version: 66.08
glider: 169
mission: 2
dive: 382
start: 10 28 110 6 18 57
data:
$ID,169
$MISSION,2
$DIVE,382
$N_DIVES,395
$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,-7189.9019
$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
$GPS1,281010,061136,2309.666,12556.550,39,1.1,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.1
$GPS2,281010,061829,2309.656,12556.420,17,1.2,18,-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,185.8,200289,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,116,0.00,0.00,-98.00,0.000,2,0.000,0.000,123,1973,3156,0,0,0,0,0,0
$GC,119,-0.69,-204.4,4.4,-8.5,12,146,9.90,1.95,-12.35,0.000,4,0.234,0.070,2490,3167,3928,0,0,0,0,0,0
$GC,244,-0.67,-204.4,54.6,-27.3,31,252,0.00,1.83,0.00,0.000,6,0.000,0.045,2491,2005,3930,0,0,0,0,0,0
$GC,606,-0.66,-204.4,148.3,-21.1,92,614,0.00,1.75,0.00,0.000,4,0.000,0.050,2491,867,3930,0,0,0,0,0,0
$GC,631,-0.66,-204.4,152.6,-18.5,95,638,0.00,1.80,0.00,0.000,6,0.000,0.049,2491,2052,3931,0,0,0,0,0,0
$GC,986,-0.65,-204.4,219.4,-17.3,156,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2053,3932,0,0,0,0,0,0
$GC,1346,-0.65,-204.4,278.1,-15.9,217,1352,0.00,1.73,0.00,0.000,4,0.000,0.057,2491,3172,3931,0,0,0,0,0,0
$GC,1361,-0.65,-204.4,280.5,-15.4,219,1368,0.00,1.77,0.00,0.000,6,0.000,0.042,2491,1988,3932,0,0,0,0,0,0
$GC,1697,-0.65,-204.4,332.2,-14.5,260,1701,0.00,1.90,0.00,0.000,4,0.000,0.058,2491,3169,3931,0,0,0,0,0,0
$GC,1781,-0.66,-204.4,342.1,-11.6,267,1784,0.00,1.75,0.00,0.000,6,0.000,0.040,2491,2001,3931,0,0,0,0,0,0
$GC,2112,-0.67,-204.4,386.8,-13.2,298,2115,0.00,1.70,0.00,0.000,4,0.000,0.047,2491,869,3929,0,0,0,0,0,0
$GC,2175,-0.68,-204.4,394.2,-12.2,303,2178,0.00,1.77,0.00,0.000,6,0.000,0.046,2491,2052,3929,0,0,0,0,0,0
$GC,2506,-0.68,-204.4,436.5,-12.5,334,2509,0.00,1.70,0.00,0.000,4,0.000,0.056,2491,3170,3927,0,0,0,0,0,0
$GC,2567,-0.69,-204.4,443.3,-11.1,339,2571,0.00,1.80,0.00,0.000,6,0.000,0.040,2491,1999,3926,0,0,0,0,0,0
$GC,2898,-0.70,-204.4,487.4,-13.2,370,2901,0.00,1.67,0.00,0.000,4,0.000,0.048,2491,868,3924,0,0,0,0,0,0
$GC,2926,-0.71,-204.4,491.3,-13.0,372,2935,0.00,1.83,0.00,0.000,6,0.000,0.046,2491,2048,3924,0,0,0,0,0,0
$GC,3252,-0.72,-204.4,529.1,-10.5,403,3256,0.00,1.75,0.00,0.000,4,0.000,0.057,2491,3173,3921,0,0,0,0,0,0
$GC,3325,-0.73,-204.4,536.2,-8.5,409,3332,0.00,1.77,0.00,0.000,6,0.000,0.041,2491,1988,3921,0,0,0,0,0,0
$GC,3650,-0.74,-204.4,568.6,-10.4,440,3654,0.00,1.85,0.00,0.000,4,0.000,0.057,2491,3168,3917,0,0,0,0,0,0
$GC,3696,-0.76,-204.4,573.0,-9.2,444,3700,0.00,1.75,0.00,0.000,6,0.000,0.040,2491,1998,3917,0,0,0,0,0,0
$GC,4039,-0.77,-204.4,606.9,-10.1,473,4043,0.00,1.83,0.00,0.000,4,0.000,0.056,2491,3171,3914,0,0,0,0,0,0
$GC,4080,-0.78,-204.4,611.2,-9.4,474,4087,0.00,1.77,0.00,0.000,6,0.000,0.042,2491,2002,3915,0,0,0,0,0,0
$GC,4396,-0.79,-204.4,645.2,-11.4,490,4400,0.00,1.85,0.00,0.000,4,0.000,0.057,2491,3164,3911,0,0,0,0,0,0
$GC,4423,-0.80,-204.4,648.5,-11.6,491,4427,0.00,1.75,0.00,0.000,6,0.000,0.041,2491,1997,3911,0,0,0,0,0,0
$GC,4751,-0.82,-204.4,686.1,-11.5,507,4755,0.00,1.88,0.00,0.000,4,0.000,0.057,2491,3168,3908,0,0,0,0,0,0
