version: 66.10
glider: 169
mission: 6
dive: 208
start: 6 3 112 0 41 50
data:
$ID,169
$MISSION,6
$DIVE,208
$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,-15722.085
$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
$GPS1,030612,003137,2204.643,12314.911,37,0.9,37,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.5
$GPS2,030612,004126,2204.772,12314.897,15,1.2,15,-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,273.1,215418,-13.8,-8.684
$D_GRID,5391
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.6,0.0,0.0,0,102,0.00,0.00,-80.00,0.000,2,0.000,0.000,116,2531,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-194.6,4.2,-10.5,14,131,7.80,2.55,-11.65,0.000,4,0.220,0.043,2093,1053,3773,0,0,0,0,0,0,25.17,26.01,26.45
$GC,301,-0.55,-194.6,61.8,-17.6,51,308,0.00,2.50,0.00,0.000,6,0.000,0.033,2080,2517,3775,0,0,0,0,0,0,28.83,26.10,28.83
$GC,495,-0.44,-194.6,120.8,-32.3,88,503,0.15,2.47,0.00,0.000,4,0.178,0.026,2134,1040,3775,0,0,0,0,0,0,25.91,26.21,28.83
$GC,630,-0.43,-194.6,145.7,-12.5,113,637,0.00,2.42,0.00,0.000,6,0.000,0.031,2123,2483,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,821,-0.39,-194.6,175.9,-15.4,150,828,0.00,2.03,0.00,0.000,4,0.000,0.038,2113,3836,3775,0,0,0,0,0,0,28.83,26.24,28.83
$GC,845,-0.35,-194.6,180.1,-16.6,154,854,0.15,2.03,0.00,0.000,6,0.129,0.018,2159,2410,3775,0,0,0,0,0,0,26.08,26.42,28.83
$GC,1040,-0.35,-194.6,200.3,-7.8,191,1049,0.00,2.17,0.00,0.000,4,0.000,0.023,2159,1026,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1086,-0.38,-194.6,203.5,-7.5,195,1093,0.00,2.38,0.00,0.000,6,0.000,0.028,2155,2481,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1394,-0.44,-194.6,223.5,-6.9,226,1403,0.00,2.00,0.00,0.000,4,0.000,0.037,2155,3824,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1600,-0.50,-194.6,242.4,-9.8,246,1610,0.12,2.00,0.00,0.000,6,0.076,0.019,2108,2410,3776,0,0,0,0,0,0,26.26,26.51,28.83
$GC,1909,-0.52,-194.6,270.0,-8.4,277,1913,0.00,2.20,0.00,0.000,4,0.000,0.039,2100,3828,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1991,-0.52,-194.6,277.3,-9.3,285,1995,0.00,1.77,0.00,0.000,6,0.000,0.018,2100,2520,3775,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2303,-0.50,-194.6,312.3,-11.9,316,2312,0.00,2.42,0.00,0.000,4,0.000,0.024,2100,1014,3774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2386,-0.51,-194.6,320.9,-9.0,324,2395,0.00,2.67,0.00,0.000,6,0.000,0.031,2092,2588,3773,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2697,-0.49,-194.6,357.7,-12.1,355,2706,0.00,2.58,0.00,0.000,4,0.000,0.024,2092,1043,3772,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2803,-0.50,-194.6,368.6,-9.4,365,2811,0.10,2.55,0.00,0.000,6,0.138,0.032,2114,2550,3771,0,0,0,0,0,0,26.22,26.36,28.83
$GC,3111,-0.50,-194.6,396.9,-8.4,396,3119,0.00,2.50,0.00,0.000,4,0.000,0.024,2115,1042,3769,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3156,-0.52,-194.6,400.3,-7.9,400,3162,0.00,2.50,0.00,0.000,6,0.000,0.031,2112,2532,3769,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3462,-0.52,-194.6,422.8,-7.6,431,3471,0.00,2.45,0.00,0.000,4,0.000,0.024,2112,1032,3766,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3487,-0.52,-194.6,424.8,-8.5,433,3495,0.00,2.47,0.00,0.000,6,0.000,0.032,2105,2514,3767,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3796,-0.52,-194.6,455.0,-8.3,464,3805,0.00,2.42,-0.08,0.000,4,0.000,0.034,2106,1049,3790,0,0,0,0,0,0,28.83,26.41,25.55
