version: 66.10
glider: 169
mission: 6
dive: 215
start: 6 4 112 14 56 19
data:
$ID,169
$MISSION,6
$DIVE,215
$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,-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,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,-15730.992
$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
$GPS1,040612,144737,2212.797,12305.864,28,1.3,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.7
$GPS2,040612,145556,2212.987,12306.047,14,1.9,14,-2.9
$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,256.7,194791,-13.8,-8.684
$D_GRID,4517
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.78,0.000,2,0.000,0.000,116,2505,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,3.7,-9.0,14,131,7.97,2.03,-12.00,0.000,4,0.226,0.049,2070,3837,3775,0,0,1,0,0,0,25.20,25.48,26.46
$GC,195,-0.52,-194.6,44.9,-27.9,30,202,0.00,1.98,0.00,0.000,6,0.000,0.020,2077,2468,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,387,-0.41,-194.6,109.3,-35.9,67,394,0.20,2.33,0.00,0.000,4,0.174,0.021,2146,1035,3775,0,0,0,0,0,0,25.75,26.24,28.83
$GC,473,-0.40,-194.6,126.6,-13.2,83,479,0.00,2.47,0.00,0.000,6,0.000,0.030,2134,2505,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,663,-0.38,-194.6,157.8,-13.1,120,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2505,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.36,-194.6,182.0,-12.1,157,862,0.00,2.42,0.00,0.000,4,0.000,0.024,2135,1031,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,884,-0.36,-194.6,185.6,-12.0,162,892,0.12,2.45,0.00,0.000,6,0.115,0.031,2168,2499,3777,0,0,0,0,0,0,26.17,26.29,28.83
$GC,1078,-0.38,-194.6,199.7,-6.7,199,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2497,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.41,-194.6,210.9,-4.8,218,1271,0.00,2.35,0.00,0.000,4,0.000,0.021,2168,1037,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1295,-0.45,-194.6,212.6,-5.1,221,1305,0.08,2.40,0.00,0.000,6,0.047,0.029,2109,2493,3777,0,0,0,0,0,0,26.30,26.39,28.83
$GC,1605,-0.48,-194.6,235.1,-7.3,252,1614,0.00,1.98,0.00,0.000,4,0.000,0.042,2101,3829,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1701,-0.48,-194.6,242.6,-8.4,261,1708,0.00,1.75,0.00,0.000,6,0.000,0.018,2101,2525,3776,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2008,-0.45,-194.6,281.0,-13.2,292,2018,0.00,2.40,0.00,0.000,4,0.000,0.023,2101,1034,3775,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2103,-0.47,-194.6,290.6,-9.4,301,2112,0.00,2.62,0.00,0.000,6,0.000,0.031,2098,2572,3776,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2411,-0.45,-194.6,324.0,-10.3,332,2421,0.00,2.55,0.00,0.000,4,0.000,0.024,2099,1034,3773,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2457,-0.45,-194.6,328.1,-9.5,336,2466,0.00,2.60,0.00,0.000,6,0.000,0.032,2099,2563,3773,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2764,-0.44,-194.6,359.9,-10.8,367,2774,0.12,2.53,0.00,0.000,4,0.142,0.023,2143,1041,3771,0,0,0,0,0,0,26.35,26.41,28.83
$GC,2819,-0.47,-194.6,363.5,-5.9,372,2829,0.00,2.55,0.00,0.000,6,0.000,0.030,2141,2552,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3129,-0.55,-194.6,384.8,-7.8,403,3138,0.12,1.83,0.00,0.000,4,0.089,0.037,2076,3819,3768,0,0,0,0,0,0,26.54,26.33,28.83
