version: 66.10
glider: 169
mission: 6
dive: 36
start: 4 25 112 4 16 7
data:
$ID,169
$MISSION,6
$DIVE,36
$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,225
$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,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,-15258.124
$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,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
$GPS1,250412,040754,2303.933,12131.925,105,1.0,105,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-54.1
$GPS2,250412,041543,2304.332,12132.086,16,1.8,16,-3.0
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,118.7,256454,-13.6,-9.167
$D_GRID,1225
$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,-0.61,-219.0,0.0,0.0,0,125,0.00,0.00,-103.00,0.000,2,0.000,0.000,118,2427,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.61,-219.0,3.8,-10.9,17,151,6.72,2.33,-10.85,0.000,4,0.230,0.057,1816,3831,3875,0,0,0,0,0,0,25.66,26.00,26.31
$GC,222,-0.50,-219.0,50.0,-41.4,33,229,0.17,2.10,0.00,0.000,6,0.157,0.028,1873,2459,3875,0,0,0,0,0,0,25.89,26.09,28.83
$GC,420,-0.44,-219.0,97.9,-20.1,70,429,0.00,2.17,0.00,0.000,4,0.000,0.026,1875,1041,3875,0,0,0,0,0,0,28.83,26.21,28.83
$GC,453,-0.39,-219.0,105.1,-22.3,75,461,0.15,2.38,0.00,0.000,6,0.130,0.038,1910,2521,3875,0,0,0,0,0,0,26.09,26.20,28.83
$GC,650,-0.38,-219.0,133.9,-10.2,112,657,0.00,2.00,0.00,0.000,4,0.000,0.043,1900,3822,3875,0,0,0,0,0,0,28.83,26.27,28.83
$GC,696,-0.39,-219.0,137.9,-8.1,120,703,0.00,2.03,0.00,0.000,6,0.000,0.021,1900,2434,3876,0,0,0,0,0,0,28.83,26.36,28.83
$GC,894,-0.39,-219.0,156.5,-9.6,157,901,0.00,2.17,0.00,0.000,4,0.000,0.042,1891,3820,3875,0,0,0,0,0,0,28.83,26.34,28.83
$GC,952,-0.42,-219.0,161.5,-8.3,167,958,0.00,2.03,0.00,0.000,6,0.000,0.024,1891,2443,3875,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1147,-0.42,-219.0,180.5,-9.6,204,1153,0.00,2.15,0.00,0.000,4,0.000,0.028,1891,1035,3875,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1193,-0.45,-219.0,184.1,-6.5,212,1200,0.00,2.35,0.00,0.000,6,0.000,0.036,1882,2530,3875,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1395,-0.44,-219.0,202.2,-9.9,248,1399,0.00,2.00,0.00,0.000,4,0.000,0.046,1872,3826,3875,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1450,-0.45,-219.0,207.3,-9.5,253,1457,0.00,2.03,0.00,0.000,6,0.000,0.021,1872,2431,3875,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1758,-0.45,-219.0,235.9,-7.6,284,1766,0.00,2.17,0.00,0.000,4,0.000,0.044,1863,3819,3875,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1803,-0.45,-219.0,239.4,-8.2,288,1810,0.00,2.00,0.00,0.000,6,0.000,0.024,1863,2450,3875,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2112,-0.45,-219.0,268.9,-10.2,319,2120,0.00,2.12,0.00,0.000,4,0.000,0.044,1854,3822,3875,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2195,-0.46,-219.0,276.7,-9.7,327,2205,0.08,2.00,0.00,0.000,6,0.083,0.024,1889,2444,3874,0,0,0,0,0,0,26.46,26.58,28.83
$GC,2504,-0.48,-219.0,300.3,-7.4,358,2513,0.00,2.15,0.00,0.000,4,0.000,0.044,1879,3822,3872,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2540,-0.51,-219.0,303.4,-9.2,361,2546,0.00,2.03,0.00,0.000,6,0.000,0.024,1878,2432,3872,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2848,-0.52,-219.0,328.1,-7.6,392,2857,0.00,2.17,0.00,0.000,4,0.000,0.044,1870,3822,3869,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2881,-0.54,-219.0,330.6,-7.4,395,2889,0.00,2.03,0.00,0.000,6,0.000,0.023,1870,2431,3870,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3192,-0.55,-219.0,356.8,-8.2,426,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2431,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,-0.56,-219.0,380.8,-7.9,457,3514,0.00,2.17,0.00,0.000,4,0.000,0.046,1863,3822,3864,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3547,-0.58,-219.0,384.2,-7.4,461,3558,0.00,2.03,0.00,0.000,6,0.000,0.024,1863,2431,3864,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3858,-0.58,-219.0,408.0,-7.7,492,3867,0.00,2.15,-0.08,0.000,4,0.000,0.059,1855,3813,3886,0,0,0,0,0,0,28.83,26.55,26.20
