version: 66.10
glider: 169
mission: 6
dive: 285
start: 6 20 112 4 29 28
data:
$ID,169
$MISSION,6
$DIVE,285
$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,-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,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,-15837.897
$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,2450
$C_ROLL_CLIMB,2545
$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,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
$GPS1,200612,041731,2319.526,12158.596,59,1.3,59,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.1
$GPS2,200612,042902,2319.878,12158.640,15,1.3,15,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,104.3,204864,-13.8,-8.684
$D_GRID,4777
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-78.00,0.000,2,0.000,0.000,113,2475,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.58,-194.6,3.2,-8.5,13,133,8.10,2.10,-17.42,0.000,4,0.227,0.046,2066,3830,3773,0,0,0,0,0,0,24.98,26.01,26.48
$GC,204,-0.51,-194.6,38.4,-27.7,31,212,0.12,2.08,0.00,0.000,6,0.181,0.020,2106,2414,3774,0,0,0,0,0,0,25.76,26.19,28.83
$GC,398,-0.45,-194.6,90.2,-23.6,68,405,0.00,2.33,0.00,0.000,4,0.000,0.027,2118,991,3774,0,0,0,0,0,0,28.83,26.19,28.83
$GC,494,-0.46,-194.6,106.1,-10.9,86,501,0.00,2.47,0.00,0.000,6,0.000,0.030,2106,2453,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,684,-0.42,-194.6,132.2,-15.0,123,692,0.12,2.12,0.00,0.000,4,0.157,0.035,2135,3841,3774,0,0,0,0,0,0,26.17,26.22,28.83
$GC,711,-0.39,-194.6,135.7,-13.5,127,719,0.00,2.17,0.00,0.000,6,0.000,0.018,2136,2361,3774,0,0,0,0,0,0,28.83,26.40,28.83
$GC,903,-0.39,-194.6,153.3,-7.9,164,910,0.00,2.35,0.00,0.000,4,0.000,0.037,2124,3835,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,939,-0.41,-194.6,156.2,-8.3,170,946,0.00,2.12,0.00,0.000,6,0.000,0.018,2125,2364,3775,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1130,-0.41,-194.6,173.3,-9.0,207,1137,0.00,2.35,0.00,0.000,4,0.000,0.039,2115,3838,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1155,-0.41,-194.6,175.7,-9.4,211,1163,0.00,2.10,0.00,0.000,6,0.000,0.018,2114,2390,3774,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1347,-0.41,-194.6,193.6,-9.2,248,1354,0.00,2.25,0.00,0.000,4,0.000,0.022,2115,973,3775,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1403,-0.43,-194.6,198.5,-7.6,258,1410,0.00,2.40,0.00,0.000,6,0.000,0.029,2108,2428,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1595,-0.43,-194.6,216.5,-9.7,295,1603,0.00,2.12,0.00,0.000,4,0.000,0.037,2098,3830,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1642,-0.43,-194.6,220.8,-9.1,303,1651,0.12,2.12,0.00,0.000,6,0.109,0.018,2140,2368,3774,0,0,0,0,0,0,26.27,26.49,28.83
$GC,1958,-0.46,-194.6,241.8,-6.6,364,1964,0.00,2.35,0.00,0.000,4,0.000,0.037,2129,3843,3774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1997,-0.49,-194.6,244.7,-7.2,371,2007,0.00,2.12,0.00,0.000,6,0.000,0.018,2129,2373,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2315,-0.53,-194.6,266.2,-6.8,432,2321,0.00,2.33,0.00,0.000,4,0.000,0.039,2124,3830,3772,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2371,-0.58,-194.6,270.1,-6.9,442,2378,0.12,1.83,0.00,0.000,6,0.082,0.018,2060,2470,3772,0,0,0,0,0,0,26.42,26.58,28.83
$GC,2685,-0.55,-194.6,307.0,-12.8,503,2693,0.12,2.45,0.00,0.000,4,0.134,0.021,2111,970,3769,0,0,0,0,0,0,26.35,26.39,28.83
$GC,2767,-0.58,-194.6,314.2,-6.9,518,2773,0.00,2.72,0.00,0.000,6,0.000,0.030,2111,2547,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3083,-0.62,-194.6,335.7,-6.9,579,3091,0.12,1.88,0.00,0.000,4,0.076,0.037,2020,3829,3767,0,0,0,0,0,0,26.58,26.29,28.83
