version: 66.08
glider: 169
mission: 2
dive: 396
start: 10 30 110 17 49 25
data:
$ID,169
$MISSION,2
$DIVE,396
$N_DIVES,410
$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,-7217.6797
$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
$GPS1,301010,174155,2250.867,12551.250,41,1.0,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.7
$GPS2,301010,174856,2250.947,12551.205,14,1.8,14,-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,186.9,166366,-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,-204.4,0.0,0.0,0,107,0.00,0.00,-90.03,0.000,2,0.000,0.000,151,1972,2909,0,0,0,0,0,0
$GC,110,-0.69,-204.4,3.2,-5.3,11,145,10.43,1.75,-18.90,0.000,4,0.254,0.062,2498,862,3928,0,0,0,0,0,0
$GC,292,-0.68,-204.4,57.5,-25.4,40,301,0.00,1.85,0.00,0.000,6,0.000,0.050,2499,2039,3930,0,0,0,0,0,0
$GC,658,-0.67,-204.4,153.6,-21.9,101,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2039,3932,0,0,0,0,0,0
$GC,1004,-0.67,-204.4,216.8,-16.6,162,1013,0.00,1.77,0.00,0.000,4,0.000,0.058,2498,3167,3933,0,0,0,0,0,0
$GC,1055,-0.67,-204.4,224.6,-14.1,170,1064,0.00,1.80,0.00,0.000,6,0.000,0.040,2499,1997,3933,0,0,0,0,0,0
$GC,1406,-0.67,-204.4,281.6,-16.3,231,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1996,3933,0,0,0,0,0,0
$GC,1743,-0.67,-204.4,335.1,-14.9,272,1747,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3171,3932,0,0,0,0,0,0
$GC,1838,-0.68,-204.4,347.8,-11.7,280,1846,0.00,1.80,0.00,0.000,6,0.000,0.041,2499,2002,3932,0,0,0,0,0,0
$GC,2165,-0.69,-204.4,388.2,-12.6,311,2169,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3164,3931,0,0,0,0,0,0
$GC,2214,-0.70,-204.4,394.1,-11.2,315,2218,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,2003,3931,0,0,0,0,0,0
$GC,2546,-0.71,-204.4,435.0,-12.1,346,2549,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3177,3928,0,0,0,0,0,0
$GC,2605,-0.72,-204.4,441.5,-10.9,351,2609,0.00,1.80,0.00,0.000,6,0.000,0.039,2499,2002,3928,0,0,0,0,0,0
$GC,2936,-0.73,-204.4,480.1,-11.9,382,2940,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3174,3926,0,0,0,0,0,0
$GC,2984,-0.75,-204.4,485.4,-10.6,386,2987,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,2000,3925,0,0,0,0,0,0
$GC,3315,-0.76,-204.4,522.9,-11.3,417,3318,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3171,3923,0,0,0,0,0,0
$GC,3351,-0.77,-204.4,526.7,-10.5,420,3354,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,2000,3923,0,0,0,0,0,0
$GC,3682,-0.78,-204.4,561.6,-10.2,451,3686,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3162,3920,0,0,0,0,0,0
$GC,3739,-0.80,-204.4,567.0,-8.7,456,3743,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,1989,3919,0,0,0,0,0,0
$GC,4080,-0.81,-204.4,603.2,-10.5,487,4084,0.00,1.85,0.00,0.000,4,0.000,0.056,2499,3168,3917,0,0,0,0,0,0
$GC,4127,-0.83,-204.4,607.7,-9.3,489,4131,0.10,1.75,0.00,0.000,6,0.119,0.039,2459,1996,3916,0,0,0,0,0,0
