version: 66.10
glider: 169
mission: 6
dive: 145
start: 5 19 112 2 4 25
data:
$ID,169
$MISSION,6
$DIVE,145
$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,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,-15521.242
$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,49
$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
$GPS1,190512,015137,2250.163,12408.239,35,0.9,35,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.7
$GPS2,190512,020401,2249.809,12408.524,14,1.9,31,-3.2
$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,190.8,148535,-13.5,-7.857
$D_GRID,5809
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.55,-170.3,0.0,0.0,0,93,0.00,0.00,-72.70,0.000,2,0.000,0.000,117,2552,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.55,-170.3,3.2,-6.7,13,123,7.75,2.65,-11.85,0.000,4,0.222,0.050,2101,1047,3676,0,0,1,0,0,0,25.35,25.67,26.38
$GC,353,-0.51,-170.3,69.0,-16.1,62,359,0.00,2.47,0.00,0.000,6,0.000,0.034,2088,2519,3678,0,0,0,0,0,0,28.83,26.13,28.83
$GC,545,-0.44,-170.3,113.4,-21.6,99,552,0.12,2.42,0.00,0.000,4,0.168,0.022,2138,1026,3678,0,0,0,0,0,0,26.06,26.26,28.83
$GC,685,-0.45,-170.3,130.0,-8.7,125,691,0.00,2.40,0.00,0.000,6,0.000,0.032,2126,2475,3679,0,0,0,0,0,0,28.83,26.25,28.83
$GC,875,-0.41,-170.3,154.9,-14.0,162,882,0.00,2.05,0.00,0.000,4,0.000,0.040,2116,3829,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,900,-0.38,-170.3,158.2,-13.5,166,907,0.10,2.08,0.00,0.000,6,0.151,0.019,2148,2395,3679,0,0,0,0,0,0,26.17,26.42,28.83
$GC,1093,-0.37,-170.3,178.7,-10.0,203,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2394,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-0.36,-170.3,198.6,-10.5,240,1291,0.00,2.12,0.00,0.000,4,0.000,0.023,2148,1035,3679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1309,-0.35,-170.3,201.2,-10.2,243,1318,0.00,2.35,0.00,0.000,6,0.000,0.031,2139,2465,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1620,-0.34,-170.3,235.3,-11.4,274,1629,0.00,2.05,0.00,0.000,4,0.000,0.041,2128,3831,3678,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1664,-0.34,-170.3,239.9,-11.2,278,1671,0.12,2.08,0.00,0.000,6,0.119,0.021,2168,2404,3679,0,0,0,0,0,0,26.27,26.48,28.83
$GC,1973,-0.35,-170.3,259.7,-5.5,309,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2403,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,-0.37,-170.3,276.6,-6.0,339,2284,0.00,2.22,0.00,0.000,4,0.000,0.042,2159,3814,3676,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2299,-0.39,-170.3,278.2,-6.0,341,2303,0.00,2.05,0.00,0.000,6,0.000,0.019,2158,2394,3676,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2611,-0.40,-170.3,299.7,-7.1,372,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2392,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-0.42,-170.3,321.4,-7.0,402,2922,0.00,2.28,0.00,0.000,4,0.000,0.040,2151,3828,3673,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2938,-0.44,-170.3,323.0,-6.6,404,2947,0.00,2.05,0.00,0.000,6,0.000,0.019,2151,2394,3673,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3246,-0.45,-170.3,345.4,-6.8,435,3255,0.00,2.10,0.00,0.000,4,0.000,0.024,2151,1032,3672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3279,-0.47,-170.3,347.6,-6.7,438,3287,0.00,2.35,0.00,0.000,6,0.000,0.030,2150,2482,3672,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3589,-0.48,-170.3,367.9,-6.7,469,3593,0.00,2.05,0.00,0.000,4,0.000,0.041,2141,3824,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3652,-0.51,-170.3,372.1,-6.5,475,3660,0.00,2.03,0.00,0.000,6,0.000,0.019,2140,2406,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3962,-0.52,-170.3,393.7,-7.4,506,3964,0.10,0.00,0.00,0.000,6,0.090,0.000,2064,2407,3669,0,0,0,0,0,0,26.66,28.83,28.83
