version: 66.10
glider: 169
mission: 6
dive: 265
start: 6 15 112 17 0 58
data:
$ID,169
$MISSION,6
$DIVE,265
$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,-15803.966
$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
$GPS1,150612,165031,2300.881,12136.251,37,1.3,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.2
$GPS2,150612,170032,2301.204,12136.421,15,1.2,15,-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,287.4,18569,-13.8,-8.684
$D_GRID,1938
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-79.78,0.000,2,0.000,0.000,116,2474,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.58,-194.6,3.8,-9.9,14,129,8.07,2.60,-12.98,0.000,4,0.226,0.035,2092,969,3775,0,0,0,0,0,0,24.99,26.06,26.46
$GC,258,-0.57,-194.6,53.0,-13.9,43,265,0.00,2.58,0.00,0.000,6,0.000,0.031,2080,2467,3778,0,0,0,0,0,0,28.83,26.07,28.83
$GC,449,-0.50,-194.6,95.0,-20.4,80,457,0.12,2.47,0.00,0.000,4,0.165,0.022,2129,983,3778,0,0,0,0,0,0,26.06,26.21,28.83
$GC,481,-0.47,-194.6,99.6,-13.5,85,489,0.00,2.45,0.00,0.000,6,0.000,0.031,2118,2418,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,673,-0.46,-194.6,121.2,-9.5,122,680,0.00,2.15,0.00,0.000,4,0.000,0.043,2108,3832,3778,0,0,0,0,0,0,28.83,26.15,28.83
$GC,714,-0.47,-194.6,125.0,-9.3,129,722,0.00,2.10,0.00,0.000,6,0.000,0.018,2108,2371,3779,0,0,0,0,0,0,28.83,26.41,28.83
$GC,907,-0.45,-194.6,147.2,-12.2,166,914,0.00,2.25,0.00,0.000,4,0.000,0.024,2108,975,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,957,-0.47,-194.6,152.2,-8.9,175,964,0.00,2.45,0.00,0.000,6,0.000,0.029,2099,2424,3778,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1149,-0.45,-194.6,174.0,-10.3,212,1156,0.00,2.38,0.00,0.000,4,0.000,0.023,2099,983,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1206,-0.47,-194.6,178.7,-7.7,222,1213,0.00,2.35,0.00,0.000,6,0.000,0.031,2098,2395,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1396,-0.46,-194.6,195.8,-9.1,259,1403,0.00,2.20,0.00,0.000,4,0.000,0.041,2088,3836,3778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1453,-0.47,-194.6,200.8,-8.2,269,1461,0.12,2.22,0.00,0.000,6,0.117,0.018,2128,2314,3778,0,0,0,0,0,0,26.22,26.46,28.83
$GC,1768,-0.49,-194.6,221.1,-6.2,330,1775,0.00,2.42,0.00,0.000,4,0.000,0.040,2118,3825,3778,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1794,-0.51,-194.6,222.9,-6.6,334,1801,0.00,2.20,0.00,0.000,6,0.000,0.018,2118,2319,3778,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2106,-0.52,-194.6,247.1,-8.7,395,2112,0.00,2.40,0.00,0.000,4,0.000,0.039,2109,3825,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2127,-0.52,-194.6,248.8,-8.4,398,2134,0.00,2.17,0.00,0.000,6,0.000,0.018,2108,2331,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2438,-0.52,-194.6,276.1,-8.0,459,2445,0.00,2.40,0.00,0.000,4,0.000,0.040,2098,3837,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2469,-0.53,-194.6,278.7,-8.6,464,2476,0.00,2.15,0.00,0.000,6,0.000,0.018,2098,2348,3773,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2781,-0.53,-194.6,305.5,-8.2,525,2789,0.00,2.38,0.00,0.000,4,0.000,0.041,2088,3832,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2806,-0.53,-194.6,307.9,-8.9,529,2814,0.00,2.12,0.00,0.000,6,0.000,0.018,2088,2365,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3119,-0.52,-194.6,338.0,-10.2,590,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2364,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.52,-194.6,368.2,-9.8,651,3436,0.00,2.35,0.00,0.000,4,0.000,0.040,2078,3825,3766,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3463,-0.52,-194.6,371.5,-9.7,657,3472,0.10,2.12,0.00,0.000,6,0.124,0.019,2110,2360,3766,0,0,0,0,0,0,26.28,26.48,28.83
