version: 66.10
glider: 169
mission: 6
dive: 343
start: 7 1 112 10 57 12
data:
$ID,169
$MISSION,6
$DIVE,343
$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,250
$T_MISSION,290
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$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,-15973.282
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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,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
$GPS1,010712,104759,2351.728,12313.611,41,0.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-73.8
$GPS2,010712,105649,2351.852,12313.643,15,0.9,15,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2341.420,12316.695
$TGT_RADIUS,1852.000
$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,168.4,20000,-16.2,-13.200
$D_GRID,3722
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.76,-292.0,0.0,0.0,0,116,0.00,0.00,-94.72,0.000,2,0.000,0.000,116,2466,3033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.76,-292.0,3.3,-7.7,17,150,7.57,0.00,-17.25,0.000,6,0.223,0.000,1996,2466,3964,0,0,0,0,0,0,24.94,28.83,26.54
$GC,334,-0.67,-292.0,74.9,-27.2,58,342,0.12,2.55,0.00,0.000,4,0.190,0.024,2043,1006,3965,0,0,0,0,0,0,25.97,26.20,28.83
$GC,431,-0.67,-292.0,92.0,-12.9,76,438,0.00,2.65,0.00,0.000,6,0.000,0.032,2031,2491,3966,0,0,0,0,0,0,28.83,26.17,28.83
$GC,622,-0.61,-292.0,130.4,-22.2,113,629,0.00,2.58,0.00,0.000,4,0.000,0.024,2040,1000,3965,0,0,0,0,0,0,28.83,26.28,28.83
$GC,677,-0.59,-292.0,140.7,-15.9,123,684,0.10,2.55,0.00,0.000,6,0.143,0.031,2058,2454,3965,0,0,0,0,0,0,26.09,26.24,28.83
$GC,869,-0.56,-292.0,173.2,-17.2,160,876,0.00,2.47,0.00,0.000,4,0.000,0.024,2058,1006,3965,0,0,0,0,0,0,28.83,26.32,28.83
$GC,889,-0.53,-292.0,176.5,-16.2,163,896,0.12,2.53,0.00,0.000,6,0.133,0.032,2085,2440,3965,0,0,0,0,0,0,26.08,26.26,28.83
$GC,1081,-0.52,-292.0,201.7,-12.8,200,1088,0.00,2.08,0.00,0.000,4,0.000,0.041,2074,3834,3965,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1122,-0.54,-292.0,206.6,-11.5,207,1128,0.00,2.05,0.00,0.000,6,0.000,0.019,2074,2392,3966,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1434,-0.53,-292.0,243.1,-10.9,268,1441,0.00,2.33,0.00,0.000,4,0.000,0.024,2074,993,3965,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1490,-0.56,-292.0,248.5,-9.2,278,1497,0.00,2.50,0.00,0.000,6,0.000,0.028,2064,2443,3965,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1802,-0.54,-292.0,287.3,-13.7,339,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2442,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,-0.53,-292.0,328.6,-12.9,400,2120,0.00,2.47,0.00,0.000,4,0.000,0.025,2064,1002,3963,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2149,-0.56,-292.0,332.8,-10.9,406,2155,0.00,2.47,0.00,0.000,6,0.000,0.030,2056,2431,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2460,-0.54,-292.0,370.4,-11.7,467,2466,0.00,2.10,0.00,0.000,4,0.000,0.040,2045,3828,3962,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2510,-0.56,-292.0,376.2,-10.4,476,2517,0.00,2.08,0.00,0.000,6,0.000,0.018,2045,2368,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2824,-0.54,-292.0,417.3,-13.2,537,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2368,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-0.54,-292.0,457.6,-12.1,598,3143,0.10,2.33,0.00,0.000,4,0.143,0.037,2064,3832,3957,0,0,0,0,0,0,26.43,26.25,28.83
$GC,3168,-0.55,-292.0,461.1,-10.7,603,3175,0.00,2.08,-0.08,0.000,6,0.000,0.018,2064,2373,3974,0,0,0,0,0,0,28.83,26.48,25.71
