version: 66.10
glider: 169
mission: 6
dive: 115
start: 5 11 112 18 7 55
data:
$ID,169
$MISSION,6
$DIVE,115
$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,420
$T_MISSION,460
$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,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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-15423.819
$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
$GPS1,110512,175855,2336.041,12404.584,38,1.0,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.7
$GPS2,110512,180732,2336.176,12404.473,13,1.7,13,-3.4
$SPEED_LIMITS,0.136,0.256
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,140.3,233804,-13.5,-7.857
$D_GRID,2730
$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,16,begin dive
$GC,19,-0.55,-170.3,0.0,0.0,0,112,0.00,0.00,-90.50,0.000,2,0.000,0.000,117,2464,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.55,-170.3,3.7,-8.5,15,142,7.95,2.30,-7.15,0.000,4,0.233,0.037,2103,1028,3677,0,0,0,0,0,0,25.43,26.08,26.36
$GC,207,-0.51,-170.3,35.4,-17.7,31,216,0.00,2.45,0.00,0.000,6,0.000,0.034,2091,2523,3678,0,0,0,0,0,0,28.83,26.06,28.83
$GC,408,-0.43,-170.3,83.1,-25.9,68,415,0.12,2.38,0.00,0.000,4,0.190,0.026,2138,1041,3679,0,0,0,0,0,0,25.94,26.19,28.83
$GC,495,-0.43,-170.3,97.6,-11.1,84,502,0.00,2.35,0.00,0.000,6,0.000,0.032,2127,2490,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,694,-0.38,-170.3,129.7,-19.9,121,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2489,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-0.33,-170.3,163.6,-16.5,158,899,0.12,2.28,0.00,0.000,4,0.164,0.022,2177,1030,3679,0,0,0,0,0,0,26.18,26.36,28.83
$GC,928,-0.33,-170.3,168.3,-10.5,164,935,0.00,2.35,0.00,0.000,6,0.000,0.032,2166,2489,3679,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1122,-0.33,-170.3,186.5,-10.1,201,1128,0.00,2.03,0.00,0.000,4,0.000,0.041,2156,3828,3679,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1167,-0.35,-170.3,190.4,-8.4,209,1174,0.00,2.05,0.00,0.000,6,0.000,0.018,2156,2423,3679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1361,-0.34,-170.3,208.2,-10.1,238,1370,0.00,2.12,0.00,0.000,4,0.000,0.027,2156,1036,3679,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1414,-0.35,-170.3,213.7,-9.6,243,1425,0.00,2.35,0.00,0.000,6,0.000,0.032,2153,2505,3679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1726,-0.34,-170.3,248.1,-12.3,274,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2505,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,-0.34,-170.3,282.0,-9.0,305,2043,0.00,2.28,0.00,0.000,4,0.000,0.025,2153,1037,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2088,-0.36,-170.3,286.1,-7.6,310,2096,0.00,2.33,0.00,0.000,6,0.000,0.033,2150,2495,3678,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2399,-0.36,-170.3,305.2,-5.2,341,2402,0.00,2.03,0.00,0.000,4,0.000,0.041,2141,3826,3678,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2423,-0.36,-170.3,306.5,-5.2,343,2430,0.00,2.05,0.00,0.000,6,0.000,0.019,2141,2419,3678,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2732,-0.36,-170.3,328.3,-8.4,374,2741,0.00,2.10,0.00,0.000,4,0.000,0.024,2141,1033,3676,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2778,-0.37,-170.3,331.8,-8.3,378,2785,0.00,2.33,0.00,0.000,6,0.000,0.031,2137,2490,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3086,-0.37,-170.3,358.6,-8.7,409,3094,0.00,2.03,0.00,0.000,4,0.000,0.041,2128,3822,3675,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3110,-0.37,-170.3,360.6,-8.8,411,3117,0.00,2.05,0.00,0.000,6,0.000,0.021,2127,2415,3675,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3418,-0.37,-170.3,390.8,-9.1,442,3429,0.00,2.25,0.00,0.000,4,0.000,0.040,2118,3822,3674,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3442,-0.37,-170.3,393.1,-9.0,444,3452,0.12,2.05,0.00,0.000,6,0.121,0.019,2157,2413,3674,0,0,0,0,0,0,26.35,26.59,28.83
