version: 66.10
glider: 169
mission: 6
dive: 196
start: 5 31 112 7 58 27
data:
$ID,169
$MISSION,6
$DIVE,196
$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,200
$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,-15706.788
$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
$GPS1,310512,074737,2155.577,12327.400,43,1.1,43,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.5
$GPS2,310512,075802,2155.510,12327.567,15,1.2,15,-2.9
$SPEED_LIMITS,0.136,0.271
$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,271.5,242749,-12.5,-7.857
$D_GRID,4681
$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,19,-0.55,-194.6,0.0,0.0,0,99,0.00,0.00,-78.15,0.000,2,0.000,0.000,126,2506,2880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-194.6,3.1,-6.3,14,135,7.97,2.03,-17.10,0.000,4,0.230,0.045,2078,3842,3775,0,0,0,0,0,0,25.22,26.03,26.44
$GC,231,-0.49,-194.6,45.8,-25.4,37,239,0.12,2.00,0.00,0.000,6,0.168,0.021,2118,2466,3775,0,0,0,0,0,0,25.80,26.16,28.83
$GC,426,-0.39,-194.6,106.9,-30.2,74,433,0.12,2.33,0.00,0.000,4,0.180,0.024,2164,1035,3775,0,0,0,0,0,0,25.99,26.21,28.83
$GC,517,-0.41,-194.6,122.3,-8.8,91,523,0.00,2.45,0.00,0.000,6,0.000,0.032,2152,2499,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,708,-0.36,-194.6,152.9,-17.0,128,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2498,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-0.33,-194.6,182.8,-14.0,165,906,0.00,2.38,0.00,0.000,4,0.000,0.025,2156,1039,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,939,-0.34,-194.6,187.4,-9.0,172,946,0.00,2.33,0.00,0.000,6,0.000,0.033,2152,2454,3776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1134,-0.33,-194.6,205.8,-8.7,204,1143,0.00,2.10,0.00,0.000,4,0.000,0.039,2142,3837,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1187,-0.34,-194.6,209.9,-7.1,209,1197,0.00,2.08,0.00,0.000,6,0.000,0.018,2142,2395,3776,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1498,-0.34,-194.6,239.4,-10.4,240,1506,0.00,2.10,0.00,0.000,4,0.000,0.024,2141,1043,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1549,-0.36,-194.6,244.0,-8.3,245,1560,0.00,2.35,0.00,0.000,6,0.000,0.031,2140,2471,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1859,-0.36,-194.6,270.9,-8.3,276,1868,0.00,2.08,0.00,0.000,4,0.000,0.039,2130,3827,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1901,-0.37,-194.6,274.1,-7.9,280,1909,0.00,2.08,0.00,0.000,6,0.000,0.020,2129,2402,3775,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2210,-0.37,-194.6,299.6,-8.3,311,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2402,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2512,-0.37,-194.6,321.7,-8.0,341,2521,0.00,2.28,0.00,0.000,4,0.000,0.041,2121,3820,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2556,-0.39,-194.6,324.9,-7.4,345,2560,0.00,2.03,0.00,0.000,6,0.000,0.018,2121,2403,3772,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2868,-0.39,-194.6,350.9,-8.3,376,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2403,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3171,-0.39,-194.6,374.9,-7.8,406,3180,0.00,2.25,0.00,0.000,4,0.000,0.041,2113,3814,3767,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3206,-0.40,-194.6,377.5,-7.8,409,3215,0.10,2.00,0.00,0.000,6,0.112,0.018,2149,2413,3767,0,0,0,0,0,0,26.37,26.53,28.83
$GC,3514,-0.47,-194.6,399.3,-7.7,440,3523,0.00,2.22,-0.10,0.000,4,0.000,0.051,2149,3819,3784,0,0,0,0,0,0,28.83,26.31,26.05
$GC,3658,-0.53,-194.6,411.4,-8.7,454,3668,0.12,1.95,0.00,0.000,6,0.057,0.019,2089,2435,3783,0,0,0,0,0,0,26.37,26.54,28.83
