version: 66.10
glider: 169
mission: 6
dive: 117
start: 5 12 112 5 43 32
data:
$ID,169
$MISSION,6
$DIVE,117
$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,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,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,-15426.332
$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,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,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
$GPS1,120512,053506,2335.113,12407.894,32,1.0,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.4
$GPS2,120512,054308,2335.252,12407.850,16,1.5,16,-3.4
$SPEED_LIMITS,0.136,0.256
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,145.7,232361,-13.5,-7.857
$D_GRID,2746
$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,-0.55,-170.3,0.0,0.0,0,107,0.00,0.00,-87.93,0.000,2,0.000,0.000,117,2424,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.55,-170.3,4.4,-12.3,15,130,7.80,2.17,-3.78,0.000,4,0.227,0.034,2103,1019,3676,0,0,0,0,0,0,25.46,26.08,26.35
$GC,190,-0.49,-170.3,39.0,-24.4,29,197,0.00,2.45,0.00,0.000,6,0.000,0.034,2091,2522,3678,0,0,0,0,0,0,28.83,26.06,28.83
$GC,389,-0.41,-170.3,87.6,-24.0,66,399,0.15,2.38,0.00,0.000,4,0.182,0.025,2144,1033,3679,0,0,0,0,0,0,25.88,26.20,28.83
$GC,424,-0.37,-170.3,94.4,-18.7,71,430,0.00,2.38,0.00,0.000,6,0.000,0.034,2133,2489,3679,0,0,0,0,0,0,28.83,26.17,28.83
$GC,623,-0.33,-170.3,126.5,-16.6,108,629,0.12,0.00,0.00,0.000,6,0.161,0.000,2172,2488,3679,0,0,0,0,0,0,26.12,28.83,28.83
$GC,821,-0.31,-170.3,149.1,-10.3,145,828,0.00,2.28,0.00,0.000,4,0.000,0.025,2175,1041,3680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,863,-0.32,-170.3,153.1,-8.5,152,869,0.00,2.30,0.00,0.000,6,0.000,0.032,2166,2484,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1061,-0.32,-170.3,171.0,-9.1,189,1068,0.00,2.05,0.00,0.000,4,0.000,0.044,2156,3828,3680,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1086,-0.32,-170.3,173.3,-8.9,193,1092,0.00,2.08,0.00,0.000,6,0.000,0.019,2156,2417,3680,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1284,-0.30,-170.3,193.2,-10.9,230,1293,0.00,2.10,0.00,0.000,4,0.000,0.025,2156,1042,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1338,-0.33,-170.3,197.9,-7.6,239,1345,0.00,2.28,0.00,0.000,6,0.000,0.031,2153,2477,3680,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1529,-0.32,-170.3,215.7,-10.4,260,1538,0.00,2.05,0.00,0.000,4,0.000,0.041,2143,3828,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1553,-0.31,-170.3,217.9,-10.2,262,1564,0.00,2.08,0.00,0.000,6,0.000,0.019,2143,2405,3680,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1862,-0.29,-170.3,252.5,-11.7,293,1872,0.12,2.10,0.00,0.000,4,0.139,0.024,2188,1030,3680,0,0,0,0,0,0,26.36,26.46,28.83
$GC,1899,-0.30,-170.3,255.2,-9.2,296,1906,0.00,2.25,0.00,0.000,6,0.000,0.030,2188,2460,3680,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2206,-0.38,-170.3,279.5,-9.2,327,2216,0.12,2.05,0.00,0.000,4,0.108,0.037,2131,3815,3679,0,0,0,0,0,0,26.50,26.42,28.83
$GC,2290,-0.45,-170.3,287.0,-9.2,335,2293,0.00,2.10,0.00,0.000,6,0.000,0.021,2138,2392,3678,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2602,-0.53,-170.3,313.7,-9.1,366,2611,0.12,2.05,0.00,0.000,4,0.110,0.023,2092,1041,3678,0,0,0,0,0,0,26.51,26.51,28.83
$GC,2627,-0.60,-170.3,316.0,-9.2,368,2634,0.00,2.28,0.00,0.000,6,0.000,0.030,2092,2476,3677,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2936,-0.57,-170.3,354.7,-13.7,399,2940,0.00,2.03,0.00,0.000,4,0.000,0.039,2082,3820,3676,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2999,-0.54,-170.3,362.9,-12.3,405,3008,0.00,2.08,0.00,0.000,6,0.000,0.021,2082,2407,3676,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3309,-0.51,-170.3,406.1,-13.4,436,3317,0.00,2.12,0.00,0.000,4,0.000,0.027,2082,1020,3675,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3426,-0.49,-170.3,419.4,-10.9,447,3433,0.15,2.28,0.00,0.000,6,0.124,0.032,2118,2457,3675,0,0,0,0,0,0,26.28,26.46,28.83
