version: 66.10
glider: 169
mission: 6
dive: 332
start: 6 29 112 11 10 55
data:
$ID,169
$MISSION,6
$DIVE,332
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-11
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$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,-15959.436
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$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
$GPS1,290612,110137,2401.002,12258.182,44,1.0,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.7
$GPS2,290612,111032,2401.113,12258.250,16,1.1,16,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2350.681,12301.306
$TGT_RADIUS,1852.000
$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,168.4,20000,-16.2,-13.200
$D_GRID,1423
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.76,-292.0,0.0,0.0,0,117,0.00,0.00,-95.18,0.000,2,0.000,0.000,117,2421,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.76,-292.0,3.4,-8.6,17,151,7.43,2.30,-17.65,0.000,4,0.216,0.048,1985,3842,3963,0,0,0,0,0,0,24.96,26.05,26.54
$GC,169,-0.60,-292.0,25.5,-46.1,25,176,0.22,1.98,0.00,0.000,6,0.196,0.018,2050,2416,3964,0,0,0,0,0,0,25.45,26.25,28.83
$GC,362,-0.54,-292.0,76.8,-22.2,62,369,0.00,2.35,0.00,0.000,4,0.000,0.025,2062,1004,3965,0,0,0,0,0,0,28.83,26.22,28.83
$GC,464,-0.55,-292.0,92.3,-12.9,81,470,0.00,2.53,0.00,0.000,6,0.000,0.031,2049,2462,3965,0,0,0,0,0,0,28.83,26.21,28.83
$GC,657,-0.51,-292.0,127.2,-18.6,118,663,0.12,0.00,0.00,0.000,6,0.162,0.000,2090,2461,3965,0,0,0,0,0,0,26.17,28.83,28.83
$GC,850,-0.50,-292.0,152.2,-11.2,155,857,0.00,2.42,0.00,0.000,4,0.000,0.023,2090,1009,3965,0,0,0,0,0,0,28.83,26.34,28.83
$GC,870,-0.50,-292.0,154.5,-10.8,158,877,0.00,2.47,0.00,0.000,6,0.000,0.029,2085,2456,3965,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1062,-0.49,-292.0,176.9,-13.0,195,1069,0.00,2.08,0.00,0.000,4,0.000,0.039,2075,3836,3965,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1098,-0.50,-292.0,181.4,-12.7,201,1105,0.00,2.08,0.00,0.000,6,0.000,0.018,2075,2387,3965,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1289,-0.50,-292.0,206.5,-14.0,238,1296,0.00,2.25,0.00,0.000,4,0.000,0.024,2075,1011,3965,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1313,-0.50,-292.0,209.9,-14.0,242,1320,0.00,2.50,0.00,0.000,6,0.000,0.029,2066,2464,3965,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1627,-0.48,-292.0,252.4,-13.3,303,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2463,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1937,-0.47,-292.0,289.3,-12.0,364,1945,0.10,2.45,0.00,0.000,4,0.162,0.021,2095,1001,3963,0,0,0,0,0,0,26.39,26.39,28.83
$GC,1968,-0.50,-292.0,292.5,-9.9,369,1975,0.00,2.50,0.00,0.000,6,0.000,0.030,2092,2458,3963,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2281,-0.54,-292.0,320.9,-9.7,430,2288,0.00,2.08,0.00,0.000,4,0.000,0.040,2088,3833,3961,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2343,-0.60,-292.0,327.1,-10.2,441,2350,0.10,1.83,0.00,0.000,6,0.095,0.018,2037,2474,3961,0,0,0,0,0,0,26.40,26.55,28.83
$GC,2658,-0.62,-292.0,359.5,-8.8,502,2666,0.00,2.47,-0.05,0.000,4,0.000,0.033,2037,1008,3971,0,0,0,0,0,0,28.83,26.37,25.97
$GC,2673,-0.65,-292.0,361.2,-9.2,504,2680,0.00,2.90,0.00,0.000,6,0.000,0.031,2030,2637,3971,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2985,-0.62,-292.0,402.2,-13.6,565,2991,0.00,2.80,0.00,0.000,4,0.000,0.024,2030,1012,3969,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3071,-0.63,-292.0,411.9,-10.7,581,3078,0.00,2.80,0.00,0.000,6,0.000,0.031,2020,2599,3969,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3383,-0.61,-292.0,458.5,-14.5,642,3391,0.12,2.78,0.00,0.000,4,0.154,0.022,2064,997,3967,0,0,0,0,0,0,26.26,26.35,28.83