$GC,3110,-0.63,-194.6,338.1,-8.1,583,3119,0.15,2.10,0.00,0.000,6,0.140,0.018,2072,2382,3766,0,0,0,0,0,0,26.09,26.50,28.83
$GC,3424,-0.61,-194.6,373.0,-10.8,644,3432,0.00,2.22,0.00,0.000,4,0.000,0.024,2077,980,3765,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3465,-0.63,-194.6,376.9,-8.3,651,3473,0.00,2.47,0.00,0.000,6,0.000,0.029,2067,2450,3765,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3780,-0.60,-194.6,410.9,-11.1,712,3787,0.00,2.12,-0.10,0.000,4,0.000,0.051,2056,3829,3783,0,0,0,0,0,0,28.83,26.25,26.01
$GC,3815,-0.59,-194.6,415.2,-11.4,718,3822,0.00,2.10,0.00,0.000,6,0.000,0.018,2056,2392,3783,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4128,-0.56,-194.6,453.0,-11.7,779,4136,0.12,2.28,0.00,0.000,4,0.138,0.022,2105,971,3781,0,0,0,0,0,0,26.32,26.36,28.83
$GC,4164,-0.59,-194.6,456.5,-8.0,785,4171,0.00,2.47,0.00,0.000,6,0.000,0.031,2099,2444,3781,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4477,-0.60,-194.6,481.1,-7.5,846,4484,0.00,2.12,0.00,0.000,4,0.000,0.041,2088,3832,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4538,-0.62,-194.6,485.3,-6.6,857,4544,0.00,2.10,0.00,0.000,6,0.000,0.018,2089,2394,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4850,-0.62,-194.6,507.9,-7.9,908,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2394,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.62,-194.6,534.6,-9.1,939,5171,0.00,2.25,0.00,0.000,4,0.000,0.041,2079,3821,3772,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5216,-0.63,-194.6,539.6,-8.8,944,5219,0.00,2.08,0.00,0.000,6,0.000,0.018,2079,2403,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5527,-0.63,-194.6,569.1,-9.3,975,5537,0.00,2.30,0.00,0.000,4,0.000,0.025,2079,978,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5550,-0.63,-194.6,571.2,-8.9,977,5559,0.00,2.55,0.00,0.000,6,0.000,0.030,2069,2480,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5861,-0.62,-194.6,602.1,-9.7,1008,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2479,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6163,-0.61,-194.6,629.8,-9.0,1038,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2479,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6472,-0.60,-194.6,659.3,-9.2,1069,6480,0.00,2.47,0.00,0.000,4,0.000,0.024,2069,989,3763,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6504,-0.60,-194.6,662.4,-9.4,1072,6512,0.00,2.50,0.00,0.000,6,0.000,0.031,2059,2470,3763,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6814,-0.59,-194.6,693.8,-10.5,1103,6823,0.00,2.10,0.00,0.000,4,0.000,0.042,2048,3844,3760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6849,-0.58,-194.6,697.4,-10.6,1106,6857,0.12,2.12,0.00,0.000,6,0.119,0.019,2088,2397,3760,0,0,0,0,0,0,26.17,26.44,28.83
$GC,7157,-0.59,-194.6,720.3,-6.7,1137,7165,0.00,2.30,0.00,0.000,4,0.000,0.044,2078,3821,3759,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7191,-0.60,-194.6,722.6,-7.0,1140,7199,0.00,2.05,0.00,0.000,6,0.000,0.021,2078,2418,3759,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7498,-0.60,-194.6,744.5,-7.1,1171,7508,0.00,2.30,0.00,0.000,4,0.000,0.026,2078,978,3756,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7525,-0.60,-194.6,746.1,-7.1,1173,7531,0.00,2.55,0.00,0.000,6,0.000,0.033,2068,2483,3756,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7831,-0.60,-194.6,771.0,-8.2,1204,7840,0.00,2.05,0.00,0.000,4,0.000,0.044,2058,3831,3754,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7866,-0.60,-194.6,773.7,-8.6,1207,7874,0.00,2.08,0.00,0.000,6,0.000,0.020,2058,2424,3754,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8173,-0.59,-194.6,800.6,-8.5,1238,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2424,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8476,-0.58,-194.6,827.8,-9.9,1268,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2424,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8786,-0.57,-194.6,857.5,-9.1,1299,8793,0.10,0.00,0.00,0.000,6,0.142,0.000,2089,2424,3749,0,0,0,0,0,0,26.41,28.83,28.83
