version: 66.10
glider: 169
mission: 6
dive: 217
start: 6 5 112 1 50 55
data:
$ID,169
$MISSION,6
$DIVE,217
$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,380
$T_MISSION,420
$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,200
$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,-15733.511
$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
$GPS1,050612,014207,2213.718,12302.066,34,0.8,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-75.0
$GPS2,050612,015032,2213.905,12302.071,13,1.3,13,-2.9
$SPEED_LIMITS,0.150,0.281
$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,293.8,188042,-13.8,-8.684
$D_GRID,3096
$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,-0.58,-194.6,0.0,0.0,0,100,0.00,0.00,-80.10,0.000,2,0.000,0.000,116,2548,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.5,-8.4,14,131,8.00,1.92,-12.85,0.000,4,0.229,0.047,2067,3849,3776,0,0,1,0,0,0,25.15,25.46,26.44
$GC,164,-0.50,-194.6,31.0,-35.8,24,171,0.12,2.03,0.00,0.000,6,0.149,0.024,2110,2475,3778,0,0,0,0,0,0,25.79,26.07,28.83
$GC,356,-0.44,-194.6,76.9,-22.6,61,364,0.00,2.38,0.00,0.000,4,0.000,0.024,2117,1028,3778,0,0,0,0,0,0,28.83,26.16,28.83
$GC,462,-0.45,-194.6,93.3,-10.9,81,470,0.00,2.50,0.00,0.000,6,0.000,0.033,2105,2499,3779,0,0,0,0,0,0,28.83,26.15,28.83
$GC,656,-0.40,-194.6,131.2,-19.7,118,663,0.12,2.00,0.00,0.000,4,0.162,0.037,2134,3839,3779,0,0,0,0,0,0,26.12,26.19,28.83
$GC,691,-0.37,-194.6,137.1,-14.9,124,698,0.00,2.03,0.00,0.000,6,0.000,0.018,2134,2434,3779,0,0,0,0,0,0,28.83,26.39,28.83
$GC,882,-0.35,-194.6,162.3,-13.0,161,890,0.00,2.25,0.00,0.000,4,0.000,0.023,2134,1038,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,923,-0.36,-194.6,166.8,-9.3,168,931,0.12,2.45,0.00,0.000,6,0.129,0.029,2165,2500,3779,0,0,0,0,0,0,26.10,26.28,28.83
$GC,1116,-0.38,-194.6,180.4,-6.6,205,1123,0.00,1.98,0.00,0.000,4,0.000,0.041,2155,3834,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1137,-0.41,-194.6,181.9,-6.3,208,1143,0.00,2.03,0.00,0.000,6,0.000,0.018,2156,2409,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1330,-0.50,-194.6,195.8,-8.2,245,1337,0.12,2.20,0.00,0.000,4,0.106,0.036,2097,3837,3779,0,0,0,0,0,0,26.44,26.27,28.83
$GC,1449,-0.58,-194.6,205.9,-8.5,261,1459,0.00,1.95,0.00,0.000,6,0.000,0.018,2099,2444,3779,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1758,-0.63,-194.6,229.6,-8.0,292,1767,0.00,2.10,0.00,0.000,4,0.000,0.038,2099,3824,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1781,-0.68,-194.6,231.5,-8.1,294,1790,0.10,2.05,0.00,0.000,6,0.049,0.018,2025,2365,3779,0,0,0,0,0,0,26.39,26.54,28.83
$GC,2090,-0.61,-194.6,293.5,-23.0,325,2101,0.15,2.10,0.00,0.000,4,0.146,0.021,2083,1032,3778,0,0,0,0,0,0,26.22,26.41,28.83
$GC,2196,-0.61,-194.6,306.7,-9.0,335,2205,0.00,2.28,0.00,0.000,6,0.000,0.031,2073,2424,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2505,-0.59,-194.6,350.2,-14.3,366,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2422,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-0.56,-194.6,390.5,-12.6,396,2816,0.00,2.12,0.00,0.000,4,0.000,0.043,2062,3825,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2871,-0.55,-194.6,398.6,-12.3,402,2879,0.12,2.15,0.00,0.000,6,0.127,0.021,2101,2369,3773,0,0,0,0,0,0,26.20,26.46,28.83
