version: 66.10
glider: 169
mission: 6
dive: 269
start: 6 16 112 14 47 38
data:
$ID,169
$MISSION,6
$DIVE,269
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,380
$T_MISSION,420
$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,200
$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,1
$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,-15813.167
$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,2275
$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,2450
$C_ROLL_CLIMB,2545
$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,49
$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
$GPS1,160612,143801,2304.892,12128.736,39,1.3,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-76.8
$GPS2,160612,144714,2305.325,12128.956,13,1.7,13,-3.0
$SPEED_LIMITS,0.150,0.281
$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,216.2,6197,-13.8,-8.684
$D_GRID,471
$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,-0.58,-194.6,0.0,0.0,0,100,0.00,0.00,-78.25,0.000,2,0.000,0.000,125,2408,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-194.6,3.2,-7.0,14,135,8.10,2.38,-15.52,0.000,4,0.230,0.032,2093,950,3777,0,0,0,0,0,0,25.02,26.11,26.47
$GC,206,-0.56,-194.6,34.6,-15.3,32,212,0.00,2.60,0.00,0.000,6,0.000,0.032,2080,2466,3778,0,0,0,0,0,0,28.83,26.03,28.83
$GC,396,-0.50,-194.6,71.1,-18.1,69,405,0.12,2.08,0.00,0.000,4,0.158,0.040,2109,3835,3779,0,0,0,0,0,0,26.06,26.08,28.83
$GC,432,-0.48,-194.6,76.6,-14.2,75,439,0.00,2.05,0.00,0.000,6,0.000,0.018,2112,2404,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,624,-0.46,-194.6,98.5,-10.5,112,631,0.00,2.33,0.00,0.000,4,0.000,0.024,2112,985,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,669,-0.48,-194.6,103.1,-9.0,120,676,0.00,2.55,0.00,0.000,6,0.000,0.031,2102,2470,3780,0,0,0,0,0,0,28.83,26.21,28.83
$GC,860,-0.46,-194.6,123.2,-11.1,157,868,0.00,2.03,0.00,0.000,4,0.000,0.040,2092,3838,3780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,880,-0.44,-194.6,125.6,-11.6,160,888,0.12,2.03,0.00,0.000,6,0.117,0.018,2132,2397,3780,0,0,0,0,0,0,26.18,26.43,28.83
$GC,1073,-0.46,-194.6,142.1,-7.8,197,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2397,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-0.47,-194.6,156.4,-7.2,234,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2397,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1457,-0.49,-194.6,169.3,-6.8,271,1463,0.00,2.25,0.00,0.000,4,0.000,0.041,2122,3824,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1488,-0.52,-194.6,171.4,-7.4,276,1494,0.00,1.98,0.00,0.000,6,0.000,0.018,2122,2405,3780,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1681,-0.56,-194.6,182.7,-5.5,313,1688,0.00,2.22,0.00,0.000,4,0.000,0.040,2118,3832,3779,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1812,-0.62,-194.6,190.4,-7.8,338,1820,0.10,1.77,0.00,0.000,6,0.067,0.018,2071,2498,3779,0,0,0,0,0,0,26.32,26.54,28.83
$GC,2007,-0.63,-194.6,204.6,-8.3,375,2014,0.00,2.00,0.00,0.000,4,0.000,0.041,2063,3841,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2087,-0.63,-194.6,212.6,-10.2,390,2094,0.00,1.98,0.00,0.000,6,0.000,0.020,2064,2439,3777,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2400,-0.60,-194.6,257.0,-16.3,451,2407,0.00,2.42,0.00,0.000,4,0.000,0.024,2066,975,3776,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2481,-0.60,-194.6,267.1,-10.6,466,2488,0.00,2.60,0.00,0.000,6,0.000,0.033,2053,2487,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2793,-0.56,-194.6,310.9,-13.4,527,2801,0.12,0.00,0.00,0.000,6,0.148,0.000,2096,2485,3773,0,0,0,0,0,0,26.28,28.83,28.83
$GC,3106,-0.56,-194.6,336.9,-8.1,588,3114,0.00,2.55,0.00,0.000,4,0.000,0.026,2096,976,3772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3143,-0.58,-194.6,340.1,-8.3,594,3149,0.00,2.58,0.00,0.000,6,0.000,0.032,2087,2474,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3455,-0.57,-194.6,370.6,-10.0,655,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2473,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.57,-194.6,398.2,-7.7,716,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2473,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4080,-0.56,-194.6,424.1,-9.2,777,4086,0.00,2.50,0.00,0.000,4,0.000,0.026,2087,993,3765,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4140,-0.59,-194.6,429.2,-7.4,788,4147,0.00,2.58,0.00,0.000,6,0.000,0.034,2085,2475,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4452,-0.59,-194.6,457.9,-8.7,849,4459,0.00,2.10,-0.08,0.000,4,0.000,0.057,2076,3834,3789,0,0,0,0,0,0,28.83,26.16,25.45
