version: 66.10
glider: 169
mission: 6
dive: 261
start: 6 14 112 18 53 38
data:
$ID,169
$MISSION,6
$DIVE,261
$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,-8
$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,-15794.589
$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,2450
$C_ROLL_CLIMB,2545
$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,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
$GPS1,140612,183801,2256.666,12144.383,41,1.0,41,-3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-73.4
$GPS2,140612,185313,2257.129,12144.633,14,1.0,14,-3.0
$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,298.6,34192,-13.8,-8.684
$D_GRID,3837
$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,-194.6,0.0,0.0,0,88,0.00,0.00,-68.32,0.000,2,0.000,0.000,116,2395,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.58,-194.6,3.3,-7.8,12,124,7.97,2.35,-14.48,0.000,4,0.223,0.038,2091,986,3776,0,0,0,0,0,0,25.01,26.07,26.47
$GC,200,-0.53,-194.6,37.8,-23.2,31,206,0.00,2.55,0.00,0.000,6,0.000,0.034,2078,2473,3777,0,0,0,0,0,0,28.83,26.05,28.83
$GC,392,-0.45,-194.6,90.5,-22.7,68,400,0.15,2.45,0.00,0.000,4,0.170,0.021,2135,988,3777,0,0,0,0,0,0,25.94,26.22,28.83
$GC,474,-0.48,-194.6,101.2,-9.6,83,481,0.00,2.40,0.00,0.000,6,0.000,0.032,2124,2417,3777,0,0,0,0,0,0,28.83,26.19,28.83
$GC,666,-0.46,-194.6,123.6,-14.1,120,672,0.00,2.15,0.00,0.000,4,0.000,0.039,2113,3834,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,736,-0.47,-194.6,132.9,-12.0,133,742,0.00,2.10,0.00,0.000,6,0.000,0.018,2114,2377,3777,0,0,0,0,0,0,28.83,26.42,28.83
$GC,927,-0.45,-194.6,159.7,-14.3,170,935,0.00,2.22,0.00,0.000,4,0.000,0.024,2117,972,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,982,-0.46,-194.6,166.0,-10.3,180,989,0.00,2.38,0.00,0.000,6,0.000,0.029,2109,2424,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1175,-0.45,-194.6,186.4,-10.1,217,1181,0.00,2.15,0.00,0.000,4,0.000,0.039,2098,3842,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1210,-0.45,-194.6,189.7,-9.6,223,1216,0.00,2.15,0.00,0.000,6,0.000,0.018,2098,2350,3777,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1401,-0.43,-194.6,209.3,-10.1,260,1410,0.12,2.17,0.00,0.000,4,0.132,0.021,2143,965,3777,0,0,0,0,0,0,26.34,26.39,28.83
$GC,1459,-0.48,-194.6,213.7,-7.1,270,1466,0.00,2.35,0.00,0.000,6,0.000,0.027,2141,2407,3777,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1774,-0.58,-194.6,238.6,-8.4,331,1781,0.12,2.28,0.00,0.000,4,0.103,0.021,2092,976,3777,0,0,0,0,0,0,26.49,26.41,28.83
$GC,2013,-0.64,-194.6,258.0,-8.6,377,2021,0.00,2.42,0.00,0.000,6,0.000,0.025,2091,2447,3776,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2329,-0.66,-194.6,282.4,-8.4,438,2335,0.00,2.10,0.00,0.000,4,0.000,0.041,2084,3827,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2369,-0.67,-194.6,286.1,-9.1,445,2377,0.00,1.83,0.00,0.000,6,0.000,0.018,2085,2490,3773,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2682,-0.66,-194.6,319.8,-10.0,506,2689,0.00,2.47,0.00,0.000,4,0.000,0.024,2084,989,3772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2748,-0.67,-194.6,326.1,-9.3,518,2754,0.00,2.70,0.00,0.000,6,0.000,0.031,2074,2548,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3060,-0.65,-194.6,361.4,-11.3,579,3068,0.00,2.65,0.00,0.000,4,0.000,0.024,2074,989,3769,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3116,-0.66,-194.6,367.2,-8.9,589,3125,0.00,2.65,0.00,0.000,6,0.000,0.031,2062,2531,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3430,-0.63,-194.6,402.9,-11.3,650,3437,0.00,2.60,0.00,0.000,4,0.000,0.024,2063,983,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3460,-0.62,-194.6,406.2,-10.8,655,3467,0.00,2.65,0.00,0.000,6,0.000,0.032,2051,2519,3766,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3772,-0.58,-194.6,446.9,-12.8,716,3779,0.12,2.58,0.00,0.000,4,0.148,0.023,2095,989,3764,0,0,0,0,0,0,26.31,26.36,28.83
