version: 66.10
glider: 169
mission: 6
dive: 258
start: 6 14 112 2 17 3
data:
$ID,169
$MISSION,6
$DIVE,258
$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,-8
$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,-15789.229
$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,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,140612,020607,2254.003,12151.349,34,1.0,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.3
$GPS2,140612,021638,2254.370,12151.396,13,1.3,13,-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,277.6,46783,-13.8,-8.684
$D_GRID,4284
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-194.6,0.0,0.0,0,100,0.00,0.00,-79.75,0.000,2,0.000,0.000,117,2381,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-194.6,4.2,-12.2,14,130,8.05,2.33,-12.10,0.000,4,0.226,0.033,2089,966,3775,0,0,0,0,0,0,25.05,26.10,26.46
$GC,205,-0.57,-194.6,37.4,-15.3,32,212,0.00,2.58,0.00,0.000,6,0.000,0.031,2077,2476,3777,0,0,0,0,0,0,28.83,26.05,28.83
$GC,398,-0.49,-194.6,93.9,-24.0,69,405,0.12,0.00,0.00,0.000,6,0.174,0.000,2114,2475,3777,0,0,0,0,0,0,26.01,28.83,28.83
$GC,591,-0.45,-194.6,124.4,-13.9,106,598,0.00,2.47,0.00,0.000,4,0.000,0.024,2121,987,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,661,-0.48,-194.6,131.9,-8.7,119,667,0.00,2.47,0.00,0.000,6,0.000,0.031,2112,2445,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,852,-0.45,-194.6,155.3,-12.9,156,860,0.00,2.12,0.00,0.000,4,0.000,0.041,2101,3837,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,898,-0.45,-194.6,160.6,-11.1,164,904,0.00,2.10,0.00,0.000,6,0.000,0.018,2101,2382,3778,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1089,-0.43,-194.6,184.1,-12.3,201,1097,0.12,2.25,0.00,0.000,4,0.140,0.021,2144,967,3777,0,0,0,0,0,0,26.28,26.36,28.83
$GC,1125,-0.46,-194.6,187.5,-7.9,207,1132,0.00,2.50,0.00,0.000,6,0.000,0.029,2144,2462,3778,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1319,-0.47,-194.6,202.3,-7.8,244,1325,0.00,2.08,0.00,0.000,4,0.000,0.041,2134,3836,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1358,-0.51,-194.6,205.5,-8.5,251,1365,0.00,2.08,0.00,0.000,6,0.000,0.018,2134,2381,3777,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1673,-0.55,-194.6,229.4,-6.6,312,1681,0.12,2.30,0.00,0.000,4,0.078,0.037,2045,3841,3777,0,0,0,0,0,0,26.56,26.29,28.83
$GC,1719,-0.53,-194.6,234.0,-11.1,320,1726,0.20,1.83,0.00,0.000,6,0.122,0.018,2107,2489,3777,0,0,0,0,0,0,26.06,26.51,28.83
$GC,2034,-0.52,-194.6,265.7,-11.8,381,2042,0.00,2.50,0.00,0.000,4,0.000,0.023,2108,973,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2106,-0.54,-194.6,272.8,-7.4,394,2113,0.00,2.75,0.00,0.000,6,0.000,0.031,2102,2554,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2418,-0.54,-194.6,304.8,-8.9,455,2424,0.00,2.67,0.00,0.000,4,0.000,0.024,2102,981,3774,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2463,-0.56,-194.6,308.5,-7.4,463,2470,0.00,2.72,0.00,0.000,6,0.000,0.032,2098,2546,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2775,-0.56,-194.6,337.1,-10.1,524,2782,0.00,2.65,0.00,0.000,4,0.000,0.024,2099,987,3773,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2827,-0.59,-194.6,341.6,-7.8,533,2835,0.00,2.70,0.00,0.000,6,0.000,0.033,2099,2534,3772,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3140,-0.59,-194.6,371.0,-8.1,594,3147,0.00,2.60,0.00,0.000,4,0.000,0.024,2099,986,3770,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3160,-0.59,-194.6,372.8,-8.4,597,3168,0.00,2.67,0.00,0.000,6,0.000,0.031,2099,2531,