version: 66.08
glider: 169
mission: 2
dive: 375
start: 10 27 110 0 12 37
data:
$ID,169
$MISSION,2
$DIVE,375
$N_DIVES,380
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$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,-7177.1665
$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,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,32
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3091
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.551537
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,271010,000531,2319.088,12559.742,43,1.6,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.4
$GPS2,271010,001208,2319.160,12559.685,16,1.5,16,-3.4
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,179.1,217736,-19.5,-13.889
$D_GRID,1000
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,99,0.00,0.00,-82.30,0.000,2,0.000,0.000,122,1980,2708,0,0,0,0,0,0
$GC,102,-0.69,-204.4,3.3,-5.4,10,144,9.85,1.92,-23.67,0.000,4,0.235,0.076,2487,3166,3927,0,0,0,0,0,0
$GC,276,-0.67,-204.4,56.3,-31.1,37,285,0.00,1.85,0.00,0.000,6,0.000,0.048,2487,2000,3928,0,0,0,0,0,0
$GC,642,-0.66,-204.4,148.8,-23.3,98,652,0.10,1.88,0.00,0.000,4,0.180,0.059,2512,3167,3930,0,0,0,0,0,0
$GC,682,-0.66,-204.4,157.3,-18.9,104,692,0.00,1.80,0.00,0.000,6,0.000,0.040,2512,1999,3930,0,0,0,0,0,0
$GC,1044,-0.66,-204.4,218.4,-15.6,165,1051,0.00,1.80,0.00,0.000,4,0.000,0.055,2513,3168,3931,0,0,0,0,0,0
$GC,1076,-0.66,-204.4,223.5,-15.3,170,1085,0.00,1.77,0.00,0.000,6,0.000,0.040,2513,2004,3931,0,0,0,0,0,0
$GC,1438,-0.67,-204.4,277.8,-14.4,231,1445,0.00,1.80,0.00,0.000,4,0.000,0.055,2512,3168,3930,0,0,0,0,0,0
$GC,1470,-0.68,-204.4,282.3,-13.0,236,1479,0.00,1.77,0.00,0.000,6,0.000,0.039,2513,2004,3930,0,0,0,0,0,0
$GC,1815,-0.68,-204.4,329.8,-12.7,278,1819,0.00,1.85,0.00,0.000,4,0.000,0.054,2512,3167,3929,0,0,0,0,0,0
$GC,1889,-0.70,-204.4,338.1,-9.6,284,1898,0.00,1.77,0.00,0.000,6,0.000,0.038,2513,2001,3929,0,0,0,0,0,0
$GC,2215,-0.71,-204.4,374.3,-10.7,315,2219,0.00,1.67,0.00,0.000,4,0.000,0.047,2513,868,3928,0,0,0,0,0,0
$GC,2255,-0.72,-204.4,378.7,-9.9,318,2264,0.00,1.80,0.00,0.000,6,0.000,0.044,2512,2045,3927,0,0,0,0,0,0
$GC,2583,-0.73,-204.4,412.4,-10.6,349,2587,0.00,1.75,0.00,0.000,4,0.000,0.054,2513,3168,3925,0,0,0,0,0,0
$GC,2677,-0.75,-204.4,421.6,-9.5,357,2680,0.00,1.77,0.00,0.000,6,0.000,0.038,2512,1989,3925,0,0,0,0,0,0
$GC,3008,-0.76,-204.4,458.0,-10.5,388,3011,0.00,1.83,0.00,0.000,4,0.000,0.054,2513,3168,3922,0,0,0,0,0,0
$GC,3055,-0.78,-204.4,462.8,-9.5,392,3058,0.00,1.77,0.00,0.000,6,0.000,0.039,2513,1996,3922,0,0,0,0,0,0
$GC,3388,-0.79,-204.4,496.1,-9.9,423,3389,0.10,0.00,0.00,0.000,6,0.119,0.000,2472,1994,3920,0,0,0,0,0,0
$GC,3707,-0.79,-204.4,539.4,-14.2,453,3710,0.00,1.88,0.00,0.000,4,0.000,0.057,2472,3172,3917,0,0,0,0,0,0
$GC,3820,-0.80,-204.4,553.7,-11.6,463,3823,0.00,1.77,0.00,0.000,6,0.000,0.044,2472,2002,3916,0,0,0,0,0,0
$GC,4151,-0.81,-204.4,597.3,-13.3,494,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2001,3914,0,0,0,0,0,0
$GC,4461,-0.81,-204.4,638.9,-13.4,510,4465,0.00,1.88,0.00,0.000,4,0.000,0.057,2472,3166,3911,0,0,0,0,0,0
