version: 66.10
glider: 169
mission: 6
dive: 139
start: 5 17 112 14 55 40
data:
$ID,169
$MISSION,6
$DIVE,139
$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,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,-15513.691
$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,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
$GPS1,170512,144636,2303.046,12407.248,43,1.0,55,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-71.9
$GPS2,170512,145516,2303.015,12407.073,14,4.7,33,-3.2
$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,167.0,172694,-13.5,-7.857
$D_GRID,5679
$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,18,-0.55,-170.3,0.0,0.0,0,95,0.00,0.00,-73.97,0.000,2,0.000,0.000,116,2430,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.55,-170.3,3.3,-8.3,13,124,7.90,2.22,-9.75,0.000,4,0.230,0.053,2080,3833,3676,0,0,1,0,0,0,25.34,25.71,26.39
$GC,264,-0.49,-170.3,56.4,-20.3,44,271,0.00,2.03,0.00,0.000,6,0.000,0.023,2085,2466,3678,0,0,0,0,0,0,28.83,26.15,28.83
$GC,457,-0.42,-170.3,100.7,-23.0,81,465,0.15,2.28,0.00,0.000,4,0.174,0.025,2141,1041,3679,0,0,0,0,0,0,25.89,26.20,28.83
$GC,563,-0.42,-170.3,114.7,-8.0,101,569,0.00,2.38,0.00,0.000,6,0.000,0.031,2129,2485,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,754,-0.37,-170.3,142.1,-16.3,138,761,0.00,2.05,0.00,0.000,4,0.000,0.038,2119,3825,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,799,-0.35,-170.3,149.1,-14.3,146,807,0.12,2.05,0.00,0.000,6,0.134,0.019,2161,2424,3680,0,0,0,0,0,0,26.10,26.38,28.83
$GC,990,-0.33,-170.3,169.5,-10.3,183,998,0.00,2.17,0.00,0.000,4,0.000,0.024,2161,1029,3681,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1057,-0.35,-170.3,175.1,-7.4,195,1065,0.00,2.38,0.00,0.000,6,0.000,0.030,2152,2485,3680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1249,-0.34,-170.3,193.5,-10.3,232,1256,0.00,2.05,0.00,0.000,4,0.000,0.039,2142,3834,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1279,-0.33,-170.3,196.7,-10.5,237,1286,0.00,2.08,0.00,0.000,6,0.000,0.020,2142,2408,3680,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1470,-0.30,-170.3,218.7,-12.4,259,1481,0.12,2.12,0.00,0.000,4,0.140,0.022,2188,1039,3680,0,0,0,0,0,0,26.29,26.40,28.83
$GC,1518,-0.32,-170.3,222.8,-9.0,263,1527,0.00,2.33,0.00,0.000,6,0.000,0.030,2186,2484,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1827,-0.34,-170.3,241.8,-5.7,294,1836,0.00,2.03,0.00,0.000,4,0.000,0.041,2178,3820,3680,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1870,-0.38,-170.3,244.2,-5.3,298,1879,0.00,2.03,0.00,0.000,6,0.000,0.018,2179,2393,3680,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2179,-0.46,-170.3,266.4,-8.1,329,2189,0.12,2.28,0.00,0.000,4,0.108,0.037,2122,3826,3679,0,0,0,0,0,0,26.48,26.36,28.83
$GC,2248,-0.53,-170.3,271.2,-7.0,335,2255,0.00,2.03,0.00,0.000,6,0.000,0.018,2124,2398,3679,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2554,-0.55,-170.3,292.0,-6.6,366,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2399,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-0.57,-170.3,312.2,-6.8,397,2874,0.00,2.28,0.00,0.000,4,0.000,0.040,2114,3832,3677,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2981,-0.57,-170.3,322.1,-9.0,408,2987,0.00,1.77,0.00,0.000,6,0.000,0.021,2115,2551,3676,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3288,-0.54,-170.3,360.5,-12.0,439,3297,0.00,2.42,0.00,0.000,4,0.000,0.026,2115,1038,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3394,-0.55,-170.3,370.8,-8.7,449,3401,0.00,2.58,0.00,0.000,6,0.000,0.031,2103,2589,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3701,-0.52,-170.3,409