version: 66.10
glider: 169
mission: 6
dive: 82
start: 5 4 112 13 34 49
data:
$ID,169
$MISSION,6
$DIVE,82
$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,360
$T_MISSION,390
$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,225
$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,9
$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,-15382.298
$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,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
$GPS1,040512,132655,2316.678,12306.634,38,1.5,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-68.6
$GPS2,040512,133425,2316.789,12306.590,14,1.2,14,-3.2
$SPEED_LIMITS,0.159,0.302
$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,101.3,102512,-13.6,-9.167
$D_GRID,4060
$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,-0.61,-219.0,0.0,0.0,0,113,0.00,0.00,-93.62,0.000,2,0.000,0.000,116,2505,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.61,-219.0,3.0,-8.0,15,145,7.75,2.40,-13.43,0.000,4,0.233,0.036,2080,1029,3874,0,0,0,0,0,0,25.55,26.08,26.36
$GC,153,-0.37,-219.0,18.7,-42.6,20,160,0.30,2.47,0.00,0.000,6,0.178,0.035,2148,2520,3874,0,0,0,0,0,0,25.72,26.03,28.83
$GC,352,-0.34,-219.0,63.1,-16.3,57,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2519,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,550,-0.31,-219.0,94.6,-16.1,94,559,0.00,2.38,0.00,0.000,4,0.000,0.027,2159,1035,3876,0,0,0,0,0,0,28.83,26.28,28.83
$GC,618,-0.34,-219.0,102.6,-7.6,106,627,0.00,2.40,0.00,0.000,6,0.000,0.031,2149,2513,3877,0,0,0,0,0,0,28.83,26.29,28.83
$GC,819,-0.32,-219.0,126.7,-14.5,143,826,0.00,2.03,0.00,0.000,4,0.000,0.042,2140,3819,3876,0,0,0,0,0,0,28.83,26.32,28.83
$GC,849,-0.31,-219.0,131.0,-13.4,148,857,0.10,2.05,0.00,0.000,6,0.127,0.019,2172,2412,3876,0,0,0,0,0,0,26.27,26.42,28.83
$GC,1046,-0.34,-219.0,147.2,-7.2,185,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2412,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.36,-219.0,160.7,-6.2,222,1245,0.00,2.25,0.00,0.000,4,0.000,0.042,2162,3830,3876,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1270,-0.40,-219.0,162.6,-6.2,227,1277,0.00,2.03,0.00,0.000,6,0.000,0.018,2163,2408,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1461,-0.47,-219.0,178.3,-9.6,264,1469,0.12,2.10,0.00,0.000,4,0.106,0.024,2117,1036,3876,0,0,0,0,0,0,26.47,26.48,28.83
$GC,1560,-0.52,-219.0,187.8,-10.6,282,1569,0.00,2.38,0.00,0.000,6,0.000,0.029,2113,2524,3876,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1761,-0.55,-219.0,203.3,-7.2,316,1769,0.00,1.98,0.00,0.000,4,0.000,0.041,2104,3835,3876,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1796,-0.58,-219.0,205.7,-7.1,319,1803,0.00,1.75,0.00,0.000,6,0.000,0.020,2104,2555,3876,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2104,-0.54,-219.0,248.7,-16.4,350,2115,0.00,2.38,0.00,0.000,4,0.000,0.028,2104,1050,3876,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2232,-0.56,-219.0,264.2,-9.6,362,2243,0.00,2.53,0.00,0.000,6,0.000,0.032,2094,2591,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2541,-0.53,-219.0,311.9,-15.0,393,2550,0.00,2.50,0.00,0.000,4,0.000,0.027,2094,1038,3876,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2668,-0.55,-219.0,326.1,-9.2,405,2676,0.00,2.45,0.00,0.000,6,0.000,0.033,2084,2560,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2978,-0.52,-219.0,372.2,-14.8,436,2987,0.00,2.40,0.00,0.000,4,0.000,0.028,2085,1039,3875,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3116,-0.52,-219.0,388.2,-10.1,449,3124,0.10,2.40,0.00,0.000,6,0.145,0.034,2106,2533,3875,0,0,0,0,0,0,26.41,26.53,28.83
