version: 66.10
glider: 169
mission: 6
dive: 203
start: 6 1 112 21 43 1
data:
$ID,169
$MISSION,6
$DIVE,203
$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,380
$T_MISSION,420
$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,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,-15715.789
$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
$GPS1,010612,213425,2200.487,12320.594,38,1.0,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.4
$GPS2,010612,214238,2200.536,12320.691,13,1.6,13,-2.9
$SPEED_LIMITS,0.150,0.281
$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,276.3,227910,-13.8,-8.684
$D_GRID,5064
$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,-0.58,-194.6,0.0,0.0,0,96,0.00,0.00,-76.43,0.000,2,0.000,0.000,116,2515,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-194.6,3.1,-6.3,13,132,7.90,1.98,-15.57,0.000,4,0.226,0.053,2070,3839,3775,0,0,1,0,0,0,25.22,25.49,26.45
$GC,241,-0.52,-194.6,55.8,-24.8,39,247,0.00,1.98,0.00,0.000,6,0.000,0.021,2079,2466,3776,0,0,0,0,0,0,28.83,26.19,28.83
$GC,433,-0.41,-194.6,121.1,-35.8,76,442,0.20,2.35,0.00,0.000,4,0.183,0.022,2147,1027,3776,0,0,0,0,0,0,25.73,26.24,28.83
$GC,536,-0.43,-194.6,141.1,-9.9,95,543,0.00,2.45,0.00,0.000,6,0.000,0.031,2134,2486,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,727,-0.38,-194.6,178.5,-18.7,132,735,0.00,2.38,0.00,0.000,4,0.000,0.024,2140,1037,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,760,-0.35,-194.6,184.0,-17.6,137,767,0.12,2.35,0.00,0.000,6,0.132,0.033,2168,2437,3776,0,0,0,0,0,0,26.10,26.27,28.83
$GC,952,-0.35,-194.6,201.2,-8.1,173,961,0.00,2.08,0.00,0.000,4,0.000,0.040,2157,3821,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,987,-0.35,-194.6,203.9,-8.7,176,995,0.00,2.08,0.00,0.000,6,0.000,0.019,2157,2379,3777,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1294,-0.36,-194.6,232.2,-8.8,207,1304,0.00,2.12,0.00,0.000,4,0.000,0.025,2157,1036,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1321,-0.38,-194.6,234.2,-8.5,209,1327,0.00,2.33,0.00,0.000,6,0.000,0.031,2156,2451,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1628,-0.39,-194.6,257.0,-8.0,240,1638,0.00,2.05,0.00,0.000,4,0.000,0.042,2147,3818,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1674,-0.42,-194.6,260.6,-8.6,244,1682,0.00,2.03,0.00,0.000,6,0.000,0.018,2146,2393,3777,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1982,-0.43,-194.6,287.5,-7.9,275,1985,0.00,2.15,0.00,0.000,4,0.000,0.025,2146,1031,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2014,-0.45,-194.6,290.0,-7.8,278,2023,0.00,2.35,0.00,0.000,6,0.000,0.031,2142,2469,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2325,-0.46,-194.6,314.2,-7.1,309,2333,0.00,2.08,0.00,0.000,4,0.000,0.041,2132,3829,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2377,-0.49,-194.6,318.0,-7.1,314,2386,0.00,2.03,0.00,0.000,6,0.000,0.018,2132,2404,3774,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2687,-0.50,-194.6,344.1,-9.1,345,2696,0.00,2.17,0.00,0.000,4,0.000,0.024,2132,1031,3773,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2719,-0.52,-194.6,347.1,-9.0,348,2730,0.00,2.38,0.00,0.000,6,0.000,0.031,2131,2467,3773,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3030,-0.53,-194.6,373.2,-8.2,379,3039,0.00,2.03,0.00,0.000,4,0.000,0.041,2121,3829,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3082,-0.55,-194.6,377.0,-7.5,384,3092,0.00,2.03,0.00,0.000,6,0.000,0.018,2121,2405,3769,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3392,-0.58,-194.6,397.7,-6.0,415,3394,0.10,0.00,0.00,0.000,6,0.093,0.000,2027,2405,3767,0,0,0,0,0,0,26.63,28.83,28.83
