version: 66.10
glider: 169
mission: 6
dive: 375
start: 7 8 112 12 46 38
data:
$ID,169
$MISSION,6
$DIVE,375
$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,330
$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,-9
$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,-16015.337
$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
$GPS1,080712,123606,2332.544,12355.257,29,1.1,29,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.3
$GPS2,080712,124613,2332.481,12355.237,15,1.1,15,-3.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,163.6,226984,-15.7,-10.000
$D_GRID,2891
$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,-0.63,-194.6,0.0,0.0,0,102,0.00,0.00,-82.28,0.000,2,0.000,0.000,117,2500,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.63,-194.6,3.7,-9.1,14,132,8.12,2.05,-11.90,0.000,4,0.230,0.049,2028,3839,3775,0,0,0,0,0,0,24.75,26.01,26.51
$GC,156,-0.50,-194.6,23.9,-36.7,22,164,0.17,2.00,0.00,0.000,6,0.158,0.019,2084,2436,3776,0,0,0,0,0,0,25.62,26.16,28.83
$GC,350,-0.47,-194.6,60.0,-13.6,59,356,0.00,2.42,0.00,0.000,4,0.000,0.024,2084,998,3776,0,0,0,0,0,0,28.83,26.17,28.83
$GC,405,-0.47,-194.6,67.6,-12.8,69,413,0.00,2.67,0.00,0.000,6,0.000,0.030,2071,2517,3777,0,0,0,0,0,0,28.83,26.13,28.83
$GC,599,-0.44,-194.6,98.1,-15.0,106,606,0.12,2.65,0.00,0.000,4,0.159,0.021,2120,991,3777,0,0,0,0,0,0,26.15,26.23,28.83
$GC,626,-0.43,-194.6,101.5,-12.7,110,633,0.00,2.67,0.00,0.000,6,0.000,0.029,2109,2512,3778,0,0,0,0,0,0,28.83,26.19,28.83
$GC,817,-0.43,-194.6,121.2,-9.3,147,824,0.00,2.62,0.00,0.000,4,0.000,0.023,2110,998,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,843,-0.44,-194.6,123.6,-10.1,151,849,0.00,2.62,0.00,0.000,6,0.000,0.029,2099,2499,3778,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1034,-0.43,-194.6,143.5,-10.6,188,1041,0.00,1.95,0.00,0.000,4,0.000,0.041,2089,3837,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1069,-0.43,-194.6,147.1,-10.4,194,1076,0.00,1.92,0.00,0.000,6,0.000,0.018,2089,2435,3778,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1261,-0.42,-194.6,167.7,-10.7,231,1268,0.00,2.40,0.00,0.000,4,0.000,0.023,2090,1003,3778,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1323,-0.43,-194.6,174.2,-10.2,242,1330,0.00,2.60,0.00,0.000,6,0.000,0.029,2085,2488,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1514,-0.42,-194.6,195.9,-11.1,279,1521,0.00,1.95,0.00,0.000,4,0.000,0.039,2075,3833,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1545,-0.41,-194.6,199.6,-11.5,284,1553,0.12,2.00,0.00,0.000,6,0.118,0.018,2115,2411,3777,0,0,0,0,0,0,26.18,26.46,28.83
$GC,1738,-0.42,-194.6,218.5,-9.3,321,1745,0.00,2.35,0.00,0.000,4,0.000,0.023,2114,1001,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1765,-0.44,-194.6,221.1,-9.6,325,1773,0.00,2.60,0.00,0.000,6,0.000,0.028,2108,2488,3777,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2079,-0.45,-194.6,249.0,-8.5,386,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2486,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2392,-0.46,-194.6,275.5,-8.6,447,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2486,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2702,-0.46,-194.6,303.8,-9.0,508,2709,0.00,2.55,0.00,0.000,4,0.000,0.024,2108,1006,3774,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2734,-0.49,-194.6,306.4,-8.5,513,2742,0.00,2.55,0.00,0.000,6,0.000,0.028,2100,2471,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3048,-0.52,-194.6,329.4,-5.9,574,3055,0.00,2.08,0.00,0.000,4,0.000,0.041,2099,3838,3772,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3083,-0.57,-194.6,331.8,-7.2,580,3090,0.00,1.80,0.00,0.000,6,0.000,0.018,2099,2492,3772,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3399,-0.61,-194.6,353.7,-7.8,641,3408,0.12,2.53,0.00,0.000,4,0.076,0.021,1977,1002,3770,0,0,0,0,0,0,26.55,26.32,28.83