.8,-12.0,480,3710,0.00,2.50,0.00,0.000,4,0.000,0.026,2109,1045,3674,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3786,-0.52,-170.3,419.0,-9.8,488,3793,0.00,2.53,0.00,0.000,6,0.000,0.032,2097,2569,3674,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4094,-0.49,-170.3,455.7,-11.8,519,4103,0.00,2.45,0.00,0.000,4,0.000,0.025,2097,1041,3672,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4250,-0.49,-170.3,471.7,-9.8,534,4258,0.00,2.42,0.00,0.000,6,0.000,0.032,2086,2531,3672,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4561,-0.46,-170.3,509.0,-11.7,565,4570,0.12,2.35,0.00,0.000,4,0.159,0.026,2130,1052,3671,0,0,0,0,0,0,26.30,26.41,28.83
$GC,4626,-0.48,-170.3,514.1,-6.5,571,4633,0.00,2.40,0.00,0.000,6,0.000,0.034,2125,2522,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4933,-0.48,-170.3,536.5,-7.7,602,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2520,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,-0.48,-170.3,559.1,-7.5,632,5245,0.00,2.35,0.00,0.000,4,0.000,0.027,2125,1049,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5282,-0.49,-170.3,562.6,-7.7,636,5289,0.00,2.40,0.00,0.000,6,0.000,0.035,2116,2509,3666,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5590,-0.49,-170.3,587.8,-8.6,667,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2508,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-0.49,-170.3,613.4,-8.1,690,5905,0.00,2.33,0.00,0.000,4,0.000,0.026,2118,1044,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5926,-0.49,-170.3,615.1,-8.0,691,5930,0.00,2.38,0.00,0.000,6,0.000,0.034,2112,2506,3662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6233,-0.49,-170.3,640.8,-8.5,706,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2505,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6534,-0.49,-170.3,666.0,-8.1,721,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2505,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6833,-0.49,-170.3,688.7,-7.2,736,6839,0.00,2.35,0.00,0.000,4,0.000,0.028,2112,1032,3656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6877,-0.50,-170.3,691.5,-7.1,738,6881,0.00,2.38,0.00,0.000,6,0.000,0.034,2104,2495,3656,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7192,-0.49,-170.3,714.5,-7.5,754,7197,0.00,2.30,0.00,0.000,4,0.000,0.027,2104,1036,3654,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7220,-0.48,-170.3,716.1,-7.6,755,7229,0.00,2.33,0.00,0.000,6,0.000,0.034,2099,2475,3654,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7532,-0.47,-170.3,743.3,-8.9,771,7536,0.00,2.08,0.00,0.000,4,0.000,0.045,2089,3819,3652,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7556,-0.47,-170.3,745.6,-9.0,772,7561,0.12,2.05,0.00,0.000,6,0.125,0.022,2127,2411,3651,0,0,0,0,0,0,26.20,26.47,28.83
$GC,7871,-0.48,-170.3,766.3,-6.1,788,7876,0.00,2.12,0.00,0.000,4,0.000,0.027,2127,1045,3649,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7899,-0.49,-170.3,767.5,-6.2,789,7908,0.00,2.35,0.00,0.000,6,0.000,0.034,2125,2481,3649,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8210,-0.51,-170.3,785.8,-5.5,805,8216,0.00,2.05,0.00,0.000,4,0.000,0.048,2116,3811,3647,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8244,-0.52,-170.3,786.9,-5.5,806,8252,0.00,2.08,0.00,0.000,6,0.000,0.024,2116,2415,3647,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8551,-0.53,-170.3,806.7,-6.1,822,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2414,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8850,-0.54,-170.3,826.2,-6.6,837,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2414,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