version: 66.10
glider: 169
mission: 6
dive: 184
start: 5 28 112 13 18 23
data:
$ID,169
$MISSION,6
$DIVE,184
$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,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,-15691.026
$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
$GPS1,280512,130955,2144.907,12340.751,69,1.0,69,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.6
$GPS2,280512,131756,2144.950,12340.848,15,1.4,15,-2.9
$SPEED_LIMITS,0.136,0.271
$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,302.6,272290,-12.5,-7.857
$D_GRID,4810
$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,-194.6,0.0,0.0,0,88,0.00,0.00,-68.82,0.000,2,0.000,0.000,116,2520,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.55,-194.6,4.0,-9.4,12,118,7.82,2.55,-12.77,0.000,4,0.224,0.042,2099,1040,3775,0,0,0,0,0,0,25.31,26.05,26.44
$GC,323,-0.49,-194.6,73.9,-23.7,56,330,0.10,2.47,0.00,0.000,6,0.151,0.033,2113,2518,3777,0,0,0,0,0,0,25.97,26.14,28.83
$GC,516,-0.42,-194.6,124.8,-20.7,93,523,0.00,2.42,0.00,0.000,4,0.000,0.025,2121,1042,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,582,-0.41,-194.6,135.1,-12.8,105,589,0.10,2.47,0.00,0.000,6,0.138,0.031,2143,2520,3777,0,0,0,0,0,0,26.10,26.23,28.83
$GC,773,-0.38,-194.6,159.7,-13.1,142,780,0.00,2.40,0.00,0.000,4,0.000,0.024,2144,1039,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,813,-0.40,-194.6,163.8,-8.2,149,820,0.00,2.42,0.00,0.000,6,0.000,0.032,2141,2497,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1005,-0.38,-194.6,186.1,-12.9,186,1012,0.00,2.03,0.00,0.000,4,0.000,0.041,2131,3825,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1041,-0.38,-194.6,190.1,-10.8,192,1048,0.00,2.00,0.00,0.000,6,0.000,0.019,2131,2425,3778,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1238,-0.36,-194.6,212.6,-11.8,220,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2423,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1548,-0.34,-194.6,250.2,-12.0,251,1559,0.12,2.20,0.00,0.000,4,0.134,0.024,2178,1040,3778,0,0,0,0,0,0,26.36,26.41,28.83
$GC,1592,-0.36,-194.6,253.6,-7.5,255,1603,0.00,2.38,0.00,0.000,6,0.000,0.028,2178,2506,3777,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1903,-0.43,-194.6,281.4,-9.8,286,1907,0.12,1.98,0.00,0.000,4,0.103,0.037,2119,3840,3777,0,0,0,0,0,0,26.51,26.35,28.83
$GC,2080,-0.50,-194.6,298.0,-9.4,303,2087,0.00,2.00,0.00,0.000,6,0.000,0.018,2119,2416,3776,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2388,-0.57,-194.6,321.7,-8.0,334,2392,0.00,2.22,0.00,0.000,4,0.000,0.037,2119,3841,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2554,-0.64,-194.6,336.3,-9.1,350,2562,0.17,2.00,0.00,0.000,6,0.119,0.018,2072,2427,3773,0,0,0,0,0,0,26.20,26.54,28.83
$GC,2861,-0.64,-194.6,360.7,-8.1,381,2870,0.00,2.17,0.00,0.000,4,0.000,0.039,2062,3838,3772,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2906,-0.62,-194.6,364.5,-9.1,385,2913,0.00,1.75,0.00,0.000,6,0.000,0.019,2063,2546,3771,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3213,-0.58,-194.6,410.3,-14.1,416,3222,0.00,2.40,0.00,0.000,4,0.000,0.025,2065,1050,3770,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3340,-0.57,-194.6,423.4,-8.9,428,3349,0.08,2.60,0.00,0.000,6,0.103,0.032,2090,2588,3770,0,0,0,0,0,0,26.20,26.39,28.83
