version: 66.10
glider: 169
mission: 6
dive: 294
start: 6 22 112 6 13 46
data:
$ID,169
$MISSION,6
$DIVE,294
$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,320
$T_MISSION,360
$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,-15911.624
$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,2425
$C_ROLL_CLIMB,2520
$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,48
$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
$GPS1,220612,060337,2329.521,12210.834,34,1.2,34,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-71.8
$GPS2,220612,061320,2329.969,12210.881,15,1.3,15,-3.2
$SPEED_LIMITS,0.179,0.299
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,126.3,180244,-16.1,-10.312
$D_GRID,4478
$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,-0.64,-194.6,0.0,0.0,0,110,0.00,0.00,-90.45,0.000,2,0.000,0.000,128,2352,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.64,-194.6,3.9,-10.1,16,140,7.85,2.47,-11.90,0.000,4,0.226,0.048,2046,3834,3775,0,0,0,0,0,0,25.01,26.01,26.48
$GC,199,-0.57,-194.6,37.1,-28.2,31,207,0.12,2.15,0.00,0.000,6,0.160,0.020,2090,2390,3775,0,0,0,0,0,0,25.82,26.15,28.83
$GC,393,-0.51,-194.6,86.7,-22.1,68,399,0.00,2.33,0.00,0.000,4,0.000,0.024,2100,944,3775,0,0,0,0,0,0,28.83,26.20,28.83
$GC,443,-0.49,-194.6,96.5,-16.7,77,450,0.00,2.47,0.00,0.000,6,0.000,0.031,2088,2423,3775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,633,-0.46,-194.6,129.9,-16.5,114,641,0.12,2.15,0.00,0.000,4,0.161,0.037,2117,3830,3775,0,0,0,0,0,0,26.14,26.17,28.83
$GC,680,-0.48,-194.6,136.4,-11.6,122,687,0.00,2.12,0.00,0.000,6,0.000,0.018,2117,2365,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,870,-0.48,-194.6,157.6,-11.4,159,877,0.00,2.33,0.00,0.000,4,0.000,0.039,2106,3837,3776,0,0,0,0,0,0,28.83,26.21,28.83
$GC,916,-0.49,-194.6,162.6,-10.5,167,924,0.00,2.10,0.00,0.000,6,0.000,0.018,2106,2387,3776,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1108,-0.49,-194.6,182.1,-9.9,204,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2387,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.50,-194.6,200.4,-9.7,241,1306,0.00,2.28,0.00,0.000,4,0.000,0.039,2096,3835,3776,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1334,-0.52,-194.6,203.6,-9.0,247,1342,0.00,2.05,0.00,0.000,6,0.000,0.018,2096,2402,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1649,-0.53,-194.6,233.8,-9.3,308,1655,0.00,2.33,0.00,0.000,4,0.000,0.022,2096,942,3776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1685,-0.56,-194.6,237.2,-9.5,314,1692,0.00,2.58,0.00,0.000,6,0.000,0.031,2092,2474,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1997,-0.56,-194.6,265.7,-8.5,375,2004,0.00,2.05,0.00,0.000,4,0.000,0.040,2082,3829,3776,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2022,-0.56,-194.6,267.9,-8.2,379,2030,0.00,2.08,0.00,0.000,6,0.000,0.018,2082,2389,3775,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2336,-0.56,-194.6,298.6,-11.1,440,2343,0.00,2.30,0.00,0.000,4,0.000,0.024,2082,949,3773,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2376,-0.59,-194.6,303.1,-10.5,447,2384,0.00,2.53,0.00,0.000,6,0.000,0.030,2072,2458,3773,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2690,-0.59,-194.6,342.8,-12.4,508,2697,0.00,2.08,0.00,0.000,4,0.000,0.040,2062,3829,3771,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2750,-0.60,-194.6,349.7,-11.0,519,2757,0.00,2.05,0.00,0.000,6,0.000,0.018,2062,2410,3771,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3063,-0.60,-194.6,385.8,-10.8,580,3069,0.00,2.25,0.00,0.000,4,0.000,0.041,2051,3831,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3093,-0.60,-194.6,389.1,-10.9,585,3100,0.10,2.03,0.00,0.000,6,0.132,0.018,2082,2416,3768,0,0,0,0,0,0,26.26,26.48,28.83
