version: 66.10
glider: 169
mission: 6
dive: 514
start: 8 8 112 6 40 46
data:
$ID,169
$MISSION,6
$DIVE,514
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,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,-18664.695
$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,2235
$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,2400
$C_ROLL_CLIMB,2400
$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,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
$GPS1,080812,062723,2249.338,12206.138,61,1.0,61,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.9
$GPS2,080812,064021,2249.699,12206.340,14,3.6,33,-3.0
$SPEED_LIMITS,0.173,0.296
$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,248.5,73659,-15.7,-10.000
$D_GRID,4832
$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,-0.63,-194.6,0.0,0.0,0,100,0.00,0.00,-81.10,0.000,2,0.000,0.000,119,2311,3072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-194.6,3.1,-6.8,13,133,8.07,2.35,-13.57,0.000,4,0.233,0.034,2035,912,3776,0,0,0,0,0,0,24.81,26.06,26.55
$GC,193,-0.59,-194.6,25.9,-15.9,28,200,0.00,2.58,0.00,0.000,6,0.000,0.031,2022,2424,3777,0,0,0,0,0,0,28.83,25.93,28.83
$GC,330,-0.50,-194.6,56.6,-23.9,53,340,0.15,2.25,0.00,0.000,4,0.190,0.034,2053,3830,3777,0,0,0,0,0,0,25.77,25.89,28.83
$GC,359,-0.43,-194.6,63.1,-22.1,57,369,0.12,2.28,0.00,0.000,6,0.148,0.018,2090,2338,3777,0,0,0,0,0,0,25.80,26.19,28.83
$GC,500,-0.41,-194.6,83.2,-11.7,82,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2338,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,633,-0.39,-194.6,99.4,-11.6,107,640,0.00,2.47,0.00,0.000,4,0.000,0.035,2077,3840,3777,0,0,0,0,0,0,28.83,25.91,28.83
$GC,704,-0.37,-194.6,108.8,-13.3,120,712,0.12,2.08,0.00,0.000,6,0.132,0.018,2114,2418,3777,0,0,0,0,0,0,25.93,26.27,28.83
$GC,841,-0.40,-194.6,122.2,-9.3,145,850,0.00,2.28,0.00,0.000,4,0.000,0.035,2103,3832,3777,0,0,0,0,0,0,28.83,25.93,28.83
$GC,886,-0.43,-194.6,126.5,-10.0,152,895,0.00,1.90,0.00,0.000,6,0.000,0.016,2104,2470,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1026,-0.45,-194.6,139.6,-9.9,177,1032,0.00,2.62,0.00,0.000,4,0.000,0.021,2104,907,3777,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1041,-0.47,-194.6,141.4,-10.1,179,1048,0.00,2.67,0.00,0.000,6,0.000,0.025,2099,2470,3777,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1175,-0.50,-194.6,154.1,-8.4,204,1181,0.00,2.10,0.00,0.000,4,0.000,0.037,2090,3839,3777,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1212,-0.51,-194.6,157.6,-9.9,210,1219,0.00,1.85,0.00,0.000,6,0.000,0.017,2091,2487,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1346,-0.51,-194.6,170.6,-9.3,235,1353,0.00,2.62,0.00,0.000,4,0.000,0.020,2091,921,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1433,-0.52,-194.6,180.1,-10.3,251,1440,0.00,2.67,0.00,0.000,6,0.000,0.026,2078,2471,3777,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1569,-0.51,-194.6,194.9,-10.2,276,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2469,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-0.52,-194.6,208.2,-10.2,301,1709,0.00,2.12,0.00,0.000,4,0.000,0.037,2068,3844,3777,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1778,-0.51,-194.6,216.5,-11.0,315,1787,0.00,2.15,0.00,0.000,6,0.000,0.018,2068,2399,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1917,-0.50,-194.6,229.8,-9.7,340,1923,0.00,2.30,0.00,0.000,4,0.000,0.034,2056,3840,3777,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1946,-0.50,-194.6,232.9,-9.0,345,1953,0.00,1.90,0.00,0.000,6,0.000,0.017,2057,2478,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2082,-0.49,-194.6,245.6,-8.7,370,2089,0.00,2.62,0.00,0.000,4,0.000,0.020,2057,921,3777,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2146,-0.48,-194.6,251.2,-10.0,381,2154,0.12,2.80,0.00,0.000,6,0.135,0.027,2081,2516,3777,0,0,0,0,0,0,25.78,26.02,28.83