-0.54,-170.3,847.6,-7.5,852,9157,0.00,2.28,0.00,0.000,4,0.000,0.046,2106,3818,3643,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9178,-0.55,-170.3,849.1,-7.5,853,9182,0.00,2.08,0.00,0.000,6,0.000,0.021,2106,2416,3642,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9485,-0.55,-170.3,875.6,-8.5,868,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2415,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9785,-0.55,-170.3,900.6,-8.0,883,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2415,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10086,-0.55,-170.3,924.5,-7.9,898,10091,0.00,2.28,0.00,0.000,4,0.000,0.046,2097,3815,3638,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10115,-0.55,-170.3,926.0,-7.8,899,10124,0.00,2.08,0.00,0.000,6,0.000,0.021,2097,2422,3638,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10425,-0.55,-170.3,953.1,-8.6,915,10429,0.00,2.20,0.00,0.000,4,0.000,0.029,2097,1036,3637,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10450,-0.55,-170.3,955.0,-8.6,916,10454,0.00,2.38,0.00,0.000,6,0.000,0.036,2090,2488,3637,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10764,-0.55,-170.3,981.2,-7.8,932,10769,0.00,2.30,0.00,0.000,4,0.000,0.028,2090,1049,3636,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10791,-0.54,-170.3,982.8,-7.8,933,10795,0.00,2.35,0.00,0.000,6,0.000,0.037,2086,2482,3636,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,10894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10895,begin apogee
$GC,10902,-0.20,0.0,991.3,-7.4,938,11068,0.35,0.10,159.18,1.172,4,0.108,0.073,2206,2483,2978,0,0,0,0,0,0,25.91,24.75,23.89
$STATE,11069,end apogee,CONTROL_FINISHED_OK
$STATE,11069,begin climb
$GC,11071,0.55,170.3,994.5,0.0,946,11256,0.65,0.10,173.82,1.163,6,0.054,0.090,2452,2546,2276,0,0,0,0,0,0,24.89,24.91,23.51
$GC,11552,0.48,170.3,913.7,19.2,971,11558,0.00,2.03,0.00,0.000,4,0.000,0.044,2451,3818,2253,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11661,0.41,170.3,893.0,21.1,976,11665,0.20,1.95,0.00,0.000,6,0.178,0.023,2409,2521,2251,0,0,0,0,0,0,25.41,25.87,28.83
$GC,11974,0.37,170.3,848.3,12.6,992,11980,0.00,2.08,0.00,0.000,4,0.000,0.044,2409,3817,2249,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12042,0.33,170.3,839.5,14.3,995,12047,0.12,1.92,0.00,0.000,6,0.172,0.023,2387,2527,2248,0,0,0,0,0,0,25.74,26.09,28.83
$GC,12351,0.31,170.3,804.3,10.7,1010,12356,0.00,2.05,0.00,0.000,4,0.000,0.044,2387,3818,2247,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19800,end climb,SURFACE_DEPTH_REACHED
$STATE,19800,begin surface coast
$FINISH,-0.2,1.022400
$STATE,19818,end surface coast,CONTROL_FINISHED_OK
$STATE,19818,begin surface
$SM_CCo,19835,3.62,0.143,0,0,1142,450.13
$SM_GC,1.48,6.12,0.00,3.62,0.022,0.000,0.143,118,2518,1142,-6.63,0.51,450.13,0,0,0,0,0,0,26.34,28.83,25.82
$IRIDIUM_FIX,2258.07,12410.00,170512,080807
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.45
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.5,27.622
$10V_AH,10.2,16.390
$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,17.475,189.000,604.725,3.625,0.000,25.021,39.169,275.607,0.000,0.000,35.767,4515.620,10962.839,799.188,3551.801,490.111,0.000,2504.299,0.000,3014.732,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,100.980,1171.980,143.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.986,2294.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330484
$DATA_FILE_SIZE,113621,1806
$CAP_FILE_SIZE,226501,0
$CFSIZE,260165632,207687680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.139,316.5,1
$GPS,170512,202730,2301.178,12407.184,40,1.2,40,-3.2