$GC,3968,-0.57,-194.6,432.5,-6.4,485,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2435,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.60,-194.6,453.9,-6.6,516,4291,0.00,2.22,0.00,0.000,4,0.000,0.025,2089,1041,3779,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4317,-0.62,-194.6,456.3,-6.6,519,4324,0.00,2.22,0.00,0.000,6,0.000,0.031,2089,2422,3779,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4625,-0.64,-194.6,478.6,-7.1,550,4628,0.00,2.20,0.00,0.000,4,0.000,0.028,2089,1033,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4709,-0.64,-194.6,485.2,-8.2,558,4716,0.00,2.50,0.00,0.000,6,0.000,0.034,2085,2530,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5017,-0.63,-194.6,515.7,-10.6,589,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2529,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5321,-0.62,-194.6,546.7,-9.8,619,5329,0.00,2.45,0.00,0.000,4,0.000,0.028,2086,1050,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5372,-0.62,-194.6,552.1,-9.3,624,5382,0.00,2.47,0.00,0.000,6,0.000,0.034,2085,2517,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5683,-0.61,-194.6,582.3,-9.9,655,5692,0.00,2.00,0.00,0.000,4,0.000,0.047,2076,3816,3768,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5718,-0.60,-194.6,585.5,-10.3,658,5725,0.00,1.95,0.00,0.000,6,0.000,0.021,2076,2456,3767,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6027,-0.58,-194.6,616.3,-10.1,681,6033,0.00,2.28,0.00,0.000,4,0.000,0.028,2076,1048,3765,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6067,-0.57,-194.6,620.3,-9.9,683,6072,0.00,2.45,0.00,0.000,6,0.000,0.035,2067,2511,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6386,-0.55,-194.6,653.1,-10.1,699,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2510,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.53,-194.6,682.9,-9.6,714,6693,0.12,2.40,0.00,0.000,4,0.141,0.026,2112,1051,3760,0,0,0,0,0,0,26.34,26.31,28.83
$GC,6729,-0.53,-194.6,685.6,-8.3,716,6734,0.00,2.45,0.00,0.000,6,0.000,0.035,2111,2507,3760,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7045,-0.61,-194.6,705.3,-7.7,732,7050,0.00,2.03,0.00,0.000,4,0.000,0.045,2112,3827,3759,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7277,-0.68,-194.6,724.6,-9.1,743,7285,0.20,1.98,0.00,0.000,6,0.086,0.022,2043,2461,3756,0,0,0,0,0,0,26.22,26.44,28.83
$GC,7587,-0.70,-194.6,752.9,-8.8,759,7591,0.00,2.17,0.00,0.000,4,0.000,0.045,2034,3825,3754,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7662,-0.70,-194.6,759.5,-9.5,762,7670,0.00,2.08,0.00,0.000,6,0.000,0.023,2039,2425,3753,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7970,-0.66,-194.6,798.4,-12.2,778,7976,0.00,2.20,0.00,0.000,4,0.000,0.028,2039,1039,3752,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8022,-0.64,-194.6,803.0,-12.0,780,8030,0.12,2.38,0.00,0.000,6,0.131,0.036,2069,2467,3752,0,0,0,0,0,0,26.03,26.19,28.83
$GC,8329,-0.63,-194.6,831.5,-8.5,796,8335,0.00,2.10,0.00,0.000,4,0.000,0.047,2059,3824,3750,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8358,-0.62,-194.6,833.3,-8.5,797,8362,0.00,2.10,0.00,0.000,6,0.000,0.022,2059,2411,3750,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8664,-0.60,-194.6,862.6,-9.6,812,8668,0.00,2.15,0.00,0.000,4,0.000,0.028,2059,1046,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8709,-0.59,-194.6,866.8,-9.7,814,8714,0.12,2.38,0.00,0.000,6,0.119,0.035,2092,2468,3749,0,0,0,0,0,0,26.04,26.17,28.83
