version: 66.10
glider: 169
mission: 6
dive: 218
start: 6 5 112 6 50 44
data:
$ID,169
$MISSION,6
$DIVE,218
$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,-15734.863
$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
$GPS1,050612,064237,2216.197,12300.638,39,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.3
$GPS2,050612,065019,2216.383,12300.857,12,1.7,12,-3.0
$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,271.0,184016,-13.8,-8.684
$D_GRID,2207
$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,-194.6,0.0,0.0,0,105,0.00,0.00,-85.53,0.000,2,0.000,0.000,116,2545,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.58,-194.6,4.0,-10.8,15,135,7.95,1.92,-11.57,0.000,4,0.226,0.044,2069,3847,3776,0,0,1,0,0,0,25.15,25.46,26.44
$GC,199,-0.53,-194.6,37.0,-23.9,31,206,0.00,2.00,0.00,0.000,6,0.000,0.024,2078,2475,3776,0,0,0,0,0,0,28.83,26.12,28.83
$GC,392,-0.44,-194.6,97.8,-29.2,68,399,0.17,2.38,0.00,0.000,4,0.171,0.024,2140,1044,3776,0,0,0,0,0,0,25.82,26.20,28.83
$GC,453,-0.44,-194.6,107.2,-9.5,79,460,0.00,2.50,0.00,0.000,6,0.000,0.031,2128,2501,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,644,-0.40,-194.6,138.2,-18.1,116,651,0.00,2.45,0.00,0.000,4,0.000,0.024,2136,1027,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,705,-0.40,-194.6,146.9,-11.2,127,712,0.00,2.45,0.00,0.000,6,0.000,0.032,2126,2472,3778,0,0,0,0,0,0,28.83,26.23,28.83
$GC,897,-0.37,-194.6,176.7,-16.0,164,904,0.00,2.03,0.00,0.000,4,0.000,0.039,2116,3827,3778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,921,-0.34,-194.6,180.4,-15.0,168,929,0.15,2.03,0.00,0.000,6,0.119,0.018,2165,2408,3778,0,0,0,0,0,0,26.12,26.41,28.83
$GC,1116,-0.36,-194.6,196.4,-6.8,205,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2407,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.39,-194.6,208.6,-5.6,229,1319,0.00,2.20,0.00,0.000,4,0.000,0.024,2165,1040,3778,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1344,-0.43,-194.6,210.5,-5.8,232,1352,0.00,2.42,0.00,0.000,6,0.000,0.029,2164,2491,3778,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1654,-0.51,-194.6,234.2,-9.7,263,1663,0.15,1.95,0.00,0.000,4,0.093,0.037,2095,3824,3778,0,0,0,0,0,0,26.46,26.31,28.83
$GC,1777,-0.59,-194.6,245.7,-9.5,275,1786,0.00,1.98,0.00,0.000,6,0.000,0.019,2105,2426,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2089,-0.65,-194.6,268.4,-6.8,306,2099,0.12,2.15,0.00,0.000,4,0.097,0.037,2039,3837,3777,0,0,0,0,0,0,26.51,26.31,28.83
$GC,2146,-0.64,-194.6,273.5,-9.9,311,2154,0.00,1.90,0.00,0.000,6,0.000,0.019,2040,2467,3776,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2454,-0.58,-194.6,326.3,-18.9,342,2463,0.12,2.35,0.00,0.000,4,0.145,0.024,2090,1034,3775,0,0,0,0,0,0,26.32,26.40,28.83
$GC,2560,-0.60,-194.6,338.9,-9.1,352,2569,0.00,2.50,0.00,0.000,6,0.000,0.032,2084,2506,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2870,-0.58,-194.6,376.3,-12.0,383,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2505,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3179,-0.56,-194.6,411.7,-11.3,414,3187,0.00,2.42,0.00,0.000,4,0.000,0.024,2085,1044,3771,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3232,-0.57,-194.6,417.2,-10.0,419,3242,0.00,2.47,0.00,0.000,6,0.000,0.033,2085,2498,3770,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3541,-0.56,-194.6,447.4,-9.9,450,3550,0.00,2.42,0.00,0.000,4,0.000,0.025,2085,1037,3768,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3613,-0.57,-194.6,454.1,-8.7,457,3622,0.00,2.45,0.00,0.000,6,0.000,0.034,2085,2484,3767,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3923,-0.56,-194.6,484.0,-9.2,488,3928,0.00,2.03,-0.10,0.000,4,0.000,0.056,2075,3823,3787,0,0,0,0,0,0,28.83,26.23,26.01