$GC,9093,-0.59,-194.6,877.4,-6.4,1330,9102,0.00,2.30,0.00,0.000,4,0.000,0.043,2078,3826,3747,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9125,-0.61,-194.6,879.3,-6.1,1333,9134,0.00,2.05,0.00,0.000,6,0.000,0.019,2078,2422,3746,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9436,-0.62,-194.6,900.2,-6.9,1364,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2422,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9737,-0.62,-194.6,921.2,-7.3,1394,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2422,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,-0.63,-194.6,944.0,-7.2,1425,10057,0.00,2.28,0.00,0.000,4,0.000,0.043,2068,3821,3744,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10075,-0.64,-194.6,945.7,-7.0,1427,10082,0.00,2.05,0.00,0.000,6,0.000,0.020,2068,2425,3743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10380,-0.64,-194.6,968.9,-7.4,1458,10389,0.00,2.35,0.00,0.000,4,0.000,0.024,2069,980,3742,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10415,-0.66,-194.6,971.3,-7.7,1461,10422,0.00,2.58,0.00,0.000,6,0.000,0.032,2059,2491,3742,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10637,-0.20,0.0,990.3,-8.9,1483,10833,0.43,0.08,189.43,1.117,4,0.093,0.089,2209,2501,2975,0,0,0,0,0,0,25.84,24.68,23.46
$STATE,10834,end apogee,CONTROL_FINISHED_OK
$STATE,10834,begin climb
$GC,10838,0.58,194.6,998.0,0.0,1503,11054,0.68,2.20,202.40,1.095,4,0.043,0.041,2473,3826,2172,0,0,0,0,0,0,24.96,24.92,23.09
$GC,11270,0.51,194.6,916.7,22.8,1546,11278,0.17,1.90,0.00,0.000,6,0.180,0.021,2439,2520,2148,0,0,0,0,0,0,25.42,25.87,28.83
$GC,11578,0.46,194.6,866.1,15.6,1577,11586,0.00,2.47,0.00,0.000,4,0.000,0.028,2452,1086,2143,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11715,0.43,194.6,847.4,13.4,1590,11722,0.12,2.62,0.00,0.000,6,0.162,0.032,2419,2559,2141,0,0,0,0,0,0,25.77,26.07,28.83
$GC,12021,0.40,194.6,806.9,13.1,1621,12030,0.00,1.90,0.00,0.000,4,0.000,0.043,2419,3837,2141,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19374,end climb,SURFACE_DEPTH_REACHED
$STATE,19374,begin surface coast
$FINISH,-0.2,1.021506
$STATE,19509,end surface coast,CONTROL_FINISHED_OK
$STATE,19509,begin surface
$SM_CCo,19525,15.40,0.122,0,0,1142,450.13
$SM_GC,0.32,6.18,0.10,15.40,0.034,0.086,0.122,115,2498,1142,-6.62,-0.31,450.13,0,0,0,0,0,0,26.39,26.55,25.56
$IRIDIUM_FIX,2307.44,12155.35,190612,222223
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.41
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,58.037
$10V_AH,9.9,36.777
$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,17.825,209.075,620.325,15.400,0.000,29.594,38.831,434.162,0.000,0.000,16.549,6666.476,7104.377,926.103,4851.931,633.757,0.000,3133.699,0.000,4189.641,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,88.740,1116.900,121.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324592
$DATA_FILE_SIZE,173585,2787
$CAP_FILE_SIZE,272808,0
$CFSIZE,260165632,189734912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,347.5,1
$GPS,200612,095636,2321.211,12200.790,56,1.3,56,-3.1