$GC,3407,-0.60,-194.6,416.2,-9.2,646,3414,0.00,2.38,0.00,0.000,4,0.000,0.024,2082,947,3766,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3443,-0.63,-194.6,419.7,-8.8,652,3450,0.00,2.60,0.00,0.000,6,0.000,0.031,2072,2488,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3755,-0.63,-194.6,450.4,-9.8,713,3762,0.00,2.03,-0.08,0.000,4,0.000,0.054,2062,3828,3790,0,0,0,0,0,0,28.83,26.22,25.48
$GC,3786,-0.64,-194.6,453.4,-9.8,718,3792,0.00,2.03,0.00,0.000,6,0.000,0.019,2062,2421,3790,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4098,-0.64,-194.6,485.0,-10.5,779,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2421,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.64,-194.6,514.9,-9.5,825,4411,0.00,2.25,0.00,0.000,4,0.000,0.041,2051,3838,3786,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4429,-0.64,-194.6,517.0,-9.6,827,4439,0.00,2.03,0.00,0.000,6,0.000,0.019,2051,2431,3785,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4740,-0.63,-194.6,551.3,-11.2,858,4748,0.00,2.40,0.00,0.000,4,0.000,0.026,2051,963,3783,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4762,-0.63,-194.6,553.8,-11.1,860,4771,0.08,2.58,0.00,0.000,6,0.097,0.032,2073,2494,3783,0,0,0,0,0,0,26.08,26.25,28.83
$GC,5072,-0.64,-194.6,583.8,-9.6,891,5082,0.00,2.00,0.00,0.000,4,0.000,0.042,2064,3820,3780,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5115,-0.65,-194.6,588.1,-9.9,895,5125,0.00,2.00,0.00,0.000,6,0.000,0.021,2064,2434,3780,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5425,-0.65,-194.6,620.0,-9.8,926,5434,0.00,2.40,0.00,0.000,4,0.000,0.026,2064,957,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5460,-0.66,-194.6,623.3,-10.0,929,5467,0.00,2.62,0.00,0.000,6,0.000,0.033,2053,2500,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5767,-0.66,-194.6,656.4,-10.9,960,5776,0.00,2.00,0.00,0.000,4,0.000,0.045,2043,3820,3775,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5790,-0.66,-194.6,658.9,-10.6,962,5798,0.00,2.00,0.00,0.000,6,0.000,0.021,2043,2443,3775,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6100,-0.65,-194.6,694.8,-11.3,993,6109,0.00,2.42,0.00,0.000,4,0.000,0.026,2043,965,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6132,-0.65,-194.6,698.4,-11.1,996,6142,0.08,2.62,0.00,0.000,6,0.097,0.035,2066,2493,3773,0,0,0,0,0,0,26.01,26.18,28.83
$GC,6445,-0.66,-194.6,725.0,-8.2,1027,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2492,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6754,-0.66,-194.6,750.1,-8.0,1058,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2492,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7067,-0.67,-194.6,776.0,-8.7,1089,7075,0.00,2.58,0.00,0.000,4,0.000,0.026,2066,965,3767,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7110,-0.70,-194.6,779.9,-8.6,1093,7118,0.00,2.62,0.00,0.000,6,0.000,0.034,2057,2489,3767,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7419,-0.70,-194.6,808.5,-9.5,1124,7427,0.00,2.08,0.00,0.000,4,0.000,0.047,2047,3824,3765,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7441,-0.70,-194.6,810.6,-9.5,1126,7445,0.00,2.03,0.00,0.000,6,0.000,0.021,2047,2429,3765,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7753,-0.70,-194.6,842.1,-9.8,1157,7761,0.00,2.40,0.00,0.000,4,0.000,0.027,2047,965,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7785,-0.71,-194.6,845.1,-9.3,1160,7794,0.00,2.62,0.00,0.000,6,0.000,0.035,2036,2488,3763,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8095,-0.70,-194.6,879.2,-11.5,1191,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2487,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,-0.70,-194.6,914