348.5,-8.5,379,2791,0.00,2.22,0.00,0.000,6,0.000,0.027,1839,2054,3674,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3090,-0.70,-170.3,379.4,-10.0,410,3100,0.00,2.40,0.00,0.000,4,0.000,0.045,1826,3547,3672,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3215,-0.70,-170.3,393.0,-11.3,422,3224,0.00,2.25,0.00,0.000,6,0.000,0.027,1827,2057,3671,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3527,-0.70,-170.3,428.8,-11.3,453,3535,0.00,2.38,0.00,0.000,4,0.000,0.047,1815,3541,3669,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3682,-0.70,-170.3,446.6,-11.2,468,3693,0.00,2.25,0.00,0.000,6,0.000,0.027,1815,2054,3668,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3990,-0.70,-170.3,482.9,-11.4,499,3999,0.00,2.40,0.00,0.000,4,0.000,0.047,1804,3541,3665,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4105,-0.68,-170.3,497.2,-13.0,510,4115,0.00,2.28,-0.10,0.000,6,0.000,0.028,1804,2054,3691,0,0,0,0,0,0,28.83,26.65,26.33
$GC,4416,-0.67,-170.3,536.8,-12.8,541,4425,0.10,2.38,0.00,0.000,4,0.158,0.047,1821,3531,3691,0,0,0,0,0,0,26.59,26.56,28.83
$GC,4562,-0.68,-170.3,552.9,-10.4,555,4571,0.00,2.25,0.00,0.000,6,0.000,0.029,1821,2056,3690,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4872,-0.68,-170.3,586.2,-10.6,586,4881,0.00,2.40,0.00,0.000,4,0.000,0.050,1811,3536,3688,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5037,-0.68,-170.3,604.1,-10.7,601,5042,0.00,2.22,0.00,0.000,6,0.000,0.028,1811,2060,3687,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5357,-0.68,-170.3,638.8,-10.8,617,5363,0.00,2.38,0.00,0.000,4,0.000,0.051,1800,3532,3686,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5499,-0.68,-170.3,652.9,-9.7,624,5505,0.00,2.28,0.00,0.000,6,0.000,0.031,1800,2070,3683,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,5575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5575,begin apogee
$GC,5581,-0.20,0.0,661.2,-10.3,628,5818,0.52,0.10,225.98,0.815,6,0.106,0.080,1984,2209,2970,0,0,0,0,0,0,26.40,24.92,24.29
$STATE,5819,end apogee,CONTROL_FINISHED_OK
$STATE,5819,begin climb
$GC,5821,0.63,170.3,666.5,0.0,640,6003,0.70,2.55,171.60,0.892,4,0.029,0.047,2298,3694,2274,0,0,0,0,0,0,25.21,24.89,24.18
$GC,6237,0.41,170.3,556.9,32.4,666,6247,0.43,2.30,0.00,0.000,6,0.199,0.031,2192,2213,2248,0,0,0,0,0,0,25.65,25.89,28.83
$GC,6545,0.34,170.3,497.3,16.6,697,6557,0.12,2.12,0.00,0.000,4,0.185,0.034,2165,796,2243,0,0,0,0,0,0,25.98,26.15,28.83
$GC,6677,0.35,180.6,482.6,9.6,709,6686,0.00,2.28,0.00,0.000,6,0.000,0.039,2165,2281,2241,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6985,0.34,208.5,450.2,8.9,740,7033,0.00,2.33,32.90,0.807,4,0.000,0.038,2176,812,2125,0,0,0,0,1,0,28.83,25.77,24.94
$GC,7150,0.39,232.6,434.3,9.1,756,7189,0.00,2.25,27.95,0.755,6,0.000,0.039,2176,2267,2027,0,0,0,0,1,0,28.83,26.01,24.79
$GC,7491,0.36,232.6,388.0,14.7,790,7499,0.00,2.22,0.00,0.000,4,0.000,0.037,2187,806,2032,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7587,0.38,232.6,375.8,11.7,799,7593,0.00,2.28,0.00,0.000,6,0.000,0.039,2188,2280,2031,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7895,0.34,232.6,325.7,16.3,830,7904,0.00,2.25,0.00,0.000,4,0.000,0.049,2187,3694,2031,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8135,0.28,232.6,283.0,17.6,853,8145,0.20,2.28,0.00,0.000,6,0.158,0.031,2142,2216,2030,0,0,0,0,0,0,26.17,26.36,28.83