$GC,3734,-0.49,-170.3,450.2,-10.4,478,3744,0.00,2.17,0.00,0.000,4,0.000,0.024,2118,1039,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3778,-0.49,-170.3,454.5,-9.9,482,3789,0.00,2.22,0.00,0.000,6,0.000,0.034,2112,2439,3674,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4088,-0.48,-170.3,484.4,-9.2,513,4096,0.00,2.15,0.00,0.000,4,0.000,0.041,2101,3845,3672,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4152,-0.48,-170.3,490.1,-8.9,519,4161,0.00,2.12,0.00,0.000,6,0.000,0.020,2101,2392,3672,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4462,-0.47,-170.3,520.1,-9.8,550,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2392,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.46,-170.3,547.4,-8.4,581,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2392,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.45,-170.3,573.1,-8.6,612,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2392,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5403,-0.44,-170.3,602.2,-9.6,643,5409,0.10,2.30,0.00,0.000,4,0.145,0.041,2120,3810,3664,0,0,0,0,0,0,26.52,26.39,28.83
$GC,5444,-0.44,-170.3,605.6,-8.9,645,5448,0.00,2.10,0.00,0.000,6,0.000,0.020,2120,2382,3663,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5764,-0.45,-170.3,628.8,-6.9,661,5769,0.00,2.05,0.00,0.000,4,0.000,0.025,2120,1037,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5796,-0.46,-170.3,630.4,-7.1,662,5805,0.00,2.25,0.00,0.000,6,0.000,0.033,2112,2455,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6103,-0.46,-170.3,651.8,-6.5,678,6109,0.00,2.10,0.00,0.000,4,0.000,0.044,2102,3810,3659,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6152,-0.47,-170.3,654.7,-6.8,680,6156,0.00,2.10,0.00,0.000,6,0.000,0.021,2102,2394,3658,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6460,-0.47,-170.3,679.5,-8.2,695,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2393,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6759,-0.47,-170.3,705.0,-8.5,710,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2393,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7059,-0.47,-170.3,728.2,-7.3,725,7064,0.00,2.30,0.00,0.000,4,0.000,0.044,2092,3822,3652,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7100,-0.47,-170.3,731.3,-7.6,727,7106,0.08,2.08,0.00,0.000,6,0.093,0.021,2125,2405,3652,0,0,0,0,0,0,26.32,26.53,28.83
$GC,7421,-0.48,-170.3,750.6,-6.2,743,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2404,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,-0.50,-170.3,771.0,-7.2,758,7726,0.00,2.25,0.00,0.000,4,0.000,0.046,2116,3808,3648,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7750,-0.52,-170.3,772.4,-7.2,759,7761,0.00,2.05,0.00,0.000,6,0.000,0.021,2115,2403,3647,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8061,-0.54,-170.3,796.9,-7.6,775,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2404,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8361,-0.55,-170.3,818.3,-6.9,790,8366,0.00,2.25,0.00,0.000,4,0.000,0.046,2106,3810,3644,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8393,-0.56,-170.3,819.6,-6.7,791,8400,0.00,2.08,0.00,0.000,6,0.000,0.021,2105,2406,3643,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8702,-0.57,-170.3,841.0,-6.1,807,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2405,