version: 66.10
glider: 169
mission: 6
dive: 263
start: 6 15 112 5 51 18
data:
$ID,169
$MISSION,6
$DIVE,263
$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,-15797.296
$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
$GPS1,150612,054037,2259.647,12140.613,31,1.4,31,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.8
$GPS2,150612,055052,2259.805,12140.726,14,2.9,33,-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,275.5,26321,-13.8,-8.684
$D_GRID,2809
$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,-79.18,0.000,2,0.000,0.000,116,2470,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-194.6,3.0,-6.5,14,135,8.07,2.47,-16.75,0.000,4,0.228,0.030,2090,967,3775,0,0,0,0,0,0,25.02,26.11,26.50
$GC,184,-0.51,-194.6,32.4,-29.0,28,192,0.12,2.60,0.00,0.000,6,0.138,0.037,2113,2468,3776,0,0,0,0,0,0,25.83,26.00,28.83
$GC,378,-0.44,-194.6,75.5,-23.9,65,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2467,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,569,-0.41,-194.6,107.9,-11.8,102,578,0.00,2.45,0.00,0.000,4,0.000,0.024,2117,988,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,625,-0.43,-194.6,114.1,-9.4,112,633,0.00,2.45,0.00,0.000,6,0.000,0.032,2112,2437,3776,0,0,0,0,0,0,28.83,26.22,28.83
$GC,819,-0.41,-194.6,135.3,-10.6,149,825,0.00,2.12,0.00,0.000,4,0.000,0.041,2101,3836,3777,0,0,0,0,0,0,28.83,26.20,28.83
$GC,844,-0.39,-194.6,138.1,-11.3,153,851,0.15,2.15,0.00,0.000,6,0.119,0.018,2148,2358,3777,0,0,0,0,0,0,26.12,26.42,28.83
$GC,1036,-0.40,-194.6,153.8,-7.3,190,1042,0.00,2.20,0.00,0.000,4,0.000,0.024,2148,968,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1077,-0.45,-194.6,156.9,-7.5,197,1084,0.00,2.40,0.00,0.000,6,0.000,0.028,2147,2421,3777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1269,-0.53,-194.6,172.3,-9.5,234,1277,0.12,2.15,0.00,0.000,4,0.095,0.036,2091,3840,3777,0,0,0,0,0,0,26.46,26.27,28.83
$GC,1479,-0.61,-194.6,190.3,-7.8,274,1486,0.00,2.05,0.00,0.000,6,0.000,0.018,2094,2399,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1671,-0.64,-194.6,204.3,-7.6,311,1678,0.00,2.25,0.00,0.000,4,0.000,0.038,2092,3834,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1772,-0.64,-194.6,212.8,-9.2,330,1779,0.00,1.88,0.00,0.000,6,0.000,0.018,2092,2469,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2083,-0.63,-194.6,247.0,-10.5,391,2090,0.00,2.42,0.00,0.000,4,0.000,0.023,2092,985,3774,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2138,-0.64,-194.6,252.5,-8.8,401,2147,0.00,2.65,0.00,0.000,6,0.000,0.031,2085,2526,3774,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2453,-0.63,-194.6,289.4,-12.0,462,2460,0.00,2.58,0.00,0.000,4,0.000,0.023,2085,982,3773,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2502,-0.64,-194.6,294.6,-9.1,471,2509,0.00,2.60,0.00,0.000,6,0.000,0.031,2076,2509,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2815,-0.62,-194.6,331.5,-11.6,532,2822,0.00,2.55,0.00,0.000,4,0.000,0.024,2075,971,3771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2852,-0.62,-194.6,335.4,-10.6,538,2859,0.00,2.58,0.00,0.000,6,0.000,0.031,2065,2491,3771,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3162,-0.60,-194.6,374.3,-12.1,599,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2490,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.58,-194.6,409.4,-10.7,660,3480,0.00,2.50,0.00,0.000,4,0.000,0.024,2065,985,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3519,-0.58,-194.6,413.9,-9.5,668,3527,0.10,2.58,0.00,0.000,6,0.140,0.033,2086,2492,3767,0,0,0,0,0,0,26.15,26.29,28.83