$GC,2283,-0.50,-194.6,262.5,-7.8,406,2289,0.00,2.75,0.00,0.000,4,0.000,0.021,2081,910,3777,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2336,-0.52,-194.6,267.2,-9.5,415,2345,0.00,2.55,0.00,0.000,6,0.000,0.027,2069,2423,3777,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2476,-0.54,-194.6,279.5,-9.4,440,2482,0.00,2.47,0.00,0.000,4,0.000,0.023,2069,927,3777,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2553,-0.54,-194.6,287.3,-9.8,454,2560,0.00,2.78,0.00,0.000,6,0.000,0.028,2057,2513,3776,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2690,-0.53,-194.6,300.5,-9.4,479,2699,0.00,2.75,0.00,0.000,4,0.000,0.021,2057,910,3775,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2728,-0.53,-194.6,304.5,-10.4,485,2735,0.00,2.62,0.00,0.000,6,0.000,0.028,2044,2448,3775,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2864,-0.52,-194.6,318.1,-10.3,510,2870,0.00,2.17,0.00,0.000,4,0.000,0.037,2033,3852,3774,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2924,-0.49,-194.6,324.8,-10.9,521,2932,0.15,2.12,0.00,0.000,6,0.136,0.018,2077,2400,3774,0,0,0,0,0,0,25.83,26.27,28.83
$GC,3061,-0.50,-194.6,336.0,-8.2,546,3068,0.00,2.30,0.00,0.000,4,0.000,0.037,2065,3844,3773,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3123,-0.52,-194.6,341.7,-9.2,557,3130,0.00,1.95,0.00,0.000,6,0.000,0.018,2066,2475,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3259,-0.54,-194.6,353.1,-8.0,582,3266,0.00,2.10,0.00,0.000,4,0.000,0.038,2056,3830,3772,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3343,-0.54,-194.6,360.8,-9.2,597,3350,0.00,2.20,0.00,0.000,6,0.000,0.017,2056,2358,3772,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3481,-0.55,-194.6,373.2,-8.4,622,3488,0.00,2.40,0.00,0.000,4,0.000,0.036,2045,3848,3771,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3561,-0.54,-194.6,381.2,-10.3,636,3570,0.00,1.88,0.00,0.000,6,0.000,0.016,2045,2496,3770,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3701,-0.52,-194.6,394.5,-9.2,661,3708,0.00,2.70,0.00,0.000,4,0.000,0.023,2045,920,3769,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3740,-0.52,-194.6,398.5,-9.6,668,3750,0.12,2.88,0.00,0.000,6,0.136,0.028,2068,2545,3769,0,0,0,0,0,0,25.73,25.98,28.83
$GC,3883,-0.55,-194.6,409.0,-7.3,693,3889,0.00,2.85,0.00,0.000,4,0.000,0.023,2068,920,3768,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3944,-0.56,-194.6,414.2,-8.2,704,3953,0.00,2.67,0.00,0.000,6,0.000,0.028,2056,2473,3768,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4086,-0.58,-194.6,424.5,-6.8,729,4092,0.00,2.62,0.00,0.000,4,0.000,0.021,2056,915,3767,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4167,-0.59,-194.6,431.5,-8.2,744,4177,0.00,2.97,0.00,0.000,6,0.000,0.028,2042,2576,3766,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4309,-0.60,-194.6,442.4,-8.2,769,4316,0.00,2.92,0.00,0.000,4,0.000,0.022,2043,915,3765,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4388,-0.60,-194.6,450.0,-9.5,783,4396,0.00,2.62,-0.10,0.000,6,0.000,0.028,2031,2449,3786,0,0,0,0,0,0,28.83,25.97,25.34
$GC,4526,-0.61,-194.6,462.6,-9.7,808,4535,0.00,2.20,0.00,0.000,4,0.000,0.039,2020,3834,3785,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4601,-0.58,-194.6,471.3,-12.0,821,4608,0.00,2.08,0.00,0.000,6,0.000,0.017,2020,2430,3785,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4742,-0.56,-194.6,486.6,-10.4,846,4749,0.10,2.53,0.00,0.000,4,0.149,0.023,2053,928,3783,0,0,0,0,0,0,26.27,26.01,28.83
