version: 66.10
glider: 169
mission: 6
dive: 221
start: 6 5 112 23 10 42
data:
$ID,169
$MISSION,6
$DIVE,221
$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,-15738.64
$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
$GPS1,050612,230237,2218.386,12254.579,30,1.4,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-75.9
$GPS2,050612,231019,2218.418,12254.628,10,1.8,16,-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,314.1,172894,-13.8,-8.684
$D_GRID,2886
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-85.93,0.000,2,0.000,0.000,116,2530,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.58,-194.6,3.7,-9.9,15,136,7.90,1.98,-10.40,0.000,4,0.224,0.046,2068,3843,3775,0,0,0,0,0,0,25.12,26.00,26.41
$GC,189,-0.53,-194.6,38.4,-22.2,29,196,0.00,2.00,0.00,0.000,6,0.000,0.021,2076,2464,3777,0,0,0,0,0,0,28.83,26.12,28.83
$GC,381,-0.45,-194.6,83.1,-22.3,66,390,0.15,2.38,0.00,0.000,4,0.160,0.024,2132,1035,3778,0,0,0,0,0,0,25.90,26.14,28.83
$GC,485,-0.47,-194.6,97.2,-8.2,85,491,0.00,2.53,0.00,0.000,6,0.000,0.031,2122,2504,3778,0,0,0,0,0,0,28.83,26.13,28.83
$GC,675,-0.44,-194.6,121.9,-13.4,122,683,0.00,2.42,0.00,0.000,4,0.000,0.024,2125,1043,3778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,708,-0.43,-194.6,125.8,-12.3,127,715,0.00,2.47,0.00,0.000,6,0.000,0.031,2115,2492,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,898,-0.39,-194.6,150.9,-14.6,164,906,0.12,2.00,0.00,0.000,4,0.151,0.038,2146,3824,3778,0,0,0,0,0,0,26.18,26.19,28.83
$GC,929,-0.38,-194.6,154.9,-12.5,169,936,0.00,2.03,0.00,0.000,6,0.000,0.018,2146,2411,3779,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1121,-0.39,-194.6,171.2,-8.8,206,1129,0.00,2.22,0.00,0.000,4,0.000,0.025,2146,1034,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1158,-0.43,-194.6,174.2,-7.9,212,1165,0.00,2.45,0.00,0.000,6,0.000,0.031,2141,2487,3779,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1351,-0.49,-194.6,187.8,-6.5,249,1358,0.00,2.03,0.00,0.000,4,0.000,0.041,2141,3833,3779,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1450,-0.60,-194.6,195.3,-8.1,267,1458,0.17,1.95,0.00,0.000,6,0.059,0.018,2029,2416,3779,0,0,0,0,0,0,26.41,26.52,28.83
$GC,1643,-0.52,-194.6,229.5,-22.4,290,1650,0.22,0.00,0.00,0.000,6,0.138,0.000,2102,2416,3779,0,0,0,0,0,0,25.99,28.83,28.83
$GC,1951,-0.50,-194.6,267.8,-11.5,321,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2416,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,-0.49,-194.6,299.6,-10.9,351,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2416,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2564,-0.49,-194.6,329.4,-9.2,382,2573,0.00,2.25,0.00,0.000,4,0.000,0.024,2102,1031,3777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2599,-0.50,-194.6,332.5,-8.9,385,2607,0.00,2.50,0.00,0.000,6,0.000,0.031,2099,2504,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2906,-0.50,-194.6,361.7,-9.0,416,2915,0.00,2.45,0.00,0.000,4,0.000,0.024,2099,1031,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2941,-0.50,-194.6,364.5,-8.9,419,2948,0.00,2.47,0.00,0.000,6,0.000,0.032,2098,2492,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3248,-0.50,-194.6,393.4,-10.4,450,3257,0.00,2.03,0.00,0.000,4,0.000,0.042,2089,3830,3772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3270,-0.50,-194.6,395.8,-10.4,452,3279,0.00,2.03,0.00,0.000,6,0.000,0.019,2089,2414,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3581,-0.50,-194.6,429.2,-10.2,483,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2414,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.50,-194.6,456.0,-8.2,513,3891,0.00,2.22,0.00,0.000,4,0.000,0.043,2081,3817,3768,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3928,-0.50,-194.6,459.5,-8.2,517,3937,0.10,2.00,0.00,0.000,6,0.120,0.019,2114,2408,3767,0,0,0,0,0,0,26.29,26.50,28.83