.7,-11.9,1221,8405,0.00,2.55,0.00,0.000,4,0.000,0.029,2037,972,3761,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8439,-0.71,-194.6,919.6,-11.3,1225,8447,0.00,2.60,0.00,0.000,6,0.000,0.037,2030,2478,3760,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8749,-0.70,-194.6,958.8,-12.5,1256,8759,0.00,2.05,0.00,0.000,4,0.000,0.045,2019,3818,3759,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8776,-0.69,-194.6,961.8,-12.5,1258,8783,0.00,2.05,0.00,0.000,6,0.000,0.021,2029,2422,3759,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,9009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9009,begin apogee
$GC,9015,-0.20,0.0,990.9,-12.2,1282,9221,0.52,0.08,195.27,1.125,4,0.104,0.091,2207,2482,2967,0,0,0,0,0,0,25.68,24.66,23.51
$STATE,9222,end apogee,CONTROL_FINISHED_OK
$STATE,9223,begin climb
$GC,9225,0.64,194.6,1000.9,0.0,1303,9444,0.68,2.53,210.57,1.080,4,0.033,0.026,2499,1048,2185,0,0,0,0,0,0,25.03,25.01,23.18
$GC,9548,0.60,194.6,958.9,17.8,1335,9558,0.08,2.70,0.00,0.000,6,0.169,0.038,2476,2530,2150,0,0,0,0,0,0,25.22,25.47,28.83
$GC,9858,0.54,194.6,895.9,20.4,1366,9867,0.00,2.55,0.00,0.000,4,0.000,0.028,2488,1068,2145,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9953,0.51,194.6,879.6,16.6,1375,9961,0.17,2.67,0.00,0.000,6,0.168,0.037,2442,2543,2144,0,0,0,0,0,0,25.63,26.01,28.83
$GC,10260,0.47,194.6,829.5,16.0,1406,10269,0.00,1.90,0.00,0.000,4,0.000,0.044,2441,3825,2143,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10386,0.42,194.6,807.0,18.2,1418,10396,0.15,1.88,0.00,0.000,6,0.181,0.022,2409,2519,2141,0,0,0,0,0,0,25.71,26.24,28.83
$GC,10696,0.40,194.6,769.1,11.5,1449,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2518,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11006,0.39,194.6,732.4,11.9,1480,11016,0.00,2.00,0.00,0.000,4,0.000,0.044,2408,3823,2141,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11059,0.36,194.6,724.8,14.6,1485,11068,0.00,1.88,0.00,0.000,6,0.000,0.021,2418,2511,2140,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11369,0.34,194.6,682.3,14.3,1516,11371,0.12,0.00,0.00,0.000,6,0.183,0.000,2386,2510,2140,0,0,0,0,0,0,26.08,28.83,28.83
$GC,11669,0.35,204.0,649.8,10.0,1546,11677,0.00,2.08,0.00,0.000,4,0.000,0.044,2386,3832,2139,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11711,0.35,204.0,644.8,11.9,1550,11720,0.00,1.90,0.00,0.000,6,0.000,0.022,2396,2512,2139,0,0,0,0,0,0,28.83,26.31,28.83
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$GC,14553,0.45,280.8,331.3,12.3,1964,14562,0.15,1.90,0.00,0.000,6,0.158,0.021,2421,2500,1818,0,0,0,0,0,0,25.81,26.25,28.83
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$STATE,17074,end climb,SURFACE_DEPTH_REACHED
$STATE,17074,begin surface coast
$FINISH,0.4,1.021470
$STATE,17097,end surface coast,CONTROL_FINISHED_OK
$STATE,17097,begin surface
$SM_CCo,17174,0.00,0.000,0,0,778,539.91
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$IRIDIUM_FIX,2319.18,12207.55,220612,000013
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,8.27536
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,60.147
$10V_AH,10.0,38.267
$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,17.300,185.425,816.225,0.000,0.000,28.408,25.338,346.965,0.000,0.000,16.696,5701.190,6184.994,1031.856,4224.016,566.400,0.000,3042.225,0.000,3683.066,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,91.035,1124.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1655.883,2000.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,150252,2439
$CAP_FILE_SIZE,238344,0
$CFSIZE,260165632,188456960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.288,336.5,1
$GPS,220612,110107,2331.268,12211.820,38,0.9,38,-3.2