version: 66.10
glider: 169
mission: 6
dive: 34
start: 4 24 112 20 32 26
data:
$ID,169
$MISSION,6
$DIVE,34
$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,-15255.603
$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,2035
$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,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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$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
$GPS1,240412,202501,2303.164,12128.796,55,1.1,56,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-69.0
$GPS2,240412,203202,2303.498,12129.036,13,1.1,13,-3.0
$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,230.0,5449,-15.6,-9.167
$D_GRID,645
$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,-0.60,-170.3,0.0,0.0,0,92,0.00,0.00,-72.22,0.000,2,0.000,0.000,122,2483,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.60,-170.3,4.3,-14.0,12,118,6.78,2.30,-8.62,0.000,4,0.233,0.039,1843,1030,3677,0,0,0,0,0,0,25.67,26.08,26.36
$GC,167,-0.57,-170.3,36.8,-21.7,24,174,0.00,2.40,0.00,0.000,6,0.000,0.039,1832,2525,3680,0,0,0,0,0,0,28.83,26.08,28.83
$GC,367,-0.47,-170.3,97.5,-35.4,61,373,0.15,0.00,0.00,0.000,6,0.192,0.000,1874,2525,3680,0,0,0,0,0,0,26.00,28.83,28.83
$GC,565,-0.45,-170.3,129.4,-11.5,98,575,0.00,2.28,0.00,0.000,4,0.000,0.025,1878,1036,3682,0,0,0,0,0,0,28.83,26.34,28.83
$GC,612,-0.45,-170.3,134.7,-9.6,106,621,0.00,2.35,0.00,0.000,6,0.000,0.034,1866,2527,3682,0,0,0,0,0,0,28.83,26.32,28.83
$GC,813,-0.43,-170.3,161.1,-15.1,143,820,0.00,2.00,0.00,0.000,4,0.000,0.046,1856,3826,3683,0,0,0,0,0,0,28.83,26.36,28.83
$GC,843,-0.41,-170.3,166.1,-15.9,148,850,0.15,2.03,0.00,0.000,6,0.132,0.022,1902,2429,3683,0,0,0,0,0,0,26.25,26.45,28.83
$GC,1043,-0.42,-170.3,183.7,-7.0,185,1050,0.00,2.22,0.00,0.000,4,0.000,0.043,1891,3828,3683,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1069,-0.44,-170.3,185.8,-7.8,189,1075,0.00,2.03,0.00,0.000,6,0.000,0.022,1891,2438,3683,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1267,-0.46,-170.3,200.9,-7.9,225,1276,0.00,2.10,0.00,0.000,4,0.000,0.026,1891,1039,3683,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1303,-0.48,-170.3,203.9,-8.6,228,1310,0.00,2.33,0.00,0.000,6,0.000,0.034,1881,2527,3683,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1614,-0.49,-170.3,230.5,-7.8,259,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2526,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.50,-170.3,255.3,-8.5,290,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2526,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-0.51,-170.3,282.1,-8.4,321,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2526,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,-0.52,-170.3,305.0,-6.8,352,2550,0.00,2.25,0.00,0.000,4,0.000,0.028,1881,1046,3678,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2587,-0.54,-170.3,308.1,-7.2,356,2594,0.00,2.33,0.00,0.000,6,0.000,0.036,1875,2528,3678,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2897,-0.55,-170.3,333.6,-8.7,387,2905,0.00,1.98,0.00,0.000,4,0.000,0.047,1864,3830,3676,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2960,-0.57,-170.3,339.4,-8.9,393,2969,0.00,2.00,0.00,0.000,6,0.000,0.024,1864,2448,3676,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3271,-0.58,-170.3,366.5,-8.4,424,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2448,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.59,-170.3,395.4,-9.5,455,3