version: 66.10
glider: 169
mission: 6
dive: 12
start: 4 21 112 13 15 1
data:
$ID,169
$MISSION,6
$DIVE,12
$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,-14340.366
$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,2250
$C_ROLL_CLIMB,2500
$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
$GPS1,210412,130607,2216.781,12110.641,41,1.7,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-69.3
$GPS2,210412,131437,2217.095,12110.685,28,1.5,28,-2.8
$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,29.6,89915,-15.6,-9.167
$D_GRID,620
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-170.3,0.0,0.0,0,97,0.00,0.00,-74.75,0.000,2,0.000,0.000,136,2194,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-170.3,3.2,-9.0,13,123,6.80,2.15,-9.82,0.000,4,0.233,0.042,1856,791,3676,0,0,0,0,0,0,25.64,26.01,26.30
$GC,262,-0.52,-170.3,53.3,-22.8,42,269,0.12,2.30,0.00,0.000,6,0.149,0.041,1880,2273,3678,0,0,0,0,0,0,25.98,26.10,28.83
$GC,458,-0.45,-170.3,94.2,-19.2,79,467,0.00,2.25,0.00,0.000,4,0.000,0.045,1868,3698,3679,0,0,0,0,0,0,28.83,26.20,28.83
$GC,617,-0.45,-170.3,118.5,-11.2,109,625,0.12,2.25,0.00,0.000,6,0.138,0.026,1905,2205,3679,0,0,0,0,0,0,26.17,26.32,28.83
$GC,809,-0.46,-170.3,138.6,-9.5,146,816,0.00,2.38,0.00,0.000,4,0.000,0.047,1894,3686,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,865,-0.50,-170.3,144.1,-10.1,156,872,0.00,2.22,0.00,0.000,6,0.000,0.024,1894,2208,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1057,-0.50,-170.3,165.7,-10.6,193,1064,0.00,2.38,0.00,0.000,4,0.000,0.047,1882,3683,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1134,-0.52,-170.3,172.5,-8.1,207,1143,0.00,2.20,0.00,0.000,6,0.000,0.024,1882,2204,3681,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1330,-0.52,-170.3,192.2,-11.0,244,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2203,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1520,-0.54,-170.3,213.3,-10.6,269,1529,0.00,2.35,0.00,0.000,4,0.000,0.045,1871,3683,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1596,-0.57,-170.3,221.1,-9.7,276,1605,0.00,2.22,0.00,0.000,6,0.000,0.024,1872,2200,3680,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1904,-0.59,-170.3,255.0,-11.0,307,1913,0.00,2.38,0.00,0.000,4,0.000,0.044,1860,3684,3680,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2009,-0.61,-170.3,266.5,-11.0,317,2017,0.00,2.20,0.00,0.000,6,0.000,0.025,1860,2213,3680,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2317,-0.61,-170.3,296.0,-8.8,348,2329,0.00,2.35,0.00,0.000,4,0.000,0.046,1849,3687,3679,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2426,-0.61,-170.3,306.3,-10.4,358,2433,0.00,2.22,0.00,0.000,6,0.000,0.025,1849,2201,3679,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2734,-0.61,-170.3,343.2,-13.6,389,2743,0.00,2.35,0.00,0.000,4,0.000,0.047,1837,3683,3677,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2840,-0.61,-170.3,358.5,-14.6,399,2847,0.00,2.22,0.00,0.000,6,0.000,0.025,1838,2200,3676,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3147,-0.59,-170.3,396.8,-10.3,430,3157,0.00,2.38,0.00,0.000,4,0.000,0.047,1826,3684,3675,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3257,-0.59,-170.3,408.7,-10.1,440,3267,0.12,2.22,0.00,0.000,6,0.135,0.027,1864,2207,3674,0,0,0,0,0,0,26.47,26.61,28.83