$GC,3648,-0.55,-194.6,459.7,-12.8,459,3656,0.00,2.55,0.00,0.000,4,0.000,0.024,2090,1041,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3763,-0.56,-194.6,471.4,-9.2,470,3772,0.00,2.53,0.00,0.000,6,0.000,0.032,2085,2556,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4071,-0.54,-194.6,505.7,-11.3,501,4080,0.00,2.45,0.00,0.000,4,0.000,0.025,2086,1043,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4136,-0.54,-194.6,512.1,-9.3,507,4143,0.00,2.47,0.00,0.000,6,0.000,0.034,2085,2531,3765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4443,-0.53,-194.6,544.8,-10.7,538,4453,0.00,2.38,0.00,0.000,4,0.000,0.025,2085,1047,3763,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4489,-0.53,-194.6,548.9,-9.6,542,4497,0.00,2.42,0.00,0.000,6,0.000,0.034,2085,2520,3762,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4796,-0.51,-194.6,579.2,-9.1,573,4805,0.00,2.38,0.00,0.000,4,0.000,0.026,2085,1041,3760,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4851,-0.52,-194.6,583.5,-8.3,578,4859,0.00,2.42,0.00,0.000,6,0.000,0.034,2085,2510,3759,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5160,-0.51,-194.6,608.5,-8.4,604,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2509,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5459,-0.50,-194.6,633.8,-8.7,619,5465,0.00,2.35,0.00,0.000,4,0.000,0.028,2086,1053,3754,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5500,-0.50,-194.6,636.9,-8.4,621,5504,0.00,2.42,0.00,0.000,6,0.000,0.035,2085,2506,3754,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5813,-0.49,-194.6,663.4,-8.5,637,5815,0.10,0.00,0.00,0.000,6,0.146,0.000,2116,2506,3752,0,0,0,0,0,0,26.46,28.83,28.83
$GC,6114,-0.51,-194.6,680.2,-5.2,652,6120,0.00,2.38,0.00,0.000,4,0.000,0.028,2117,1041,3749,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6136,-0.53,-194.6,681.2,-5.1,653,6141,0.00,2.40,0.00,0.000,6,0.000,0.034,2112,2494,3749,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6452,-0.60,-194.6,701.1,-7.5,669,6457,0.00,2.03,0.00,0.000,4,0.000,0.043,2112,3825,3747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6613,-0.68,-194.6,713.6,-8.0,677,6617,0.17,2.03,0.00,0.000,6,0.087,0.021,2042,2426,3745,0,0,0,0,0,0,26.27,26.48,28.83
$GC,6930,-0.69,-194.6,735.3,-6.8,693,6936,0.00,2.17,0.00,0.000,4,0.000,0.028,2042,1047,3744,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6989,-0.69,-194.6,740.1,-7.4,696,6994,0.00,2.53,0.00,0.000,6,0.000,0.037,2031,2551,3743,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7310,-0.65,-194.6,778.7,-12.6,712,7316,0.12,2.47,0.00,0.000,4,0.145,0.028,2083,1046,3741,0,0,0,0,0,0,26.29,26.28,28.83
$GC,7382,-0.63,-194.6,784.5,-10.3,715,7389,0.00,2.50,0.00,0.000,6,0.000,0.037,2073,2537,3741,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7690,-0.62,-194.6,812.6,-9.2,731,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2535,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7989,-0.61,-194.6,840.4,-9.4,746,7995,0.00,2.42,0.00,0.000,4,0.000,0.028,2073,1054,3737,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8049,-0.61,-194.6,845.7,-9.0,749,8055,0.00,2.47,0.00,0.000,6,0.000,0.037,2062,2528,3737,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8371,-0.60,-194.6,877.8,-10.1,765,8377,0.00,2.42,0.00,0.000,4,0.000,0.028,2062,1046,3735,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8418,-0.59,-194.6,881.8,-9.9,767,8423,0.10,2.47,0.00,0.000,6,0.138,0.037,2087,2519,3735,0,0,0,0,0,0,26.05,26.17,28.83