$GC,4775,-0.83,-204.4,688.7,-11.1,508,4779,0.00,1.75,0.00,0.000,6,0.000,0.042,2491,2003,3908,0,0,0,0,0,0
$GC,5109,-0.84,-204.4,723.7,-10.1,524,5112,0.00,1.83,0.00,0.000,4,0.000,0.057,2491,3171,3906,0,0,0,0,0,0
$GC,5155,-0.86,-204.4,728.3,-10.0,526,5159,0.10,1.77,0.00,0.000,6,0.121,0.044,2451,2000,3905,0,0,0,0,0,0
$GC,5488,-0.86,-204.4,771.5,-13.0,542,5492,0.00,1.75,0.00,0.000,4,0.000,0.054,2451,872,3902,0,0,0,0,0,0
$GC,5522,-0.87,-204.4,776.1,-12.8,543,5525,0.00,1.80,0.00,0.000,6,0.000,0.051,2451,2044,3902,0,0,0,0,0,0
$GC,5844,-0.87,-204.4,816.4,-12.3,559,5848,0.00,1.75,0.00,0.000,4,0.000,0.061,2451,3171,3899,0,0,0,0,0,0
$GC,5900,-0.88,-204.4,823.0,-11.4,561,5904,0.00,1.83,0.00,0.000,6,0.000,0.047,2450,2009,3899,0,0,0,0,0,0
$GC,6222,-0.89,-204.4,861.9,-12.4,577,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2008,3897,0,0,0,0,0,0
$GC,6532,-0.89,-204.4,901.0,-12.9,592,6536,0.00,1.85,0.00,0.000,4,0.000,0.063,2450,3171,3894,0,0,0,0,0,0
$GC,6603,-0.90,-204.4,909.4,-11.6,595,6606,0.00,1.80,0.00,0.000,6,0.000,0.050,2450,2003,3894,0,0,0,0,0,0
$GC,6937,-0.91,-204.4,953.4,-13.5,611,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2002,3892,0,0,0,0,0,0
$GC,7247,-0.92,-204.4,993.8,-12.8,626,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2002,3890,0,0,0,0,0,0
$STATE,7304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7305,begin apogee
$GC,7310,-0.18,0.0,1001.6,12.8,629,7488,0.68,0.08,172.77,1.276,6,0.134,0.106,2666,2093,3091,0,0,0,0,0,0
$STATE,7489,end apogee,CONTROL_FINISHED_OK
$STATE,7489,begin climb
$GC,7491,0.69,204.4,1011.2,0.0,637,7694,0.80,1.92,194.57,1.245,4,0.064,0.045,2958,972,2255,0,0,0,0,0,0
$GC,7711,0.67,204.4,998.9,15.4,648,7715,0.00,1.92,0.00,0.000,6,0.000,0.037,2957,2144,2251,0,0,0,0,0,0
$GC,8039,0.66,204.4,944.4,16.3,664,8042,0.00,1.80,0.00,0.000,4,0.000,0.045,2965,969,2241,0,0,0,0,0,0
$GC,8099,0.65,204.4,934.0,16.9,666,8107,0.00,1.80,0.00,0.000,6,0.000,0.039,2966,2146,2240,0,0,0,0,0,0
$GC,8416,0.63,204.4,880.3,17.1,682,8420,0.12,1.70,0.00,0.000,4,0.192,0.047,2933,3274,2238,0,0,0,0,0,0
$GC,8448,0.62,204.4,875.0,15.9,683,8451,0.00,1.77,0.00,0.000,6,0.000,0.034,2942,2075,2237,0,0,0,0,0,0
$GC,8770,0.61,204.4,828.8,14.5,699,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2074,2236,0,0,0,0,0,0
$GC,9079,0.60,204.4,783.7,14.5,714,9082,0.00,1.88,0.00,0.000,4,0.000,0.045,2942,3270,2235,0,0,0,0,0,0
$GC,9125,0.59,204.4,776.5,15.9,716,9129,0.00,1.80,0.00,0.000,6,0.000,0.035,2951,2088,2234,0,0,0,0,0,0
$GC,9459,0.58,204.4,727.0,15.1,732,9463,0.12,1.70,0.00,0.000,4,0.192,0.045,2928,957,2234,0,0,0,0,0,0
$GC,9520,0.60,217.8,718.0,13.3,734,9536,0.00,1.80,9.77,0.975,6,0.000,0.038,2921,2158,2202,0,0,0,0,0,0
$GC,9860,0.63,249.6,674.7,12.4,751,9895,0.00,1.90,30.38,1.059,4,0.000,0.047,2931,973,2072,0,0,0,0,0,0
$GC,9952,0.67,282.4,662.6,12.4,755,9990,0.00,1.80,30.23,1.037,6,0.000,0.038,2931,2148,1937,0,0,0,0,0,0
$GC,10299,0.69,293.5,616.5,13.4,772,10313,0.00,1.88,9.60,0.907,4,0.000,0.048,2939,965,1893,0,0,0,0,0,0
$GC,10375,0.69,294.4,606.3,13.8,775,10379,0.00,1.77,0.00,0.000,6,0.000,0.040,2939,2148,1891,0,0,0,0,0,0
