version: 66.10
glider: 169
mission: 6
dive: 15
start: 4 21 112 23 26 39
data:
$ID,169
$MISSION,6
$DIVE,15
$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,-14344.231
$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
$GPS1,210412,231607,2221.488,12112.725,41,1.1,41,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-73.2
$GPS2,210412,232613,2221.755,12112.813,14,1.4,31,-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,63.8,80613,-15.6,-9.167
$D_GRID,628
$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,-170.3,0.0,0.0,0,98,0.00,0.00,-78.15,0.000,2,0.000,0.000,113,2198,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-170.3,4.4,-13.1,14,119,6.80,0.00,-7.60,0.000,6,0.230,0.000,1847,2198,3676,0,0,0,0,0,0,25.70,28.83,26.33
$GC,311,-0.39,-170.3,103.2,-35.8,53,321,0.22,2.05,0.00,0.000,4,0.181,0.023,1922,792,3677,0,0,0,0,0,0,25.96,26.22,28.83
$GC,329,-0.21,-170.3,109.2,-33.6,55,337,0.22,2.28,0.00,0.000,6,0.132,0.036,1980,2278,3678,0,0,0,0,0,0,26.06,26.19,28.83
$GC,522,-0.35,-170.3,122.8,-6.0,92,530,0.12,2.22,0.00,0.000,4,0.109,0.040,1925,3691,3679,0,0,0,0,0,0,26.29,26.27,28.83
$GC,761,-0.56,-170.3,141.7,-7.7,138,769,0.17,2.25,0.00,0.000,6,0.084,0.021,1853,2184,3679,0,0,0,0,0,0,26.36,26.41,28.83
$GC,958,-0.52,-170.3,165.1,-13.8,175,965,0.00,2.40,0.00,0.000,4,0.000,0.044,1841,3698,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1164,-0.49,-170.3,192.2,-12.9,214,1172,0.17,2.25,0.00,0.000,6,0.129,0.024,1895,2203,3680,0,0,0,0,0,0,26.33,26.49,28.83
$GC,1363,-0.52,-170.3,208.3,-7.5,241,1374,0.00,2.35,0.00,0.000,4,0.000,0.043,1884,3683,3681,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1418,-0.56,-170.3,212.4,-7.4,246,1427,0.00,2.22,0.00,0.000,6,0.000,0.023,1884,2190,3680,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1728,-0.58,-170.3,233.7,-8.3,277,1738,0.00,2.38,0.00,0.000,4,0.000,0.044,1872,3679,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1803,-0.62,-170.3,239.3,-6.6,284,1812,0.00,2.22,0.00,0.000,6,0.000,0.025,1872,2198,3680,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2115,-0.64,-170.3,263.2,-8.3,315,2123,0.00,2.38,0.00,0.000,4,0.000,0.046,1862,3686,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2180,-0.67,-170.3,268.5,-8.4,321,2187,0.00,2.22,0.00,0.000,6,0.000,0.024,1862,2203,3679,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2488,-0.69,-170.3,297.2,-8.4,352,2496,0.00,2.38,0.00,0.000,4,0.000,0.044,1851,3690,3678,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2564,-0.71,-170.3,303.0,-7.7,359,2570,0.00,2.22,0.00,0.000,6,0.000,0.024,1852,2202,3677,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2871,-0.71,-170.3,331.2,-8.9,390,2882,0.00,2.35,0.00,0.000,4,0.000,0.044,1840,3681,3675,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2956,-0.71,-170.3,338.9,-9.1,398,2967,0.00,2.22,0.00,0.000,6,0.000,0.026,1840,2202,3675,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3265,-0.71,-170.3,368.5,-9.9,429,3274,0.00,2.38,0.00,0.000,4,0.000,0.047,1829,3693,3672,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3441,-0.71,-170.3,388.7,-11.6,446,3452,0.00,2.25,0.00,0.000,6,0.000,0.025,1829,2196