version: 66.10
glider: 169
mission: 6
dive: 13
start: 4 21 112 16 36 53
data:
$ID,169
$MISSION,6
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,175
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,-14341.718
$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,2050
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2500
$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,0
$ROLL_ADJ_DBAND,0
$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,40
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,210412,162506,2218.927,12111.190,34,1.4,35,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.4
$GPS2,210412,163626,2219.325,12111.278,38,1.5,38,-2.8
$SPEED_LIMITS,0.159,0.271
$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,57.3,85670,-15.6,-9.167
$D_GRID,697
$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,16,-0.60,-170.3,0.0,0.0,0,87,0.00,0.00,-68.45,0.000,2,0.000,0.000,108,2160,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-170.3,3.7,-9.8,12,114,6.82,2.05,-9.68,0.000,4,0.230,0.037,1855,770,3676,0,0,0,0,0,0,25.71,26.11,26.36
$GC,269,-0.56,-170.3,60.1,-19.0,44,275,0.00,2.30,0.00,0.000,6,0.000,0.037,1844,2272,3677,0,0,0,0,0,0,28.83,26.18,28.83
$GC,468,-0.47,-170.3,111.4,-22.8,81,475,0.15,2.22,0.00,0.000,4,0.163,0.044,1880,3685,3678,0,0,0,0,0,0,26.15,26.27,28.83
$GC,598,-0.47,-170.3,128.9,-11.4,105,605,0.00,2.25,0.00,0.000,6,0.000,0.024,1880,2201,3679,0,0,0,0,0,0,28.83,26.37,28.83
$GC,795,-0.45,-170.3,153.5,-11.0,142,804,0.00,2.40,0.00,0.000,4,0.000,0.044,1868,3697,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,849,-0.43,-170.3,160.0,-12.2,151,856,0.15,2.25,0.00,0.000,6,0.129,0.024,1914,2203,3680,0,0,0,0,0,0,26.29,26.44,28.83
$GC,1047,-0.47,-170.3,176.9,-9.2,188,1054,0.00,2.38,0.00,0.000,4,0.000,0.044,1904,3688,3680,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1124,-0.54,-170.3,183.1,-7.4,202,1130,0.00,2.22,0.00,0.000,6,0.000,0.024,1904,2199,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1318,-0.58,-170.3,198.0,-8.0,239,1325,0.12,0.00,0.00,0.000,6,0.076,0.000,1813,2198,3680,0,0,0,0,0,0,26.59,28.83,28.83
$GC,1508,-0.48,-170.3,235.6,-23.5,259,1510,0.28,0.00,0.00,0.000,6,0.133,0.000,1898,2197,3680,0,0,0,0,0,0,26.35,28.83,28.83
$GC,1810,-0.53,-170.3,261.4,-7.7,289,1819,0.00,2.35,0.00,0.000,4,0.000,0.045,1887,3685,3680,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1884,-0.60,-170.3,267.4,-8.7,296,1895,0.00,2.20,0.00,0.000,6,0.000,0.024,1887,2202,3679,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2193,-0.63,-170.3,289.6,-6.3,327,2203,0.12,2.33,0.00,0.000,4,0.076,0.044,1784,3682,3678,0,0,0,0,0,0,26.67,26.55,28.83
$GC,2323,-0.55,-170.3,307.9,-16.1,339,2331,0.28,2.22,0.00,0.000,6,0.131,0.026,1870,2205,3677,0,0,0,0,0,0,26.41,26.60,28.83