$GC,3956,-0.56,-194.6,487.2,-9.4,491,3960,0.00,2.03,0.00,0.000,6,0.000,0.021,2075,2424,3786,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4268,-0.54,-194.6,516.7,-10.0,522,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2423,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-0.53,-194.6,548.8,-10.7,552,4580,0.00,2.28,0.00,0.000,4,0.000,0.025,2075,1032,3781,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4606,-0.53,-194.6,552.5,-10.5,555,4614,0.12,2.47,0.00,0.000,6,0.119,0.033,2109,2488,3781,0,0,0,0,0,0,26.15,26.27,28.83
$GC,4914,-0.55,-194.6,573.7,-6.0,586,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2487,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,-0.57,-194.6,591.1,-5.3,616,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2487,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5535,-0.58,-194.6,608.9,-5.4,640,5541,0.00,2.40,0.00,0.000,4,0.000,0.026,2109,1050,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5562,-0.61,-194.6,610.0,-5.3,641,5566,0.00,2.47,0.00,0.000,6,0.000,0.034,2104,2490,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5873,-0.66,-194.6,627.8,-5.7,656,5879,0.12,2.40,0.00,0.000,4,0.080,0.024,2031,1040,3770,0,0,0,0,0,0,26.55,26.34,28.83
$GC,5953,-0.66,-194.6,635.0,-8.8,660,5958,0.10,2.62,0.00,0.000,6,0.103,0.035,2060,2542,3769,0,0,0,0,0,0,26.02,26.24,28.83
$GC,6275,-0.65,-194.6,669.4,-11.0,676,6280,0.00,2.53,0.00,0.000,4,0.000,0.025,2061,1050,3767,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6327,-0.64,-194.6,673.7,-10.6,678,6333,0.00,2.58,0.00,0.000,6,0.000,0.034,2049,2532,3767,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6634,-0.61,-194.6,712.6,-12.6,694,6640,0.00,2.53,0.00,0.000,4,0.000,0.026,2050,1042,3765,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6708,-0.60,-194.6,719.7,-11.9,697,6716,0.12,2.53,0.00,0.000,6,0.132,0.034,2079,2506,3765,0,0,0,0,0,0,26.03,26.20,28.83
$GC,7014,-0.60,-194.6,746.8,-7.7,713,7020,0.00,2.45,0.00,0.000,4,0.000,0.025,2080,1042,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7047,-0.60,-194.6,748.3,-7.6,714,7054,0.00,2.50,0.00,0.000,6,0.000,0.034,2072,2497,3763,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7356,-0.60,-194.6,773.9,-8.5,730,7361,0.00,1.98,0.00,0.000,4,0.000,0.047,2062,3818,3760,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7374,-0.60,-194.6,775.6,-8.5,731,7378,0.00,2.03,0.00,0.000,6,0.000,0.023,2061,2424,3760,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7697,-0.59,-194.6,806.3,-9.8,747,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2423,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,-0.58,-194.6,835.6,-10.0,762,8002,0.00,2.20,0.00,0.000,4,0.000,0.045,2051,3839,3758,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8019,-0.58,-194.6,837.6,-9.9,763,8024,0.12,2.03,0.00,0.000,6,0.120,0.022,2091,2426,3757,0,0,0,0,0,0,26.13,26.41,28.83
