version: 66.08
glider: 169
mission: 2
dive: 390
start: 10 29 110 16 18 4
data:
$ID,169
$MISSION,2
$DIVE,390
$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,-7204.9365
$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
$GPS1,291010,161007,2258.238,12553.310,44,1.4,44,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.3
$GPS2,291010,161736,2258.350,12553.242,38,0.9,38,-3.3
$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,178.6,179705,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.35,0.000,2,0.000,0.000,149,1979,3120,0,0,0,0,0,0
$GC,117,-0.69,-204.4,4.3,-7.4,12,151,10.07,1.77,-13.93,0.000,4,0.243,0.072,2498,868,3929,0,0,0,0,0,0
$GC,283,-0.68,-204.4,56.7,-27.5,38,292,0.00,1.85,0.00,0.000,6,0.000,0.054,2498,2035,3930,0,0,0,0,0,0
$GC,645,-0.67,-204.4,148.0,-20.3,99,654,0.00,1.77,0.00,0.000,4,0.000,0.057,2498,3170,3931,0,0,0,0,0,0
$GC,698,-0.66,-204.4,157.9,-18.5,107,705,0.00,1.80,0.00,0.000,6,0.000,0.044,2498,1994,3931,0,0,0,0,0,0
$GC,1054,-0.66,-204.4,220.5,-17.3,168,1063,0.00,1.88,0.00,0.000,4,0.000,0.058,2498,3167,3932,0,0,0,0,0,0
$GC,1106,-0.67,-204.4,228.4,-13.7,176,1114,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,1999,3932,0,0,0,0,0,0
$GC,1468,-0.67,-204.4,286.6,-14.0,237,1474,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3173,3931,0,0,0,0,0,0
$GC,1495,-0.67,-204.4,290.6,-14.7,241,1502,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2002,3932,0,0,0,0,0,0
$GC,1829,-0.68,-204.4,336.4,-13.4,277,1833,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3167,3931,0,0,0,0,0,0
$GC,1890,-0.69,-204.4,344.2,-10.4,282,1900,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,1995,3930,0,0,0,0,0,0
$GC,2217,-0.69,-204.4,386.5,-12.4,313,2221,0.00,1.88,0.00,0.000,4,0.000,0.055,2498,3167,3929,0,0,0,0,0,0
$GC,2303,-0.70,-204.4,396.3,-10.2,320,2311,0.00,1.80,0.00,0.000,6,0.000,0.038,2498,1997,3928,0,0,0,0,0,0
$GC,2631,-0.71,-204.4,435.2,-11.9,351,2635,0.00,1.88,0.00,0.000,4,0.000,0.055,2498,3168,3926,0,0,0,0,0,0
$GC,2681,-0.72,-204.4,441.6,-10.7,355,2688,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1988,3926,0,0,0,0,0,0
$GC,3007,-0.73,-204.4,479.5,-11.3,386,3011,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3174,3923,0,0,0,0,0,0
$GC,3068,-0.75,-204.4,485.8,-10.3,391,3072,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2003,3924,0,0,0,0,0,0
$GC,3399,-0.76,-204.4,521.6,-11.1,422,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2002,3921,0,0,0,0,0,0
$GC,3719,-0.77,-204.4,556.9,-11.3,452,3722,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3171,3918,0,0,0,0,0,0
$GC,3822,-0.78,-204.4,567.7,-10.2,461,3825,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,1999,3916,0,0,0,0,0,0
$GC,4163,-0.79,-204.4,608.5,-12.2,490,4167,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3169,3914,0,0,0,0,0,0
$GC,4254,-0.81,-204.4,618.7,-9.8,494,4258,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2001,3913,0,0,0,0,0,0
$GC,4588,-0.82,-204.4,653.9,-10.1,510,4592,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3174,3911,0,0,0,0,0,0