$GC,2631,-0.57,-170.3,338.6,-10.2,370,2640,0.00,2.35,0.00,0.000,4,0.000,0.047,1859,3682,3676,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2675,-0.59,-170.3,343.2,-10.3,374,2684,0.00,2.22,0.00,0.000,6,0.000,0.026,1858,2197,3676,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2984,-0.59,-170.3,371.7,-8.9,405,2995,0.00,2.38,0.00,0.000,4,0.000,0.047,1848,3685,3673,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3090,-0.61,-170.3,382.5,-10.7,415,3099,0.00,2.20,0.00,0.000,6,0.000,0.026,1848,2212,3672,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3401,-0.61,-170.3,414.4,-9.4,446,3410,0.00,2.38,0.00,0.000,4,0.000,0.050,1837,3705,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3528,-0.62,-170.3,424.5,-7.7,458,3537,0.00,2.25,0.00,0.000,6,0.000,0.027,1837,2210,3669,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3835,-0.62,-170.3,451.8,-8.9,489,3846,0.00,2.38,0.00,0.000,4,0.000,0.050,1826,3683,3667,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3954,-0.62,-170.3,462.7,-8.7,500,3961,0.00,2.22,0.00,0.000,6,0.000,0.027,1826,2199,3666,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4262,-0.60,-170.3,494.5,-11.4,531,4272,0.10,2.38,-0.05,0.000,4,0.151,0.060,1844,3684,3685,0,0,0,0,0,0,26.58,26.58,25.41
$GC,4348,-0.63,-170.3,503.1,-9.8,539,4357,0.00,2.22,0.00,0.000,6,0.000,0.027,1843,2200,3684,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4659,-0.64,-170.3,535.0,-9.0,570,4668,0.00,2.35,0.00,0.000,4,0.000,0.049,1832,3687,3682,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4703,-0.64,-170.3,540.3,-12.4,574,4711,0.00,2.25,0.00,0.000,6,0.000,0.027,1832,2199,3682,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4921,begin apogee
$GC,4927,-0.20,0.0,568.1,-12.0,596,5152,0.43,0.08,213.77,0.787,6,0.106,0.044,1980,2463,2971,0,0,0,0,0,0,26.49,24.90,24.34
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5153,begin climb
$GC,5156,0.60,170.3,582.4,0.0,619,5324,0.68,2.38,158.27,0.881,4,0.037,0.033,2271,1049,2273,0,0,0,0,0,0,25.15,24.87,24.16
$GC,5402,0.47,170.3,546.9,20.4,643,5410,0.25,2.42,0.00,0.000,6,0.178,0.041,2206,2525,2251,0,0,0,0,0,0,25.33,25.48,28.83
$GC,5709,0.36,170.3,485.3,19.1,674,5719,0.12,2.03,0.00,0.000,4,0.198,0.046,2165,3814,2246,0,0,0,0,0,0,25.86,26.00,28.83
$GC,5827,0.28,170.3,465.0,16.5,685,5836,0.10,2.03,0.00,0.000,6,0.160,0.025,2144,2463,2244,0,0,0,0,0,0,25.94,26.14,28.83
$GC,6134,0.25,170.3,426.5,12.6,716,6138,0.00,2.15,0.00,0.000,4,0.000,0.048,2144,3820,2242,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6251,0.19,170.3,408.3,15.4,727,6259,0.15,2.05,0.00,0.000,6,0.151,0.026,2113,2446,2241,0,0,0,0,0,0,26.15,26.32,28.83
$GC,6558,0.27,232.4,387.2,6.9,758,6620,0.00,2.28,51.33,0.796,4,0.000,0.050,2113,3806,2033,0,0,0,0,1,0,28.83,25.57,24.76
$GC,6672,0.31,232.4,375.5,10.1,769,6682,0.00,2.05,2.55,0.377,6,0.000,0.029,2123,2471,2028,0,0,0,0,0,0,28.83,25.80,24.87
$GC,6980,0.33,232.4,340.5,11.0,800,6993,0.10,2.22,1.88,0.161,4,0.089,0.036,2203,1054,2029,0,0,0,0,0,0,26.21,26.12,25.95
$GC,7009,0.34,232.4,337.1,11.5,802,7016,0.15,2.33,0.00,0.000,6,0.147,0.038,2161,2521,2033,0,0,0,0,0,0,25.99,26.13,28.83
$GC,7318,0.32,232.4,297.3,10.4,833,7327,0.00,2.03,1.50,0.189,4,0.000,0.049,2161,3814,2029,0,0,0,0,0,0,28.83,26.25,26.10