$GC,4461,-0.83,-204.4,652.6,-13.6,505,4464,0.00,1.85,0.00,0.000,4,0.000,0.058,2458,3175,3914,0,0,0,0,0,0
$GC,4486,-0.83,-204.4,656.1,-13.6,506,4490,0.00,1.77,0.00,0.000,6,0.000,0.043,2458,2002,3913,0,0,0,0,0,0
$GC,4820,-0.84,-204.4,699.6,-12.6,522,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2001,3911,0,0,0,0,0,0
$GC,5129,-0.84,-204.4,736.4,-11.9,537,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2001,3908,0,0,0,0,0,0
$GC,5439,-0.85,-204.4,773.6,-12.0,552,5442,0.00,1.88,0.00,0.000,4,0.000,0.059,2458,3168,3905,0,0,0,0,0,0
$GC,5499,-0.86,-204.4,780.7,-10.6,554,5506,0.00,1.80,0.00,0.000,6,0.000,0.043,2458,1999,3905,0,0,0,0,0,0
$GC,5816,-0.87,-204.4,817.2,-11.5,570,5820,0.00,1.88,0.00,0.000,4,0.000,0.059,2458,3159,3902,0,0,0,0,0,0
$GC,5872,-0.88,-204.4,823.6,-10.8,572,5876,0.00,1.75,0.00,0.000,6,0.000,0.044,2458,2003,3902,0,0,0,0,0,0
$GC,6194,-0.88,-204.4,860.6,-11.7,588,6198,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3170,3900,0,0,0,0,0,0
$GC,6244,-0.90,-204.4,866.3,-10.5,590,6248,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2004,3899,0,0,0,0,0,0
$GC,6572,-0.90,-204.4,903.0,-11.2,606,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3897,0,0,0,0,0,0
$GC,6884,-0.91,-204.4,938.0,-11.2,621,6888,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3167,3895,0,0,0,0,0,0
$GC,6939,-0.92,-204.4,944.4,-10.8,623,6943,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2003,3894,0,0,0,0,0,0
$GC,7261,-0.93,-204.4,980.2,-11.5,639,7265,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3174,3893,0,0,0,0,0,0
$GC,7323,-0.94,-204.4,986.7,-9.9,641,7331,0.00,1.83,0.00,0.000,6,0.000,0.046,2458,1998,3892,0,0,0,0,0,0
$STATE,7451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7451,begin apogee
$GC,7456,-0.18,0.0,1000.8,11.2,648,7638,0.65,0.05,174.73,1.273,6,0.138,0.065,2664,2095,3091,0,0,0,0,0,0
$STATE,7638,end apogee,CONTROL_FINISHED_OK
$STATE,7639,begin climb
$GC,7641,0.69,204.4,1009.9,0.0,656,7845,0.77,2.00,195.32,1.251,4,0.044,0.047,2964,3264,2256,0,0,0,0,0,0
$GC,7867,0.67,204.4,994.9,17.6,667,7870,0.00,1.92,0.00,0.000,6,0.000,0.034,2972,2097,2250,0,0,0,0,0,0
$GC,8188,0.65,204.4,938.0,17.7,683,8193,0.12,1.70,0.00,0.000,4,0.197,0.044,2950,966,2241,0,0,0,0,0,0
$GC,8222,0.64,204.4,932.2,16.6,684,8225,0.00,1.77,0.00,0.000,6,0.000,0.039,2948,2158,2241,0,0,0,0,0,0
$GC,8543,0.63,204.4,881.0,16.0,700,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2158,2238,0,0,0,0,0,0
$GC,8853,0.62,204.4,833.0,15.5,715,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2159,2236,0,0,0,0,0,0
$GC,9162,0.61,204.4,786.2,15.1,730,9166,0.00,1.80,0.00,0.000,4,0.000,0.045,2957,967,2235,0,0,0,0,0,0
$GC,9189,0.60,204.4,781.6,15.3,731,9194,0.08,1.80,0.00,0.000,6,0.159,0.041,2932,2148,2235,0,0,0,0,0,0
$GC,9517,0.59,204.4,733.9,14.5,747,9520,0.00,1.77,0.00,0.000,4,0.000,0.044,2940,958,2234,0,0,0,0,0,0
$GC,9544,0.59,204.4,729.7,14.2,748,9548,0.00,1.77,0.00,0.000,6,0.000,0.040,2936,2155,2234,0,0,0,0,0,0