$GC,8335,-0.59,-194.6,860.4,-7.0,779,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2426,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8633,-0.60,-194.6,878.5,-5.9,794,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2426,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,-0.62,-194.6,896.4,-5.9,809,8939,0.00,2.30,0.00,0.000,4,0.000,0.026,2091,1041,3753,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8960,-0.63,-194.6,897.6,-5.9,810,8965,0.00,2.50,0.00,0.000,6,0.000,0.033,2089,2487,3754,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9269,-0.65,-194.6,916.8,-6.1,825,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2485,3752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9569,-0.66,-194.6,937.4,-7.5,840,9575,0.00,2.42,0.00,0.000,4,0.000,0.028,2089,1047,3751,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9610,-0.68,-194.6,940.7,-7.9,842,9615,0.00,2.47,0.00,0.000,6,0.000,0.036,2086,2479,3750,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9924,-0.72,-194.6,966.4,-7.9,858,9930,0.12,2.38,0.00,0.000,4,0.080,0.023,2003,1040,3749,0,0,0,0,0,0,26.53,26.23,28.83
$GC,9947,-0.75,-194.6,968.1,-7.9,859,9952,0.15,2.65,0.00,0.000,6,0.140,0.035,2035,2549,3749,0,0,0,0,0,0,25.80,26.08,28.83
$STATE,10138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10138,begin apogee
$GC,10145,-0.20,0.0,990.1,-10.9,869,10344,0.50,0.15,193.12,1.163,4,0.100,0.073,2208,2545,2977,0,0,0,0,0,0,25.70,24.58,23.51
$STATE,10345,end apogee,CONTROL_FINISHED_OK
$STATE,10345,begin climb
$GC,10347,0.58,194.6,999.2,0.0,879,10562,0.68,2.03,206.73,1.149,4,0.041,0.046,2474,3818,2183,0,0,0,0,0,0,24.76,24.72,23.02
$GC,10779,0.50,194.6,918.5,23.3,901,10784,0.12,1.95,0.00,0.000,6,0.176,0.022,2446,2504,2144,0,0,0,0,0,0,25.27,25.67,28.83
$GC,11100,0.44,194.6,852.7,20.6,917,11105,0.00,2.45,0.00,0.000,4,0.000,0.029,2460,1067,2140,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11187,0.40,194.6,837.4,18.8,921,11197,0.20,2.67,0.00,0.000,6,0.150,0.035,2402,2554,2136,0,0,0,0,0,0,25.63,25.98,28.83
$GC,11499,0.37,194.6,787.7,15.0,937,11505,0.00,1.88,0.00,0.000,4,0.000,0.044,2402,3823,2136,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11552,0.34,194.6,781.3,15.4,939,11559,0.00,1.85,0.00,0.000,6,0.000,0.022,2412,2522,2136,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11859,0.30,194.6,733.7,15.2,955,11865,0.12,2.00,0.00,0.000,4,0.176,0.041,2374,3818,2135,0,0,0,0,0,0,25.95,26.06,28.83
$GC,11900,0.27,194.6,727.9,15.1,957,11903,0.00,1.80,0.00,0.000,6,0.000,0.021,2383,2532,2135,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12222,0.26,194.6,690.5,11.2,973,12228,0.00,2.50,0.00,0.000,4,0.000,0.029,2396,1079,2135,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12261,0.25,194.6,686.4,10.8,975,12268,0.10,2.62,0.00,0.000,6,0.108,0.033,2358,2564,2133,0,0,0,0,0,0,25.90,26.14,28.83
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$STATE,18734,end climb,SURFACE_DEPTH_REACHED
$STATE,18734,begin surface coast
$FINISH,-0.2,0.999738
$STATE,18762,end surface coast,CONTROL_FINISHED_OK
$STATE,18762,begin surface
$SM_CCo,18840,0.00,0.000,0,0,787,537.70
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$IRIDIUM_FIX,2204.37,12303.97,050612,010147
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.0,43.927
$10V_AH,10.1,26.962
$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
$DEVICE_SECS,18.475,207.150,774.900,0.000,0.000,28.555,23.231,253.009,0.000,0.000,13.022,4291.717,10111.478,919.667,3455.482,489.966,0.000,2640.801,0.000,2968.705,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,106780,1719
$CAP_FILE_SIZE,224761,0
$CFSIZE,260165632,198516736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,1,0,0
$CURRENT,0.143, 28.2,1
$GPS,050612,120554,2218.021,12258.868,25,1.0,42,-3.0