$GC,3904,-0.60,-219.0,411.5,-8.1,496,3911,0.00,2.00,0.00,0.000,6,0.000,0.023,1855,2435,3886,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4212,-0.60,-219.0,439.0,-9.7,527,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2435,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-0.60,-219.0,466.5,-8.2,557,4522,0.00,2.17,0.00,0.000,4,0.000,0.047,1846,3818,3884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4569,-0.61,-219.0,470.1,-6.7,562,4575,0.00,2.03,0.00,0.000,6,0.000,0.025,1845,2438,3883,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4876,-0.61,-219.0,492.9,-7.4,593,4880,0.00,2.17,0.00,0.000,4,0.000,0.050,1837,3817,3882,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4921,-0.61,-219.0,496.1,-7.7,597,4928,0.00,2.00,0.00,0.000,6,0.000,0.025,1837,2451,3881,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5230,-0.61,-219.0,522.4,-8.4,628,5234,0.00,2.15,0.00,0.000,4,0.000,0.030,1837,1037,3879,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5266,-0.61,-219.0,525.3,-8.4,631,5275,0.00,2.33,0.00,0.000,6,0.000,0.038,1827,2524,3879,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5573,-0.59,-219.0,555.9,-9.8,662,5583,0.00,2.00,0.00,0.000,4,0.000,0.048,1818,3827,3878,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5648,-0.59,-219.0,562.7,-8.8,669,5657,0.00,2.00,0.00,0.000,6,0.000,0.025,1817,2448,3877,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5958,-0.57,-219.0,595.0,-10.1,700,5968,0.12,2.12,0.00,0.000,4,0.130,0.029,1864,1046,3876,0,0,0,0,0,0,26.53,26.60,28.83
$GC,6004,-0.58,-219.0,598.3,-7.3,704,6014,0.00,2.30,0.00,0.000,6,0.000,0.040,1862,2516,3875,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6323,-0.60,-219.0,619.1,-7.1,722,6329,0.00,1.98,0.00,0.000,4,0.000,0.050,1853,3808,3874,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6386,-0.62,-219.0,623.6,-7.6,725,6390,0.00,2.00,0.00,0.000,6,0.000,0.024,1852,2437,3873,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6701,-0.63,-219.0,649.1,-7.9,741,6706,0.00,2.17,0.00,0.000,4,0.000,0.050,1844,3821,3872,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6740,-0.64,-219.0,652.2,-7.8,743,6745,0.00,2.03,0.00,0.000,6,0.000,0.024,1844,2437,3871,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7060,-0.64,-219.0,678.2,-7.7,759,7065,0.00,2.15,0.00,0.000,4,0.000,0.050,1836,3811,3870,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7100,-0.65,-219.0,681.2,-7.6,761,7105,0.00,2.00,0.00,0.000,6,0.000,0.025,1836,2450,3869,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7419,-0.65,-219.0,707.0,-8.4,777,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2448,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,-0.65,-219.0,735.1,-9.3,792,7725,0.00,2.12,0.00,0.000,4,0.000,0.051,1826,3808,3867,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7767,-0.65,-219.0,738.8,-9.4,794,7771,0.00,2.00,0.00,0.000,6,0.000,0.026,1826,2453,3866,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8075,-0.64,-219.0,766.7,-8.6,809,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2452,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8376,-0.63,-219.0,792.3,-8.5,824,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2452,