592,0.00,2.12,0.00,0.000,4,0.000,0.029,1864,1040,3672,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3618,-0.60,-170.3,398.8,-9.5,458,3627,0.00,2.33,0.00,0.000,6,0.000,0.037,1854,2524,3672,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3925,-0.60,-170.3,430.7,-10.1,489,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2523,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.60,-170.3,459.0,-9.4,519,4231,0.00,2.00,0.00,0.000,4,0.000,0.048,1844,3816,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4273,-0.60,-170.3,463.2,-9.5,523,4279,0.00,2.03,0.00,0.000,6,0.000,0.025,1844,2441,3667,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4580,-0.60,-170.3,497.3,-12.0,554,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2439,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.60,-170.3,530.1,-10.6,584,4890,0.00,2.20,0.00,0.000,4,0.000,0.049,1834,3819,3663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4914,-0.60,-170.3,533.8,-10.6,587,4923,0.00,2.00,0.00,0.000,6,0.000,0.026,1834,2454,3663,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5224,-0.59,-170.3,567.6,-11.2,618,5235,0.00,2.15,0.00,0.000,4,0.000,0.030,1834,1046,3662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5260,-0.59,-170.3,571.5,-11.4,621,5267,0.00,2.33,0.00,0.000,6,0.000,0.039,1823,2524,3662,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5578,-0.57,-170.3,607.6,-11.0,650,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2523,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,-0.56,-170.3,639.9,-11.2,665,5880,0.10,0.00,0.00,0.000,6,0.164,0.000,1852,2523,3659,0,0,0,0,0,0,26.54,28.83,28.83
$STATE,5935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5935,begin apogee
$GC,5941,-0.20,0.0,645.5,-9.8,668,6100,0.32,0.00,149.95,0.937,6,0.102,0.000,1969,2523,2971,0,0,0,0,0,0,26.44,28.83,24.30
$STATE,6101,end apogee,CONTROL_FINISHED_OK
$STATE,6101,begin climb
$GC,6103,0.60,170.3,651.4,0.0,676,6273,0.68,2.42,159.98,0.928,4,0.040,0.032,2255,1079,2276,0,0,0,0,0,0,25.13,24.84,24.16
$GC,6296,0.52,170.3,628.8,18.6,685,6302,0.17,2.47,0.00,0.000,6,0.170,0.040,2205,2542,2256,0,0,0,0,0,0,25.03,25.17,28.83
$GC,6609,0.46,170.3,573.6,16.7,708,6613,0.00,2.03,0.00,0.000,4,0.000,0.048,2205,3819,2249,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6727,0.39,170.3,551.1,20.1,719,6734,0.20,2.03,0.00,0.000,6,0.181,0.026,2162,2484,2245,0,0,0,0,0,0,25.82,26.06,28.83
$GC,7034,0.36,170.3,507.4,12.9,750,7038,0.00,2.12,0.00,0.000,4,0.000,0.047,2162,3827,2244,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7131,0.33,170.3,493.5,15.3,759,7139,0.12,2.03,0.00,0.000,6,0.175,0.026,2141,2482,2243,0,0,0,0,0,0,26.05,26.27,28.83
$GC,7440,0.31,170.3,458.2,10.6,790,7450,0.00,2.10,0.00,0.000,4,0.000,0.048,2141,3817,2242,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7466,0.30,170.3,455.5,10.6,792,7473,0.00,2.00,0.00,0.000,6,0.000,0.027,2151,2481,2242,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7775,0.28,170.3,417.9,11.9,823,7779,0.00,2.10,0.00,0.000,4,0.000,0.048,2151,3825,2241,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7828,0.25,170.3,410.7,13.7,828,7838,0.15,2.00,0.00,0.000,6,0.165,0.025,2121,2486,2241,0,0,0,0,0,0,26.17,26.41,28.83
