version: 66.10
glider: 169
mission: 6
dive: 195
start: 5 31 112 2 20 48
data:
$ID,169
$MISSION,6
$DIVE,195
$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,-15705.53
$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
$GPS1,310512,021206,2155.526,12328.229,29,1.2,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-73.2
$GPS2,310512,022022,2155.533,12328.332,14,2.2,33,-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,261.6,243842,-12.5,-7.857
$D_GRID,4681
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-90.00,0.000,2,0.000,0.000,120,2519,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.55,-194.6,3.3,-7.8,16,146,7.90,2.50,-15.05,0.000,4,0.226,0.041,2102,1054,3775,0,0,1,0,0,0,25.25,25.54,26.45
$GC,341,-0.51,-194.6,71.8,-20.0,59,348,0.00,2.47,0.00,0.000,6,0.000,0.032,2090,2517,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,534,-0.41,-194.6,134.6,-33.0,96,541,0.15,2.42,0.00,0.000,4,0.172,0.024,2146,1046,3776,0,0,0,0,0,0,25.94,26.25,28.83
$GC,625,-0.42,-194.6,150.0,-9.3,113,631,0.00,2.38,0.00,0.000,6,0.000,0.031,2136,2472,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,815,-0.39,-194.6,178.2,-14.9,150,822,0.00,2.05,0.00,0.000,4,0.000,0.041,2125,3829,3777,0,0,0,0,0,0,28.83,26.22,28.83
$GC,854,-0.35,-194.6,184.0,-14.7,157,861,0.10,2.05,0.00,0.000,6,0.141,0.019,2158,2419,3776,0,0,0,0,0,0,26.18,26.41,28.83
$GC,1052,-0.35,-194.6,202.5,-7.6,192,1060,0.00,2.17,0.00,0.000,4,0.000,0.023,2159,1032,3777,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1107,-0.37,-194.6,206.1,-6.7,197,1114,0.00,2.35,0.00,0.000,6,0.000,0.030,2156,2467,3777,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1415,-0.38,-194.6,228.7,-7.5,228,1423,0.00,2.05,0.00,0.000,4,0.000,0.041,2147,3823,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1470,-0.41,-194.6,232.6,-7.4,233,1477,0.00,2.03,0.00,0.000,6,0.000,0.018,2147,2402,3777,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1778,-0.48,-194.6,254.9,-6.8,264,1787,0.00,2.22,0.00,0.000,4,0.000,0.038,2147,3825,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1874,-0.56,-194.6,262.5,-7.8,273,1881,0.15,2.00,0.00,0.000,6,0.076,0.019,2065,2413,3776,0,0,0,0,0,0,26.41,26.53,28.83
$GC,2179,-0.56,-194.6,290.1,-8.9,304,2189,0.00,2.22,0.00,0.000,4,0.000,0.038,2056,3829,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2253,-0.53,-194.6,298.1,-11.7,311,2262,0.12,1.95,0.00,0.000,6,0.129,0.021,2100,2461,3775,0,0,0,0,0,0,26.21,26.51,28.83
$GC,2563,-0.52,-194.6,332.0,-10.4,342,2571,0.00,2.28,0.00,0.000,4,0.000,0.024,2100,1032,3774,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2614,-0.52,-194.6,336.7,-8.8,347,2623,0.00,2.50,0.00,0.000,6,0.000,0.032,2099,2533,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2925,-0.50,-194.6,366.9,-10.0,378,2934,0.00,2.42,0.00,0.000,4,0.000,0.024,2099,1045,3771,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2966,-0.50,-194.6,370.9,-9.6,382,2976,0.00,2.45,0.00,0.000,6,0.000,0.032,2099,2516,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3278,-0.48,-194.6,402.3,-11.2,413,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2515,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,-0.47,-194.6,433.0,-9.9,443,3587,0.00,2.38,0.00,0.000,4,0.000,0.027,2099,1045,3766,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3654,-0.48,-194.6,439.8,-8.5,450,3661,0.00,2.42,0.00,0.000,6,0.000,0.034,2099,2508,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3963,-0.47,-194.6,468.4,-8.8,481,3972,0.00,1.98,-0.10,0.000,4,0.000,0.056,2089,3814,3784,0,0,0,0,0,0,28.83,26.29,26.03