$GC,10704,0.69,294.4,559.5,15.1,804,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2148,1887,0,0,0,0,0,0
$GC,11024,0.69,294.4,512.6,14.4,834,11028,0.00,1.77,0.00,0.000,4,0.000,0.047,2947,970,1886,0,0,0,0,0,0
$GC,11063,0.69,296.6,507.0,13.8,837,11070,0.00,1.80,0.00,0.000,6,0.000,0.039,2947,2149,1884,0,0,0,0,0,0
$GC,11388,0.69,297.1,460.8,13.9,868,11392,0.00,1.77,0.00,0.000,4,0.000,0.046,2956,966,1883,0,0,0,0,0,0
$GC,11434,0.69,297.1,454.0,13.9,872,11438,0.00,1.75,0.00,0.000,6,0.000,0.039,2956,2148,1883,0,0,0,0,0,0
$GC,11768,0.70,308.1,406.4,13.4,903,11792,0.00,1.77,13.02,0.828,4,0.000,0.046,2956,3272,1833,0,0,0,0,0,0
$GC,11805,0.70,308.1,400.9,14.5,906,11808,0.00,1.77,0.00,0.000,6,0.000,0.034,2965,2080,1833,0,0,0,0,0,0
$GC,12138,0.72,322.9,356.2,13.2,937,12163,0.00,1.73,14.57,0.796,4,0.000,0.045,2973,970,1772,0,0,0,0,0,0
$GC,12237,0.74,338.2,342.4,13.2,945,12258,0.00,1.80,14.45,0.778,6,0.000,0.037,2973,2152,1711,0,0,0,0,0,0
$GC,12578,0.74,338.2,292.0,14.9,981,12585,0.00,1.77,0.00,0.000,4,0.000,0.043,2982,964,1705,0,0,0,0,0,0
$GC,12617,0.74,338.2,286.1,14.4,987,12624,0.00,1.75,0.00,0.000,6,0.000,0.037,2982,2149,1705,0,0,0,0,0,0
$GC,12975,0.73,338.2,230.8,15.0,1048,12985,0.00,1.80,0.00,0.000,4,0.000,0.042,2991,967,1705,0,0,0,0,0,0
$GC,13023,0.73,338.2,224.1,14.5,1055,13030,0.00,1.77,0.00,0.000,6,0.000,0.036,2991,2148,1705,0,0,0,0,0,0
$GC,13380,0.73,338.2,171.7,14.2,1116,13389,0.00,1.80,0.00,0.000,4,0.000,0.042,2999,964,1705,0,0,0,0,0,0
$GC,13450,0.76,361.5,162.6,12.8,1127,13480,0.00,1.75,20.45,0.659,6,0.000,0.035,2999,2162,1615,0,0,0,0,0,0
$GC,13837,0.80,393.0,112.0,12.4,1191,13871,0.00,1.70,26.58,0.623,4,0.000,0.039,2999,3278,1489,0,0,0,0,0,0
$GC,13935,0.88,457.3,101.0,11.0,1205,14000,0.00,1.80,54.12,0.621,6,0.000,0.030,3009,2085,1224,0,0,0,0,0,0
$GC,14353,0.97,515.8,59.3,11.2,1273,14412,0.00,1.75,46.90,0.578,4,0.000,0.041,3011,965,987,0,0,0,0,0,0
$GC,14537,1.09,596.2,40.7,10.2,1301,14612,0.15,1.80,64.30,0.562,6,0.052,0.034,3088,2157,658,0,0,0,0,0,0
$STATE,14747,end climb,SURFACE_DEPTH_REACHED
$STATE,14747,begin surface coast
$FINISH,1.8,1.022050
$STATE,14761,end surface coast,CONTROL_FINISHED_OK
$STATE,14761,begin surface
$SM_CCo,14778,31.75,0.059,0,0,481,640.23
$SM_GC,1.07,0.00,0.00,31.75,0.000,0.000,0.059,144,1954,481,-8.07,-2.01,640.23
$IRIDIUM_FIX,2302.75,12600.61,281010,010105
$TT8_MAMPS,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.4,57.136
$10V_AH,9.9,47.483
$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,20.750,115.125,701.725,31.750,0.000,41.100,22.520,212.143,0.000,0.000,20.394,3306.660,7227.845,729.068,3655.041,295.323,0.000,2083.405,0.000,3382.387,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,105.570,1276.020,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.123,0.000,1853.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333652
$DATA_FILE_SIZE,80301,1335
$CAP_FILE_SIZE,165251,0
$CFSIZE,260165632,232464384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,299.1,1
$GPS,281010,102655,2307.745,12555.328,39,1.4,39,-3.3