$GC,3518,-0.57,-194.6,369.9,-15.1,663,3526,0.32,2.97,0.00,0.000,6,0.125,0.031,2064,2650,3770,0,0,0,0,0,0,25.77,26.22,28.83
$GC,3833,-0.56,-194.6,406.0,-10.5,724,3840,0.00,2.90,0.00,0.000,4,0.000,0.024,2064,997,3768,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3918,-0.57,-194.6,414.5,-9.0,740,3926,0.00,2.90,0.00,0.000,6,0.000,0.031,2052,2615,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4234,-0.55,-194.6,446.6,-9.5,801,4241,0.00,2.83,0.00,0.000,4,0.000,0.024,2052,1001,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4326,-0.55,-194.6,455.1,-8.8,818,4334,0.12,2.78,0.00,0.000,6,0.130,0.031,2078,2559,3766,0,0,0,0,0,0,26.04,26.23,28.83
$GC,4640,-0.55,-194.6,481.3,-8.4,879,4648,0.00,2.75,-0.08,0.000,4,0.000,0.033,2079,1006,3792,0,0,0,0,0,0,28.83,26.25,25.43
$GC,4716,-0.58,-194.6,488.1,-8.7,893,4724,0.00,2.72,0.00,0.000,6,0.000,0.031,2069,2533,3792,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5027,-0.58,-194.6,518.0,-9.5,936,5036,0.00,1.90,0.00,0.000,4,0.000,0.041,2060,3840,3791,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5072,-0.58,-194.6,521.7,-9.0,940,5079,0.00,1.88,0.00,0.000,6,0.000,0.019,2060,2474,3790,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5379,-0.58,-194.6,550.0,-8.6,971,5388,0.00,2.47,0.00,0.000,4,0.000,0.025,2060,1016,3788,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5421,-0.59,-194.6,553.7,-8.8,975,5430,0.00,2.65,0.00,0.000,6,0.000,0.031,2048,2524,3788,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5732,-0.58,-194.6,584.1,-10.4,1006,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2522,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.57,-194.6,615.2,-10.2,1036,6042,0.00,2.65,0.00,0.000,4,0.000,0.024,2049,1005,3784,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6076,-0.57,-194.6,619.6,-10.3,1040,6085,0.00,2.67,0.00,0.000,6,0.000,0.033,2037,2521,3783,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6386,-0.55,-194.6,653.2,-10.4,1071,6388,0.12,0.00,0.00,0.000,6,0.148,0.000,2074,2521,3781,0,0,0,0,0,0,26.28,28.83,28.83
$GC,6686,-0.56,-194.6,675.6,-7.2,1101,6696,0.00,2.60,0.00,0.000,4,0.000,0.026,2074,1019,3779,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6732,-0.58,-194.6,678.7,-7.3,1105,6740,0.00,2.70,0.00,0.000,6,0.000,0.034,2066,2525,3779,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7039,-0.62,-194.6,700.7,-7.6,1136,7048,0.00,1.95,0.00,0.000,4,0.000,0.044,2057,3837,3775,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7081,-0.64,-194.6,704.1,-7.9,1140,7085,0.00,1.73,0.00,0.000,6,0.000,0.020,2058,2545,3776,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7394,-0.67,-194.6,728.8,-8.2,1171,7402,0.00,1.92,0.00,0.000,4,0.000,0.044,2054,3838,3774,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7476,-0.68,-194.6,735.9,-9.2,1179,7484,0.00,2.00,0.00,0.000,6,0.000,0.021,2054,2439,3773,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7786,-0.68,-194.6,767.6,-10.1,1210,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2439,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8088,-0.68,-194.6,796.9,-9.4,1240,8097,0.00,2.17,0.00,0.000,4,0.000,0.044,2043,3828,3768,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8120,-0.68,-194.6,800.2,-9.4,1243,8129,