$GC,3754,-0.39,-170.3,411.0,-6.0,475,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2413,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-0.42,-170.3,431.5,-7.0,506,4074,0.00,2.22,0.00,0.000,4,0.000,0.041,2148,3812,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4091,-0.44,-170.3,433.4,-7.5,508,4098,0.00,2.00,0.00,0.000,6,0.000,0.019,2148,2424,3671,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4399,-0.46,-170.3,456.6,-6.8,539,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2424,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.48,-170.3,473.6,-4.2,570,4718,0.00,2.22,0.00,0.000,4,0.000,0.041,2141,3809,3667,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4745,-0.51,-170.3,475.1,-4.1,573,4752,0.00,2.00,0.00,0.000,6,0.000,0.020,2142,2424,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5054,-0.57,-170.3,491.0,-5.8,604,5064,0.12,2.10,0.00,0.000,4,0.078,0.024,2071,1030,3665,0,0,0,0,0,0,26.65,26.50,28.83
$GC,5150,-0.55,-170.3,499.5,-10.3,613,5159,0.08,2.45,0.00,0.000,6,0.108,0.033,2092,2561,3665,0,0,0,0,0,0,26.29,26.46,28.83
$GC,5460,-0.53,-170.3,533.8,-11.4,644,5469,0.00,2.38,0.00,0.000,4,0.000,0.027,2098,1044,3664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5503,-0.53,-170.3,538.3,-10.2,648,5511,0.00,2.42,0.00,0.000,6,0.000,0.034,2089,2548,3664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5812,-0.51,-170.3,573.6,-12.0,679,5823,0.00,2.38,0.00,0.000,4,0.000,0.027,2095,1043,3661,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5877,-0.51,-170.3,580.8,-10.8,685,5886,0.00,2.42,0.00,0.000,6,0.000,0.035,2085,2538,3661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6199,-0.50,-170.3,617.3,-11.4,710,6204,0.00,2.30,0.00,0.000,4,0.000,0.027,2085,1045,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6267,-0.49,-170.3,624.1,-11.1,713,6272,0.12,2.40,0.00,0.000,6,0.130,0.036,2114,2532,3660,0,0,0,0,0,0,26.27,26.41,28.83
$GC,6576,-0.49,-170.3,650.8,-8.6,728,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2531,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,-0.49,-170.3,673.7,-7.3,743,6880,0.00,2.33,0.00,0.000,4,0.000,0.028,2115,1051,3655,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6923,-0.50,-170.3,676.7,-7.3,745,6927,0.00,2.40,0.00,0.000,6,0.000,0.036,2112,2530,3655,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7232,-0.50,-170.3,699.0,-7.3,760,7238,0.00,1.95,0.00,0.000,4,0.000,0.047,2102,3814,3653,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7259,-0.50,-170.3,700.5,-7.3,761,7263,0.00,2.00,0.00,0.000,6,0.000,0.023,2104,2458,3653,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7568,-0.50,-170.3,724.5,-7.7,776,7574,0.00,2.20,0.00,0.000,4,0.000,0.028,2104,1042,3650,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7607,-0.50,-170.3,727.8,-7.8,778,7613,0.00,2.42,0.00,0.000,6,0.000,0.034,2099,2533,3651,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7927,-0.50,-170.3,753.2,-7.8,794,7933,0.00,2.35,0.00,0.000,4,0.000,0.028,2099,1041,3648,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7967,-0.50,-170.3,756.4,-7.9,796,7973,0.00,2.38,0.00,0.000,6,0.000,0.035,2092,2516,3648,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8288,-0.49,-170.3,780.9,-7.4,812,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2515,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,-0.49,-170.3,803.0,-7.4,827,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2515,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8887,-0.48,-170.3,826.9,-7.8,842,8893,0.00,2.33,0.00,0.000,4,0.000,0.028,2092,1042,3643,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8929,-0.48,-170.3,830.0,-8.0,844,8934,0.12,2.40,0.00,0.000,6,0.129,0.036,2124,2520,3643,0,0,0,0,0,0,26.20,26.34,28.83