$GC,3828,-0.53,-194.6,457.7,-8.0,467,3837,0.00,2.45,0.00,0.000,6,0.000,0.032,2099,2507,3790,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4141,-0.53,-194.6,485.8,-8.7,498,4150,0.00,2.40,0.00,0.000,4,0.000,0.025,2099,1037,3789,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4185,-0.54,-194.6,489.7,-8.9,502,4192,0.00,2.45,0.00,0.000,6,0.000,0.034,2099,2501,3789,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4494,-0.54,-194.6,514.3,-7.8,533,4504,0.00,1.98,0.00,0.000,4,0.000,0.042,2089,3819,3785,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4538,-0.55,-194.6,517.9,-8.1,537,4548,0.00,2.00,0.00,0.000,6,0.000,0.019,2089,2422,3785,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4849,-0.55,-194.6,542.8,-8.4,568,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2422,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,-0.55,-194.6,570.3,-9.1,599,5168,0.00,2.22,0.00,0.000,4,0.000,0.028,2089,1047,3780,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5181,-0.55,-194.6,572.5,-9.2,601,5191,0.00,2.47,0.00,0.000,6,0.000,0.035,2086,2502,3780,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5502,-0.55,-194.6,603.0,-10.3,632,5507,0.00,2.40,0.00,0.000,4,0.000,0.028,2086,1037,3778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5549,-0.55,-194.6,606.5,-9.6,634,5553,0.00,2.45,0.00,0.000,6,0.000,0.033,2076,2498,3777,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5858,-0.54,-194.6,636.8,-10.5,649,5863,0.00,2.03,0.00,0.000,4,0.000,0.047,2066,3824,3774,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5885,-0.53,-194.6,638.8,-10.4,650,5889,0.12,2.05,0.00,0.000,6,0.120,0.021,2106,2419,3773,0,0,0,0,0,0,26.20,26.48,28.83
$GC,6194,-0.54,-194.6,662.9,-7.5,665,6199,0.00,2.22,0.00,0.000,4,0.000,0.044,2097,3826,3772,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6221,-0.55,-194.6,664.4,-7.5,666,6230,0.00,2.05,0.00,0.000,6,0.000,0.021,2096,2421,3771,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6533,-0.56,-194.6,688.9,-7.0,682,6539,0.00,2.20,0.00,0.000,4,0.000,0.027,2096,1047,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6576,-0.58,-194.6,691.5,-6.8,684,6582,0.00,2.45,0.00,0.000,6,0.000,0.035,2092,2492,3769,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6893,-0.58,-194.6,713.8,-7.2,700,6898,0.00,2.05,0.00,0.000,4,0.000,0.045,2083,3823,3767,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6925,-0.59,-194.6,715.3,-7.2,701,6933,0.00,2.05,0.00,0.000,6,0.000,0.021,2083,2422,3766,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7233,-0.59,-194.6,740.3,-7.6,717,7239,0.00,2.20,0.00,0.000,4,0.000,0.027,2083,1049,3764,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7275,-0.59,-194.6,743.2,-7.4,719,7280,0.00,2.42,0.00,0.000,6,0.000,0.035,2074,2490,3763,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7589,-0.59,-194.6,767.6,-7.5,735,7594,0.00,2.05,0.00,0.000,4,0.000,0.046,2064,3816,3762,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7621,-0.59,-194.6,769.1,-7.6,736,7627,0.00,2.05,0.00,0.000,6,0.000,0.021,2064,2425,3761,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7928,-0.58,-194.6,794.8,-8.1,752,7934,0.00,2.22,0.00,0.000,4,0.000,0.028,2064,1037,3760,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7989,-0.58,-194.6,799.5,-7.9,755,7995,0.08,2.45,0.00,0.000,6,0.091,0.035,2090,2497,3760,0,0,0,0,0,0,26.02,26.18,28.83