$GC,3834,-0.58,-194.6,439.8,-8.8,729,3841,0.00,0.00,-0.08,0.000,6,0.000,0.000,2087,2491,3790,0,0,0,0,0,0,28.83,28.83,25.51
$GC,4148,-0.58,-194.6,467.7,-9.0,790,4155,0.00,2.47,0.00,0.000,4,0.000,0.024,2087,988,3789,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4178,-0.60,-194.6,470.6,-8.7,795,4184,0.00,2.55,0.00,0.000,6,0.000,0.033,2085,2482,3789,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4494,-0.60,-194.6,503.4,-10.6,854,4503,0.00,2.05,0.00,0.000,4,0.000,0.044,2075,3835,3786,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4529,-0.60,-194.6,506.7,-10.2,857,4537,0.00,2.05,0.00,0.000,6,0.000,0.019,2076,2410,3786,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4836,-0.60,-194.6,537.0,-9.3,888,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2410,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,-0.59,-194.6,565.2,-9.5,918,5147,0.00,2.22,0.00,0.000,4,0.000,0.043,2065,3827,3781,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5164,-0.59,-194.6,567.5,-9.6,920,5170,0.00,2.03,0.00,0.000,6,0.000,0.020,2065,2413,3780,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5470,-0.58,-194.6,598.5,-9.8,951,5474,0.00,2.30,0.00,0.000,4,0.000,0.026,2065,999,3779,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5504,-0.58,-194.6,601.5,-9.7,954,5512,0.10,2.58,0.00,0.000,6,0.129,0.034,2090,2489,3779,0,0,0,0,0,0,26.11,26.22,28.83
$GC,5813,-0.59,-194.6,623.5,-7.0,985,5817,0.00,2.05,0.00,0.000,4,0.000,0.045,2081,3827,3776,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5859,-0.61,-194.6,626.4,-6.8,989,5867,0.00,2.03,0.00,0.000,6,0.000,0.020,2081,2418,3775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6165,-0.61,-194.6,650.0,-7.3,1020,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2418,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,-0.61,-194.6,671.2,-6.5,1050,6479,0.00,2.22,0.00,0.000,4,0.000,0.044,2071,3819,3771,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6513,-0.63,-194.6,674.3,-6.6,1054,6522,0.00,2.00,0.00,0.000,6,0.000,0.021,2071,2435,3770,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6822,-0.63,-194.6,695.6,-7.7,1085,6832,0.00,2.35,0.00,0.000,4,0.000,0.026,2071,989,3768,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6846,-0.63,-194.6,697.4,-7.6,1087,6855,0.00,2.58,0.00,0.000,6,0.000,0.033,2060,2502,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7155,-0.62,-194.6,723.9,-8.8,1118,7164,0.00,2.00,0.00,0.000,4,0.000,0.046,2050,3820,3766,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7187,-0.61,-194.6,726.7,-8.8,1121,7191,0.00,2.00,0.00,0.000,6,0.000,0.022,2050,2447,3766,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7500,-0.60,-194.6,757.1,-9.8,1152,7509,0.10,2.40,0.00,0.000,4,0.138,0.026,2081,990,3764,0,0,0,0,0,0,26.44,26.23,28.83
$GC,7543,-0.61,-194.6,760.6,-8.1,1156,7552,0.00,2.58,0.00,0.000,6,0.000,0.033,2071,2504,3764,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7853,-0.61,-194.6,787.5,-9.4,1187,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2502,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,-0.61,-194.6,813.6,-8.1,1217,8164,0.00,2.53,0.00,0.000,4,0.000,0.028,2071,997,3761,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8187,-0.62,-194.6,816.4,-7.9,1220,8196,0.00,2.60,0.00,0.000,6,0.000,0.035,2061,2501,3761,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