$GC,3565,-0.61,-170.3,432.2,-7.0,471,3574,0.00,2.35,0.00,0.000,4,0.000,0.050,1852,3680,3672,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3630,-0.65,-170.3,437.7,-8.8,477,3637,0.00,2.22,0.00,0.000,6,0.000,0.028,1852,2209,3671,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3938,-0.66,-170.3,466.8,-10.1,508,3949,0.00,2.35,0.00,0.000,4,0.000,0.051,1842,3680,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4045,-0.68,-170.3,476.4,-8.8,518,4053,0.00,2.20,0.00,0.000,6,0.000,0.028,1842,2203,3668,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4355,-0.68,-170.3,504.5,-9.1,549,4364,0.00,2.35,0.00,0.000,4,0.000,0.050,1831,3682,3666,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4448,-0.68,-170.3,513.9,-9.6,558,4457,0.00,2.25,0.00,0.000,6,0.000,0.027,1831,2196,3665,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4761,-0.67,-170.3,542.4,-7.6,589,4770,0.00,2.35,0.00,0.000,4,0.000,0.050,1819,3679,3663,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4836,-0.65,-170.3,548.3,-7.8,596,4845,0.00,2.22,0.00,0.000,6,0.000,0.028,1819,2207,3662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5144,-0.63,-170.3,580.1,-10.9,627,5153,0.00,2.35,0.00,0.000,4,0.000,0.052,1808,3686,3661,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5261,-0.60,-170.3,593.6,-11.6,638,5269,0.15,2.25,0.00,0.000,6,0.132,0.028,1853,2198,3660,0,0,0,0,0,0,26.46,26.64,28.83
$GC,5574,-0.62,-170.3,618.4,-7.2,657,5580,0.00,2.38,0.00,0.000,4,0.000,0.050,1842,3691,3658,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,5590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5590,begin apogee
$GC,5598,-0.20,0.0,620.2,-7.1,658,5768,0.38,0.15,158.12,1.079,6,0.096,0.078,1979,2538,2978,0,0,0,0,1,0,26.50,24.69,23.87
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5770,begin climb
$GC,5772,0.60,170.3,626.0,0.0,666,5953,0.70,2.47,171.88,0.905,4,0.028,0.034,2294,1051,2275,0,0,0,0,0,0,24.97,24.79,24.09
$GC,5998,0.43,170.3,594.6,25.0,678,6008,0.35,2.38,0.00,0.000,6,0.177,0.038,2193,2515,2252,0,0,0,0,0,0,25.10,25.27,28.83
$GC,6306,0.33,170.3,539.8,15.9,709,6318,0.12,2.08,0.00,0.000,4,0.190,0.046,2157,3820,2246,0,0,0,0,0,0,25.78,25.91,28.83
$GC,6517,0.26,170.3,506.8,17.5,729,6529,0.12,2.08,0.00,0.000,6,0.175,0.028,2136,2459,2243,0,0,0,0,0,0,25.92,26.11,28.83
$GC,6828,0.27,193.7,474.9,8.3,760,6867,0.00,2.22,25.23,0.688,4,0.000,0.049,2136,3812,2184,0,0,0,0,1,0,28.83,25.86,25.28
$GC,6935,0.24,193.7,464.3,11.6,770,6942,0.00,2.05,0.00,0.000,6,0.000,0.028,2146,2468,2184,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7242,0.21,193.7,428.9,11.3,801,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2466,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7543,0.19,193.7,397.6,10.2,831,7550,0.12,0.00,0.00,0.000,6,0.173,0.000,2114,2466,2181,0,0,0,0,0,0,26.16,28.83,28.83
$GC,7854,0.22,207.5,375.9,8.7,862,7894,0.00,2.17,24.95,0.658,4,0.000,0.047,2114,3821,2128,0,0,0,0,1,0,28.83,26.01,25.39
$GC,7960,0.26,219.2,366.9,8.7,872,7990,0.00,2.05,25.12,0.675,6,0.000,0.029,2124,2465,2085,0,0,0,0,0,0,28.83,26.13,25.16