$GC,3833,-0.61,-194.6,452.8,-8.1,727,3840,0.00,2.58,-0.08,0.000,6,0.000,0.031,2088,2497,3787,0,0,0,0,0,0,28.83,26.32,25.14
$GC,4145,-0.61,-194.6,480.3,-9.0,788,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2495,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.61,-194.6,508.3,-8.9,841,4470,0.00,2.50,0.00,0.000,4,0.000,0.026,2089,989,3782,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4486,-0.61,-194.6,510.4,-8.7,843,4493,0.00,2.55,0.00,0.000,6,0.000,0.034,2086,2489,3782,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4794,-0.61,-194.6,536.7,-7.6,874,4803,0.00,2.47,0.00,0.000,4,0.000,0.024,2086,976,3780,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4829,-0.62,-194.6,539.1,-7.8,877,4837,0.00,2.53,0.00,0.000,6,0.000,0.034,2085,2478,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5136,-0.62,-194.6,563.5,-8.3,908,5140,0.00,2.05,0.00,0.000,4,0.000,0.045,2076,3825,3776,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5161,-0.62,-194.6,565.4,-8.3,910,5167,0.00,2.05,0.00,0.000,6,0.000,0.019,2077,2409,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5470,-0.62,-194.6,594.9,-9.6,941,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2408,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-0.62,-194.6,623.4,-9.5,971,5779,0.00,2.25,0.00,0.000,4,0.000,0.043,2066,3830,3772,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5812,-0.62,-194.6,627.4,-9.1,975,5821,0.00,2.03,0.00,0.000,6,0.000,0.020,2067,2422,3771,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6123,-0.61,-194.6,657.9,-9.9,1006,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2423,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6426,-0.61,-194.6,687.0,-9.1,1036,6434,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,3826,3767,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6448,-0.60,-194.6,689.2,-9.1,1038,6457,0.00,2.00,0.00,0.000,6,0.000,0.021,2056,2429,3766,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6758,-0.59,-194.6,720.1,-9.9,1069,6767,0.00,2.33,0.00,0.000,4,0.000,0.026,2056,992,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6801,-0.59,-194.6,724.1,-9.3,1073,6811,0.10,2.53,0.00,0.000,6,0.091,0.034,2090,2488,3764,0,0,0,0,0,0,26.02,26.20,28.83
$GC,7111,-0.60,-194.6,744.5,-6.3,1104,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2487,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,-0.61,-194.6,763.4,-6.8,1134,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2486,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,-0.63,-194.6,784.5,-6.7,1165,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2487,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8034,-0.64,-194.6,805.3,-6.8,1196,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2486,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,-0.66,-194.6,827.0,-7.1,1227,8352,0.00,2.50,0.00,0.000,4,0.000,0.028,2090,988,3756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8385,-0.69,-194.6,830.4,-7.7,1231,8394,0.08,2.55,0.00,0.000,6,0.046,0.034,2005,2489,3755,0,0,0,0,0,0,26.09,26.13,28.83
$GC,8696,-0.65,-194.6,875.4,-14.7,1262,8698,0.20,0.00,0.00,0.000,6,0.130,0.000,2067,2488,3753,0,0,0,0,0,0,26.09,28.83,28.83