$GC,8726,-0.59,-194.6,904.4,-6.7,782,8732,0.00,2.40,0.00,0.000,4,0.000,0.027,2087,1040,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8753,-0.59,-194.6,905.8,-6.7,783,8757,0.00,2.47,0.00,0.000,6,0.000,0.037,2086,2518,3733,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9060,-0.59,-194.6,925.4,-6.1,798,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2517,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9361,-0.59,-194.6,944.0,-6.2,813,9367,0.00,2.40,0.00,0.000,4,0.000,0.028,2086,1040,3731,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9388,-0.59,-194.6,945.3,-6.2,814,9392,0.00,2.47,0.00,0.000,6,0.000,0.037,2086,2512,3730,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9696,-0.59,-194.6,964.1,-5.8,829,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2510,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9995,-0.59,-194.6,981.4,-5.9,844,10001,0.00,2.38,0.00,0.000,4,0.000,0.028,2086,1049,3728,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10024,-0.59,-194.6,982.6,-6.0,845,10028,0.00,2.45,0.00,0.000,6,0.000,0.038,2085,2504,3728,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,10148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10148,begin apogee
$GC,10155,-0.20,0.0,990.7,-6.1,851,10351,0.32,0.00,187.80,1.164,4,0.089,0.000,2207,2540,2969,0,0,0,0,0,0,26.03,28.83,23.74
$STATE,10352,end apogee,CONTROL_FINISHED_OK
$STATE,10352,begin climb
$GC,10354,0.55,194.6,997.7,0.0,861,10574,0.65,2.08,211.05,1.125,4,0.037,0.047,2471,3818,2185,0,0,0,0,0,0,24.91,24.84,23.32
$GC,10791,0.46,194.6,915.0,23.5,883,10797,0.20,2.00,0.00,0.000,6,0.181,0.024,2430,2501,2146,0,0,0,0,0,0,25.24,25.65,28.83
$GC,11110,0.41,194.6,863.7,15.6,899,11116,0.00,2.38,0.00,0.000,4,0.000,0.031,2442,1068,2142,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11218,0.37,194.6,849.1,13.7,904,11229,0.17,2.53,0.00,0.000,6,0.146,0.036,2392,2548,2139,0,0,0,0,0,0,25.68,25.98,28.83
$GC,11529,0.34,194.6,808.9,13.2,920,11533,0.00,1.92,0.00,0.000,4,0.000,0.044,2392,3821,2138,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11620,0.30,194.6,796.1,15.6,924,11624,0.00,1.90,0.00,0.000,6,0.000,0.023,2402,2518,2138,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11926,0.27,194.6,751.7,13.5,939,11928,0.15,0.00,0.00,0.000,6,0.162,0.000,2361,2516,2138,0,0,0,0,0,0,25.96,28.83,28.83
$GC,12227,0.26,194.6,723.2,9.0,954,12232,0.00,2.03,0.00,0.000,4,0.000,0.044,2360,3825,2137,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12269,0.26,194.6,719.2,9.4,956,12273,0.00,1.90,0.00,0.000,6,0.000,0.023,2370,2520,2137,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12582,0.24,194.6,690.8,8.5,972,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2518,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12881,0.23,194.6,666.1,8.0,987,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2518,2137,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19350,end climb,SURFACE_DEPTH_REACHED
$STATE,19350,begin surface coast
$FINISH,0.3,1.021333
$STATE,19378,end surface coast,CONTROL_FINISHED_OK
$STATE,19378,begin surface
$SM_CCo,19454,0.00,0.000,0,0,771,541.62
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.25
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.3,36.465
$10V_AH,10.2,22.542
$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,18.500,193.625,765.075,0.000,0.000,33.403,20.112,266.502,0.000,0.000,16.712,4354.388,10596.385,884.898,3565.224,498.001,0.000,2633.309,0.000,3063.907,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,149.175,1163.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,110028,1745
$CAP_FILE_SIZE,225335,0
$CFSIZE,260165632,202403840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0,0
$CURRENT,0.161,118.2,1
$GPS,280512,184336,2146.335,12340.056,29,1.0,29,-2.9