$GC,8299,0.32,250.0,339.1,8.1,906,8359,0.00,2.28,49.10,0.643,4,0.000,0.049,2125,3817,1955,0,0,0,0,1,0,28.83,25.54,24.75
$GC,8383,0.35,253.8,331.8,9.0,914,8395,0.00,2.08,2.65,0.398,6,0.000,0.027,2135,2460,1942,0,0,0,0,0,0,28.83,25.70,24.78
$GC,8693,0.37,253.8,296.9,10.5,945,8695,0.10,0.00,0.00,0.000,6,0.092,0.000,2204,2459,1951,0,0,0,0,0,0,26.13,28.83,28.83
$GC,8994,0.31,253.8,250.0,16.4,975,9004,0.17,2.12,0.00,0.000,4,0.156,0.046,2149,3813,1951,0,0,0,0,0,0,26.05,26.19,28.83
$GC,9092,0.32,253.8,239.2,9.3,984,9099,0.00,2.05,0.00,0.000,6,0.000,0.028,2159,2459,1951,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9399,0.32,253.8,204.6,13.2,1015,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2457,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9710,0.33,253.8,171.7,9.9,1071,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2457,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9908,0.37,265.9,154.0,8.7,1108,9946,0.00,2.17,31.50,0.590,4,0.000,0.046,2160,3812,1890,0,0,0,0,0,0,28.83,26.02,25.46
$GC,9995,0.41,265.9,145.0,10.8,1123,10004,0.00,2.05,0.00,0.000,6,0.000,0.025,2170,2457,1881,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10193,0.43,265.9,127.3,10.0,1160,10200,0.00,2.17,0.00,0.000,4,0.000,0.034,2181,1050,1879,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10229,0.50,277.1,124.0,8.8,1166,10244,0.00,2.33,4.70,0.548,6,0.000,0.036,2181,2524,1850,0,0,0,0,0,0,28.83,26.23,25.49
$GC,10434,0.55,303.4,103.9,8.2,1204,10474,0.12,2.03,34.08,0.328,4,0.076,0.043,2266,3820,1747,0,0,0,0,0,0,26.36,26.03,25.63
$GC,10503,0.45,303.4,94.6,16.5,1215,10514,0.28,2.05,3.88,0.174,6,0.158,0.025,2197,2462,1743,0,0,0,0,0,0,25.91,26.12,25.78
$GC,10704,0.54,331.1,76.1,8.2,1252,10743,0.00,2.22,32.90,0.273,4,0.000,0.044,2197,3817,1636,0,0,0,0,0,0,28.83,26.01,25.66
$GC,10762,0.66,379.3,71.7,7.4,1261,10820,0.15,2.05,51.15,0.266,6,0.063,0.024,2308,2452,1433,0,0,0,0,0,0,26.10,26.10,25.50
$GC,11008,0.60,379.3,27.6,19.3,1306,11017,0.17,2.22,3.20,0.145,4,0.162,0.041,2251,3826,1433,0,0,0,0,0,0,25.93,26.06,25.86
$GC,11077,0.63,379.3,18.9,10.6,1318,11085,0.00,2.05,2.95,0.154,6,0.000,0.025,2261,2462,1430,0,0,0,0,0,0,28.83,26.15,25.92
$STATE,11262,end climb,SURFACE_DEPTH_REACHED
$STATE,11262,begin surface coast
$FINISH,-0.4,1.021749
$STATE,11299,end surface coast,CONTROL_FINISHED_OK
$STATE,11299,begin surface
$SM_CCo,11314,25.25,0.126,0,0,1245,425.10
$SM_GC,0.83,5.38,0.38,25.25,0.030,0.035,0.126,112,2163,1245,-5.93,0.31,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2206.70,12109.00,210412,080818
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.82
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.9,1.943
$10V_AH,10.4,1.265
$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,15.500,116.075,621.400,25.250,0.000,29.388,23.139,299.622,1.250,0.000,29.824,3507.302,4455.950,787.115,2747.964,322.878,0.000,2044.431,0.000,2256.536,0.000,12.714,0.000
$DEVICE_MAMPS,233.325,78.030,1079.415,126.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.501,1612.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,83468,1360
$CAP_FILE_SIZE,150460,0
$CFSIZE,260165632,220782592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.179,264.2,1
$GPS,210412,162506,2218.927,12111.190,34,1.4,35,-2.8