$GC,7392,0.30,232.4,287.8,12.5,840,7403,0.00,2.03,0.00,0.000,6,0.000,0.027,2171,2465,2037,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7702,0.28,232.4,244.5,15.6,871,7712,0.12,2.15,1.38,0.174,4,0.168,0.047,2133,3825,2028,0,0,0,0,0,0,26.25,26.34,26.20
$GC,7769,0.30,232.4,236.3,10.9,877,7776,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2451,2038,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8077,0.36,257.5,211.0,8.3,908,8137,0.00,2.25,49.05,0.598,4,0.000,0.036,2154,1053,1925,0,0,0,0,1,0,28.83,25.87,25.10
$GC,8173,0.47,297.3,203.2,7.7,917,8243,0.10,2.33,61.38,0.616,6,0.039,0.037,2242,2525,1760,0,0,0,0,0,0,25.98,25.95,24.81
$GC,8435,0.39,297.3,152.7,20.5,962,8442,0.20,2.05,0.00,0.000,4,0.162,0.044,2181,3825,1742,0,0,0,0,0,0,25.75,25.90,28.83
$GC,8540,0.42,297.3,138.5,10.6,981,8547,0.00,2.08,0.00,0.000,6,0.000,0.028,2191,2463,1741,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8736,0.42,297.3,115.5,13.2,1018,8743,0.00,2.15,0.00,0.000,4,0.000,0.045,2191,3823,1740,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8767,0.42,297.3,111.6,12.5,1023,8774,0.00,2.05,0.00,0.000,6,0.000,0.026,2202,2460,1740,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8964,0.42,297.3,92.8,9.3,1060,8973,0.00,2.15,0.00,0.000,4,0.000,0.045,2203,3826,1740,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9022,0.45,297.3,87.0,9.7,1070,9029,0.00,2.05,0.00,0.000,6,0.000,0.025,2214,2453,1740,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9219,0.53,337.9,69.8,7.7,1107,9259,0.00,2.17,31.15,0.250,4,0.000,0.031,2225,1042,1611,0,0,0,0,0,0,28.83,26.20,25.84
$GC,9284,0.69,412.0,65.2,6.5,1117,9361,0.12,2.33,68.88,0.253,6,0.076,0.034,2317,2526,1300,0,0,0,0,0,0,26.25,26.22,25.60
$GC,9553,0.64,412.0,22.0,16.5,1165,9562,0.17,2.08,2.60,0.146,4,0.158,0.042,2260,3826,1299,0,0,0,0,0,0,26.00,26.13,25.94
$GC,9623,0.70,412.0,12.8,9.4,1177,9630,0.00,2.05,2.17,0.163,6,0.000,0.027,2270,2466,1298,0,0,0,0,0,0,28.83,26.22,26.01
$STATE,9735,end climb,SURFACE_DEPTH_REACHED
$STATE,9735,begin surface coast
$FINISH,-0.0,1.021721
$STATE,9767,end surface coast,CONTROL_FINISHED_OK
$STATE,9768,begin surface
$SM_CCo,9783,8.40,0.133,0,0,1244,425.10
$SM_GC,1.16,5.38,0.38,8.40,0.029,0.044,0.133,130,2194,1244,-5.92,0.51,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2209.02,12108.21,210412,131317
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,551.0,56.4
$24V_AH,24.2,2.089
$10V_AH,10.4,1.356
$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,16.100,111.650,645.900,8.400,0.000,80.121,49.817,261.376,1.500,0.000,39.240,3057.675,3825.360,734.200,2533.712,301.873,0.000,1889.505,0.000,1995.411,0.000,11.718,0.000
$DEVICE_MAMPS,229.500,60.435,880.515,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.119,1430.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,76690,1204
$CAP_FILE_SIZE,137683,0
$CFSIZE,260165632,220717056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.255,285.2,1
$GPS,210412,192107,2220.673,12112.006,32,1.4,33,-2.8