$GC,3996,-0.47,-194.6,471.4,-8.8,484,4006,0.08,2.00,0.00,0.000,6,0.086,0.019,2125,2422,3784,0,0,0,0,0,0,26.30,26.53,28.83
$GC,4306,-0.49,-194.6,490.6,-6.2,515,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2422,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4610,-0.51,-194.6,509.0,-6.1,545,4619,0.00,2.22,0.00,0.000,4,0.000,0.042,2116,3815,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4645,-0.53,-194.6,511.1,-6.0,548,4653,0.00,1.98,0.00,0.000,6,0.000,0.020,2116,2434,3779,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4952,-0.61,-194.6,534.2,-8.6,579,4962,0.12,2.20,0.00,0.000,4,0.110,0.024,2072,1040,3776,0,0,0,0,0,0,26.47,26.39,28.83
$GC,5018,-0.68,-194.6,539.6,-8.3,585,5025,0.00,2.40,0.00,0.000,6,0.000,0.031,2072,2506,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5326,-0.69,-194.6,564.9,-8.3,616,5335,0.00,2.00,0.00,0.000,4,0.000,0.044,2064,3821,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5352,-0.71,-194.6,566.8,-8.3,618,5358,0.00,1.75,0.00,0.000,6,0.000,0.020,2065,2546,3772,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5658,-0.68,-194.6,599.5,-10.4,649,5662,0.00,1.98,0.00,0.000,4,0.000,0.044,2055,3831,3771,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5701,-0.66,-194.6,603.9,-10.4,652,5704,0.00,1.83,0.00,0.000,6,0.000,0.021,2055,2540,3771,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6026,-0.63,-194.6,640.4,-11.3,668,6031,0.00,2.42,0.00,0.000,4,0.000,0.026,2055,1043,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6137,-0.62,-194.6,650.4,-9.5,673,6145,0.10,2.58,0.00,0.000,6,0.142,0.034,2075,2566,3768,0,0,0,0,0,0,26.13,26.27,28.83
$GC,6444,-0.61,-194.6,680.9,-9.6,689,6450,0.00,2.53,0.00,0.000,4,0.000,0.027,2075,1046,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6505,-0.61,-194.6,686.3,-9.2,692,6510,0.00,2.53,0.00,0.000,6,0.000,0.034,2064,2547,3766,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6826,-0.59,-194.6,720.4,-11.2,708,6831,0.00,2.50,0.00,0.000,4,0.000,0.028,2066,1042,3763,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6864,-0.57,-194.6,724.6,-10.7,710,6871,0.08,2.53,0.00,0.000,6,0.099,0.035,2091,2539,3763,0,0,0,0,0,0,26.06,26.22,28.83
$GC,7187,-0.57,-194.6,749.3,-7.2,726,7193,0.00,2.45,0.00,0.000,4,0.000,0.027,2092,1044,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7227,-0.58,-194.6,752.3,-7.3,728,7233,0.00,2.50,0.00,0.000,6,0.000,0.036,2086,2529,3761,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7547,-0.58,-194.6,774.9,-6.4,744,7552,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1043,3759,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7570,-0.58,-194.6,776.0,-6.3,745,7576,0.00,2.50,0.00,0.000,6,0.000,0.037,2085,2521,3759,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7886,-0.58,-194.6,795.5,-6.2,761,7891,0.00,1.98,0.00,0.000,4,0.000,0.047,2077,3820,3757,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7926,-0.58,-194.6,798.1,-6.5,763,7931,0.00,1.98,0.00,0.000,6,0.000,0.021,2077,2456,3756,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8247,-0.57,-194.6,822.4,-7.8,779,8253,0.00,2.30,0.00,0.000,4,0.000,0.028,2076,1043,3755,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8293,-0.57,-194.6,825.6,-8.1,781,8298,0.00,2.47,0.00,0.000,6,0.000,0.036,2067,2522,3755,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8603,-0.56,-194.6,853.5,-9.2,796,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2521,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8901,-0.55,-194.6,880.3,-8.8,811,8907,0.10,2.42,0.00,0.000,4,0.153,0.027,2097,1053,3752,0,0,0,0,0,0,26.41,26.22,28.83