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9001,-0.58,-170.3,857.7,-5.3,822,9007,0.00,2.28,0.00,0.000,4,0.000,0.047,2096,3817,3640,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9049,-0.59,-170.3,859.9,-5.4,824,9053,0.00,2.05,0.00,0.000,6,0.000,0.022,2096,2423,3640,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9363,-0.59,-170.3,878.5,-6.1,840,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2422,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9661,-0.59,-170.3,896.0,-5.7,855,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2422,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9961,-0.59,-170.3,913.6,-6.0,870,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2422,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,-0.59,-170.3,932.6,-6.4,885,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2422,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10562,-0.59,-170.3,951.6,-6.2,900,10568,0.00,2.25,0.00,0.000,4,0.000,0.047,2086,3811,3634,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10616,-0.59,-170.3,954.3,-6.4,902,10623,0.00,2.05,0.00,0.000,6,0.000,0.022,2086,2426,3633,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10921,-0.59,-170.3,977.2,-7.6,918,10925,0.00,2.15,0.00,0.000,4,0.000,0.030,2086,1040,3633,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10966,-0.59,-170.3,980.4,-7.7,920,10971,0.00,2.30,0.00,0.000,6,0.000,0.034,2085,2485,3633,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,11102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11102,begin apogee
$GC,11109,-0.20,0.0,991.4,-7.8,927,11278,0.35,0.05,162.05,1.147,4,0.103,0.045,2207,2480,2979,0,0,0,0,0,0,26.05,24.76,23.96
$STATE,11279,end apogee,CONTROL_FINISHED_OK
$STATE,11279,begin climb
$GC,11282,0.55,170.3,997.8,0.0,935,11469,0.68,2.28,175.90,1.155,4,0.043,0.046,2468,3816,2278,0,0,0,0,0,0,24.96,24.92,23.61
$GC,11654,0.46,170.3,930.7,22.5,954,11660,0.20,2.05,0.00,0.000,6,0.187,0.024,2429,2497,2250,0,0,0,0,0,0,25.15,25.53,28.83
$GC,11976,0.41,170.3,878.5,16.7,970,11981,0.00,2.28,0.00,0.000,4,0.000,0.030,2440,1076,2244,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12050,0.36,170.3,868.9,16.5,973,12057,0.17,2.47,0.00,0.000,6,0.155,0.035,2392,2564,2243,0,0,0,0,0,0,25.65,25.94,28.83
$GC,12358,0.33,170.3,825.3,13.3,989,12363,0.00,1.95,0.00,0.000,4,0.000,0.044,2392,3824,2242,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12430,0.30,170.3,816.3,14.7,992,12439,0.00,1.92,0.00,0.000,6,0.000,0.023,2402,2526,2242,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,19403,end climb,SURFACE_DEPTH_REACHED
$STATE,19403,begin surface coast
$FINISH,-0.1,1.017191
$STATE,19437,end surface coast,CONTROL_FINISHED_OK
$STATE,19437,begin surface
$SM_CCo,19515,0.00,0.000,0,0,879,515.13
$SM_GC,0.60,6.03,2.38,0.00,0.026,0.025,0.000,120,2525,879,-6.62,-0.45,515.13,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12407.50,110512,232333
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.56
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.6,23.590
$10V_AH,10.2,13.488
$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,17.525,184.825,664.600,0.000,0.000,32.459,25.426,263.712,0.000,0.000,17.358,4537.494,10699.380,866.199,3392.195,461.026,0.000,2520.503,0.000,2898.280,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,102.510,1155.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1159.562,2186.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,106866,1711
$CAP_FILE_SIZE,215369,0
$CFSIZE,260165632,210255872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.368,320.4,1
$GPS,120512,110954,2334.190,12408.494,39,1.0,39,-3.4