0.00,1.95,0.00,0.000,6,0.000,0.020,2043,2461,3769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8432,-0.67,-194.6,831.3,-10.3,1274,8441,0.00,2.47,0.00,0.000,4,0.000,0.026,2043,1005,3767,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8477,-0.68,-194.6,835.6,-9.9,1278,8483,0.00,2.67,0.00,0.000,6,0.000,0.034,2034,2513,3767,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8784,-0.66,-194.6,868.9,-11.0,1309,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2511,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9087,-0.65,-194.6,900.2,-10.1,1339,9095,0.00,2.62,0.00,0.000,4,0.000,0.028,2035,1016,3764,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9139,-0.65,-194.6,905.4,-9.5,1344,9147,0.00,2.60,0.00,0.000,6,0.000,0.035,2029,2489,3764,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9449,-0.64,-194.6,939.2,-10.9,1375,9457,0.00,2.05,0.00,0.000,4,0.000,0.046,2020,3838,3762,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9493,-0.63,-194.6,944.1,-11.6,1379,9500,0.00,2.03,0.00,0.000,6,0.000,0.022,2020,2450,3761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9801,-0.61,-194.6,982.8,-13.3,1410,9803,0.12,0.00,0.00,0.000,6,0.135,0.000,2058,2449,3760,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,9868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9868,begin apogee
$GC,9875,-0.20,0.0,990.1,-9.5,1417,10071,0.35,0.10,188.65,1.171,4,0.093,0.070,2182,2439,2971,0,0,0,0,0,0,25.90,24.82,23.39
$STATE,10072,end apogee,CONTROL_FINISHED_OK
$STATE,10073,begin climb
$GC,10075,0.63,194.6,1002.5,0.0,1437,10284,0.73,2.50,199.98,1.117,4,0.051,0.026,2458,1021,2185,0,0,0,0,0,0,25.12,25.18,23.42
$GC,10368,0.62,194.6,976.5,13.0,1466,10376,0.00,2.65,0.00,0.000,6,0.000,0.037,2458,2486,2154,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10674,0.58,194.6,925.5,16.5,1497,10683,0.00,2.05,0.00,0.000,4,0.000,0.043,2458,3826,2150,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10801,0.52,194.6,901.9,19.3,1509,10808,0.17,1.98,0.00,0.000,6,0.169,0.021,2421,2466,2148,0,0,0,0,0,0,25.67,26.17,28.83
$GC,11106,0.50,194.6,855.9,14.1,1540,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2465,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11409,0.48,194.6,817.4,11.5,1570,11419,0.00,2.12,0.00,0.000,4,0.000,0.043,2421,3834,2145,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11452,0.46,194.6,811.5,13.0,1574,11462,0.12,1.95,0.00,0.000,6,0.164,0.021,2399,2474,2145,0,0,0,0,0,0,25.88,26.25,28.83
$GC,11762,0.54,258.1,785.6,7.8,1605,11841,0.00,2.25,69.25,0.981,4,0.000,0.043,2398,3832,1911,0,0,0,0,0,0,28.83,25.35,23.89
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$STATE,18518,end climb,SURFACE_DEPTH_REACHED
$STATE,18519,begin surface coast
$FINISH,-0.3,1.008388
$STATE,18554,end surface coast,CONTROL_FINISHED_OK
$STATE,18554,begin surface
$SM_CCo,18632,0.00,0.000,0,0,738,549.72
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$TT8_MAMPS,0.025466,0.025466
$HUMID,53.66
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,79.890
$10V_AH,9.9,50.249
$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
$DEVICE_SECS,18.100,215.750,767.075,0.000,0.000,25.789,22.881,364.812,0.000,0.000,16.203,6335.103,6620.244,1003.156,4567.946,657.285,0.000,3158.634,0.000,4021.267,0.000,0.543,0.000
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$MEM,330332
$DATA_FILE_SIZE,167056,2668
$CAP_FILE_SIZE,263061,0
$CFSIZE,260165632,177618944
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,339.3,1
$GPS,080712,175806,2331.865,12355.479,28,1.2,28,-3.3