$GC,3444,-0.64,-292.0,464.9,-8.6,653,3451,0.00,2.75,0.00,0.000,6,0.000,0.030,2054,2557,3966,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3757,-0.64,-292.0,497.0,-10.8,714,3764,0.00,2.70,0.00,0.000,4,0.000,0.024,2055,998,3964,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3826,-0.68,-292.0,503.3,-8.8,723,3832,0.00,2.65,0.00,0.000,6,0.000,0.029,2045,2523,3964,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4133,-0.67,-292.0,539.3,-12.1,754,4142,0.00,2.55,0.00,0.000,4,0.000,0.024,2045,1011,3962,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4169,-0.68,-292.0,543.2,-12.0,757,4175,0.00,2.60,0.00,0.000,6,0.000,0.031,2035,2507,3961,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4475,-0.67,-292.0,579.9,-12.1,788,4484,0.00,2.55,0.00,0.000,4,0.000,0.025,2036,1006,3958,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4500,-0.66,-292.0,582.3,-11.5,790,4507,0.00,2.58,0.00,0.000,6,0.000,0.033,2030,2488,3958,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4808,-0.64,-292.0,617.9,-12.5,821,4817,0.00,1.98,0.00,0.000,4,0.000,0.044,2020,3818,3955,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4833,-0.63,-292.0,620.6,-11.8,823,4839,0.00,1.98,0.00,0.000,6,0.000,0.019,2019,2424,3955,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5141,-0.61,-292.0,659.8,-13.7,854,5151,0.10,2.35,0.00,0.000,4,0.146,0.023,2053,1002,3953,0,0,0,0,0,0,26.41,26.32,28.83
$GC,5208,-0.65,-292.0,666.7,-9.2,860,5215,0.00,2.55,0.00,0.000,6,0.000,0.031,2043,2482,3953,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5514,-0.65,-292.0,700.0,-11.9,891,5522,0.00,2.03,0.00,0.000,4,0.000,0.042,2032,3835,3949,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5536,-0.65,-292.0,702.6,-12.2,893,5544,0.00,2.05,0.00,0.000,6,0.000,0.020,2032,2408,3949,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5846,-0.64,-292.0,740.8,-12.6,924,5855,0.00,2.33,0.00,0.000,4,0.000,0.026,2033,1007,3947,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5872,-0.64,-292.0,743.9,-12.6,926,5879,0.00,2.55,0.00,0.000,6,0.000,0.034,2030,2476,3947,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6180,-0.63,-292.0,784.2,-13.8,957,6188,0.00,2.03,0.00,0.000,4,0.000,0.044,2020,3841,3944,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6201,-0.62,-292.0,787.1,-13.8,959,6210,0.00,2.05,0.00,0.000,6,0.000,0.021,2020,2428,3944,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6511,-0.61,-292.0,830.7,-13.7,990,6521,0.10,2.33,0.00,0.000,4,0.143,0.023,2051,1016,3943,0,0,0,0,0,0,26.40,26.29,28.83
$GC,6564,-0.64,-292.0,836.3,-9.9,995,6573,0.00,2.50,0.00,0.000,6,0.000,0.031,2041,2470,3943,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6874,-0.64,-292.0,870.8,-12.0,1026,6883,0.00,2.08,0.00,0.000,4,0.000,0.044,2031,3830,3940,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6909,-0.65,-292.0,874.9,-12.4,1029,6916,0.00,2.08,0.00,0.000,6,0.000,0.020,2031,2410,3940,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7216,-0.65,-292.0,914.0,-11.8,1060,7227,0.00,2.33,0.00,0.000,4,0.000,0.026,2031,1016,3938,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7242,-0.65,-292.0,916.6,-11.2,1062,7249,0.00,2.53,0.00,0.000,6,0.000,0.034,2030,2469,3938,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7550,-0.65,-292.0,950.5,-10.9,1093,7558,0.00,2.10,0.00,0.000,4,0.000,0.044,2020,3839,3935,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7592,-0.66,-292.0,955.2,-11.6,1097,7600,0.00,2.08,0.00,0.000,6,0.000,0.021,2020,2416,3935,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7902,-0.66,-292.0,989.6,-11.6,1128,7911,0.00,2.35,0.00,0.000,4,0.000,0.025,2020,1008,3933,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,7914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7914,begin apogee
