version: 66.10
glider: 169
mission: 6
dive: 518
start: 8 8 112 17 21 47
data:
$ID,169
$MISSION,6
$DIVE,518
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$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,40
$T_MISSION,50
$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,250
$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,9
$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,-18669.818
$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,2235
$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,2400
$C_ROLL_CLIMB,2400
$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,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
$GPS1,080812,171603,2256.542,12208.305,7,2.3,26,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-64.9
$GPS2,080812,172125,2256.703,12208.371,13,1.2,13,-3.0
$SPEED_LIMITS,0.231,0.360
$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,238.0,73591,-17.9,-13.333
$D_GRID,5007
$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,-0.75,-243.3,0.0,0.0,0,114,0.00,0.00,-94.80,0.000,2,0.000,0.000,117,2446,3050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.75,-243.3,3.9,-8.3,15,154,8.10,2.58,-17.55,0.000,4,0.240,0.035,1997,926,3963,0,0,0,0,0,0,25.00,26.15,26.64
$GC,174,-0.65,-243.3,22.0,-30.5,23,181,0.15,2.53,0.00,0.000,6,0.174,0.028,2023,2431,3964,0,0,0,0,0,0,25.67,26.11,28.83
$GC,314,-0.60,-243.3,51.5,-21.0,48,323,0.00,2.25,0.00,0.000,4,0.000,0.041,2012,3836,3964,0,0,0,0,0,0,28.83,26.04,28.83
$GC,391,-0.57,-243.3,67.2,-17.8,61,398,0.15,2.15,0.00,0.000,6,0.153,0.017,2053,2393,3964,0,0,0,0,0,0,25.86,26.32,28.83
$GC,529,-0.54,-243.3,87.0,-13.3,86,536,0.00,2.40,0.00,0.000,4,0.000,0.021,2054,907,3964,0,0,0,0,0,0,28.83,26.24,28.83
$GC,561,-0.53,-243.3,91.5,-13.1,91,568,0.00,2.55,0.00,0.000,6,0.000,0.027,2041,2439,3964,0,0,0,0,0,0,28.83,26.16,28.83
$GC,698,-0.51,-243.3,110.4,-13.2,116,707,0.00,2.20,0.00,0.000,4,0.000,0.035,2030,3835,3964,0,0,0,0,0,0,28.83,26.09,28.83
$GC,720,-0.49,-243.3,113.7,-13.4,119,728,0.15,2.28,0.00,0.000,6,0.130,0.017,2075,2339,3965,0,0,0,0,0,0,25.96,26.33,28.83
$GC,859,-0.51,-243.3,128.4,-10.0,144,868,0.00,2.47,0.00,0.000,4,0.000,0.037,2062,3847,3965,0,0,0,0,0,0,28.83,26.06,28.83
$GC,925,-0.51,-243.3,135.7,-11.6,155,931,0.00,2.00,0.00,0.000,6,0.000,0.018,2063,2449,3965,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1061,-0.54,-243.3,148.2,-8.7,180,1070,0.00,2.20,0.00,0.000,4,0.000,0.036,2052,3837,3965,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1125,-0.54,-243.3,154.9,-10.2,191,1131,0.00,1.75,0.00,0.000,6,0.000,0.016,2052,2519,3965,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1180,-0.20,0.0,160.3,-10.0,200,1385,0.32,0.22,193.25,0.589,4,0.098,0.050,2165,2439,2967,0,0,0,0,0,0,25.94,25.59,24.45
$STATE,1386,end apogee,CONTROL_FINISHED_OK
$STATE,1386,begin climb
$GC,1389,0.75,243.3,175.5,0.0,233,1605,0.93,2.58,202.57,0.590,4,0.108,0.022,2469,916,1979,0,0,0,0,0,0,25.42,25.84,24.53
$GC,1641,0.95,379.0,164.6,8.4,273,1760,0.20,2.53,111.32,0.571,6,0.055,0.023,2576,2435,1427,0,0,0,0,0,0,25.96,25.96,24.58
$GC,1890,1.02,437.6,131.8,11.2,316,1949,0.00,2.58,49.78,0.549,4,0.000,0.027,2589,925,1179,0,0,0,0,0,0,28.83,25.85,24.68
$GC,1980,1.15,520.3,122.0,10.3,330,2076,0.00,2.53,90.30,0.522,6,0.000,0.022,2589,2440,856,0,0,0,0,0,0,28.83,26.01,24.66
$GC,2202,1.26,554.2,97.6,12.1,369,2263,0.12,2.62,54.50,0.289,4,0.084,0.026,2670,928,724,0,0,0,0,0,0,26.26,25.97,24.98
$GC,2319,1.26,554.2,82.4,15.2,388,2331,0.12,2.62,3.20,0.151,6,0.152,0.025,2636,2478,723,0,0,0,0,0,0,25.80,26.08,25.27
$GC,2460,1.31,581.7,64.2,12.3,413,2504,0.00,2.70,38.20,0.236,4,0.000,0.025,2649,930,613,0,0,0,0,0,0,28.83,26.06,25.10
$GC,2536,1.48,668.3,55.6,10.2,425,2600,0.17,2.42,54.58,0.220,6,0.065,0.021,2734,2411,434,0,0,0,0,0,0,26.10,26.15,25.18
$GC,2728,1.47,668.3,28.7,15.3,459,2736,0.00,2.50,0.93,0.192,4,0.000,0.026,2746,930,434,0,0,0,0,0,0,28.83,26.10,25.58
$GC,2770,1.47,668.3,21.9,15.9,466,2778,0.15,2.38,0.00,0.000,6,0.156,0.024,2705,2377,435,0,0,0,0,0,0,25.79,26.18,28.83
$STATE,2900,end climb,SURFACE_DEPTH_REACHED
$STATE,2900,begin surface coast
$FINISH,0.4,1.021623
$STATE,2916,end surface coast,CONTROL_FINISHED_OK
$STATE,2916,begin surface
$SM_CCo,2992,0.00,0.000,0,0,435,624.04
$SM_GC,1.19,6.45,0.08,0.00,0.028,0.108,0.000,123,2440,435,-6.48,-0.23,624.04,0,0,0,0,0,0
$IRIDIUM_FIX,2246.36,12206.03,080812,161622
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.23
$INTERNAL_PRESSURE,8.46091
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,114.840
$10V_AH,10.1,73.679
$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,17.025,53.425,798.625,0.000,0.000,31.381,39.902,128.521,0.000,0.000,14.027,996.822,389.642,800.352,941.427,176.463,0.000,1321.391,0.000,718.495,0.000,0.546,0.000
$DEVICE_MAMPS,240.210,107.865,589.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.024,375.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,30275,493
$CAP_FILE_SIZE,59114,0
$CFSIZE,260165632,156147712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.886, 40.9,1
$GPS,080812,181236,2257.583,12208.916,10,1.7,28,-3.0