$GC,4511,-0.83,-204.4,645.6,-11.7,512,4515,0.00,1.80,0.00,0.000,6,0.000,0.042,2472,1990,3911,0,0,0,0,0,0
$GC,4839,-0.83,-204.4,689.7,-13.4,528,4843,0.00,1.85,0.00,0.000,4,0.000,0.058,2472,3168,3908,0,0,0,0,0,0
$GC,4874,-0.84,-204.4,694.1,-12.9,529,4877,0.00,1.77,0.00,0.000,6,0.000,0.043,2472,1999,3908,0,0,0,0,0,0
$GC,5196,-0.85,-204.4,734.4,-12.2,545,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1998,3905,0,0,0,0,0,0
$GC,5505,-0.86,-204.4,769.6,-11.1,560,5508,0.00,1.88,0.00,0.000,4,0.000,0.058,2472,3174,3903,0,0,0,0,0,0
$GC,5560,-0.87,-204.4,775.4,-9.3,562,5564,0.00,1.80,0.00,0.000,6,0.000,0.044,2472,2004,3902,0,0,0,0,0,0
$GC,5883,-0.88,-204.4,809.1,-10.6,578,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2002,3900,0,0,0,0,0,0
$GC,6192,-0.89,-204.4,841.9,-10.6,593,6196,0.00,1.85,0.00,0.000,4,0.000,0.060,2472,3167,3897,0,0,0,0,0,0
$GC,6287,-0.90,-204.4,850.9,-9.1,597,6291,0.00,1.77,0.00,0.000,6,0.000,0.044,2472,2002,3896,0,0,0,0,0,0
$GC,6615,-0.91,-204.4,883.8,-10.0,613,6619,0.10,1.85,0.00,0.000,4,0.116,0.060,2433,3167,3894,0,0,0,0,0,0
$GC,6688,-0.92,-204.4,892.4,-11.5,616,6692,0.00,1.83,0.00,0.000,6,0.000,0.046,2432,2003,3894,0,0,0,0,0,0
$GC,7015,-0.92,-204.4,936.5,-13.7,632,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2002,3892,0,0,0,0,0,0
$GC,7325,-0.92,-204.4,977.8,-13.1,647,7329,0.00,1.88,0.00,0.000,4,0.000,0.062,2433,3167,3890,0,0,0,0,0,0
$GC,7372,-0.93,-204.4,983.7,-12.1,649,7375,0.00,1.80,0.00,0.000,6,0.000,0.047,2433,2005,3890,0,0,0,0,0,0
$STATE,7517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7517,begin apogee
$GC,7522,-0.18,0.0,1002.4,12.7,656,7701,0.73,0.05,171.68,1.271,6,0.131,0.065,2666,2099,3090,0,0,0,0,0,0
$STATE,7702,end apogee,CONTROL_FINISHED_OK
$STATE,7702,begin climb
$GC,7704,0.69,204.4,1010.9,0.0,664,7910,0.80,1.95,192.68,1.250,4,0.063,0.046,2959,974,2254,0,0,0,0,0,0
$GC,8092,0.67,204.4,972.9,16.3,682,8095,0.00,1.77,0.00,0.000,6,0.000,0.040,2959,2147,2244,0,0,0,0,0,0
$GC,8425,0.66,204.4,919.0,15.7,698,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2147,2240,0,0,0,0,0,0
$GC,8734,0.65,204.4,870.5,15.9,713,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2147,2238,0,0,0,0,0,0
$GC,9044,0.63,204.4,822.0,15.3,728,9048,0.00,1.73,0.00,0.000,4,0.000,0.049,2959,3277,2236,0,0,0,0,0,0
$GC,9144,0.62,204.4,804.9,17.2,732,9148,0.10,1.83,0.00,0.000,6,0.166,0.036,2937,2085,2235,0,0,0,0,0,0
$GC,9466,0.63,219.2,761.9,13.2,748,9481,0.00,1.67,11.20,1.014,4,0.000,0.046,2944,970,2197,0,0,0,0,0,0
$GC,9566,0.64,230.6,747.7,13.4,751,9582,0.00,1.80,12.10,1.010,6,0.000,0.041,2944,2155,2151,0,0,0,0,0,0
$GC,9900,0.63,230.6,699.0,14.6,768,9903,0.00,1.80,0.00,0.000,4,0.000,0.046,2953,969,2144,0,0,0,0,0,0
$GC,9932,0.62,230.6,693.6,15.1,769,9936,0.00,1.80,0.00,0.000,6,0.000,0.041,2953,2144,2144,0,0,0,0,0,0
$GC,10254,0.61,230.6,642.7,16.0,785,10258,0.00,1.70,0.00,0.000,4,0.000,0.048,2953,3274,2143,0,0,0,0,0,0
$GC,10287,0.60,230.6,637.0,16.7,786,10292,0.10,1.80,0.00,0.000,6,0.160,0.035,2930,2088,2142,0,0,0,0,0,0