$GC,4650,-0.84,-204.4,659.8,-8.7,512,4657,0.12,1.80,0.00,0.000,6,0.105,0.042,2447,1998,3909,0,0,0,0,0,0
$GC,4966,-0.84,-204.4,703.6,-14.0,528,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1997,3907,0,0,0,0,0,0
$GC,5277,-0.85,-204.4,745.9,-13.3,543,5280,0.00,1.85,0.00,0.000,4,0.000,0.059,2447,3167,3905,0,0,0,0,0,0
$GC,5304,-0.85,-204.4,750.0,-13.1,544,5308,0.00,1.77,0.00,0.000,6,0.000,0.044,2447,2000,3905,0,0,0,0,0,0
$GC,5632,-0.85,-204.4,791.7,-12.5,560,5636,0.00,1.85,0.00,0.000,4,0.000,0.058,2447,3167,3902,0,0,0,0,0,0
$GC,5688,-0.86,-204.4,798.8,-11.7,562,5691,0.00,1.77,0.00,0.000,6,0.000,0.044,2447,2001,3901,0,0,0,0,0,0
$GC,6010,-0.87,-204.4,838.4,-12.5,578,6013,0.00,1.85,0.00,0.000,4,0.000,0.059,2446,3167,3899,0,0,0,0,0,0
$GC,6060,-0.88,-204.4,844.6,-11.0,580,6064,0.00,1.77,0.00,0.000,6,0.000,0.045,2447,2003,3899,0,0,0,0,0,0
$GC,6387,-0.88,-204.4,884.9,-12.6,596,6391,0.00,1.83,0.00,0.000,4,0.000,0.059,2447,3167,3897,0,0,0,0,0,0
$GC,6434,-0.89,-204.4,890.5,-12.4,598,6438,0.00,1.77,0.00,0.000,6,0.000,0.045,2446,2003,3896,0,0,0,0,0,0
$GC,6767,-0.90,-204.4,932.4,-12.7,614,6771,0.00,1.85,0.00,0.000,4,0.000,0.060,2447,3174,3894,0,0,0,0,0,0
$GC,6829,-0.91,-204.4,939.8,-11.6,616,6836,0.00,1.80,0.00,0.000,6,0.000,0.047,2447,2002,3893,0,0,0,0,0,0
$GC,7146,-0.91,-204.4,979.1,-12.7,632,7150,0.00,1.88,0.00,0.000,4,0.000,0.060,2447,3164,3891,0,0,0,0,0,0
$GC,7192,-0.92,-204.4,984.7,-12.1,634,7195,0.00,1.83,0.00,0.000,6,0.000,0.046,2447,2003,3891,0,0,0,0,0,0
$STATE,7316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7316,begin apogee
$GC,7321,-0.18,0.0,1000.2,12.5,640,7500,0.70,0.05,173.10,1.269,6,0.138,0.069,2668,2098,3090,0,0,0,0,0,0
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7504,0.69,204.4,1010.5,0.0,648,7708,0.77,1.88,194.45,1.241,4,0.054,0.043,2967,967,2255,0,0,0,0,0,0
$GC,7804,0.67,204.4,984.7,16.8,662,7808,0.00,1.85,0.00,0.000,6,0.000,0.041,2966,2138,2246,0,0,0,0,0,0
$GC,8131,0.66,204.4,926.1,18.3,678,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2139,2240,0,0,0,0,0,0
$GC,8441,0.64,204.4,870.4,18.0,693,8445,0.00,1.75,0.00,0.000,4,0.000,0.046,2975,967,2238,0,0,0,0,0,0
$GC,8479,0.63,204.4,863.2,18.1,694,8487,0.12,1.80,0.00,0.000,6,0.161,0.041,2936,2150,2237,0,0,0,0,0,0
$GC,8795,0.62,204.4,815.7,14.8,710,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2150,2236,0,0,0,0,0,0
$GC,9105,0.62,206.5,771.7,13.8,725,9109,0.00,1.80,0.00,0.000,4,0.000,0.045,2944,974,2234,0,0,0,0,0,0
$GC,9151,0.61,207.0,765.6,13.9,727,9155,0.00,1.80,0.00,0.000,6,0.000,0.041,2944,2152,2234,0,0,0,0,0,0
$GC,9484,0.60,209.9,719.4,13.8,743,9488,0.00,1.73,0.00,0.000,4,0.000,0.049,2944,3268,2233,0,0,0,0,0,0
$GC,9530,0.60,212.3,712.8,13.8,745,9535,0.08,1.80,0.00,0.000,6,0.173,0.036,2929,2093,2233,0,0,0,0,0,0
$GC,9864,0.62,239.1,671.2,12.7,761,9899,0.00,1.77,29.02,1.047,4,0.000,0.047,2937,972,2115,0,0,0,0,0,0
$GC,10035,0.65,256.8,648.1,13.1,768,10056,0.00,1.83,16.88,0.992,6,0.000,0.041,2936,2153,2043,0,0,0,0,0,0