$GC,4262,-0.47,-170.3,438.6,-14.8,536,4264,0.20,0.00,0.00,0.000,6,0.134,0.000,2124,2406,3667,0,0,0,0,0,0,26.20,28.83,28.83
$GC,4562,-0.47,-170.3,464.5,-7.6,566,4566,0.00,2.17,0.00,0.000,4,0.000,0.024,2125,1044,3666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4598,-0.48,-170.3,466.9,-7.7,569,4605,0.00,2.40,0.00,0.000,6,0.000,0.032,2115,2493,3665,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4904,-0.48,-170.3,493.2,-9.1,600,4915,0.00,2.33,-0.10,0.000,4,0.000,0.036,2116,1037,3687,0,0,0,0,0,0,28.83,26.45,26.06
$GC,4948,-0.49,-170.3,497.2,-9.0,604,4958,0.00,2.38,0.00,0.000,6,0.000,0.032,2107,2481,3687,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5258,-0.48,-170.3,527.8,-10.1,635,5267,0.00,2.30,0.00,0.000,4,0.000,0.024,2107,1032,3686,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5300,-0.48,-170.3,531.9,-9.8,639,5309,0.00,2.38,0.00,0.000,6,0.000,0.031,2099,2472,3686,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5610,-0.47,-170.3,561.4,-9.4,670,5614,0.00,2.08,0.00,0.000,4,0.000,0.044,2088,3829,3685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5662,-0.46,-170.3,566.2,-9.4,675,5672,0.12,2.10,0.00,0.000,6,0.125,0.021,2127,2397,3684,0,0,0,0,0,0,26.26,26.51,28.83
$GC,5973,-0.47,-170.3,585.9,-6.1,706,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2398,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6285,-0.49,-170.3,605.6,-6.6,733,6291,0.00,2.25,0.00,0.000,4,0.000,0.042,2117,3816,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6328,-0.50,-170.3,608.4,-6.9,735,6332,0.00,2.03,0.00,0.000,6,0.000,0.020,2118,2406,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6640,-0.51,-170.3,630.7,-6.9,751,6644,0.00,2.17,0.00,0.000,4,0.000,0.028,2118,1038,3677,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6663,-0.52,-170.3,632.2,-7.0,752,6669,0.00,2.35,0.00,0.000,6,0.000,0.032,2112,2472,3677,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6984,-0.52,-170.3,655.2,-7.4,768,6989,0.00,2.03,0.00,0.000,4,0.000,0.044,2102,3816,3675,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7006,-0.53,-170.3,656.6,-7.4,769,7009,0.00,2.08,0.00,0.000,6,0.000,0.021,2102,2401,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7319,-0.53,-170.3,681.6,-7.7,785,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2399,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,-0.53,-170.3,704.4,-7.5,800,7623,0.00,2.30,0.00,0.000,4,0.000,0.042,2093,3816,3671,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7659,-0.53,-170.3,707.5,-7.6,802,7664,0.00,2.03,0.00,0.000,6,0.000,0.021,2093,2414,3671,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7978,-0.52,-170.3,732.9,-8.1,818,7983,0.00,2.12,0.00,0.000,4,0.000,0.026,2092,1047,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8017,-0.52,-170.3,736.1,-7.9,820,8023,0.00,2.38,0.00,0.000,6,0.000,0.033,2085,2478,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8339,-0.51,-170.3,761.9,-7.8,836,8344,0.00,2.08,0.00,0.000,4,0.000,0.044,2075,3823,3667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8378,-0.50,-170.3,765.2,-8.1,838,8384,0.12,2.08,0.00,0.000,6,0.127,0.021,2113,2412,3666,0,0,0,0,0,0,26.20,26.48,28.83
