version: 66.10
glider: 169
mission: 6
dive: 108
start: 5 10 112 2 17 46
data:
$ID,169
$MISSION,6
$DIVE,108
$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,-15415.013
$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
$GPS1,100512,020736,2340.272,12357.627,40,0.9,40,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.8
$GPS2,100512,021720,2340.195,12357.395,14,1.1,14,-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,144.0,241163,-13.5,-7.857
$D_GRID,2782
$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,-170.3,0.0,0.0,0,101,0.00,0.00,-81.45,0.000,2,0.000,0.000,124,2487,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.55,-170.3,3.0,-6.2,14,132,7.70,2.30,-9.18,0.000,4,0.225,0.037,2104,1019,3677,0,0,0,0,0,0,25.51,26.10,26.39
$GC,288,-0.51,-170.3,51.5,-16.5,47,294,0.00,2.42,0.00,0.000,6,0.000,0.033,2092,2523,3678,0,0,0,0,0,0,28.83,26.15,28.83
$GC,487,-0.43,-170.3,102.3,-24.9,84,494,0.12,2.35,0.00,0.000,4,0.180,0.024,2140,1033,3678,0,0,0,0,0,0,26.04,26.27,28.83
$GC,581,-0.43,-170.3,117.5,-10.5,101,589,0.00,2.33,0.00,0.000,6,0.000,0.033,2128,2486,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,778,-0.38,-170.3,152.5,-18.6,138,787,0.00,2.05,0.00,0.000,4,0.000,0.043,2118,3820,3679,0,0,0,0,0,0,28.83,26.29,28.83
$GC,806,-0.33,-170.3,157.7,-19.3,142,815,0.15,2.05,0.00,0.000,6,0.144,0.020,2167,2423,3679,0,0,0,0,0,0,26.11,26.41,28.83
$GC,1008,-0.32,-170.3,184.0,-11.6,179,1015,0.00,2.12,0.00,0.000,4,0.000,0.026,2168,1035,3679,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1064,-0.35,-170.3,189.5,-8.3,189,1071,0.00,2.30,0.00,0.000,6,0.000,0.033,2158,2485,3679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1265,-0.34,-170.3,209.8,-10.8,218,1276,0.00,2.03,0.00,0.000,4,0.000,0.043,2147,3822,3679,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1300,-0.33,-170.3,213.7,-10.7,221,1308,0.00,2.03,0.00,0.000,6,0.000,0.020,2147,2430,3679,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1609,-0.32,-170.3,244.6,-9.5,252,1613,0.00,2.12,0.00,0.000,4,0.000,0.027,2148,1037,3679,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1664,-0.32,-170.3,249.3,-9.0,257,1671,0.00,2.30,0.00,0.000,6,0.000,0.031,2141,2494,3679,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1973,-0.31,-170.3,283.6,-12.1,288,1983,0.12,2.00,0.00,0.000,4,0.148,0.039,2173,3825,3679,0,0,0,0,0,0,26.37,26.44,28.83
$GC,1996,-0.31,-170.3,286.0,-11.4,290,2000,0.00,2.05,0.00,0.000,6,0.000,0.020,2173,2421,3679,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2309,-0.33,-170.3,311.4,-7.9,321,2317,0.00,2.20,0.00,0.000,4,0.000,0.040,2164,3815,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2342,-0.36,-170.3,313.8,-7.6,324,2352,0.00,2.00,0.00,0.000,6,0.000,0.020,2164,2430,3678,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2653,-0.44,-170.3,335.7,-7.1,355,2661,0.00,2.17,0.00,0.000,4,0.000,0.040,2164,3813,3677,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2715,-0.51,-170.3,340.8,-8.2,361,2725,0.15,2.00,0.00,0.000,6,0.072,0.021,2106,2431,3676,0,0,0,0,0,0,26.40,26.58,28.83
$GC,3026,-0.54,-170.3,362.6,-7.7,392,3035,0.00,2.17,0.00,0.000,4,0.000,0.041,2097,3816,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3049,-0.56,-170.3,364.6,-8.3,394,3057,0.00,2.17,0.00,0.000,6,0.000,0.021,2097,2345,3675,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3358,-0.53,-170.3,403.1,-13.1,425,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2345,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3660,-0.51,-170.3,439.2,-11.2,455,3671,0.00,2.35,0.00,0.000,4,0.000,0.043,2085,3815,3673,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3684,-0.49,-170.3,442.3,-11.3,457,3694,0.10,2.20,0.00,0.000,6,0.147,0.023,2113,2352,3673,0,0,0,0,0,0,26.36,26.56,28.83