$GC,4779,-0.58,-194.6,490.8,-9.8,852,4788,0.00,2.70,0.00,0.000,6,0.000,0.028,2040,2479,3784,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4918,-0.60,-194.6,502.4,-8.2,874,4926,0.00,2.62,0.00,0.000,4,0.000,0.021,2041,930,3783,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4954,-0.61,-194.6,505.5,-8.2,877,4961,0.00,2.53,0.00,0.000,6,0.000,0.028,2029,2422,3782,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5261,-0.62,-194.6,530.3,-8.0,908,5272,0.00,2.28,0.00,0.000,4,0.000,0.040,2019,3828,3780,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5348,-0.60,-194.6,538.3,-10.2,916,5357,0.00,1.95,0.00,0.000,6,0.000,0.018,2019,2473,3779,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5656,-0.58,-194.6,570.0,-10.8,947,5665,0.00,2.62,0.00,0.000,4,0.000,0.024,2019,930,3777,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5699,-0.58,-194.6,574.9,-11.5,951,5708,0.10,2.83,0.00,0.000,6,0.102,0.030,2044,2521,3776,0,0,0,0,0,0,25.62,25.87,28.83
$GC,6010,-0.60,-194.6,606.1,-10.2,982,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2519,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6321,-0.62,-194.6,636.5,-9.3,1013,6330,0.00,2.78,0.00,0.000,4,0.000,0.024,2045,936,3772,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6409,-0.63,-194.6,645.1,-10.0,1021,6418,0.00,2.55,0.00,0.000,6,0.000,0.030,2034,2427,3770,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,6574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6574,begin apogee
$GC,6581,-0.20,0.0,660.6,-8.6,1038,6763,0.38,0.20,173.55,0.970,4,0.090,0.057,2167,2436,2978,0,0,0,0,0,0,25.72,25.12,23.91
$STATE,6764,end apogee,CONTROL_FINISHED_OK
$STATE,6764,begin climb
$GC,6766,0.63,194.6,670.7,0.0,1056,6962,0.82,2.35,184.57,0.977,4,0.087,0.040,2437,3844,2184,0,0,0,0,0,0,25.13,25.34,23.91
$GC,7026,0.60,194.6,648.2,11.5,1082,7035,0.00,2.33,0.00,0.000,6,0.000,0.021,2449,2371,2152,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7337,0.60,215.2,617.6,9.3,1113,7367,0.00,2.45,18.55,0.879,4,0.000,0.027,2462,926,2088,0,0,0,0,0,0,28.83,25.82,24.32
$GC,7425,0.63,241.8,609.7,9.1,1121,7461,0.00,2.60,28.52,0.897,6,0.000,0.029,2462,2440,1985,0,0,0,0,0,0,28.83,25.89,24.16
$GC,7761,0.61,241.8,575.5,10.6,1155,7773,0.00,2.28,0.00,0.000,4,0.000,0.039,2461,3845,1963,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7849,0.58,241.8,564.7,12.7,1163,7859,0.17,2.25,0.00,0.000,6,0.155,0.021,2424,2401,1962,0,0,0,0,0,0,25.55,26.05,28.83
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$STATE,12798,end climb,SURFACE_DEPTH_REACHED
$STATE,12799,begin surface coast
$FINISH,0.6,1.021529
$STATE,12818,end surface coast,CONTROL_FINISHED_OK
$STATE,12818,begin surface
$SM_CCo,12895,0.00,0.000,0,0,712,556.10
$SM_GC,0.72,6.43,0.55,0.00,0.021,0.034,0.000,116,2423,712,-6.50,-0.37,556.10,0,0,0,0,0,0
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$TT8_MAMPS,0.026215,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.9,114.244
$10V_AH,9.9,73.387
$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
$DEVICE_SECS,19.250,251.150,754.450,0.000,0.000,59.172,90.311,367.325,0.000,0.000,35.449,5084.721,3217.815,1082.661,3628.627,614.668,0.000,2785.610,0.000,2980.937,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324432
$DATA_FILE_SIZE,126821,1987
$CAP_FILE_SIZE,232509,0
$CFSIZE,260165632,156250112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.400, 34.9,1
$GPS,080812,101635,2251.182,12206.894,26,1.0,27,-3.0