$GC,3693,-0.52,-194.6,448.2,-18.0,445,3702,0.22,2.25,0.00,0.000,4,0.139,0.038,2090,3825,3764,0,0,0,0,0,0,26.06,26.31,28.83
$GC,3708,-0.46,-194.6,449.9,-17.9,446,3715,0.00,1.80,0.00,0.000,6,0.000,0.020,2098,2523,3764,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4017,-0.45,-194.6,482.5,-9.8,477,4027,0.10,2.42,-0.08,0.000,4,0.145,0.037,2137,1046,3787,0,0,0,0,0,0,26.48,26.37,24.81
$GC,4085,-0.49,-194.6,487.7,-6.6,483,4092,0.00,2.62,0.00,0.000,6,0.000,0.033,2135,2575,3787,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4392,-0.58,-194.6,512.2,-8.6,514,4401,0.12,1.80,0.00,0.000,4,0.086,0.040,2081,3831,3784,0,0,0,0,0,0,26.53,26.29,28.83
$GC,4455,-0.65,-194.6,518.1,-9.3,520,4458,0.00,1.83,0.00,0.000,6,0.000,0.019,2082,2512,3783,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4766,-0.63,-194.6,546.1,-10.6,551,4775,0.00,2.03,0.00,0.000,4,0.000,0.044,2073,3828,3781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4884,-0.64,-194.6,556.0,-8.2,562,4890,0.00,1.88,0.00,0.000,6,0.000,0.021,2073,2487,3780,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5190,-0.62,-194.6,588.2,-10.5,593,5200,0.00,2.33,0.00,0.000,4,0.000,0.026,2073,1049,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5306,-0.62,-194.6,597.9,-7.7,604,5314,0.00,2.47,0.00,0.000,6,0.000,0.035,2062,2517,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5613,-0.59,-194.6,633.9,-12.3,621,5619,0.00,2.42,0.00,0.000,4,0.000,0.027,2064,1044,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5657,-0.58,-194.6,638.4,-11.7,623,5663,0.12,2.45,0.00,0.000,6,0.123,0.034,2095,2503,3773,0,0,0,0,0,0,26.14,26.28,28.83
$GC,5973,-0.58,-194.6,665.5,-8.4,639,5979,0.00,2.38,0.00,0.000,4,0.000,0.026,2096,1039,3772,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6013,-0.58,-194.6,668.8,-8.4,641,6019,0.00,2.42,0.00,0.000,6,0.000,0.034,2086,2493,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6334,-0.58,-194.6,697.2,-8.8,657,6339,0.00,2.03,0.00,0.000,4,0.000,0.047,2076,3826,3768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6366,-0.57,-194.6,698.9,-8.8,658,6373,0.00,2.00,0.00,0.000,6,0.000,0.022,2076,2434,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6675,-0.56,-194.6,730.9,-10.8,674,6680,0.00,2.25,0.00,0.000,4,0.000,0.028,2076,1040,3766,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6742,-0.56,-194.6,737.1,-10.5,677,6752,0.00,2.45,0.00,0.000,6,0.000,0.037,2066,2490,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7055,-0.54,-194.6,774.1,-11.3,693,7061,0.12,2.38,0.00,0.000,4,0.142,0.025,2110,1039,3763,0,0,0,0,0,0,26.30,26.29,28.83
$GC,7096,-0.54,-194.6,777.4,-9.8,695,7100,0.00,2.42,0.00,0.000,6,0.000,0.036,2104,2481,3763,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7409,-0.56,-194.6,796.4,-5.5,711,7415,0.00,2.05,0.00,0.000,4,0.000,0.046,2095,3818,3760,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7443,-0.57,-194.6,797.4,-5.4,712,7450,0.00,2.05,0.00,0.000,6,0.000,0.021,2095,2401,3760,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7750,-0.58,-194.6,815.9,-6.2,728,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2401,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8049,-0.59,-194.6,835.2,-6.5,743,8055,0.00,2.17,0.00,0.000,4,0.000,0.028,2095,1052,3757,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8071,-0.61,-194.6,836.4,-6.3,744,8076,0.00,2.42,0.00,0.000,6,0.000,0.034,2092,2484,3757,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8384,-0.62,-