$GC,8311,-0.59,-194.6,820.4,-6.7,771,8314,0.00,2.05,0.00,0.000,4,0.000,0.047,2080,3832,3758,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8334,-0.60,-194.6,822.1,-6.8,772,8339,0.00,2.08,0.00,0.000,6,0.000,0.021,2080,2420,3758,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8653,-0.60,-194.6,846.9,-7.7,788,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2420,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8953,-0.60,-194.6,870.1,-7.9,803,8958,0.00,2.25,0.00,0.000,4,0.000,0.045,2071,3816,3755,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8987,-0.60,-194.6,871.6,-7.7,804,8994,0.00,2.05,0.00,0.000,6,0.000,0.022,2070,2424,3755,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9293,-0.60,-194.6,897.9,-8.0,820,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2423,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9594,-0.60,-194.6,922.1,-8.0,835,9599,0.00,2.25,0.00,0.000,4,0.000,0.045,2060,3823,3752,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9615,-0.60,-194.6,923.8,-8.0,836,9619,0.00,2.08,0.00,0.000,6,0.000,0.021,2060,2422,3751,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9928,-0.60,-194.6,952.7,-9.5,852,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2422,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10229,-0.59,-194.6,981.6,-9.4,867,10234,0.00,2.22,0.00,0.000,4,0.000,0.028,2060,1038,3749,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10250,-0.58,-194.6,983.5,-9.4,868,10255,0.12,2.45,0.00,0.000,6,0.118,0.034,2092,2490,3749,0,0,0,0,0,0,25.96,26.09,28.83
$STATE,10341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10341,begin apogee
$GC,10347,-0.20,0.0,990.4,-6.8,873,10544,0.32,0.10,189.07,1.172,4,0.089,0.073,2212,2481,2971,0,0,0,0,0,0,26.06,24.62,23.61
$STATE,10545,end apogee,CONTROL_FINISHED_OK
$STATE,10545,begin climb
$GC,10547,0.58,194.6,998.1,0.0,883,10764,0.65,2.25,203.32,1.155,4,0.041,0.044,2474,3820,2170,0,0,0,0,0,0,24.85,24.80,23.12
$GC,10910,0.50,194.6,929.9,24.3,901,10915,0.17,2.00,0.00,0.000,6,0.183,0.023,2440,2502,2149,0,0,0,0,0,0,25.08,25.48,28.83
$GC,11227,0.45,194.6,872.2,17.8,917,11232,0.00,2.40,0.00,0.000,4,0.000,0.031,2452,1080,2143,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11347,0.42,194.6,853.2,14.6,923,11353,0.10,2.53,0.00,0.000,6,0.143,0.034,2418,2542,2140,0,0,0,0,0,0,25.68,25.97,28.83
$GC,11669,0.39,194.6,806.3,14.9,939,11674,0.00,1.95,0.00,0.000,4,0.000,0.044,2418,3826,2140,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11741,0.35,194.6,795.9,16.8,942,11748,0.15,1.92,0.00,0.000,6,0.171,0.021,2388,2510,2139,0,0,0,0,0,0,25.75,26.18,28.83
$GC,12049,0.33,194.6,758.4,10.7,958,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2508,2139,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19081,end climb,SURFACE_DEPTH_REACHED
$STATE,19081,begin surface coast
$FINISH,0.3,1.021310
$STATE,19102,end surface coast,CONTROL_FINISHED_OK
$STATE,19102,begin surface
$SM_CCo,19182,0.00,0.000,0,0,883,514.15
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$IRIDIUM_FIX,2155.06,12313.03,030612,000058
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.70
$INTERNAL_PRESSURE,8.34372
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.1,41.650
$10V_AH,10.1,25.669
$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,17.225,203.200,701.150,0.000,0.000,54.485,62.796,250.694,0.000,0.000,16.608,4295.111,10580.127,848.314,3511.952,496.549,0.000,2559.024,0.000,2962.631,0.000,0.544,0.000
$DEVICE_MAMPS,220.320,100.215,1171.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.162,2236.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,106904,1720
$CAP_FILE_SIZE,221993,0
$CFSIZE,260165632,199643136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.198, 43.4,1
$GPS,030612,060237,2206.125,12313.772,34,1.2,34,-2.9