version: 66.10
glider: 169
mission: 6
dive: 27
start: 4 23 112 15 36 13
data:
$ID,169
$MISSION,6
$DIVE,27
$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,624.04321
$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,-14359.312
$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,2035
$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,2500
$C_ROLL_CLIMB,2525
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,300
$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
$GPS1,230412,152614,2246.924,12127.654,11,1.5,11,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.4
$GPS2,230412,153549,2247.065,12127.879,15,1.5,32,-2.9
$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,311.4,30819,-15.6,-9.167
$D_GRID,251
$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,-0.60,-170.3,0.0,0.0,0,93,0.00,0.00,-72.10,0.000,2,0.000,0.000,120,2533,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.60,-170.3,3.4,-7.1,13,125,6.35,1.98,-12.93,0.000,4,0.216,0.047,1823,3829,3677,0,0,0,0,0,0,26.13,26.44,26.73
$GC,191,-0.53,-170.3,35.7,-31.0,29,198,0.12,2.05,0.00,0.000,6,0.161,0.029,1865,2464,3678,0,0,0,0,0,0,26.30,26.46,28.83
$GC,388,-0.46,-170.3,86.6,-24.3,66,395,0.00,2.15,0.00,0.000,4,0.000,0.024,1869,1027,3678,0,0,0,0,0,0,28.83,26.54,28.83
$GC,499,-0.45,-170.3,109.3,-15.1,87,509,0.12,2.33,0.00,0.000,6,0.145,0.036,1895,2526,3679,0,0,0,0,0,0,26.43,26.54,28.83
$GC,699,-0.42,-170.3,142.6,-18.5,124,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2525,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-0.41,-170.3,172.9,-12.8,161,899,0.00,2.22,0.00,0.000,4,0.000,0.027,1895,1042,3680,0,0,0,0,0,0,28.83,26.63,28.83
$GC,976,-0.45,-170.3,180.9,-8.0,176,983,0.00,2.30,0.00,0.000,6,0.000,0.033,1887,2539,3680,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1170,-0.44,-170.3,205.4,-15.7,210,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2538,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1474,-0.43,-170.3,243.4,-12.7,240,1483,0.00,2.22,0.00,0.000,4,0.000,0.024,1887,1042,3680,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1527,-0.44,-170.3,249.0,-9.5,245,1536,0.00,2.30,0.00,0.000,6,0.000,0.034,1877,2534,3679,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1556,begin apogee
$GC,1562,-0.20,0.0,251.8,-9.1,248,1764,0.25,0.00,194.02,0.598,6,0.118,0.000,1966,2533,2972,0,0,0,0,0,0,26.55,28.83,24.89
$STATE,1765,end apogee,CONTROL_FINISHED_OK
$STATE,1765,begin climb
$GC,1767,0.60,170.3,260.8,0.0,268,1920,0.73,2.12,143.73,0.640,4,0.078,0.041,2225,3824,2272,0,0,0,0,0,0,25.46,25.32,24.76
$GC,2059,0.53,170.3,222.8,19.6,297,2067,0.00,2.00,0.00,0.000,6,0.000,0.022,2235,2482,2259,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2375,0.48,170.3,168.0,15.4,346,2383,0.15,2.17,0.00,0.000,4,0.189,0.027,2204,1069,2256,0,0,0,0,0,0,26.15,26.34,28.83
$GC,2448,0.48,170.3,159.9,10.5,359,2457,0.00,2.33,0.00,0.000,6,0.000,0.031,2204,2552,2253,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2644,0.46,170.3,143.2,9.2,396,2651,0.00,1.92,0.00,0.000,4,0.000,0.040,2204,3826,2253,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2744,0.42,170.3,131.9,10.8,415,2754,0.15,1.98,0.00,0.000,6,0.158,0.022,2172,2472,2252,0,0,0,0,0,0,26.33,26.53,28.83
$GC,2941,0.48,221.4,118.4,7.3,452,2993,0.00,2.12,41.75,0.551,4,0.000,0.041,2172,3819,2061,0,0,0,0,0,0,28.83,26.10,25.56
$GC,3054,0.50,221.4,106.6,12.2,471,3063,0.00,1.98,0.00,0.000,6,0.000,0.023,2182,2481,2052,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3251,0.53,243.2,89.8,8.4,508,3278,0.00,2.17,17.33,0.262,4,0.000,0.028,2194,1072,1991,0,0,0,0,0,0,28.83,26.31,25.91
$GC,3292,0.63,314.5,86.5,6.6,514,3395,0.12,2.30,95.72,0.291,6,0.076,0.031,2282,2547,1698,0,0,0,0,0,0,26.34,26.32,25.60
$GC,3587,0.60,314.5,39.3,15.2,566,3596,0.15,2.38,2.50,0.141,4,0.162,0.030,2246,1072,1698,0,0,0,0,0,0,26.12,26.25,26.07
$GC,3683,0.64,329.9,29.8,8.6,583,3704,0.00,2.33,13.32,0.171,6,0.000,0.031,2246,2552,1637,0,0,0,0,0,0,28.83,26.34,26.06
$GC,3890,0.68,349.8,12.6,8.4,622,3911,0.00,1.95,13.57,0.145,4,0.000,0.041,2246,3828,1553,0,0,0,0,0,0,28.83,26.38,26.19
$GC,3981,0.80,423.4,5.8,6.5,638,4023,0.10,1.98,36.35,0.125,2,0.087,0.022,2341,2474,1270,0,0,0,0,0,0,26.44,26.47,28.83
$STATE,4024,end climb,SURFACE_DEPTH_REACHED
$STATE,4024,begin surface coast
$FINISH,0.2,1.002305
$STATE,4055,end surface coast,CONTROL_FINISHED_OK
$STATE,4055,begin surface
$SM_CCo,4070,150.73,0.210,3,0,435,624.04
$SM_GC,0.99,5.55,0.08,150.73,0.032,0.116,0.210,97,2539,435,-5.88,-0.45,624.04,0,0,0,0,3,0
$IRIDIUM_FIX,2237.01,12125.88,230412,141452
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,8.39255
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.7,4.082
$10V_AH,10.6,2.634
$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,13.800,47.350,558.300,150.725,0.000,168.855,29.037,0.000,0.000,0.000,33.604,1566.076,1054.496,749.040,1279.635,158.236,0.000,1369.309,0.000,1009.645,0.000,1.014,0.000
$DEVICE_MAMPS,215.730,115.515,640.305,209.610,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.310,573.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,40263,650
$CAP_FILE_SIZE,70537,0
$CFSIZE,260165632,219619328
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.482, 63.5,1
$GPS,230412,164752,2248.054,12128.284,12,4.0,31,-3.0