,3671,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3752,-0.69,-170.3,423.7,-10.8,477,3761,0.00,2.35,0.00,0.000,4,0.000,0.045,1817,3679,3669,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3826,-0.67,-170.3,431.6,-10.6,484,3835,0.00,2.22,0.00,0.000,6,0.000,0.028,1818,2208,3668,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4137,-0.63,-170.3,465.6,-10.8,515,4146,0.00,2.35,0.00,0.000,4,0.000,0.047,1806,3694,3666,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4234,-0.60,-170.3,475.7,-10.1,524,4243,0.15,2.25,-0.10,0.000,6,0.135,0.026,1851,2197,3689,0,0,0,0,0,0,26.48,26.65,26.39
$GC,4543,-0.62,-170.3,498.1,-6.4,555,4552,0.00,2.38,0.00,0.000,4,0.000,0.047,1840,3705,3688,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4651,-0.64,-170.3,506.1,-7.3,565,4660,0.00,2.25,0.00,0.000,6,0.000,0.027,1840,2201,3687,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4958,-0.64,-170.3,528.8,-7.6,596,4967,0.00,2.38,0.00,0.000,4,0.000,0.047,1828,3704,3686,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5022,-0.64,-170.3,534.1,-8.5,602,5032,0.00,2.25,0.00,0.000,6,0.000,0.028,1828,2217,3686,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5331,-0.63,-170.3,562.8,-10.4,633,5340,0.00,2.33,0.00,0.000,4,0.000,0.048,1817,3677,3683,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5427,-0.63,-170.3,573.3,-11.1,642,5437,0.10,2.22,0.00,0.000,6,0.145,0.028,1846,2203,3683,0,0,0,0,0,0,26.51,26.65,28.83
$GC,5737,-0.64,-170.3,604.2,-9.9,671,5742,0.00,2.35,0.00,0.000,4,0.000,0.048,1835,3682,3681,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5841,-0.66,-170.3,614.3,-10.0,676,5846,0.00,2.25,0.00,0.000,6,0.000,0.027,1835,2196,3681,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5976,begin apogee
$GC,5982,-0.20,0.0,628.7,-10.3,683,6145,0.43,0.08,154.85,0.931,6,0.101,0.044,1985,2453,2976,0,0,0,0,0,0,26.51,24.86,24.22
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6149,0.60,170.3,636.3,0.0,691,6321,0.68,2.33,160.85,0.916,4,0.034,0.031,2279,1051,2271,0,0,0,0,0,0,25.11,24.84,24.12
$GC,6415,0.46,170.3,601.3,21.6,704,6422,0.30,2.40,0.00,0.000,6,0.175,0.038,2199,2527,2249,0,0,0,0,0,0,25.36,25.52,28.83
$GC,6722,0.35,170.3,543.7,17.3,735,6732,0.12,2.00,0.00,0.000,4,0.195,0.045,2163,3812,2244,0,0,0,0,0,0,25.86,26.00,28.83
$GC,6890,0.28,170.3,516.7,14.3,751,6899,0.08,2.03,0.00,0.000,6,0.160,0.027,2148,2466,2242,0,0,0,0,0,0,25.97,26.13,28.83
$GC,7199,0.24,170.3,482.4,10.1,782,7210,0.00,2.12,0.00,0.000,4,0.000,0.048,2147,3809,2240,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7276,0.19,170.3,473.3,12.4,789,7283,0.15,2.03,0.00,0.000,6,0.161,0.027,2118,2463,2239,0,0,0,0,0,0,26.12,26.31,28.83
$GC,7583,0.22,192.9,448.3,8.4,820,7616,0.00,2.25,27.05,0.711,4,0.000,0.047,2118,3825,2188,0,0,0,0,0,0,28.83,25.94,25.35