$GC,7922,-0.20,0.0,990.4,-11.0,1129,8173,0.47,0.00,241.05,1.131,4,0.087,0.000,2186,2490,2968,0,0,0,0,0,0,25.94,28.83,23.51
$STATE,8174,end apogee,CONTROL_FINISHED_OK
$STATE,8174,begin climb
$GC,8177,0.76,292.0,1003.3,0.0,1155,8521,0.80,2.65,330.88,1.064,4,0.044,0.026,2497,1007,1788,0,0,0,0,0,0,25.08,25.10,23.68
$GC,8574,0.75,292.0,947.1,16.1,1194,8583,0.00,2.67,0.00,0.000,6,0.000,0.037,2497,2489,1761,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8884,0.70,292.0,876.1,22.5,1225,8893,0.00,2.53,0.00,0.000,4,0.000,0.028,2510,1024,1756,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8929,0.66,292.0,867.4,20.7,1229,8936,0.17,2.67,0.00,0.000,6,0.148,0.035,2460,2521,1756,0,0,0,0,0,0,25.76,26.06,28.83
$GC,9238,0.63,292.0,813.1,16.9,1260,9246,0.00,1.98,0.00,0.000,4,0.000,0.044,2460,3846,1754,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9292,0.59,292.0,803.2,18.8,1265,9299,0.00,1.95,0.00,0.000,6,0.000,0.021,2470,2488,1754,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9600,0.56,292.0,750.4,16.6,1296,9610,0.12,2.08,0.00,0.000,4,0.180,0.038,2432,3839,1754,0,0,0,0,0,0,26.01,26.15,28.83
$GC,9663,0.55,292.0,740.3,15.7,1302,9671,0.00,1.88,0.00,0.000,6,0.000,0.021,2442,2508,1753,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9973,0.54,292.0,695.2,14.5,1333,9982,0.00,2.55,0.00,0.000,4,0.000,0.029,2456,1020,1752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10007,0.54,292.0,690.7,14.3,1336,10014,0.12,2.72,0.00,0.000,6,0.139,0.033,2419,2545,1751,0,0,0,0,0,0,25.98,26.20,28.83
$GC,10317,0.56,305.0,651.7,12.8,1367,10335,0.00,1.90,11.10,0.908,4,0.000,0.040,2419,3833,1732,0,0,0,0,0,0,28.83,26.06,24.30
$GC,10361,0.57,305.0,645.6,13.8,1371,10368,0.00,1.88,0.00,0.000,6,0.000,0.021,2429,2514,1722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10668,0.68,395.7,609.9,10.4,1402,10768,0.12,2.75,84.18,1.009,4,0.079,0.031,2519,1026,1375,0,0,0,0,1,0,26.40,25.22,23.64
$GC,10817,0.66,395.7,584.9,15.6,1416,10827,0.17,2.75,3.00,0.544,6,0.133,0.034,2468,2534,1362,0,0,0,0,0,0,25.37,25.60,23.62
$GC,11125,0.74,458.0,546.4,11.3,1447,11215,0.00,2.08,78.90,0.824,4,0.000,0.042,2468,3838,1117,0,0,0,0,1,0,28.83,25.28,23.74
$GC,11241,0.77,481.6,532.6,12.5,1458,11308,0.00,1.98,51.55,0.682,6,0.000,0.020,2479,2497,1013,0,0,0,0,1,0,28.83,25.60,23.87
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$GC,14589,1.32,823.5,34.6,9.4,2064,14596,0.17,2.58,0.00,0.000,4,0.058,0.026,2722,1018,410,0,0,0,0,0,0,26.43,26.18,28.83
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$STATE,14784,end climb,SURFACE_DEPTH_REACHED
$STATE,14784,begin surface coast
$FINISH,0.1,1.021531
$STATE,14800,end surface coast,CONTROL_FINISHED_OK
$STATE,14800,begin surface
$SM_CCo,14876,0.00,0.000,0,0,409,630.42
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$IRIDIUM_FIX,2352.12,12224.83,290612,060618
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.47
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,70.017
$10V_AH,9.9,43.563
$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,17.725,189.200,987.500,0.000,0.000,22.845,45.505,297.254,0.000,0.000,16.988,4617.679,5369.590,1113.418,3744.959,525.236,0.000,2961.008,0.000,3248.228,0.000,0.543,0.000
$DEVICE_MAMPS,216.495,74.205,1131.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325460
$DATA_FILE_SIZE,133700,2104
$CAP_FILE_SIZE,215315,0
$CFSIZE,260165632,183693312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,290612,152000,2400.158,12259.396,41,1.1,41,-3.4