$GC,10369,0.65,262.3,602.4,13.6,784,10378,0.00,1.83,5.03,0.734,4,0.000,0.046,2944,959,2021,0,0,0,0,0,0
$GC,10403,0.67,282.1,597.7,13.0,786,10427,0.00,1.80,19.77,0.976,6,0.000,0.041,2944,2147,1941,0,0,0,0,0,0
$GC,10745,0.67,282.1,548.3,15.4,818,10748,0.00,1.70,0.00,0.000,4,0.000,0.048,2944,3273,1932,0,0,0,0,0,0
$GC,10772,0.67,282.1,543.7,17.0,820,10779,0.00,1.80,0.00,0.000,6,0.000,0.035,2953,2089,1931,0,0,0,0,0,0
$GC,11100,0.66,282.1,492.5,15.8,851,11104,0.00,1.73,0.00,0.000,4,0.000,0.047,2962,965,1929,0,0,0,0,0,0
$GC,11206,0.66,282.1,476.2,14.0,860,11215,0.00,1.80,0.00,0.000,6,0.000,0.041,2961,2141,1929,0,0,0,0,0,0
$GC,11534,0.66,282.1,428.3,14.7,891,11538,0.00,1.75,0.00,0.000,4,0.000,0.044,2970,967,1928,0,0,0,0,0,0
$GC,11573,0.66,282.1,422.1,14.6,894,11582,0.00,1.80,0.00,0.000,6,0.000,0.040,2970,2148,1928,0,0,0,0,0,0
$GC,11899,0.65,282.1,372.5,14.8,925,11903,0.00,1.73,0.00,0.000,4,0.000,0.047,2970,3267,1927,0,0,0,0,0,0
$GC,11924,0.64,282.1,368.8,14.5,927,11929,0.10,1.80,0.00,0.000,6,0.152,0.033,2945,2076,1927,0,0,0,0,0,0
$GC,12254,0.70,325.3,327.2,11.9,958,12296,0.00,1.70,37.08,0.812,4,0.000,0.042,2954,967,1764,0,0,0,0,0,0
$GC,12354,0.75,368.2,314.1,11.9,966,12398,0.00,1.83,37.42,0.793,6,0.000,0.037,2948,2152,1587,0,0,0,0,0,0
$GC,12742,0.82,413.7,263.1,11.8,1024,12786,0.12,1.90,38.05,0.751,4,0.084,0.043,3022,963,1403,0,0,0,0,0,0
$GC,12912,0.81,413.7,234.2,17.5,1051,12919,0.00,1.77,0.00,0.000,6,0.000,0.037,3019,2154,1399,0,0,0,0,0,0
$GC,13272,0.81,413.7,171.3,16.7,1112,13279,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2154,1397,0,0,0,0,0,0
$GC,13636,0.81,413.7,108.7,16.7,1173,13644,0.00,1.80,0.00,0.000,4,0.000,0.041,3027,965,1397,0,0,0,0,0,0
$GC,13742,0.86,452.0,94.8,12.1,1190,13784,0.00,1.77,31.98,0.615,6,0.000,0.035,3027,2153,1247,0,0,0,0,0,0
$GC,14135,1.03,584.5,53.0,7.8,1255,14250,0.10,1.88,105.85,0.581,4,0.096,0.041,3098,960,705,0,0,0,0,0,0
$GC,14348,1.04,584.5,21.7,18.3,1285,14357,0.10,1.80,0.00,0.000,6,0.125,0.031,3063,2158,703,0,0,0,0,0,0
$STATE,14485,end climb,SURFACE_DEPTH_REACHED
$STATE,14485,begin surface coast
$FINISH,0.4,1.022106
$STATE,14511,end surface coast,CONTROL_FINISHED_OK
$STATE,14511,begin surface
$SM_CCo,14527,41.60,0.058,0,0,481,640.23
$SM_GC,1.07,0.00,0.00,41.60,0.000,0.000,0.058,142,1977,481,-8.09,-1.36,640.23
$IRIDIUM_FIX,2248.70,12553.21,291010,111152
$TT8_MAMPS,0.026215
$HUMID,45.90
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.5,58.867
$10V_AH,9.9,48.712
$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,20.600,112.475,688.625,41.600,0.000,30.992,44.782,209.492,0.000,0.000,38.963,3257.871,7033.815,719.928,3696.007,300.456,0.000,2076.042,0.000,3391.031,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,78.030,1269.135,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.559,0.000,1830.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,77039,1311
$CAP_FILE_SIZE,164379,0
$CFSIZE,260165632,231825408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 16.1,1
$GPS,291010,202225,2257.089,12553.261,62,1.0,62,-3.3