$GC,3482,-0.56,-292.0,491.6,-9.7,664,3489,0.00,2.33,0.00,0.000,4,0.000,0.041,2052,3835,3973,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3517,-0.57,-292.0,495.4,-10.0,670,3524,0.00,2.05,0.00,0.000,6,0.000,0.019,2053,2393,3973,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3828,-0.57,-292.0,526.8,-10.6,705,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2393,3970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.57,-292.0,561.6,-11.7,736,4148,0.00,2.25,0.00,0.000,4,0.000,0.041,2043,3833,3967,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4172,-0.58,-292.0,565.6,-12.2,739,4181,0.00,2.00,0.00,0.000,6,0.000,0.019,2043,2403,3967,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4481,-0.57,-292.0,606.2,-13.4,770,4490,0.00,2.35,0.00,0.000,4,0.000,0.025,2043,1010,3964,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4518,-0.58,-292.0,610.2,-12.8,773,4524,0.00,2.55,0.00,0.000,6,0.000,0.033,2038,2455,3964,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4823,-0.57,-292.0,650.9,-13.0,804,4832,0.00,2.08,0.00,0.000,4,0.000,0.042,2027,3829,3960,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4866,-0.57,-292.0,656.2,-12.3,808,4875,0.12,2.08,0.00,0.000,6,0.119,0.020,2069,2390,3961,0,0,0,0,0,0,26.17,26.43,28.83
$GC,5176,-0.59,-292.0,683.5,-8.2,839,5185,0.00,2.28,0.00,0.000,4,0.000,0.043,2058,3828,3957,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5201,-0.60,-292.0,685.3,-8.0,841,5208,0.00,2.03,0.00,0.000,6,0.000,0.020,2058,2397,3957,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5508,-0.61,-292.0,713.5,-9.7,872,5517,0.00,2.25,0.00,0.000,4,0.000,0.043,2048,3828,3954,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5553,-0.63,-292.0,717.7,-10.2,876,5560,0.00,2.00,0.00,0.000,6,0.000,0.020,2048,2409,3953,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5861,-0.63,-292.0,751.7,-10.7,907,5870,0.00,2.35,0.00,0.000,4,0.000,0.025,2048,1009,3952,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5885,-0.63,-292.0,753.9,-10.7,909,5892,0.00,2.58,0.00,0.000,6,0.000,0.032,2045,2481,3951,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6193,-0.63,-292.0,787.5,-10.9,940,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2480,3949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.63,-292.0,818.2,-9.7,970,6506,0.00,2.53,0.00,0.000,4,0.000,0.026,2045,1019,3947,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6523,-0.64,-292.0,820.7,-9.8,972,6529,0.00,2.58,0.00,0.000,6,0.000,0.034,2043,2474,3947,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6829,-0.64,-292.0,849.2,-9.6,1003,6833,0.00,2.05,0.00,0.000,4,0.000,0.044,2033,3837,3944,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6863,-0.65,-292.0,852.3,-10.0,1006,6867,0.00,2.03,0.00,0.000,6,0.000,0.021,2033,2428,3944,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7175,-0.65,-292.0,886.0,-11.5,1037,7183,0.00,2.38,0.00,0.000,4,0.000,0.026,2033,1018,3942,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7218,-0.66,-292.0,890.5,-11.0,1041,7227,0.00,2.55,0.00,0.000,6,0.000,0.035,2030,2473,3942,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7526,-0.66,-292.0,927.6,-12.4,1072,7535,0.00,2.05,0.00,0.000,4,0.000,0.045,2020,3839,3940,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7569,-0.66,-292.0,932.7,-12.1,1076,7578,0.00,2.03,0.00,0.000,6,0.000,0.021,2020,2423,3940,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7879,-0.65,-292.0,974.5,-13.8,1107,7887,0.00,2.40,0.00,0.000,4,0.000,0.028,2020,1006,3939,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7924,-0.65,-292.0,980.0,-13.3,1111,7931,0.00,2.60,0.00,0.000,6,0.000,0.037,2018,2466,3939,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,7998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7998,begin apogee