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3473,-0.59,-194.6,398.3,-8.4,658,3480,0.00,2.60,0.00,0.000,4,0.000,0.025,2099,992,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3504,-0.60,-194.6,401.0,-8.5,663,3511,0.00,2.62,0.00,0.000,6,0.000,0.032,2099,2513,3767,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3817,-0.60,-194.6,426.0,-8.0,724,3824,0.00,2.55,0.00,0.000,4,0.000,0.024,2099,977,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3837,-0.60,-194.6,427.7,-7.8,727,3844,0.00,2.62,0.00,0.000,6,0.000,0.033,2099,2504,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4149,-0.60,-194.6,452.0,-7.5,788,4156,0.00,0.00,-0.10,0.000,6,0.000,0.000,2099,2502,3784,0,0,0,0,0,0,28.83,28.83,25.99
$GC,4461,-0.60,-194.6,476.7,-8.1,849,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.61,-194.6,501.1,-8.1,909,4784,0.00,2.53,0.00,0.000,4,0.000,0.027,2099,989,3781,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4821,-0.64,-194.6,504.3,-7.5,913,4829,0.00,2.60,0.00,0.000,6,0.000,0.034,2099,2497,3780,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5128,-0.68,-194.6,524.3,-5.8,944,5137,0.12,2.50,0.00,0.000,4,0.080,0.023,2024,971,3778,0,0,0,0,0,0,26.56,26.35,28.83
$GC,5154,-0.72,-194.6,526.0,-6.6,946,5162,0.10,2.83,0.00,0.000,6,0.159,0.034,2041,2583,3778,0,0,0,0,0,0,26.08,26.27,28.83
$GC,5461,-0.69,-194.6,563.6,-12.8,977,5471,0.00,2.72,0.00,0.000,4,0.000,0.026,2042,996,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5526,-0.69,-194.6,570.8,-10.3,983,5533,0.00,2.72,0.00,0.000,6,0.000,0.035,2030,2546,3776,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5834,-0.64,-194.6,614.1,-14.7,1014,5844,0.12,2.65,0.00,0.000,4,0.151,0.024,2073,990,3773,0,0,0,0,0,0,26.27,26.29,28.83
$GC,5890,-0.64,-194.6,619.6,-9.7,1019,5897,0.00,2.70,0.00,0.000,6,0.000,0.036,2065,2535,3773,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6197,-0.63,-194.6,649.2,-9.4,1050,6206,0.00,2.62,0.00,0.000,4,0.000,0.027,2066,990,3771,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6241,-0.63,-194.6,653.1,-9.2,1054,6248,0.00,2.65,0.00,0.000,6,0.000,0.035,2056,2518,3771,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6549,-0.61,-194.6,685.9,-11.1,1085,6559,0.00,2.58,0.00,0.000,4,0.000,0.027,2056,997,3769,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6602,-0.61,-194.6,691.4,-10.2,1090,6611,0.00,2.60,0.00,0.000,6,0.000,0.034,2046,2505,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6912,-0.59,-194.6,728.5,-12.0,1121,6914,0.12,0.00,0.00,0.000,6,0.141,0.000,2084,2503,3767,0,0,0,0,0,0,26.33,28.83,28.83
$GC,7213,-0.60,-194.6,750.9,-6.7,1151,7221,0.00,2.53,0.00,0.000,4,0.000,0.027,2084,993,3765,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7256,-0.62,-194.6,753.8,-7.0,1155,7264,0.00,2.58,0.00,0.000,6,0.000,0.035,2082,2493,3764,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7566,-0.66,-194.6,774.6,-6.7,1186,7575,0.00,2.50,0.00,0.000,4,0.000,0.026,2082,987,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7582,-0.69,-194.6,775.3,-6.6,1187,7589,0.00,2.85,0.00,0.000,6,0.000,0.035,2082,2600,3762,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7891,-0.73,-194.6,796.8,-6.7,1218,7897,0.12,0.00,0.00,0.000,6,0.077,0.000,1978,2598,3761,0,0,0,0,0,0,26.55,28.83,28.83
$GC,8198,-0.67,-194.6,848.2,-16.7,1249,8208,0.22,2.78,0.00,0.000,4,0.143,0.029,2065,994,3759,0,0,0,0,0,0,25.91,26.16,28.83