$GC,3780,-0.53,-194.6,393.6,-6.4,718,3787,0.00,2.38,-0.08,0.000,4,0.000,0.050,2099,3833,3790,0,0,0,0,0,0,28.83,26.23,25.49
$GC,3816,-0.55,-194.6,396.0,-6.6,724,3823,0.00,2.10,0.00,0.000,6,0.000,0.018,2100,2371,3790,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4130,-0.56,-194.6,419.5,-8.2,785,4137,0.00,2.35,0.00,0.000,4,0.000,0.041,2092,3835,3788,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4165,-0.58,-194.6,422.4,-8.2,791,4172,0.00,2.08,0.00,0.000,6,0.000,0.018,2092,2389,3788,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4478,-0.58,-194.6,448.5,-8.5,852,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2389,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.58,-194.6,472.8,-7.5,913,4798,0.00,2.30,0.00,0.000,4,0.000,0.026,2092,983,3783,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4826,-0.61,-194.6,475.6,-7.5,919,4832,0.00,2.53,0.00,0.000,6,0.000,0.033,2089,2461,3783,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5137,-0.61,-194.6,502.7,-8.8,977,5146,0.00,2.10,0.00,0.000,4,0.000,0.045,2079,3828,3781,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5162,-0.61,-194.6,504.7,-8.9,979,5169,0.00,2.12,0.00,0.000,6,0.000,0.020,2079,2389,3781,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5470,-0.61,-194.6,531.0,-8.0,1010,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2390,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5772,-0.61,-194.6,554.6,-8.0,1040,5781,0.00,2.30,0.00,0.000,4,0.000,0.043,2069,3821,3777,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5804,-0.61,-194.6,557.4,-7.8,1043,5813,0.00,2.08,0.00,0.000,6,0.000,0.021,2069,2399,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6117,-0.60,-194.6,585.7,-9.5,1074,6126,0.00,2.28,0.00,0.000,4,0.000,0.026,2069,995,3775,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6141,-0.60,-194.6,588.1,-9.5,1076,6148,0.00,2.53,0.00,0.000,6,0.000,0.033,2059,2471,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6449,-0.58,-194.6,620.2,-9.6,1107,6458,0.00,2.08,0.00,0.000,4,0.000,0.044,2049,3836,3772,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6474,-0.57,-194.6,622.4,-9.9,1109,6483,0.15,2.08,0.00,0.000,6,0.113,0.021,2097,2404,3772,0,0,0,0,0,0,26.11,26.42,28.83
$GC,6781,-0.58,-194.6,644.0,-7.4,1140,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2404,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,-0.60,-194.6,666.8,-7.3,1170,7094,0.00,2.25,0.00,0.000,4,0.000,0.045,2092,3819,3769,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7120,-0.62,-194.6,669.2,-6.9,1173,7128,0.00,2.03,0.00,0.000,6,0.000,0.021,2092,2410,3769,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7428,-0.66,-194.6,690.3,-7.1,1204,7437,0.00,2.33,0.00,0.000,4,0.000,0.025,2092,981,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7480,-0.72,-194.6,694.0,-6.8,1209,7490,0.10,2.78,0.00,0.000,6,0.071,0.031,2045,2570,3767,0,0,0,0,0,0,26.07,26.22,28.83
$GC,7791,-0.73,-194.6,717.6,-7.8,1240,7800,0.00,2.72,0.00,0.000,4,0.000,0.027,2045,987,3765,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7855,-0.73,-194.6,723.0,-9.1,1246,7862,0.00,2.50,0.00,0.000,6,0.000,0.035,2035,2449,3765,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8163,-0.71,-194.6,758.2,-11.6,1277,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2447,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8467,-0.69,-194.6,793.7,-11.9,1307,8476,0.00,2.12,0.00,0.000,4,0.000,0.047,2024,3829,3762,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8489,-0.66,-194.6,796.8,-12.0,1309,8499,0.12,2.12,0.00,0.000,6,0.132,0.022,2066,2393,3761,0,0,0,0,0,0,26.06,26.36,28.83