194.6,857.7,-7.1,760,8390,0.00,2.05,0.00,0.000,4,0.000,0.047,2082,3817,3755,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8418,-0.62,-194.6,859.2,-7.2,761,8426,0.00,2.05,0.00,0.000,6,0.000,0.021,2083,2408,3754,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8724,-0.62,-194.6,885.2,-8.2,777,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2408,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9024,-0.62,-194.6,909.8,-8.3,792,9029,0.00,2.22,0.00,0.000,4,0.000,0.028,2082,1033,3752,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9047,-0.62,-194.6,911.5,-8.4,793,9052,0.00,2.47,0.00,0.000,6,0.000,0.035,2073,2494,3752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9360,-0.62,-194.6,940.9,-9.5,809,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2492,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-0.62,-194.6,969.6,-9.4,824,9666,0.00,2.38,0.00,0.000,4,0.000,0.027,2073,1052,3749,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9707,-0.62,-194.6,973.5,-9.6,826,9712,0.00,2.45,0.00,0.000,6,0.000,0.035,2065,2489,3749,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,9873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9873,begin apogee
$GC,9879,-0.20,0.0,990.4,-9.7,834,10075,0.40,0.10,189.02,1.175,4,0.100,0.072,2204,2487,2972,0,0,0,0,0,0,25.86,24.63,23.65
$STATE,10076,end apogee,CONTROL_FINISHED_OK
$STATE,10077,begin climb
$GC,10079,0.58,194.6,998.9,0.0,844,10295,0.68,0.12,204.75,1.148,6,0.041,0.080,2468,2548,2170,0,0,0,0,0,0,24.82,24.82,23.21
$GC,10597,0.51,194.6,908.8,21.3,870,10603,0.00,1.98,0.00,0.000,4,0.000,0.044,2468,3832,2146,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10749,0.44,194.6,876.4,22.7,877,10757,0.22,1.90,0.00,0.000,6,0.180,0.021,2418,2515,2144,0,0,0,0,0,0,25.48,26.01,28.83
$GC,11056,0.40,194.6,828.0,14.5,893,11060,0.00,2.03,0.00,0.000,4,0.000,0.044,2418,3821,2143,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11173,0.36,194.6,811.3,16.6,898,11181,0.12,1.83,0.00,0.000,6,0.175,0.021,2396,2533,2142,0,0,0,0,0,0,25.80,26.17,28.83
$GC,11479,0.34,194.6,772.8,11.3,914,11484,0.00,1.98,0.00,0.000,4,0.000,0.045,2395,3832,2140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11519,0.32,194.6,767.7,11.8,916,11524,0.00,1.85,0.00,0.000,6,0.000,0.021,2405,2537,2140,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11838,0.29,194.6,728.5,12.1,932,11844,0.12,2.45,0.00,0.000,4,0.173,0.029,2379,1069,2139,0,0,0,0,0,0,26.01,26.14,28.83
$GC,11879,0.28,194.6,724.6,11.2,934,11885,0.00,2.60,0.00,0.000,6,0.000,0.034,2379,2568,2137,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18580,end climb,SURFACE_DEPTH_REACHED
$STATE,18580,begin surface coast
$FINISH,-0.1,1.008789
$STATE,18612,end surface coast,CONTROL_FINISHED_OK
$STATE,18612,begin surface
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$IRIDIUM_FIX,2155.06,12321.41,010612,161654
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.85
$INTERNAL_PRESSURE,8.33396
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.2,40.604
$10V_AH,10.1,25.026
$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
$DEVICE_SECS,18.000,188.550,787.775,0.000,0.000,31.849,44.119,259.514,0.000,0.000,13.920,4164.189,10222.633,905.359,3379.823,469.210,0.000,2573.898,0.000,2868.522,0.000,0.544,0.000
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$MEM,330480
$DATA_FILE_SIZE,106866,1681
$CAP_FILE_SIZE,216212,0
$CFSIZE,260165632,200216576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.184, 61.2,1
$GPS,020612,025537,2201.451,12319.406,39,1.2,39,-2.9