$GC,8954,-0.55,-194.6,883.2,-8.1,813,8960,0.00,2.47,0.00,0.000,6,0.000,0.036,2092,2516,3751,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9263,-0.59,-194.6,902.2,-6.1,829,9268,0.00,2.03,0.00,0.000,4,0.000,0.047,2092,3817,3750,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9496,-0.66,-194.6,918.8,-8.5,840,9505,0.12,2.12,0.00,0.000,6,0.114,0.021,2057,2389,3748,0,0,0,0,0,0,26.15,26.39,28.83
$GC,9803,-0.67,-194.6,942.3,-7.5,856,9809,0.00,2.35,0.00,0.000,4,0.000,0.045,2046,3831,3747,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9884,-0.67,-194.6,949.3,-8.8,860,9889,0.00,1.90,0.00,0.000,6,0.000,0.025,2046,2518,3746,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10203,-0.65,-194.6,981.6,-9.9,876,10208,0.00,2.40,0.00,0.000,4,0.000,0.029,2046,1044,3746,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10301,begin apogee
$GC,10310,-0.20,0.0,990.9,-8.9,881,10514,0.50,0.00,198.45,1.141,4,0.099,0.000,2208,2535,2977,0,0,0,0,0,0,25.74,28.83,23.68
$STATE,10515,end apogee,CONTROL_FINISHED_OK
$STATE,10515,begin climb
$GC,10518,0.55,194.6,999.6,0.0,891,10743,0.65,2.62,211.45,1.130,4,0.041,0.028,2471,1063,2171,0,0,0,0,0,0,24.83,24.82,23.24
$GC,10849,0.50,194.6,958.4,16.8,908,10854,0.12,2.60,0.00,0.000,6,0.167,0.039,2439,2533,2149,0,0,0,0,0,0,25.01,25.22,28.83
$GC,11164,0.44,194.6,900.5,18.4,924,11169,0.00,2.45,0.00,0.000,4,0.000,0.031,2452,1084,2145,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11256,0.40,194.6,886.9,16.8,928,11265,0.17,2.55,0.00,0.000,6,0.148,0.038,2402,2545,2143,0,0,0,0,0,0,25.63,25.91,28.83
$GC,11563,0.36,194.6,841.8,13.7,944,11568,0.00,1.98,0.00,0.000,4,0.000,0.046,2402,3830,2143,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11644,0.31,194.6,829.4,15.4,948,11650,0.10,1.95,0.00,0.000,6,0.147,0.024,2378,2513,2142,0,0,0,0,0,0,25.79,26.15,28.83
$GC,11965,0.29,194.6,792.3,11.4,964,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2511,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12265,0.27,194.6,759.9,10.3,979,12269,0.00,2.08,0.00,0.000,4,0.000,0.045,2378,3830,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12327,0.25,194.6,752.4,11.5,982,12333,0.12,1.92,0.00,0.000,6,0.154,0.024,2354,2520,2139,0,0,0,0,0,0,25.91,26.23,28.83
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$STATE,19446,end climb,SURFACE_DEPTH_REACHED
$STATE,19447,begin surface coast
$FINISH,-0.1,1.008621
$STATE,19462,end surface coast,CONTROL_FINISHED_OK
$STATE,19462,begin surface
$SM_CCo,19538,0.00,0.000,0,0,717,554.87
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$IRIDIUM_FIX,2145.77,12327.23,300512,202006
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.2,38.880
$10V_AH,10.2,23.998
$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,18.525,212.400,783.450,0.000,0.000,43.190,41.511,236.410,0.000,0.000,36.179,4387.456,10512.120,934.578,3679.041,485.535,0.000,2745.333,0.000,3139.982,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,55.845,1140.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.238,2284.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,110144,1754
$CAP_FILE_SIZE,232040,0
$CFSIZE,260165632,201113600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.239, 83.5,1
$GPS,310512,074737,2155.577,12327.400,43,1.1,43,-2.9