$GC,3174,-0.60,-194.6,388.3,-8.1,407,3181,0.00,1.80,0.00,0.000,6,0.000,0.019,2076,2497,3767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3481,-0.58,-194.6,422.8,-12.2,438,3491,0.00,2.35,0.00,0.000,4,0.000,0.024,2076,1038,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3528,-0.57,-194.6,427.6,-11.3,442,3536,0.00,2.58,0.00,0.000,6,0.000,0.032,2065,2558,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3834,-0.54,-194.6,467.6,-13.1,473,3844,0.12,2.55,-0.05,0.000,4,0.149,0.034,2108,1037,3782,0,0,0,0,0,0,26.32,26.38,24.63
$GC,3880,-0.55,-194.6,471.4,-8.4,477,3889,0.00,2.53,0.00,0.000,6,0.000,0.033,2105,2534,3782,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4192,-0.56,-194.6,494.8,-7.9,508,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2534,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-0.56,-194.6,520.2,-8.4,539,4510,0.00,2.47,0.00,0.000,4,0.000,0.025,2105,1042,3778,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4555,-0.59,-194.6,524.5,-7.8,544,4563,0.00,2.50,0.00,0.000,6,0.000,0.033,2099,2521,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4864,-0.59,-194.6,550.6,-8.4,575,4873,0.00,2.42,0.00,0.000,4,0.000,0.025,2099,1037,3775,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4909,-0.61,-194.6,553.9,-7.8,579,4915,0.00,2.50,0.00,0.000,6,0.000,0.034,2099,2514,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5216,-0.61,-194.6,579.2,-8.2,610,5220,0.00,2.00,0.00,0.000,4,0.000,0.045,2090,3832,3773,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5249,-0.62,-194.6,582.0,-8.5,613,5253,0.00,2.03,0.00,0.000,6,0.000,0.021,2090,2430,3772,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5563,-0.62,-194.6,609.8,-8.9,639,5569,0.00,2.22,0.00,0.000,4,0.000,0.026,2090,1044,3770,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5595,-0.63,-194.6,611.7,-8.9,640,5602,0.00,2.47,0.00,0.000,6,0.000,0.034,2086,2510,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5903,-0.63,-194.6,639.0,-8.4,656,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2509,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6202,-0.63,-194.6,663.8,-8.1,671,6208,0.00,2.40,0.00,0.000,4,0.000,0.027,2086,1049,3765,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6251,-0.64,-194.6,667.0,-7.9,673,6255,0.00,2.47,0.00,0.000,6,0.000,0.037,2086,2501,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6558,-0.64,-194.6,691.6,-7.9,688,6562,0.00,2.05,0.00,0.000,4,0.000,0.049,2076,3824,3763,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6588,-0.64,-194.6,693.4,-7.9,689,6592,0.00,2.03,0.00,0.000,6,0.000,0.022,2076,2428,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6896,-0.64,-194.6,720.3,-8.9,704,6901,0.00,2.22,0.00,0.000,4,0.000,0.029,2076,1052,3760,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6935,-0.64,-194.6,723.7,-8.6,706,6941,0.00,2.45,0.00,0.000,6,0.000,0.038,2068,2493,3760,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7255,-0.63,-194.6,755.2,-10.3,722,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2492,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.62,-194.6,785.0,-9.7,737,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2492,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7857,-0.61,-194.6,814.3,-9.6,752,7862,0.00,2.38,0.00,0.000,4,0.000,0.028,2068,1044,3755,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7883,-0.61,-194.6,816.2,-9.5,753,7887,0.00,2.45,0.00,0.000,6,0.000,0.037,2059,2496,3754,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8191,-0.59,-194.6,847.3,-9.7,768,8197,0.00,2.38,0.00,0.000,4,0.000,0.027,2059,1049,3753,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8223,-0.58,-194.6,849.2,-9.7,769,8231,0.12,2.42,0.00,0.000,6,0.125,0.038,2094,2476,3753,0,0,0,0,0,0,26.01,26.14,28.83