$GC,10612,0.60,230.6,590.7,14.7,805,10616,0.00,1.65,0.00,0.000,4,0.000,0.046,2939,968,2141,0,0,0,0,0,0
$GC,10658,0.59,230.6,584.1,14.0,809,10662,0.00,1.75,0.00,0.000,6,0.000,0.040,2935,2147,2141,0,0,0,0,0,0
$GC,10989,0.62,256.9,538.5,12.7,840,11017,0.00,1.88,23.70,0.958,4,0.000,0.045,2944,969,2043,0,0,0,0,0,0
$GC,11069,0.65,277.8,528.1,12.9,846,11097,0.00,1.77,20.15,0.929,6,0.000,0.041,2944,2146,1956,0,0,0,0,0,0
$GC,11418,0.66,286.2,481.5,13.5,879,11429,0.00,0.00,7.25,0.777,6,0.000,0.000,2944,2146,1923,0,0,0,0,0,0
$GC,11748,0.67,298.9,437.1,13.3,910,11765,0.00,1.83,12.52,0.833,4,0.000,0.045,2953,960,1871,0,0,0,0,0,0
$GC,11864,0.69,311.8,421.7,13.3,920,11881,0.00,1.77,12.98,0.827,6,0.000,0.039,2953,2147,1818,0,0,0,0,0,0
$GC,12209,0.69,313.4,373.6,13.8,952,12213,0.00,1.73,0.00,0.000,4,0.000,0.047,2953,3278,1813,0,0,0,0,0,0
$GC,12258,0.69,313.4,366.1,14.6,956,12267,0.00,1.83,0.00,0.000,6,0.000,0.034,2962,2081,1812,0,0,0,0,0,0
$GC,12586,0.71,329.5,321.5,13.2,987,12611,0.00,1.73,15.85,0.776,4,0.000,0.043,2970,962,1746,0,0,0,0,0,0
$GC,12729,0.72,335.1,301.5,13.6,999,12739,0.00,1.83,6.00,0.625,6,0.000,0.038,2970,2155,1724,0,0,0,0,0,0
$GC,13084,0.72,335.1,250.7,14.4,1060,13093,0.00,1.70,0.00,0.000,4,0.000,0.044,2971,3265,1720,0,0,0,0,0,0
$GC,13130,0.73,344.5,244.4,13.5,1067,13145,0.00,1.80,9.55,0.666,6,0.000,0.034,2979,2079,1685,0,0,0,0,0,0
$GC,13488,0.73,344.5,196.3,14.1,1129,13495,0.00,1.67,0.00,0.000,4,0.000,0.043,2987,956,1682,0,0,0,0,0,0
$GC,13572,0.77,374.9,185.1,12.5,1143,13607,0.00,1.80,26.73,0.685,6,0.000,0.037,2988,2150,1560,0,0,0,0,0,0
$GC,13955,0.83,427.6,129.3,11.5,1208,14006,0.00,1.90,44.00,0.646,4,0.000,0.042,2997,957,1346,0,0,0,0,0,0
$GC,14104,0.95,513.0,115.0,10.0,1230,14186,0.08,1.83,69.78,0.631,6,0.054,0.034,3052,2158,997,0,0,0,0,0,0
$GC,14539,0.95,513.0,49.9,15.0,1300,14548,0.00,1.70,0.00,0.000,4,0.000,0.040,3052,3275,993,0,0,0,0,0,0
$GC,14564,0.96,513.0,45.8,17.6,1303,14573,0.00,1.77,0.00,0.000,6,0.000,0.027,3060,2078,992,0,0,0,0,0,0
$GC,14933,0.97,513.0,3.2,14.6,1364,14942,0.00,1.65,0.00,0.000,4,0.000,0.039,3066,970,992,0,0,0,0,0,0
$STATE,14949,end climb,SURFACE_DEPTH_REACHED
$STATE,14949,begin surface coast
$FINISH,0.1,1.021956
$STATE,14980,end surface coast,CONTROL_FINISHED_OK
$STATE,14980,begin surface
$SM_CCo,14998,80.65,0.056,0,0,481,640.23
$SM_GC,0.80,0.00,0.00,80.65,0.000,0.000,0.056,138,2053,481,-8.10,0.79,640.23
$IRIDIUM_FIX,2312.13,12955.85,261010,191929
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.5,55.602
$10V_AH,9.9,46.400
$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,20.300,107.775,636.150,80.650,0.000,28.481,17.120,210.612,0.000,0.000,18.171,3415.295,7223.994,720.712,3809.277,297.172,0.000,2093.911,0.000,3557.800,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,76.500,1271.430,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.228,0.000,1949.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,80221,1371
$CAP_FILE_SIZE,166928,0
$CFSIZE,260165632,233037824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,  5.7,1
$GPS,271010,042537,2318.032,12559.544,72,1.4,72,-3.4