$GC,9025,-0.60,-194.6,889.1,-7.1,830,9029,0.00,2.10,0.00,0.000,4,0.000,0.047,2081,3819,3747,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9048,-0.61,-194.6,890.8,-7.1,831,9053,0.00,2.08,0.00,0.000,6,0.000,0.021,2081,2410,3746,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9369,-0.61,-194.6,915.0,-7.6,847,9374,0.00,2.17,0.00,0.000,4,0.000,0.028,2081,1041,3745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9400,-0.61,-194.6,916.6,-7.5,848,9407,0.00,2.38,0.00,0.000,6,0.000,0.036,2072,2473,3745,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9707,-0.61,-194.6,943.2,-8.6,864,9713,0.00,2.12,0.00,0.000,4,0.000,0.048,2062,3825,3744,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9741,-0.60,-194.6,945.0,-8.7,865,9748,0.00,2.10,0.00,0.000,6,0.000,0.023,2062,2418,3743,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10048,-0.59,-194.6,974.5,-9.3,881,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2417,3742,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10225,begin apogee
$GC,10232,-0.20,0.0,991.2,-9.3,890,10427,0.43,0.00,187.93,1.174,4,0.096,0.000,2210,2542,2971,0,0,0,0,0,0,25.86,28.83,23.70
$STATE,10428,end apogee,CONTROL_FINISHED_OK
$STATE,10428,begin climb
$GC,10431,0.55,194.6,1000.0,0.0,900,10649,0.57,2.60,207.93,1.141,4,0.028,0.028,2472,1068,2178,0,0,0,0,0,0,24.91,24.88,23.29
$GC,10680,0.49,194.6,972.9,16.6,912,10686,0.15,2.67,0.00,0.000,6,0.159,0.037,2434,2534,2154,0,0,0,0,0,0,24.54,24.72,28.83
$GC,10989,0.43,194.6,917.1,18.1,927,10994,0.00,2.45,0.00,0.000,4,0.000,0.031,2447,1077,2147,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11068,0.38,194.6,904.3,15.9,931,11074,0.12,2.58,0.00,0.000,6,0.132,0.037,2404,2555,2145,0,0,0,0,0,0,25.62,25.88,28.83
$GC,11391,0.34,194.6,855.7,15.2,947,11396,0.00,1.95,0.00,0.000,4,0.000,0.045,2404,3820,2144,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11498,0.30,194.6,838.3,17.2,952,11503,0.15,1.88,0.00,0.000,6,0.161,0.023,2372,2534,2142,0,0,0,0,0,0,25.77,26.15,28.83
$GC,11809,0.28,194.6,802.0,10.9,967,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2533,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12105,0.26,194.6,770.3,10.5,982,12111,0.00,2.05,0.00,0.000,4,0.000,0.046,2372,3821,2141,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12149,0.24,194.6,765.7,10.8,984,12153,0.00,1.88,0.00,0.000,6,0.000,0.023,2382,2529,2140,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12466,0.22,194.6,728.9,11.2,1000,12472,0.12,2.00,0.00,0.000,4,0.162,0.042,2342,3813,2140,0,0,0,0,0,0,26.07,26.09,28.83
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$STATE,19590,end climb,SURFACE_DEPTH_REACHED
$STATE,19590,begin surface coast
$FINISH,0.1,1.021034
$STATE,19627,end surface coast,CONTROL_FINISHED_OK
$STATE,19627,begin surface
$SM_CCo,19643,19.10,0.188,1,0,1143,450.13
$SM_GC,1.20,6.05,0.00,19.10,0.026,0.000,0.188,121,2508,1143,-6.63,0.23,450.13,0,0,0,0,1,0,26.41,28.83,25.04
$IRIDIUM_FIX,2148.09,12328.51,310512,070700
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,8.39255
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.3,39.093
$10V_AH,10.1,24.135
$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,18.200,197.125,676.725,19.100,0.000,56.741,83.257,259.257,0.000,0.000,15.822,4546.534,10608.812,864.849,3733.217,503.020,0.000,2652.925,0.000,3139.046,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,59.670,1174.275,188.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,113721,1812
$CAP_FILE_SIZE,229796,0
$CFSIZE,260165632,200990720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0,0
$CURRENT,0.177,100.7,1
$GPS,310512,132725,2155.651,12326.554,39,1.0,39,-2.9