$GC,8140,0.25,170.3,381.3,9.8,859,8144,0.00,2.17,0.00,0.000,4,0.000,0.034,2132,1075,2240,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8175,0.26,170.3,378.0,9.9,862,8186,0.00,2.35,0.00,0.000,6,0.000,0.037,2132,2551,2238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8483,0.26,170.3,342.8,11.8,893,8487,0.00,1.95,0.00,0.000,4,0.000,0.048,2132,3822,2238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8560,0.25,170.3,333.1,13.4,900,8566,0.00,1.98,0.00,0.000,6,0.000,0.027,2142,2487,2238,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8868,0.24,170.3,294.4,12.7,931,8872,0.00,2.08,0.00,0.000,4,0.000,0.047,2142,3816,2238,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8912,0.23,170.3,288.3,14.5,935,8921,0.12,1.98,0.00,0.000,6,0.139,0.025,2111,2484,2238,0,0,0,0,0,0,26.29,26.53,28.83
$GC,9220,0.31,222.1,262.3,7.3,966,9289,0.00,0.00,63.35,0.660,6,0.000,0.000,2111,2483,2066,0,0,0,0,0,0,28.83,28.83,25.16
$GC,9592,0.42,285.1,237.4,6.9,1003,9680,0.15,2.20,78.10,0.643,4,0.065,0.045,2204,3812,1804,0,0,0,0,0,0,26.20,25.33,24.78
$GC,9704,0.38,285.1,218.9,19.7,1014,9715,0.20,2.05,0.00,0.000,6,0.155,0.025,2158,2491,1794,0,0,0,0,0,0,25.39,25.54,28.83
$GC,10020,0.38,285.1,182.8,11.6,1060,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2489,1790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10218,0.43,306.8,162.9,8.4,1097,10250,0.00,2.33,22.62,0.617,4,0.000,0.034,2170,1080,1714,0,0,0,0,0,0,28.83,25.89,25.29
$GC,10280,0.46,306.8,156.6,9.2,1107,10287,0.00,2.38,0.00,0.000,6,0.000,0.035,2170,2544,1705,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10478,0.48,306.8,133.3,14.0,1144,10485,0.00,2.03,0.00,0.000,4,0.000,0.044,2170,3826,1703,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10551,0.51,306.8,125.6,10.2,1157,10557,0.00,2.03,0.00,0.000,6,0.000,0.025,2179,2485,1702,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10747,0.52,306.8,106.6,10.4,1194,10754,0.00,2.22,0.00,0.000,4,0.000,0.034,2191,1066,1702,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10799,0.59,328.4,101.9,8.4,1203,10821,0.10,2.38,15.25,0.295,6,0.090,0.034,2271,2553,1644,0,0,0,0,0,0,26.25,26.25,25.70
$GC,11012,0.55,328.4,64.4,16.9,1242,11020,0.17,2.00,3.38,0.161,4,0.164,0.044,2217,3824,1642,0,0,1,0,0,0,26.08,26.23,25.92
$GC,11103,0.61,345.8,54.3,8.5,1258,11130,0.00,2.00,18.45,0.230,6,0.000,0.025,2228,2483,1569,0,0,0,0,0,0,28.83,26.31,25.85
$GC,11321,0.74,431.5,39.2,6.1,1298,11391,0.12,2.28,62.28,0.199,4,0.077,0.033,2325,1079,1222,0,0,0,0,0,0,26.38,26.07,25.80
$GC,11453,0.75,431.5,21.1,12.2,1320,11461,0.17,2.35,1.85,0.178,6,0.139,0.034,2273,2551,1218,0,0,0,0,0,0,25.98,26.13,25.94
$STATE,11630,end climb,SURFACE_DEPTH_REACHED
$STATE,11631,begin surface coast
$FINISH,-0.5,1.021752
$STATE,11657,end surface coast,CONTROL_FINISHED_OK
$STATE,11657,begin surface
$SM_CCo,11733,0.00,0.000,0,0,1228,429.52
$SM_GC,0.67,5.35,0.15,0.00,0.024,0.061,0.000,132,2432,1228,-5.88,0.14,429.52,0,0,0,0,0,0
$IRIDIUM_FIX,2253.38,12129.55,240412,161637
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.90
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.2,5.407
$10V_AH,10.4,3.471
$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,15.225,107.900,575.200,0.000,0.000,27.500,17.059,233.676,2.750,0.000,14.306,3541.708,4992.171,698.975,2556.726,338.698,0.000,1906.533,0.000,2153.515,0.000,18.318,0.000
$DEVICE_MAMPS,232.560,61.200,937.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.400,1646.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,83532,1359
$CAP_FILE_SIZE,148782,0
$CFSIZE,260165632,218894336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.396, 43.0,1
$GPS,240412,234908,2303.376,12128.736,41,1.1,41,-3.0