$GC,3180,-0.55,-194.6,426.9,-8.4,433,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2369,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3481,-0.55,-194.6,452.4,-8.5,463,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2369,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3794,-0.55,-194.6,477.4,-7.8,494,3802,0.00,2.30,0.00,0.000,4,0.000,0.042,2090,3815,3765,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3866,-0.57,-194.6,483.3,-7.3,501,3876,0.00,2.10,-0.05,0.000,6,0.000,0.019,2090,2374,3784,0,0,0,0,0,0,28.83,26.48,24.68
$GC,4176,-0.57,-194.6,504.2,-5.4,532,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2374,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4477,-0.57,-194.6,528.0,-10.4,562,4486,0.00,2.35,0.00,0.000,4,0.000,0.044,2081,3827,3780,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4513,-0.57,-194.6,531.0,-8.6,565,4521,0.00,2.12,0.00,0.000,6,0.000,0.021,2081,2388,3779,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4821,-0.56,-194.6,560.6,-9.2,596,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2387,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,-0.55,-194.6,592.8,-9.8,627,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2387,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5449,-0.55,-194.6,622.2,-8.9,647,5455,0.00,2.35,0.00,0.000,4,0.000,0.044,2071,3830,3772,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5472,-0.55,-194.6,624.1,-9.1,648,5476,0.00,2.10,0.00,0.000,6,0.000,0.020,2072,2387,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5785,-0.54,-194.6,653.6,-9.8,664,5791,0.00,2.15,0.00,0.000,4,0.000,0.026,2072,1038,3770,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5832,-0.54,-194.6,657.5,-9.7,666,5837,0.12,2.33,0.00,0.000,6,0.118,0.034,2105,2440,3769,0,0,0,0,0,0,26.11,26.24,28.83
$GC,6142,-0.56,-194.6,679.9,-7.1,681,6147,0.00,2.15,0.00,0.000,4,0.000,0.045,2095,3827,3768,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6183,-0.58,-194.6,682.8,-7.2,683,6187,0.00,2.12,0.00,0.000,6,0.000,0.021,2095,2389,3766,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6497,-0.59,-194.6,705.7,-7.2,699,6502,0.00,2.30,0.00,0.000,4,0.000,0.044,2086,3825,3765,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6530,-0.60,-194.6,707.1,-7.1,700,6537,0.00,2.10,0.00,0.000,6,0.000,0.020,2086,2396,3764,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6837,-0.61,-194.6,729.4,-7.0,716,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2395,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7138,-0.62,-194.6,752.6,-8.1,731,7144,0.00,2.28,0.00,0.000,4,0.000,0.044,2079,3821,3761,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7190,-0.63,-194.6,756.0,-8.3,733,7198,0.00,2.08,0.00,0.000,6,0.000,0.021,2078,2405,3761,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7499,-0.63,-194.6,784.2,-8.9,749,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2406,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7797,-0.63,-194.6,809.9,-8.1,764,7802,0.00,2.28,0.00,0.000,4,0.000,0.046,2068,3814,3758,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7840,-0.63,-194.6,813.2,-8.1,766,7844,0.00,2.08,0.00,0.000,6,0.000,0.021,2069,2408,3758,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8153,-0.63,-194.6,840.8,-8.7,782,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2408,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,-0.63,-194.6,867.2,-9.1,797,8458,0.00,2.25,0.00,0.000,4,0.000,0.045,2058,3817,3754,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8481,-0.63,-194.6,869.0,-9.2,798,8485,0.00,2.05,0.00,0.000,6,0.000,0.021,2058,2420,3753,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8788,-0.62,-194.6,900.6,-10.0,813,8793,0.00,2.22,0.00,0.000,4,0.000,0.025,2058,1032,3753,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8815,-0.62,-194.6,902.7,-10.2,814,8819,0.00,2.45,0.00,0.000,6,0.000,0.033,2047,2488,3753,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9124,-0.60,-194.6,938.4,-11.8,829,9126,0.12,0.00,0.00,0.000,6,0.141,0.000,2086,2487,3752,0,0,0,0,0,0,26.32,28.83,28.83