$GC,8995,-0.65,-194.6,901.8,-8.4,1292,9005,0.00,2.47,0.00,0.000,4,0.000,0.028,2067,990,3753,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9039,-0.66,-194.6,905.2,-8.4,1296,9047,0.00,2.55,0.00,0.000,6,0.000,0.037,2059,2478,3753,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9348,-0.66,-194.6,935.2,-10.2,1327,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2477,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,-0.66,-194.6,963.7,-8.4,1357,9660,0.00,2.45,0.00,0.000,4,0.000,0.028,2060,997,3750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9675,-0.66,-194.6,965.8,-8.1,1359,9682,0.00,2.55,0.00,0.000,6,0.000,0.036,2056,2481,3749,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9981,begin apogee
$GC,9987,-0.20,0.0,990.7,-8.1,1390,10184,0.43,0.00,191.77,1.138,4,0.095,0.000,2206,2558,2977,0,0,0,0,0,0,25.84,28.83,23.56
$STATE,10185,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10187,0.58,194.6,996.8,0.0,1410,10403,0.68,1.98,206.05,1.079,4,0.041,0.045,2474,3829,2179,0,0,0,0,0,0,24.91,24.85,23.19
$GC,10609,0.50,194.6,911.8,24.3,1452,10616,0.17,1.90,0.00,0.000,6,0.181,0.023,2440,2522,2148,0,0,0,0,0,0,25.38,25.81,28.83
$GC,10918,0.45,194.6,855.1,18.0,1483,10927,0.00,2.47,0.00,0.000,4,0.000,0.030,2453,1094,2142,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11051,0.42,194.6,834.5,14.9,1496,11061,0.12,2.58,0.00,0.000,6,0.142,0.035,2411,2550,2139,0,0,0,0,0,0,25.71,26.05,28.83
$GC,11360,0.39,194.6,790.4,14.2,1527,11368,0.00,1.90,0.00,0.000,4,0.000,0.045,2411,3833,2139,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11463,0.35,194.6,773.6,16.7,1537,11473,0.12,1.85,0.00,0.000,6,0.174,0.022,2388,2531,2138,0,0,0,0,0,0,25.86,26.25,28.83
$GC,11773,0.33,194.6,735.2,12.2,1568,11782,0.00,2.47,0.00,0.000,4,0.000,0.031,2401,1089,2138,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11816,0.32,194.6,730.3,11.5,1572,11824,0.00,2.62,0.00,0.000,6,0.000,0.035,2401,2559,2137,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12125,0.30,194.6,691.1,13.0,1603,12129,0.00,1.85,0.00,0.000,4,0.000,0.044,2401,3824,2137,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12171,0.27,194.6,685.0,14.5,1607,12178,0.17,1.83,0.00,0.000,6,0.155,0.021,2361,2530,2136,0,0,0,0,0,0,25.81,26.31,28.83
$GC,12478,0.28,194.6,655.1,8.9,1638,12486,0.00,2.45,0.00,0.000,4,0.000,0.031,2374,1092,2136,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12513,0.30,202.0,652.3,8.5,1641,12521,0.00,2.62,0.00,0.000,6,0.000,0.033,2374,2567,2135,0,0,0,0,0,0,28.83,26.16,28.83
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$GC,14562,0.33,241.8,454.6,8.9,1888,14568,0.00,2.42,0.00,0.000,4,0.000,0.029,2393,1088,1967,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18879,end climb,SURFACE_DEPTH_REACHED
$STATE,18880,begin surface coast
$FINISH,0.7,1.021555
$STATE,18911,end surface coast,CONTROL_FINISHED_OK
$STATE,18911,begin surface
$SM_CCo,18988,0.00,0.000,0,0,882,514.39
$SM_GC,0.49,6.22,0.17,0.00,0.036,0.062,0.000,135,2489,882,-6.62,-0.40,514.39,0,0,0,0,0,0,26.11,26.32,28.83
$IRIDIUM_FIX,2248.70,12145.19,140612,131313
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.44
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,53.170
$10V_AH,10.0,32.792
$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,18.075,196.600,692.125,0.000,0.000,123.937,62.124,354.246,0.000,0.000,16.512,6459.331,7075.060,919.592,4781.519,611.080,0.000,3072.728,0.000,4077.359,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,68.085,1138.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1843.856,2218.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,170315,2711
$CAP_FILE_SIZE,265038,0
$CFSIZE,260165632,193306624
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 39.3,1
$GPS,150612,001107,2258.244,12142.416,32,0.9,32,-3.0