$GC,8701,-0.51,-170.3,782.5,-5.2,854,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2411,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8999,-0.52,-170.3,799.0,-5.8,869,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2411,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9299,-0.53,-170.3,817.8,-6.4,884,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2411,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,-0.54,-170.3,836.7,-6.1,899,9604,0.00,2.30,0.00,0.000,4,0.000,0.046,2103,3817,3660,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9621,-0.56,-170.3,838.0,-6.2,900,9625,0.00,2.08,0.00,0.000,6,0.000,0.022,2103,2413,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9935,-0.56,-170.3,858.2,-6.2,916,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2412,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10234,-0.57,-170.3,876.5,-6.3,931,10239,0.00,2.30,0.00,0.000,4,0.000,0.046,2094,3829,3657,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10267,-0.58,-170.3,877.9,-6.3,932,10275,0.00,2.08,0.00,0.000,6,0.000,0.023,2094,2421,3657,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10574,-0.58,-170.3,901.4,-7.8,948,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2421,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10875,-0.58,-170.3,924.8,-7.5,963,10880,0.00,2.25,0.00,0.000,4,0.000,0.044,2086,3818,3655,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10922,-0.58,-170.3,927.9,-7.6,965,10926,0.00,2.03,0.00,0.000,6,0.000,0.021,2086,2425,3654,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11229,-0.58,-170.3,951.9,-7.4,980,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2424,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11528,-0.58,-170.3,972.9,-6.9,995,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2425,3652,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11786,begin apogee
$GC,11793,-0.20,0.0,991.3,-7.2,1008,11963,0.35,0.03,162.93,1.183,4,0.096,0.188,2210,2488,2978,0,0,0,0,0,0,25.99,24.66,23.87
$STATE,11964,end apogee,CONTROL_FINISHED_OK
$STATE,11964,begin climb
$GC,11967,0.55,170.3,997.3,0.0,1016,12152,0.62,2.22,174.57,1.167,4,0.042,0.043,2462,3819,2275,0,0,0,0,0,0,24.94,24.90,23.46
$GC,12347,0.46,170.3,928.8,22.6,1035,12354,0.17,2.00,0.00,0.000,6,0.177,0.024,2427,2499,2251,0,0,0,0,0,0,25.18,25.55,28.83
$GC,12670,0.41,170.3,876.6,16.0,1051,12676,0.00,2.33,0.00,0.000,4,0.000,0.029,2440,1076,2245,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12817,0.38,170.3,856.2,13.9,1058,12822,0.15,2.50,0.00,0.000,6,0.153,0.034,2398,2547,2243,0,0,0,0,0,0,25.68,25.95,28.83
$GC,13125,0.35,170.3,814.1,13.1,1073,13131,0.00,1.98,0.00,0.000,4,0.000,0.043,2398,3827,2242,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,21191,end climb,SURFACE_DEPTH_REACHED
$STATE,21191,begin surface coast
$FINISH,0.2,1.021415
$STATE,21239,end surface coast,CONTROL_FINISHED_OK
$STATE,21239,begin surface
$SM_CCo,21255,39.65,0.125,0,0,1142,450.13
$SM_GC,0.61,5.93,0.08,39.65,0.027,0.104,0.125,126,2532,1142,-6.63,-0.37,450.13,0,0,0,0,0,0,26.44,26.60,25.93
$IRIDIUM_FIX,2239.35,12409.93,190512,010103
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.62
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.5,28.705
$10V_AH,10.2,17.220
$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,17.100,197.925,540.325,39.650,0.000,58.038,58.120,356.169,0.000,0.000,32.177,4929.060,11803.229,781.855,3965.844,519.859,0.000,2580.109,0.000,3254.715,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,188.190,1182.690,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1334.819,2492.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330452
$DATA_FILE_SIZE,120181,1963
$CAP_FILE_SIZE,240753,0
$CFSIZE,260165632,206966784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.052,298.1,1
$GPS,190512,080031,2247.471,12407.640,40,1.3,40,-3.2