$GC,9245,-0.50,-170.3,847.3,-5.0,860,9251,0.00,2.03,0.00,0.000,4,0.000,0.046,2114,3826,3641,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9273,-0.52,-170.3,848.4,-4.9,861,9277,0.00,2.03,0.00,0.000,6,0.000,0.021,2114,2438,3641,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9581,-0.54,-170.3,864.3,-5.1,876,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2438,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,-0.55,-170.3,879.3,-5.2,891,9885,0.00,2.22,0.00,0.000,4,0.000,0.044,2104,3819,3638,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9908,-0.56,-170.3,880.3,-5.2,892,9912,0.00,2.03,0.00,0.000,6,0.000,0.021,2105,2438,3637,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10216,-0.57,-170.3,899.8,-6.3,907,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2438,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10515,-0.58,-170.3,919.9,-6.9,922,10520,0.00,2.17,0.00,0.000,4,0.000,0.044,2096,3813,3636,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10544,-0.59,-170.3,921.2,-6.8,923,10548,0.00,2.00,0.00,0.000,6,0.000,0.022,2096,2453,3635,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10850,-0.59,-170.3,945.0,-7.5,938,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2453,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11151,-0.59,-170.3,966.9,-7.2,953,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2453,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11450,-0.59,-170.3,989.0,-7.4,968,11454,0.00,2.17,0.00,0.000,4,0.000,0.044,2086,3816,3632,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11471,begin apogee
$GC,11479,-0.20,0.0,990.7,-7.5,969,11647,0.35,0.12,160.12,1.165,4,0.093,0.083,2211,2555,2977,0,0,0,0,0,0,26.10,24.76,23.97
$STATE,11648,end apogee,CONTROL_FINISHED_OK
$STATE,11648,begin climb
$GC,11650,0.55,170.3,997.4,0.0,977,11837,0.62,2.53,175.05,1.158,4,0.041,0.027,2467,1066,2277,0,0,0,0,0,0,24.98,24.97,23.65
$GC,11904,0.49,170.3,968.8,16.5,990,11914,0.12,2.53,0.00,0.000,6,0.171,0.036,2437,2540,2252,0,0,0,0,0,0,24.92,25.10,28.83
$GC,12217,0.43,170.3,909.0,19.0,1006,12223,0.00,2.35,0.00,0.000,4,0.000,0.029,2449,1077,2247,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,20500,end climb,SURFACE_DEPTH_REACHED
$STATE,20500,begin surface coast
$FINISH,-0.2,1.022682
$STATE,20512,end surface coast,CONTROL_FINISHED_OK
$STATE,20512,begin surface
$SM_CCo,20589,0.00,0.000,0,0,1039,475.88
$SM_GC,0.59,6.20,0.17,0.00,0.032,0.050,0.000,139,2396,1039,-6.62,-0.17,475.88,0,0,1,0,0,0
$IRIDIUM_FIX,2328.57,12402.28,110512,121258
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.7,23.211
$10V_AH,10.2,13.224
$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,17.700,213.375,614.900,0.000,0.000,30.979,35.489,289.302,0.000,0.000,14.024,4849.144,11267.574,831.658,3619.467,497.905,0.000,2590.903,0.000,3068.331,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,82.620,1165.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.429,2377.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330344
$DATA_FILE_SIZE,113480,1815
$CAP_FILE_SIZE,229695,0
$CFSIZE,260165632,210464768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.399,329.1,1
$GPS,110512,235206,2336.177,12406.102,33,1.0,33,-3.4