$GC,3996,-0.48,-170.3,469.3,-7.9,488,3999,0.00,2.00,0.00,0.000,4,0.000,0.028,2113,1036,3672,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4028,-0.48,-170.3,471.8,-7.8,491,4031,0.00,2.15,0.00,0.000,6,0.000,0.033,2105,2417,3672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4341,-0.47,-170.3,495.8,-7.4,522,4349,0.00,2.15,0.00,0.000,4,0.000,0.044,2094,3812,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4403,-0.47,-170.3,500.8,-7.9,528,4414,0.00,2.17,0.00,0.000,6,0.000,0.022,2094,2365,3669,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4714,-0.46,-170.3,528.7,-9.7,559,4723,0.12,2.00,0.00,0.000,4,0.135,0.026,2142,1044,3667,0,0,0,0,0,0,26.43,26.51,28.83
$GC,4737,-0.45,-170.3,530.6,-9.0,561,4741,0.00,2.17,0.00,0.000,6,0.000,0.033,2141,2435,3667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5051,-0.47,-170.3,551.0,-6.4,592,5060,0.00,2.12,0.00,0.000,4,0.000,0.046,2130,3821,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5084,-0.50,-170.3,553.2,-6.4,595,5093,0.00,2.15,0.00,0.000,6,0.000,0.021,2130,2366,3665,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5397,-0.51,-170.3,574.6,-6.2,626,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2366,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5706,-0.53,-170.3,592.6,-5.7,657,5715,0.00,2.30,0.00,0.000,4,0.000,0.045,2124,3820,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5752,-0.55,-170.3,595.3,-6.2,661,5759,0.00,2.12,0.00,0.000,6,0.000,0.021,2124,2372,3660,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6070,-0.56,-170.3,617.3,-7.2,681,6076,0.00,2.30,0.00,0.000,4,0.000,0.044,2116,3818,3658,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6112,-0.58,-170.3,620.2,-7.2,683,6117,0.00,2.10,0.00,0.000,6,0.000,0.021,2115,2393,3658,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6433,-0.58,-170.3,642.9,-6.9,699,6438,0.00,2.05,0.00,0.000,4,0.000,0.028,2116,1047,3655,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6472,-0.59,-170.3,646.0,-7.0,701,6477,0.00,2.20,0.00,0.000,6,0.000,0.034,2112,2449,3655,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6792,-0.59,-170.3,669.3,-7.2,717,6797,0.00,2.10,0.00,0.000,4,0.000,0.045,2102,3814,3653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6835,-0.59,-170.3,672.5,-7.5,719,6839,0.00,2.12,0.00,0.000,6,0.000,0.023,2102,2388,3652,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7148,-0.59,-170.3,697.9,-8.1,735,7154,0.00,2.28,0.00,0.000,4,0.000,0.044,2093,3810,3650,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7180,-0.59,-170.3,699.6,-8.1,736,7187,0.00,2.10,0.00,0.000,6,0.000,0.022,2093,2395,3650,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7487,-0.58,-170.3,727.1,-8.3,752,7493,0.00,2.08,0.00,0.000,4,0.000,0.029,2093,1043,3648,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7535,-0.58,-170.3,730.3,-8.1,754,7539,0.00,2.25,0.00,0.000,6,0.000,0.036,2085,2453,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7844,-0.57,-170.3,756.1,-8.4,769,7849,0.00,2.10,0.00,0.000,4,0.000,0.048,2075,3812,3647,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7891,-0.56,-170.3,759.3,-8.2,771,7895,0.00,2.10,0.00,0.000,6,0.000,0.024,2075,2402,3646,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8199,-0.55,-170.3,785.4,-8.2,786,8205,0.00,2.08,0.00,0.000,4,0.000,0.028,2075,1044,3645,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8247,-0.54,-170.3,788.8,-8.3,788,8252,0.12,2.25,0.00,0.000,6,0.129,0.036,2104,2455,3645,0,0,0,0,0,0,26.25,26.39,28.83