$GC,3424,-0.52,-219.0,417.3,-9.7,480,3433,0.00,2.33,0.00,0.000,4,0.000,0.028,2106,1048,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3469,-0.52,-219.0,421.4,-9.3,484,3476,0.00,2.38,0.00,0.000,6,0.000,0.034,2099,2526,3874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3777,-0.52,-219.0,452.5,-9.7,515,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2525,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,-0.52,-219.0,483.4,-11.0,545,4088,0.00,2.30,0.00,0.000,4,0.000,0.027,2099,1042,3872,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4163,-0.54,-219.0,490.9,-7.6,553,4172,0.00,2.35,0.00,0.000,6,0.000,0.034,2099,2515,3871,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4475,-0.54,-219.0,516.2,-8.4,584,4485,0.00,1.98,0.00,0.000,4,0.000,0.044,2089,3823,3868,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4529,-0.55,-219.0,521.0,-8.6,589,4533,0.00,2.00,0.00,0.000,6,0.000,0.021,2089,2441,3868,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4842,-0.55,-219.0,553.6,-11.1,620,4851,0.00,2.15,0.00,0.000,4,0.000,0.028,2089,1045,3867,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4888,-0.56,-219.0,558.2,-10.6,624,4894,0.00,2.35,0.00,0.000,6,0.000,0.034,2085,2515,3866,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5195,-0.56,-219.0,587.4,-8.7,655,5204,0.00,2.30,0.00,0.000,4,0.000,0.027,2086,1046,3864,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5220,-0.56,-219.0,589.2,-8.5,657,5227,0.00,2.35,0.00,0.000,6,0.000,0.035,2085,2510,3864,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5529,-0.56,-219.0,612.0,-7.2,680,5535,0.00,2.28,0.00,0.000,4,0.000,0.026,2086,1048,3862,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5556,-0.56,-219.0,613.6,-7.3,681,5560,0.00,2.33,0.00,0.000,6,0.000,0.036,2085,2491,3862,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5865,-0.56,-219.0,642.8,-9.7,696,5871,0.00,2.03,0.00,0.000,4,0.000,0.047,2075,3815,3860,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5904,-0.56,-219.0,646.7,-9.6,698,5910,0.00,2.05,0.00,0.000,6,0.000,0.022,2076,2427,3860,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6225,-0.56,-219.0,677.5,-9.2,714,6230,0.00,2.10,0.00,0.000,4,0.000,0.028,2076,1046,3857,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6252,-0.56,-219.0,679.5,-9.3,715,6256,0.00,2.35,0.00,0.000,6,0.000,0.035,2066,2506,3857,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6560,-0.55,-219.0,712.7,-10.9,730,6564,0.10,2.00,0.00,0.000,4,0.158,0.044,2084,3816,3855,0,0,0,0,0,0,26.49,26.46,28.83
$GC,6596,-0.55,-219.0,714.9,-10.8,731,6603,0.00,2.03,0.00,0.000,6,0.000,0.023,2085,2434,3855,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6902,-0.55,-219.0,744.0,-9.1,747,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2433,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7203,-0.55,-219.0,769.9,-8.3,762,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2433,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,-0.56,-219.0,793.9,-7.8,777,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2433,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,-0.56,-219.0,817.4,-7.8,792,7808,0.00,2.20,0.00,0.000,4,0.000,0.048,2075,3814,3846,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7843,-0.57,-219.0,820.6,-7.8,794,7849,0.00,2.03,0.00,0.000,6,0.000,0.024,2075,2445,3846,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8162,-0.57,-219.0,847.8,-8.8,810,8168,0.00,2.17,0.00,0.000,4,0.000,0.029,2076,1045,3844,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8203,-0.58,-219.0,851.4,-8.8,812,8209,0.00,2.38,0.00,0.000,6,0.000,0.037,2066,2517,3845,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8524,-0.58,-219.0,880.4,-9.2,828,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2516,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8824,-0.58,-219.0,908.5,-9.6,843,8830,0.00,2.33,0.00,0.000,4,0.000,0.031,2066,1046,3841,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8871,-0.58,-219.0,912.2,-9.5,845,8876,0.10,2.38,0.00,0.000,6,0.134,0.037,2091,2507,3841,0,0,0,0,0,0,26.34,26.44,28.83