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.63,-219.0,818.6,-8.5,839,8681,0.00,2.15,0.00,0.000,4,0.000,0.051,1818,3816,3863,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8750,-0.63,-219.0,823.7,-8.5,842,8756,0.00,2.00,0.00,0.000,6,0.000,0.026,1817,2454,3862,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9057,-0.62,-219.0,852.7,-9.4,858,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2453,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.61,-219.0,881.4,-9.4,873,9362,0.00,2.12,0.00,0.000,4,0.000,0.052,1809,3808,3860,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9421,-0.60,-219.0,886.9,-9.1,876,9427,0.10,2.03,0.00,0.000,6,0.132,0.026,1840,2437,3860,0,0,0,0,0,0,26.47,26.63,28.83
$GC,9739,-0.61,-219.0,909.9,-6.3,892,9744,0.00,2.15,0.00,0.000,4,0.000,0.051,1829,3816,3860,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9782,-0.62,-219.0,912.4,-6.0,894,9786,0.00,2.03,0.00,0.000,6,0.000,0.026,1829,2443,3859,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10095,-0.62,-219.0,934.6,-7.6,910,10100,0.00,2.12,0.00,0.000,4,0.000,0.033,1829,1051,3859,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10127,-0.62,-219.0,936.1,-7.6,911,10134,0.00,2.35,0.00,0.000,6,0.000,0.042,1826,2526,3858,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10437,-0.62,-219.0,960.7,-7.8,927,10442,0.00,1.98,0.00,0.000,4,0.000,0.052,1816,3813,3858,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10483,-0.62,-219.0,963.9,-7.9,929,10487,0.00,2.03,0.00,0.000,6,0.000,0.027,1816,2440,3857,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10792,-0.61,-219.0,989.5,-8.7,944,10797,0.00,2.17,0.00,0.000,4,0.000,0.054,1807,3809,3857,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,10808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10808,begin apogee
$GC,10815,-0.20,0.0,991.2,-8.6,945,11033,0.45,0.12,206.95,1.372,6,0.092,0.086,1971,2550,2979,0,0,0,0,1,0,26.39,24.39,23.53
$STATE,11034,end apogee,CONTROL_FINISHED_OK
$STATE,11034,begin climb
$GC,11037,0.61,219.0,999.8,0.0,956,11266,0.70,2.15,213.93,1.436,4,0.031,0.046,2258,3818,2087,0,0,0,0,1,0,24.65,24.12,23.22
$GC,11340,0.51,219.0,948.3,29.5,971,11350,0.22,2.10,2.10,0.254,6,0.200,0.027,2210,2495,2085,0,0,0,0,0,0,24.80,24.98,23.99
$GC,11654,0.44,219.0,873.6,22.4,987,11662,0.12,2.10,1.88,0.170,4,0.205,0.044,2167,3812,2083,0,0,0,0,0,0,25.53,25.70,25.54
$GC,11713,0.38,219.0,860.9,21.6,990,11717,0.00,2.03,0.00,0.000,6,0.000,0.026,2177,2490,2092,0,0,0,0,0,0,28.83,25.80,28.83
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$STATE,19113,end climb,SURFACE_DEPTH_REACHED
$STATE,19113,begin surface coast
$FINISH,-0.4,1.014774
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19136,begin surface
$SM_CCo,19211,0.00,0.000,0,0,652,570.81
$SM_GC,0.20,5.68,0.08,0.00,0.030,0.115,0.000,135,2529,652,-5.86,-0.37,570.81,0,0,0,0,0,0
$IRIDIUM_FIX,2253.38,12129.55,240412,232312
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,8.2363
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.2,5.875
$10V_AH,10.2,3.718
$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,16.250,197.900,824.200,0.000,0.000,25.145,21.529,279.551,0.250,0.000,16.920,4647.449,10054.719,982.902,3496.464,470.821,0.000,2730.409,0.000,3002.767,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,114.750,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.781,2249.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,110299,1765
$CAP_FILE_SIZE,221614,0
$CFSIZE,260165632,218611712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,4,0
$CURRENT,0.264,323.7,1
$GPS,250412,093725,2303.893,12135.511,39,2.0,39,-3.0