$GC,4235,-0.51,-194.6,477.6,-5.7,548,4244,0.00,2.20,0.00,0.000,4,0.000,0.025,2114,1039,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4271,-0.54,-194.6,479.5,-6.0,551,4278,0.00,2.45,0.00,0.000,6,0.000,0.031,2112,2495,3766,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4578,-0.59,-194.6,498.3,-6.4,582,4588,0.00,2.40,-0.10,0.000,4,0.000,0.034,2112,1028,3785,0,0,0,0,0,0,28.83,26.34,25.97
$GC,4816,-0.66,-194.6,517.3,-8.7,605,4824,0.15,2.58,0.00,0.000,6,0.122,0.034,2064,2540,3785,0,0,0,0,0,0,26.04,26.25,28.83
$GC,5124,-0.68,-194.6,539.4,-6.8,636,5132,0.00,2.50,0.00,0.000,4,0.000,0.024,2064,1032,3783,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5149,-0.69,-194.6,541.0,-6.9,638,5156,0.00,2.28,0.00,0.000,6,0.000,0.032,2055,2417,3782,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5457,-0.67,-194.6,574.9,-11.3,669,5466,0.00,2.20,0.00,0.000,4,0.000,0.024,2055,1037,3781,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5573,-0.67,-194.6,585.6,-8.7,680,5580,0.00,2.30,0.00,0.000,6,0.000,0.034,2045,2422,3780,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5892,-0.64,-194.6,621.1,-11.6,703,5897,0.00,2.15,0.00,0.000,4,0.000,0.044,2034,3829,3778,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5959,-0.61,-194.6,627.8,-11.4,706,5969,0.15,2.15,0.00,0.000,6,0.122,0.021,2082,2370,3777,0,0,0,0,0,0,26.08,26.41,28.83
$GC,6271,-0.61,-194.6,650.8,-6.9,722,6276,0.00,2.12,0.00,0.000,4,0.000,0.028,2082,1042,3776,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6303,-0.61,-194.6,652.0,-6.7,723,6310,0.00,2.33,0.00,0.000,6,0.000,0.034,2076,2429,3776,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6612,-0.61,-194.6,673.7,-7.0,739,6617,0.00,2.12,0.00,0.000,4,0.000,0.044,2065,3817,3774,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6643,-0.61,-194.6,675.2,-7.2,740,6650,0.00,2.15,0.00,0.000,6,0.000,0.021,2065,2366,3773,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6951,-0.60,-194.6,703.3,-9.3,756,6957,0.00,2.33,0.00,0.000,4,0.000,0.044,2053,3821,3772,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6972,-0.59,-194.6,705.2,-9.3,757,6977,0.00,2.12,0.00,0.000,6,0.000,0.021,2053,2378,3772,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7291,-0.58,-194.6,740.9,-11.4,773,7297,0.12,2.30,0.00,0.000,4,0.129,0.042,2087,3828,3770,0,0,0,0,0,0,26.32,26.08,28.83
$GC,7324,-0.57,-194.6,742.9,-11.3,774,7331,0.00,2.12,0.00,0.000,6,0.000,0.020,2088,2378,3770,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7632,-0.58,-194.6,767.5,-7.3,790,7637,0.00,2.30,0.00,0.000,4,0.000,0.044,2079,3826,3768,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7671,-0.60,-194.6,770.5,-7.5,792,7676,0.00,2.10,0.00,0.000,6,0.000,0.021,2079,2392,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7992,-0.60,-194.6,794.8,-7.4,808,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2391,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8291,-0.61,-194.6,815.9,-6.9,823,8297,0.00,2.30,0.00,0.000,4,0.000,0.047,2069,3814,3765,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8332,-0.62,-194.6,818.8,-7.1,825,8337,0.00,2.08,0.00,0.000,6,0.000,0.021,2069,2398,3764,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8651