$GC,7649,0.22,192.9,442.2,9.2,826,7660,0.00,2.08,0.00,0.000,6,0.000,0.026,2128,2463,2177,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7959,0.22,192.9,410.4,10.4,857,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2461,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8263,0.22,192.9,379.3,9.8,887,8271,0.00,2.10,0.00,0.000,4,0.000,0.047,2128,3807,2172,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8294,0.22,192.9,375.5,10.5,890,8298,0.00,2.03,0.00,0.000,6,0.000,0.027,2138,2455,2171,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8606,0.21,192.9,344.5,10.6,921,8615,0.00,2.15,0.00,0.000,4,0.000,0.048,2139,3823,2170,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8691,0.19,192.9,334.7,11.8,929,8700,0.10,2.03,0.00,0.000,6,0.137,0.028,2115,2462,2170,0,0,0,0,0,0,26.25,26.43,28.83
$GC,9000,0.25,219.5,309.3,8.2,960,9059,0.00,2.20,46.33,0.646,4,0.000,0.048,2115,3815,2079,0,0,0,0,1,0,28.83,25.85,25.27
$GC,9086,0.34,264.3,303.3,7.5,968,9165,0.10,2.08,62.40,0.669,6,0.090,0.027,2188,2457,1898,0,0,0,0,1,0,25.94,25.96,24.58
$GC,9464,0.30,264.3,247.6,15.1,1006,9474,0.12,2.15,0.00,0.000,4,0.164,0.046,2149,3808,1903,0,0,0,0,0,0,25.87,25.97,28.83
$GC,9518,0.29,264.3,240.4,13.0,1011,9530,0.00,2.05,0.00,0.000,6,0.000,0.027,2159,2465,1902,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9828,0.29,264.3,205.2,11.5,1042,9837,0.00,2.15,0.00,0.000,4,0.000,0.047,2160,3813,1902,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9873,0.29,264.3,200.0,12.1,1046,9880,0.00,2.05,0.00,0.000,6,0.000,0.026,2170,2458,1902,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10191,0.29,264.3,161.8,10.3,1107,10200,0.00,2.15,0.00,0.000,4,0.000,0.045,2170,3816,1902,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10294,0.29,264.3,150.0,11.5,1126,10302,0.12,2.03,0.00,0.000,6,0.142,0.024,2144,2454,1902,0,0,0,0,0,0,26.25,26.39,28.83
$GC,10491,0.48,364.1,137.2,5.6,1163,10606,0.15,0.00,102.07,0.708,6,0.065,0.000,2250,2453,1496,0,0,0,0,1,0,26.49,28.83,24.47
$GC,10795,0.45,364.1,91.4,14.4,1217,10804,0.15,2.28,2.10,0.157,4,0.151,0.046,2202,3824,1494,0,0,0,0,0,0,25.74,25.84,25.69
$GC,10886,0.60,391.5,81.6,8.2,1233,10924,0.00,2.08,31.23,0.286,6,0.000,0.025,2214,2459,1387,0,0,0,0,0,0,28.83,26.00,25.46
$GC,11111,0.78,399.5,63.7,8.9,1275,11131,0.22,2.20,11.05,0.225,4,0.076,0.032,2319,1042,1358,0,0,0,0,0,0,26.06,26.01,25.67
$GC,11175,0.94,457.6,58.3,7.1,1286,11233,0.10,2.33,52.62,0.235,6,0.093,0.033,2385,2526,1112,0,0,0,0,0,0,26.06,26.06,25.58
$STATE,11397,end climb,SURFACE_DEPTH_REACHED
$STATE,11397,begin surface coast
$FINISH,-0.4,1.021319
$STATE,11409,end surface coast,CONTROL_FINISHED_OK
$STATE,11409,begin surface
$SM_CCo,11485,0.00,0.000,0,0,1129,453.80
$SM_GC,0.41,5.90,0.50,0.00,0.047,0.037,0.000,130,2198,1129,-5.93,0.42,453.80,0,0,0,0,0,0
$IRIDIUM_FIX,2211.35,12116.61,210412,232308
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.1,2.409
$10V_AH,10.4,1.563
$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,16.700,120.975,650.550,0.000,0.000,58.487,88.290,239.440,1.250,0.000,32.457,3404.232,4753.819,785.244,2800.404,322.745,0.000,2073.343,0.000,2263.228,0.000,11.204,0.000
$DEVICE_MAMPS,229.500,48.195,931.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.274,1630.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83455,1328
$CAP_FILE_SIZE,150901,0
$CFSIZE,260165632,220516352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.345,280.4,1
$GPS,220412,023936,2222.598,12113.034,64,1.5,65,-2.8