$GC,8003,-0.20,0.0,990.2,-13.5,1119,8253,0.47,0.00,244.07,1.133,4,0.110,0.000,2177,2464,2978,0,0,0,0,0,0,25.72,28.83,23.43
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8256,0.76,292.0,1007.3,0.0,1144,8576,0.85,2.62,308.38,1.113,4,0.054,0.028,2494,1023,1784,0,0,0,0,0,0,24.98,25.03,23.39
$GC,8634,0.76,292.0,965.9,13.7,1181,8641,0.00,2.70,0.00,0.000,6,0.000,0.035,2494,2490,1756,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8942,0.71,292.0,902.5,20.0,1212,8951,0.00,2.55,0.00,0.000,4,0.000,0.029,2507,1030,1751,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8967,0.66,292.0,897.9,20.1,1214,8974,0.15,2.70,0.00,0.000,6,0.155,0.036,2466,2519,1750,0,0,0,0,0,0,25.75,26.03,28.83
$GC,9274,0.62,292.0,844.5,17.5,1245,9283,0.00,1.95,0.00,0.000,4,0.000,0.045,2466,3833,1750,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9386,0.59,292.0,822.3,19.4,1256,9395,0.12,1.88,0.00,0.000,6,0.172,0.021,2443,2494,1749,0,0,0,0,0,0,25.89,26.27,28.83
$GC,9696,0.57,292.0,775.3,15.6,1287,9705,0.00,2.03,0.00,0.000,4,0.000,0.044,2443,3826,1748,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9723,0.55,292.0,771.6,16.3,1289,9729,0.00,1.83,0.00,0.000,6,0.000,0.021,2453,2502,1748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10028,0.53,292.0,719.7,15.9,1320,10038,0.12,2.03,0.00,0.000,4,0.174,0.041,2415,3837,1748,0,0,0,0,0,0,26.05,26.12,28.83
$GC,10061,0.52,292.0,714.6,15.5,1323,10069,0.00,1.85,0.00,0.000,6,0.000,0.022,2425,2508,1747,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10371,0.55,318.9,675.7,12.4,1354,10411,0.00,2.65,33.12,0.864,4,0.000,0.028,2438,1028,1672,0,0,0,0,0,0,28.83,25.82,24.32
$GC,10434,0.60,348.0,667.8,12.3,1360,10484,0.00,2.78,43.20,0.834,6,0.000,0.034,2438,2532,1558,0,0,0,0,0,0,28.83,25.86,24.12
$GC,10784,0.67,396.4,623.5,11.7,1395,10856,0.00,0.00,69.28,0.822,6,0.000,0.000,2438,2531,1361,0,0,0,0,0,0,28.83,28.83,24.13
$GC,11159,0.84,521.8,585.0,9.4,1432,11311,0.20,2.85,141.38,0.851,4,0.057,0.028,2561,1028,838,0,0,0,0,0,0,26.17,25.16,23.94
$GC,11338,0.81,521.8,544.3,24.2,1449,11346,0.17,2.85,0.00,0.000,6,0.122,0.037,2510,2531,818,0,0,0,0,0,0,25.29,25.46,28.83
$GC,11645,0.82,521.8,493.0,15.5,1484,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2529,814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11956,0.83,521.8,447.3,15.0,1545,11963,0.00,2.72,0.00,0.000,4,0.000,0.031,2523,1020,812,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11997,0.90,557.6,442.2,12.1,1552,12050,0.00,2.70,44.70,0.731,6,0.000,0.031,2523,2519,701,0,0,0,0,0,0,28.83,26.11,24.41
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$STATE,14978,end climb,SURFACE_DEPTH_REACHED
$STATE,14978,begin surface coast
$FINISH,-0.1,1.008847
$STATE,15006,end surface coast,CONTROL_FINISHED_OK
$STATE,15006,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,55.19
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,9.9,45.027
$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
$DEVICE_SECS,16.925,169.075,952.875,0.000,0.000,30.555,41.902,289.672,0.000,0.000,16.352,4680.185,5579.614,1042.274,3759.528,510.210,0.000,2875.662,0.000,3265.746,0.000,0.542,0.000
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$MEM,330404
$DATA_FILE_SIZE,133643,2124
$CAP_FILE_SIZE,212108,0
$CFSIZE,260165632,182362112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010712,150935,2350.331,12315.105,33,1.1,33,-3.3