$GC,8532,-0.60,-194.6,870.0,-6.1,785,8537,0.00,2.08,0.00,0.000,4,0.000,0.048,2084,3811,3751,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8564,-0.61,-194.6,871.2,-6.1,786,8571,0.00,2.05,0.00,0.000,6,0.000,0.021,2084,2410,3751,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8872,-0.62,-194.6,892.2,-6.8,802,8877,0.00,2.20,0.00,0.000,4,0.000,0.028,2084,1041,3750,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8899,-0.63,-194.6,893.6,-6.8,803,8903,0.00,2.42,0.00,0.000,6,0.000,0.036,2083,2477,3750,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9206,-0.64,-194.6,914.7,-6.6,818,9211,0.00,2.08,0.00,0.000,4,0.000,0.047,2074,3813,3748,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9249,-0.66,-194.6,917.4,-6.7,820,9253,0.00,2.03,0.00,0.000,6,0.000,0.022,2073,2418,3748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9566,-0.66,-194.6,941.3,-7.6,836,9572,0.00,2.22,0.00,0.000,4,0.000,0.028,2073,1043,3747,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9594,-0.66,-194.6,943.0,-7.7,837,9599,0.00,2.42,0.00,0.000,6,0.000,0.036,2070,2482,3747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9902,-0.66,-194.6,969.7,-8.5,852,9907,0.00,2.05,0.00,0.000,4,0.000,0.047,2060,3812,3745,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9944,-0.66,-194.6,973.2,-8.6,854,9948,0.00,2.05,0.00,0.000,6,0.000,0.022,2059,2422,3745,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10133,begin apogee
$GC,10140,-0.20,0.0,991.3,-9.1,864,10337,0.43,0.10,188.68,1.178,4,0.094,0.073,2208,2482,2972,0,0,0,0,0,0,25.87,24.62,23.61
$STATE,10337,end apogee,CONTROL_FINISHED_OK
$STATE,10338,begin climb
$GC,10341,0.58,194.6,1000.3,0.0,874,10557,0.68,2.25,206.95,1.152,4,0.043,0.045,2475,3818,2183,0,0,0,0,0,0,24.87,24.81,23.13
$GC,10782,0.50,194.6,910.7,24.8,896,10787,0.17,1.98,0.00,0.000,6,0.185,0.022,2441,2502,2144,0,0,0,0,0,0,25.31,25.73,28.83
$GC,11099,0.45,194.6,852.8,17.9,912,11104,0.00,2.40,0.00,0.000,4,0.000,0.031,2454,1070,2140,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11198,0.42,194.6,836.2,15.6,917,11204,0.12,2.55,0.00,0.000,6,0.136,0.035,2411,2542,2137,0,0,0,0,0,0,25.70,26.00,28.83
$GC,11519,0.39,194.6,787.4,15.2,933,11525,0.00,1.95,0.00,0.000,4,0.000,0.043,2411,3822,2137,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11599,0.35,194.6,773.9,17.0,937,11605,0.12,1.90,0.00,0.000,6,0.172,0.021,2385,2517,2136,0,0,0,0,0,0,25.82,26.22,28.83
$GC,11919,0.34,194.6,735.6,11.4,953,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2516,2136,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18791,end climb,SURFACE_DEPTH_REACHED
$STATE,18791,begin surface coast
$FINISH,1.1,1.021349
$STATE,18808,end surface coast,CONTROL_FINISHED_OK
$STATE,18808,begin surface
$SM_CCo,18883,0.00,0.000,0,0,832,526.66
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$IRIDIUM_FIX,2202.04,12307.19,040612,090903
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,43.262
$10V_AH,10.2,26.578
$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
$DEVICE_SECS,18.325,209.625,723.900,0.000,0.000,30.848,44.479,259.748,0.000,0.000,15.372,4297.570,10180.146,873.382,3496.489,492.675,0.000,2604.567,0.000,2976.349,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,107047,1722
$CAP_FILE_SIZE,224935,0
$CFSIZE,260165632,198852608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,2,0,0
$CURRENT,0.191, 62.6,1
$GPS,040612,201206,2213.201,12304.998,36,1.2,36,-2.9