$GC,4495,-0.60,-194.6,461.1,-7.3,856,4501,0.00,2.05,0.00,0.000,6,0.000,0.019,2076,2408,3789,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4618,-0.20,0.0,471.3,-8.7,879,4791,0.38,0.08,166.35,0.874,4,0.097,0.091,2206,2508,2974,0,0,0,0,0,0,26.03,25.08,24.11
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4794,0.58,194.6,478.2,0.0,907,4977,0.70,2.08,171.18,0.836,4,0.051,0.042,2469,3832,2178,0,0,0,0,0,0,25.29,25.29,24.15
$GC,5153,0.51,194.6,425.1,20.1,971,5161,0.15,1.85,0.00,0.000,6,0.177,0.021,2440,2516,2154,0,0,0,0,0,0,25.61,26.00,28.83
$GC,5468,0.48,194.6,377.5,14.2,1032,5475,0.00,2.50,0.00,0.000,4,0.000,0.028,2454,1082,2148,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5580,0.46,194.6,363.4,11.8,1053,5587,0.00,2.72,0.00,0.000,6,0.000,0.033,2454,2578,2146,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5890,0.42,194.6,321.9,12.7,1114,5898,0.12,1.80,0.00,0.000,4,0.167,0.038,2415,3839,2146,0,0,0,0,0,0,26.07,26.20,28.83
$GC,5926,0.39,194.6,317.8,10.9,1120,5933,0.00,1.83,0.00,0.000,6,0.000,0.020,2424,2522,2145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6243,0.37,194.6,287.7,9.5,1181,6250,0.12,2.53,0.00,0.000,4,0.165,0.028,2397,1075,2143,0,0,0,0,0,0,26.13,26.26,28.83
$GC,6283,0.47,261.3,284.5,6.7,1188,6351,0.00,2.65,61.08,0.721,6,0.000,0.031,2397,2556,1907,0,0,0,0,0,0,28.83,26.27,24.63
$GC,6659,0.58,341.9,259.6,6.3,1259,6745,0.15,2.75,73.32,0.705,4,0.065,0.029,2509,1098,1566,0,0,0,0,0,0,26.29,25.52,24.53
$GC,6781,0.57,341.9,242.7,14.5,1279,6789,0.17,2.65,0.00,0.000,6,0.129,0.034,2457,2535,1555,0,0,0,0,0,0,25.51,25.72,28.83
$GC,7098,0.56,341.9,199.0,13.7,1340,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2534,1552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7291,0.55,341.9,172.9,11.9,1377,7298,0.00,2.58,0.00,0.000,4,0.000,0.028,2469,1093,1550,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7326,0.57,341.9,169.2,9.5,1383,7333,0.00,2.60,0.00,0.000,6,0.000,0.031,2470,2534,1549,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7519,0.56,341.9,146.4,13.6,1420,7527,0.00,2.55,0.00,0.000,4,0.000,0.028,2483,1090,1548,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7539,0.56,341.9,143.8,13.1,1423,7546,0.00,2.55,0.00,0.000,6,0.000,0.031,2483,2519,1547,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7732,0.55,341.9,119.1,12.4,1460,7740,0.12,1.90,0.00,0.000,4,0.148,0.037,2441,3830,1547,0,0,0,0,0,0,26.20,26.21,28.83
$GC,7773,0.56,341.9,113.7,12.5,1467,7780,0.00,1.95,0.00,0.000,6,0.000,0.020,2451,2478,1547,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7967,0.63,380.4,97.9,7.5,1504,8015,0.00,2.45,39.08,0.295,4,0.000,0.028,2463,1083,1438,0,0,0,0,0,0,28.83,26.16,25.25
$GC,8081,0.76,457.2,91.0,6.4,1524,8178,0.17,2.45,90.45,0.301,6,0.058,0.026,2579,2489,1114,0,0,0,0,0,0,26.20,26.17,25.11
$GC,8364,0.74,457.2,31.7,16.3,1576,8374,0.20,2.08,2.53,0.145,4,0.145,0.038,2517,3833,1114,0,0,0,0,0,0,25.77,26.01,25.49
$GC,8393,0.74,457.2,27.7,14.6,1580,8401,0.00,2.08,0.00,0.000,6,0.000,0.021,2525,2422,1120,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8587,0.88,545.7,15.5,6.0,1617,8648,0.10,2.22,53.33,0.150,4,0.090,0.037,2605,3837,751,0,0,0,0,0,0,26.40,26.02,25.48
$STATE,8692,end climb,SURFACE_DEPTH_REACHED
$STATE,8692,begin surface coast
$FINISH,1.9,1.021333
$STATE,8697,end surface coast,CONTROL_FINISHED_OK
$STATE,8697,begin surface
$SM_CCo,8776,0.00,0.000,0,0,759,544.57
$SM_GC,0.54,6.57,2.12,0.00,0.051,0.020,0.000,135,2416,759,-6.61,0.37,544.57,0,0,0,0,0,0,26.13,26.18,28.83
$IRIDIUM_FIX,2258.07,12127.55,160612,101031
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.43
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,24.1,54.754
$10V_AH,10.1,34.065
$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,17.550,100.925,657.300,0.000,0.000,31.382,17.225,325.981,0.000,0.000,14.645,3715.240,1636.010,774.415,2788.626,368.282,0.000,2029.807,0.000,2336.207,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,91.035,873.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.286,1241.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100365,1636
$CAP_FILE_SIZE,146827,0
$CFSIZE,260165632,192311296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.336, 14.4,1
$GPS,160612,171501,2306.011,12128.704,39,1.2,40,-3.0