$GC,8801,-0.66,-194.6,824.8,-8.5,1340,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2392,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.66,-194.6,851.4,-8.3,1371,9120,0.00,2.33,0.00,0.000,4,0.000,0.046,2055,3819,3759,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9136,-0.66,-194.6,853.4,-8.4,1373,9143,0.00,2.10,0.00,0.000,6,0.000,0.021,2055,2399,3759,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9444,-0.65,-194.6,879.6,-8.2,1404,9453,0.00,2.30,0.00,0.000,4,0.000,0.027,2055,983,3758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9476,-0.65,-194.6,882.3,-8.1,1407,9487,0.00,2.47,0.00,0.000,6,0.000,0.034,2046,2441,3758,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9787,-0.64,-194.6,907.3,-7.7,1438,9796,0.00,2.15,0.00,0.000,4,0.000,0.047,2036,3828,3756,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9822,-0.63,-194.6,910.0,-8.1,1441,9830,0.12,2.12,0.00,0.000,6,0.123,0.021,2075,2385,3756,0,0,0,0,0,0,26.06,26.35,28.83
$GC,10130,-0.64,-194.6,928.9,-6.4,1472,10139,0.00,2.33,0.00,0.000,4,0.000,0.044,2063,3822,3755,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10154,-0.65,-194.6,930.4,-6.4,1474,10161,0.00,2.10,0.00,0.000,6,0.000,0.020,2064,2393,3755,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10462,-0.65,-194.6,954.0,-7.8,1505,10471,0.00,2.28,0.00,0.000,4,0.000,0.026,2064,995,3754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10495,-0.66,-194.6,956.4,-7.8,1508,10503,0.00,2.50,0.00,0.000,6,0.000,0.034,2059,2453,3754,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10804,-0.66,-194.6,982.1,-8.5,1539,10805,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2452,3753,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10901,begin apogee
$GC,10907,-0.20,0.0,990.8,-8.8,1549,11107,0.43,0.05,192.40,1.115,4,0.091,0.044,2210,2511,2973,0,0,0,0,0,0,25.86,24.51,23.51
$STATE,11108,end apogee,CONTROL_FINISHED_OK
$STATE,11108,begin climb
$GC,11110,0.58,194.6,999.6,0.0,1569,11328,0.68,2.62,208.88,1.075,4,0.041,0.028,2484,1086,2185,0,0,0,0,0,0,24.90,24.89,23.06
$GC,11346,0.53,194.6,972.8,16.7,1593,11355,0.10,2.85,0.00,0.000,6,0.155,0.036,2453,2543,2157,0,0,0,0,0,0,24.36,24.58,28.83
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$STATE,20409,end climb,SURFACE_DEPTH_REACHED
$STATE,20410,begin surface coast
$FINISH,-0.3,1.021144
$STATE,20453,end surface coast,CONTROL_FINISHED_OK
$STATE,20453,begin surface
$SM_CCo,20529,0.00,0.000,0,0,898,510.47
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.83
$INTERNAL_PRESSURE,8.28513
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.1,54.007
$10V_AH,10.1,33.479
$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
$DEVICE_SECS,17.550,237.325,730.175,0.000,0.000,27.857,17.763,358.754,0.000,0.000,18.702,6990.668,7438.682,1020.996,4968.891,656.993,0.000,3358.245,0.000,4384.205,0.000,0.542,0.000
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$SENSOR_SECS,2002.932,2400.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,180144,2943
$CAP_FILE_SIZE,287057,0
$CFSIZE,260165632,192675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,330.4,1
$GPS,150612,224407,2302.247,12133.215,31,1.5,31,-3.0