$GC,9180,-0.59,-219.0,934.4,-7.0,860,9186,0.00,2.03,0.00,0.000,4,0.000,0.048,2081,3815,3839,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9203,-0.60,-219.0,935.9,-7.2,861,9208,0.00,2.05,0.00,0.000,6,0.000,0.022,2081,2426,3839,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9520,-0.61,-219.0,961.3,-7.9,877,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2425,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.62,-219.0,985.3,-8.0,892,9826,0.00,2.20,0.00,0.000,4,0.000,0.048,2072,3813,3836,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9860,-0.63,-219.0,988.4,-8.0,894,9866,0.00,2.03,0.00,0.000,6,0.000,0.023,2071,2442,3836,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,9876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9876,begin apogee
$GC,9882,-0.20,0.0,990.0,-7.9,895,10099,0.40,0.10,208.38,1.151,4,0.099,0.073,2213,2487,2970,0,0,0,0,0,0,26.24,24.67,23.95
$STATE,10100,end apogee,CONTROL_FINISHED_OK
$STATE,10101,begin climb
$GC,10104,0.61,219.0,1000.6,0.0,906,10343,0.62,2.40,230.77,1.120,4,0.031,0.031,2488,1062,2085,0,0,0,0,0,0,24.91,24.89,23.68
$GC,10425,0.56,219.0,958.3,18.1,922,10430,0.12,2.58,0.00,0.000,6,0.177,0.041,2458,2540,2051,0,0,0,0,0,0,24.95,25.10,28.83
$GC,10734,0.49,219.0,890.3,22.9,937,10739,0.00,2.38,0.00,0.000,4,0.000,0.032,2469,1085,2046,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10794,0.43,219.0,877.8,21.3,940,10800,0.15,2.47,0.00,0.000,6,0.148,0.038,2421,2553,2045,0,0,0,0,0,0,25.63,25.85,28.83
$GC,11117,0.39,219.0,820.1,17.4,956,11122,0.00,1.98,0.00,0.000,4,0.000,0.047,2421,3815,2044,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11300,0.34,219.0,784.8,18.9,965,11304,0.17,1.88,0.00,0.000,6,0.179,0.024,2384,2546,2042,0,0,0,0,0,0,25.84,26.17,28.83
$GC,11615,0.32,219.0,742.7,13.1,981,11621,0.00,1.98,0.00,0.000,4,0.000,0.047,2384,3812,2041,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11656,0.30,219.0,736.8,13.8,983,11660,0.00,1.83,0.00,0.000,6,0.000,0.024,2393,2550,2041,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11974,0.28,219.0,693.9,12.6,999,11979,0.00,2.00,0.00,0.000,4,0.000,0.048,2394,3814,2041,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,14311,0.40,387.0,406.8,8.7,1179,14332,0.00,2.53,14.57,0.754,4,0.000,0.032,2415,1082,1394,0,0,0,0,0,0,28.83,26.10,25.44
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$STATE,16980,end climb,SURFACE_DEPTH_REACHED
$STATE,16980,begin surface coast
$FINISH,0.3,1.022479
$STATE,17008,end surface coast,CONTROL_FINISHED_OK
$STATE,17008,begin surface
$SM_CCo,17084,0.00,0.000,0,0,935,501.64
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$IRIDIUM_FIX,2309.79,12303.01,040512,080811
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.7,16.526
$10V_AH,10.3,9.034
$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,17.500,174.225,782.350,0.000,0.000,25.173,22.779,254.821,0.000,0.000,15.016,4132.657,8863.132,867.425,3212.198,425.678,0.000,2466.070,0.000,2747.560,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,73.440,1150.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,96924,1550
$CAP_FILE_SIZE,199830,0
$CFSIZE,260165632,214069248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.268,302.0,1
$GPS,040512,182037,2317.969,12309.068,35,1.0,35,-3.2