$GC,9422,-0.61,-194.6,963.5,-7.8,844,9428,0.00,2.08,0.00,0.000,4,0.000,0.048,2075,3819,3750,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9445,-0.62,-194.6,965.1,-7.8,845,9449,0.00,2.08,0.00,0.000,6,0.000,0.021,2076,2416,3750,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9759,-0.63,-194.6,988.9,-7.1,861,9764,0.00,2.20,0.00,0.000,4,0.000,0.027,2075,1049,3749,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,9775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9775,begin apogee
$GC,9783,-0.20,0.0,990.2,-7.1,862,9982,0.40,0.00,192.55,1.164,4,0.084,0.000,2212,2538,2976,0,0,0,0,0,0,25.96,28.83,23.55
$STATE,9983,end apogee,CONTROL_FINISHED_OK
$STATE,9983,begin climb
$GC,9985,0.58,194.6,998.5,0.0,872,10204,0.62,2.62,209.18,1.141,4,0.033,0.026,2480,1058,2180,0,0,1,0,0,0,24.80,24.79,23.06
$GC,10300,0.54,194.6,958.7,16.8,888,10306,0.12,2.67,0.00,0.000,6,0.172,0.036,2450,2535,2149,0,0,0,0,0,0,24.91,25.15,28.83
$GC,10617,0.48,194.6,900.9,17.9,904,10622,0.00,2.47,0.00,0.000,4,0.000,0.028,2463,1079,2144,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10675,0.43,194.6,890.5,17.1,907,10682,0.12,2.62,0.00,0.000,6,0.141,0.037,2422,2556,2142,0,0,0,0,0,0,25.61,25.91,28.83
$GC,10998,0.39,194.6,841.5,15.3,923,11004,0.00,1.88,0.00,0.000,4,0.000,0.045,2421,3828,2142,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11139,0.35,194.6,816.6,17.7,930,11145,0.15,1.83,0.00,0.000,6,0.175,0.021,2391,2543,2140,0,0,0,0,0,0,25.73,26.18,28.83
$GC,11461,0.33,194.6,774.2,13.1,946,11467,0.00,1.98,0.00,0.000,4,0.000,0.044,2391,3849,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11483,0.31,194.6,771.1,13.4,947,11487,0.00,1.83,0.00,0.000,6,0.000,0.021,2401,2545,2140,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11795,0.28,194.6,726.9,14.0,963,11802,0.12,2.50,0.00,0.000,4,0.172,0.029,2374,1082,2140,0,0,0,0,0,0,26.02,26.14,28.83
$GC,11808,0.26,194.6,726.9,14.0,963,11815,0.00,2.67,0.00,0.000,6,0.000,0.031,2375,2605,2138,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12115,0.25,194.6,690.5,11.2,979,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2603,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12416,0.24,194.6,655.9,11.7,994,12422,0.00,2.65,0.00,0.000,4,0.000,0.030,2388,1078,2138,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,-0.1,1.021069
$STATE,17356,end surface coast,CONTROL_FINISHED_OK
$STATE,17356,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,50.98
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.1,43.705
$10V_AH,10.1,26.832
$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
$DEVICE_SECS,18.675,179.275,799.150,0.000,0.000,33.718,53.931,259.175,0.250,0.000,14.174,3965.480,9376.698,890.618,3215.015,450.400,0.000,2461.896,0.000,2700.130,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330412
$DATA_FILE_SIZE,100217,1595
$CAP_FILE_SIZE,205718,0
$CFSIZE,260165632,198647808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.156, 52.0,1
$GPS,050612,064237,2216.197,12300.638,39,1.0,39,-3.0