$GC,8345,-0.69,-194.6,860.8,-7.2,1263,8353,0.00,2.65,0.00,0.000,6,0.000,0.035,2053,2522,3758,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8654,-0.68,-194.6,887.3,-8.7,1294,8663,0.00,2.60,0.00,0.000,4,0.000,0.028,2054,999,3757,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8699,-0.68,-194.6,890.9,-8.7,1298,8706,0.00,2.62,0.00,0.000,6,0.000,0.037,2042,2506,3757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9006,-0.66,-194.6,921.9,-10.3,1329,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2505,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9310,-0.65,-194.6,953.5,-10.8,1359,9319,0.00,2.55,0.00,0.000,4,0.000,0.028,2043,998,3753,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9372,-0.66,-194.6,960.3,-9.8,1365,9382,0.00,2.60,0.00,0.000,6,0.000,0.037,2033,2497,3753,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9632,begin apogee
$GC,9638,-0.20,0.0,990.1,-11.5,1391,9836,0.50,0.08,191.82,1.159,4,0.101,0.093,2204,2517,2978,0,0,0,0,0,0,25.73,24.63,23.59
$STATE,9837,end apogee,CONTROL_FINISHED_OK
$STATE,9837,begin climb
$GC,9840,0.58,194.6,999.4,0.0,1411,10058,0.65,2.60,207.30,1.082,4,0.038,0.029,2471,1093,2180,0,0,0,0,0,0,24.92,24.91,23.22
$GC,10126,0.54,194.6,966.5,16.8,1439,10133,0.00,2.75,0.00,0.000,6,0.000,0.041,2471,2548,2151,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10431,0.48,194.6,902.5,21.3,1470,10440,0.12,2.58,0.00,0.000,4,0.181,0.028,2448,1092,2146,0,0,0,0,0,0,25.70,25.96,28.83
$GC,10536,0.45,194.6,886.3,14.6,1480,10545,0.00,2.67,0.00,0.000,6,0.000,0.038,2448,2553,2144,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10844,0.39,194.6,829.9,18.1,1511,10848,0.12,1.88,0.00,0.000,4,0.176,0.044,2409,3823,2143,0,0,0,0,0,0,25.90,26.05,28.83
$GC,10937,0.36,194.6,814.1,16.4,1520,10941,0.00,1.83,0.00,0.000,6,0.000,0.022,2419,2533,2142,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11250,0.32,194.6,769.0,13.8,1551,11259,0.12,2.50,0.00,0.000,4,0.179,0.030,2394,1097,2141,0,0,0,0,0,0,25.98,26.15,28.83
$GC,11275,0.29,194.6,766.1,12.9,1553,11283,0.00,2.65,0.00,0.000,6,0.000,0.034,2394,2572,2140,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11582,0.27,194.6,730.9,11.8,1584,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2570,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11885,0.25,194.6,696.0,11.1,1614,11891,0.12,0.00,0.00,0.000,6,0.155,0.000,2359,2570,2140,0,0,0,0,0,0,26.16,28.83,28.83
$GC,12192,0.27,211.9,669.6,8.2,1645,12213,0.00,2.65,13.62,0.923,4,0.000,0.030,2372,1084,2111,0,0,0,0,0,0,28.83,26.10,24.67
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$STATE,18735,end climb,SURFACE_DEPTH_REACHED
$STATE,18735,begin surface coast
$FINISH,-0.1,1.021200
$STATE,18752,end surface coast,CONTROL_FINISHED_OK
$STATE,18752,begin surface
$SM_CCo,18829,0.00,0.000,0,0,795,535.74
$SM_GC,0.52,6.40,0.08,0.00,0.027,0.099,0.000,131,2402,795,-6.61,0.28,535.74,0,0,0,0,0,0,26.29,26.51,28.83
$IRIDIUM_FIX,2244.02,12157.60,130612,202049
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.85
$INTERNAL_PRESSURE,8.32419
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.2,52.536
$10V_AH,10.1,32.289
$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,18.850,215.825,737.750,0.000,0.000,28.997,41.781,376.744,0.000,0.000,14.574,6503.065,6576.321,973.591,4740.428,616.495,0.000,3176.278,0.000,4137.610,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,98.685,1158.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1855.745,2218.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,170225,2732
$CAP_FILE_SIZE,270054,0
$CFSIZE,260165632,193757184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 37.4,1
$GPS,140612,073201,2255.259,12149.049,40,1.1,40,-3.0