,-0.62,-194.6,841.6,-7.4,841,8656,0.00,2.17,0.00,0.000,4,0.000,0.027,2069,1045,3763,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8699,-0.63,-194.6,844.7,-7.4,843,8704,0.00,2.38,0.00,0.000,6,0.000,0.034,2059,2450,3763,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9008,-0.62,-194.6,869.6,-7.9,858,9013,0.00,2.10,0.00,0.000,4,0.000,0.046,2049,3820,3762,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9035,-0.61,-194.6,871.1,-7.7,859,9039,0.00,2.12,0.00,0.000,6,0.000,0.021,2049,2395,3761,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9343,-0.60,-194.6,896.3,-8.0,874,9345,0.10,0.00,0.00,0.000,6,0.137,0.000,2081,2394,3761,0,0,0,0,0,0,26.43,28.83,28.83
$GC,9642,-0.61,-194.6,911.5,-4.9,889,9647,0.00,2.30,0.00,0.000,4,0.000,0.046,2069,3824,3760,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9676,-0.62,-194.6,912.3,-4.8,890,9682,0.00,2.10,0.00,0.000,6,0.000,0.023,2069,2407,3759,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9982,-0.62,-194.6,930.9,-6.3,906,9988,0.00,2.20,0.00,0.000,4,0.000,0.028,2069,1053,3759,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10015,-0.63,-194.6,932.1,-6.4,907,10022,0.00,2.38,0.00,0.000,6,0.000,0.037,2060,2454,3759,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10323,-0.63,-194.6,954.7,-7.5,923,10326,0.00,2.15,0.00,0.000,4,0.000,0.047,2050,3825,3758,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10367,-0.63,-194.6,958.2,-7.9,925,10371,0.00,2.12,0.00,0.000,6,0.000,0.021,2050,2399,3757,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10681,-0.62,-194.6,988.5,-10.2,941,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2399,3757,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10697,begin apogee
$GC,10704,-0.20,0.0,990.6,-10.4,942,10904,0.45,0.08,194.57,1.173,4,0.097,0.088,2206,2489,2977,0,0,0,0,0,0,25.74,24.46,23.42
$STATE,10905,end apogee,CONTROL_FINISHED_OK
$STATE,10905,begin climb
$GC,10908,0.58,194.6,1001.7,0.0,952,11126,0.68,2.22,207.25,1.156,4,0.042,0.044,2472,3818,2179,0,0,0,0,0,0,24.70,24.65,22.89
$GC,11135,0.49,194.6,972.1,20.8,964,11141,0.12,2.08,0.00,0.000,6,0.174,0.021,2446,2509,2159,0,0,0,0,0,0,24.02,24.28,28.83
$GC,11456,0.43,194.6,915.9,16.5,980,11462,0.12,2.05,0.00,0.000,4,0.187,0.042,2411,3817,2144,0,0,0,0,0,0,25.54,25.75,28.83
$GC,11558,0.39,194.6,900.0,15.5,985,11562,0.00,1.90,0.00,0.000,6,0.000,0.021,2422,2518,2142,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,18343,end climb,SURFACE_DEPTH_REACHED
$STATE,18343,begin surface coast
$FINISH,-0.4,1.021780
$STATE,18376,end surface coast,CONTROL_FINISHED_OK
$STATE,18377,begin surface
$SM_CCo,18454,0.00,0.000,0,0,580,588.47
$SM_GC,0.39,6.05,0.05,0.00,0.019,0.147,0.000,125,2517,580,-6.63,-0.51,588.47,0,0,0,0,0,0,26.29,26.49,28.83
$IRIDIUM_FIX,2209.02,12256.84,050612,171701
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.66
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,22.9,44.610
$10V_AH,10.0,27.351
$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,18.450,201.025,894.325,0.000,0.000,30.870,17.957,253.777,0.000,0.000,16.939,4122.307,9946.943,954.998,3367.906,485.167,0.000,2672.400,0.000,2893.065,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,146.880,1172.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.294,2098.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,103430,1649
$CAP_FILE_SIZE,222065,0
$CFSIZE,260165632,198176768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.014, 54.9,1
$GPS,060612,041924,2220.190,12252.300,39,1.0,39,-3.0