$GC,8556,-0.54,-170.3,808.5,-6.1,803,8562,0.00,2.10,0.00,0.000,4,0.000,0.046,2093,3814,3643,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8597,-0.54,-170.3,811.2,-6.6,805,8601,0.00,2.12,0.00,0.000,6,0.000,0.022,2093,2386,3642,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8910,-0.54,-170.3,835.0,-7.8,821,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2385,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,-0.54,-170.3,858.5,-7.9,836,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2386,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,-0.54,-170.3,880.7,-7.3,851,9516,0.00,2.33,0.00,0.000,4,0.000,0.049,2084,3818,3638,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9550,-0.54,-170.3,883.7,-7.3,853,9555,0.00,2.12,0.00,0.000,6,0.000,0.024,2083,2404,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9871,-0.53,-170.3,908.4,-7.6,869,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2403,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10170,-0.53,-170.3,932.4,-8.3,884,10176,0.00,2.28,0.00,0.000,4,0.000,0.049,2073,3819,3635,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10210,-0.53,-170.3,935.7,-8.3,886,10216,0.08,2.10,0.00,0.000,6,0.103,0.022,2104,2400,3635,0,0,0,0,0,0,26.26,26.49,28.83
$GC,10532,-0.54,-170.3,956.6,-6.4,902,10537,0.00,2.25,0.00,0.000,4,0.000,0.047,2094,3816,3634,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10572,-0.54,-170.3,959.3,-6.4,904,10577,0.00,2.05,0.00,0.000,6,0.000,0.022,2095,2420,3633,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10891,-0.54,-170.3,980.7,-6.4,920,10897,0.00,2.20,0.00,0.000,4,0.000,0.047,2085,3812,3632,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10930,-0.54,-170.3,983.4,-6.6,922,10936,0.00,2.08,0.00,0.000,6,0.000,0.023,2085,2421,3632,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11028,begin apogee
$GC,11035,-0.20,0.0,990.1,-6.7,927,11204,0.35,0.05,161.43,1.146,4,0.100,0.045,2209,2480,2975,0,0,0,0,0,0,26.11,24.72,24.06
$STATE,11205,end apogee,CONTROL_FINISHED_OK
$STATE,11205,begin climb
$GC,11207,0.55,170.3,994.3,0.0,935,11396,0.62,0.10,175.62,1.141,6,0.033,0.090,2470,2553,2270,0,0,0,0,0,0,24.99,24.96,23.72
$GC,11691,0.47,170.3,906.1,21.1,960,11697,0.12,1.95,0.00,0.000,4,0.197,0.041,2425,3822,2246,0,0,0,0,0,0,25.49,25.72,28.83
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$GC,15136,0.31,235.4,525.5,5.9,1176,15227,0.00,2.00,84.45,0.771,4,0.000,0.045,2346,3825,2011,0,0,0,0,0,0,28.83,25.35,24.72
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$STATE,19029,end climb,SURFACE_DEPTH_REACHED
$STATE,19030,begin surface coast
$FINISH,0.1,1.022665
$STATE,19056,end surface coast,CONTROL_FINISHED_OK
$STATE,19056,begin surface
$SM_CCo,19134,0.00,0.000,0,0,1036,476.62
$SM_GC,0.59,5.85,2.05,0.00,0.021,0.024,0.000,113,2451,1036,-6.61,0.40,476.62,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12358.38,090512,202014
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.7,21.936
$10V_AH,10.2,12.265
$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,17.675,204.725,658.550,0.000,0.000,65.421,27.044,270.483,0.000,0.000,15.796,4507.423,10454.139,801.536,3455.876,460.218,0.000,2485.508,0.000,2914.580,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,90.270,1145.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1138.333,2208.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,103424,1677
$CAP_FILE_SIZE,219677,0
$CFSIZE,260165632,211288064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.330,319.5,1
$GPS,100512,073736,2339.237,12358.382,28,1.0,28,-3.4