$GC,8444,0.31,239.3,252.0,9.7,884,8454,0.00,2.42,4.93,0.623,4,0.000,0.048,2142,3685,2004,0,0,0,0,0,0,28.83,26.32,25.54
$GC,8553,0.34,239.3,240.0,11.0,894,8561,0.00,2.28,1.75,0.184,6,0.000,0.031,2154,2207,2001,0,0,0,0,0,0,28.83,26.39,26.19
$GC,8860,0.42,290.5,211.6,8.0,925,8920,0.00,2.45,46.65,0.777,4,0.000,0.047,2154,3686,1802,0,0,0,0,1,0,28.83,25.68,24.87
$GC,9010,0.49,313.7,197.9,9.1,941,9051,0.12,2.33,27.52,0.660,6,0.079,0.030,2238,2207,1698,0,0,0,0,1,0,25.96,25.96,24.87
$GC,9238,0.44,313.7,155.3,19.2,983,9247,0.15,2.47,1.90,0.161,4,0.169,0.046,2193,3692,1697,0,0,0,0,0,0,25.84,25.97,25.82
$GC,9316,0.44,313.7,142.8,13.7,997,9325,0.00,2.30,0.00,0.000,6,0.000,0.030,2205,2219,1706,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9512,0.45,321.0,119.6,9.7,1034,9539,0.00,2.45,17.00,0.579,4,0.000,0.047,2205,3685,1664,0,0,0,0,1,0,28.83,25.98,25.41
$GC,9606,0.56,383.1,111.7,7.5,1050,9682,0.00,2.30,60.12,0.653,6,0.000,0.029,2217,2205,1417,0,0,0,0,1,0,28.83,26.10,24.63
$GC,9870,0.61,383.1,86.9,10.5,1098,9878,0.00,2.47,2.33,0.162,4,0.000,0.044,2217,3693,1415,0,0,0,0,0,0,28.83,25.91,25.76
$GC,9932,0.68,383.1,79.4,11.2,1109,9942,0.12,2.33,0.00,0.000,6,0.074,0.028,2312,2209,1423,0,0,0,0,0,0,26.03,26.01,28.83
$GC,10129,0.63,383.1,40.9,18.7,1146,10137,0.17,2.42,2.03,0.151,4,0.168,0.043,2258,3686,1416,0,0,0,0,0,0,25.98,26.14,25.98
$GC,10203,0.66,383.1,30.3,12.0,1159,10210,0.00,2.28,2.00,0.168,6,0.000,0.030,2270,2218,1414,0,0,0,0,0,0,28.83,26.20,26.02
$GC,10398,0.67,383.1,7.9,10.7,1196,10405,0.00,2.17,1.90,0.166,4,0.000,0.034,2282,802,1416,0,0,0,0,0,0,28.83,26.27,26.10
$GC,10439,0.77,412.9,4.1,8.8,1203,10461,0.00,2.22,16.92,0.133,2,0.000,0.032,2281,2282,1302,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10462,end climb,SURFACE_DEPTH_REACHED
$STATE,10462,begin surface coast
$FINISH,-0.5,1.013168
$STATE,10493,end surface coast,CONTROL_FINISHED_OK
$STATE,10493,begin surface
$SM_CCo,10509,8.23,0.135,0,0,1243,425.10
$SM_GC,1.31,5.43,0.35,8.23,0.033,0.044,0.135,121,2039,1243,-5.91,0.25,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12104.61,200412,202021
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.56
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.2,1.193
$10V_AH,10.4,0.820
$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,15.150,120.650,643.475,8.225,0.000,78.931,107.235,431.402,0.000,0.000,17.875,3154.357,4195.824,757.516,3013.912,326.343,0.000,2008.248,0.000,2210.084,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,79.560,891.990,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.387,1463.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,76942,1212
$CAP_FILE_SIZE,145715,0
$CFSIZE,260165632,221171712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.159,181.0,1
$GPS,200412,235306,2208.013,12106.988,34,1.1,35,-2.8