8497,-0.62,-194.6,842.3,-8.3,1251,8505,0.00,2.05,0.00,0.000,4,0.000,0.047,2051,3828,3759,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8519,-0.62,-194.6,844.2,-8.5,1253,8528,0.00,2.03,0.00,0.000,6,0.000,0.021,2051,2434,3759,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8829,-0.61,-194.6,873.6,-10.2,1284,8838,0.00,2.35,0.00,0.000,4,0.000,0.027,2051,997,3758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8854,-0.61,-194.6,875.8,-10.1,1286,8861,0.12,2.58,0.00,0.000,6,0.123,0.034,2086,2498,3758,0,0,0,0,0,0,25.96,26.10,28.83
$GC,9161,-0.62,-194.6,898.8,-7.2,1317,9165,0.00,2.05,0.00,0.000,4,0.000,0.046,2076,3835,3756,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9184,-0.64,-194.6,900.4,-7.3,1319,9192,0.00,2.03,0.00,0.000,6,0.000,0.021,2076,2426,3756,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9494,-0.65,-194.6,924.4,-7.7,1350,9503,0.00,2.35,0.00,0.000,4,0.000,0.027,2077,988,3755,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9520,-0.67,-194.6,926.0,-7.2,1352,9527,0.00,2.58,0.00,0.000,6,0.000,0.035,2070,2490,3755,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9827,-0.67,-194.6,946.2,-5.9,1383,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2489,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10131,-0.68,-194.6,963.7,-5.9,1413,10140,0.00,2.50,0.00,0.000,4,0.000,0.028,2070,997,3753,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10154,-0.69,-194.6,965.4,-6.0,1415,10164,0.00,2.55,0.00,0.000,6,0.000,0.037,2069,2487,3753,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10465,-0.70,-194.6,984.9,-7.2,1446,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2487,3751,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10532,begin apogee
$GC,10538,-0.20,0.0,990.1,-7.5,1453,10736,0.40,0.03,192.00,1.095,4,0.089,0.063,2213,2525,2977,0,0,0,0,0,0,25.91,24.39,23.54
$STATE,10737,end apogee,CONTROL_FINISHED_OK
$STATE,10737,begin climb
$GC,10741,0.58,194.6,998.7,0.0,1473,10957,0.65,2.65,207.27,1.067,4,0.039,0.028,2483,1079,2183,0,0,0,0,0,0,24.94,24.91,23.14
$GC,11058,0.54,194.6,958.3,16.7,1505,11067,0.10,2.75,0.00,0.000,6,0.153,0.039,2451,2548,2151,0,0,0,0,0,0,25.07,25.33,28.83
$GC,11369,0.48,194.6,901.1,18.3,1536,11378,0.00,2.58,0.00,0.000,4,0.000,0.029,2465,1089,2146,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11473,0.44,194.6,883.7,16.0,1546,11482,0.15,2.67,0.00,0.000,6,0.160,0.037,2424,2557,2145,0,0,0,0,0,0,25.66,25.98,28.83
$GC,11781,0.41,194.6,834.1,15.6,1577,11785,0.00,1.88,0.00,0.000,4,0.000,0.044,2424,3846,2144,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19091,end climb,SURFACE_DEPTH_REACHED
$STATE,19091,begin surface coast
$FINISH,-0.4,1.021178
$STATE,19104,end surface coast,CONTROL_FINISHED_OK
$STATE,19104,begin surface
$SM_CCo,19181,0.00,0.000,0,0,522,602.46
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.91
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.1,53.597
$10V_AH,10.0,33.127
$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
$DEVICE_SECS,18.450,214.500,851.775,0.000,0.000,28.856,18.501,361.951,0.000,0.000,35.051,6304.500,7129.104,1072.120,4619.445,619.483,0.000,3263.328,0.000,4044.065,0.000,0.542,0.000
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$MEM,324620
$DATA_FILE_SIZE,166558,2673
$CAP_FILE_SIZE,265743,0
$CFSIZE,260165632,193011712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,105.7,1
$GPS,150612,111207,2259.984,12138.372,40,0.9,40,-3.0