$GC,9872,0.58,205.6,683.8,13.8,764,9876,0.00,1.77,0.00,0.000,4,0.000,0.044,2945,963,2233,0,0,0,0,0,0
$GC,9900,0.59,217.7,679.8,13.3,765,9918,0.00,1.80,9.57,0.955,6,0.000,0.040,2944,2147,2202,0,0,0,0,0,0
$GC,10227,0.58,217.7,633.4,14.5,781,10230,0.00,1.77,0.00,0.000,4,0.000,0.044,2953,957,2198,0,0,0,0,0,0
$GC,10251,0.57,217.7,629.7,15.0,782,10255,0.12,1.77,0.00,0.000,6,0.170,0.040,2920,2154,2198,0,0,0,0,0,0
$GC,10578,0.60,238.4,586.3,12.9,802,10608,0.00,1.88,20.17,0.984,4,0.000,0.046,2929,967,2117,0,0,0,0,0,0
$GC,10632,0.61,250.1,579.0,13.4,807,10649,0.00,1.80,12.38,0.920,6,0.000,0.040,2925,2154,2070,0,0,0,0,0,0
$GC,10968,0.64,272.2,534.3,12.9,838,10994,0.00,1.77,19.92,0.940,4,0.000,0.048,2925,3270,1980,0,0,0,0,0,0
$GC,11025,0.65,280.0,526.7,13.5,843,11037,0.00,1.77,8.50,0.825,6,0.000,0.034,2934,2081,1949,0,0,0,0,0,0
$GC,11355,0.67,302.4,483.1,12.9,874,11381,0.00,1.77,20.33,0.907,4,0.000,0.045,2942,960,1858,0,0,0,0,0,0
$GC,11431,0.70,320.9,473.2,13.0,880,11455,0.00,1.83,18.08,0.884,6,0.000,0.038,2939,2144,1781,0,0,0,0,0,0
$GC,11783,0.71,331.4,425.0,13.4,913,11796,0.00,1.88,9.48,0.792,4,0.000,0.044,2947,959,1739,0,0,0,0,0,0
$GC,11836,0.73,340.5,417.3,13.5,917,11857,0.00,1.77,9.80,0.786,6,0.000,0.037,2947,2149,1701,0,0,0,0,0,0
$GC,12174,0.74,348.7,370.8,13.5,949,12187,0.00,1.88,7.90,0.730,4,0.000,0.045,2956,960,1668,0,0,0,0,0,0
$GC,12270,0.76,360.8,357.6,13.3,957,12286,0.00,1.77,11.85,0.774,6,0.000,0.038,2956,2155,1620,0,0,0,0,0,0
$GC,12606,0.76,360.8,307.7,14.5,988,12610,0.00,1.83,0.00,0.000,4,0.000,0.044,2964,967,1615,0,0,0,0,0,0
$GC,12666,0.79,383.0,300.1,12.9,993,12693,0.00,1.75,20.12,0.771,6,0.000,0.037,2962,2156,1527,0,0,0,0,0,0
$GC,13036,0.79,386.3,246.4,13.7,1056,13045,0.00,1.83,0.00,0.000,4,0.000,0.043,2970,963,1522,0,0,0,0,0,0
$GC,13127,0.82,405.7,234.3,13.0,1071,13156,0.00,1.75,19.80,0.715,6,0.000,0.036,2970,2156,1437,0,0,0,0,0,0
$GC,13498,0.85,422.7,182.9,13.1,1135,13520,0.00,1.75,15.88,0.658,4,0.000,0.041,2970,3272,1366,0,0,0,0,0,0
$GC,13552,0.91,470.0,176.2,11.7,1143,13602,0.12,1.77,40.85,0.680,6,0.080,0.031,3048,2084,1174,0,0,0,0,0,0
$GC,13957,0.90,470.0,97.2,18.2,1210,13965,0.00,1.67,0.00,0.000,4,0.000,0.041,3057,970,1169,0,0,0,0,0,0
$GC,14084,0.90,470.0,75.9,15.4,1231,14093,0.08,1.77,0.00,0.000,6,0.144,0.033,3029,2162,1168,0,0,0,0,0,0
$GC,14453,0.99,537.0,34.5,10.8,1292,14512,0.00,1.90,54.20,0.566,4,0.000,0.044,3029,968,900,0,0,0,0,0,0
$GC,14616,1.11,613.7,18.7,10.4,1316,14683,0.12,1.80,61.10,0.549,6,0.047,0.032,3107,2162,588,0,0,0,0,0,0
$STATE,14713,end climb,SURFACE_DEPTH_REACHED
$STATE,14714,begin surface coast
$FINISH,0.3,1.003370
$STATE,14734,end surface coast,CONTROL_FINISHED_OK
$STATE,14734,begin surface
$SM_CCo,14751,22.52,0.280,1,0,480,640.23
$SM_GC,1.01,0.00,0.00,22.52,0.000,0.000,0.280,150,1996,480,-8.06,-0.82,640.23
$IRIDIUM_FIX,2241.69,12550.47,301010,131310
$TT8_MAMPS,0.026964
$HUMID,45.94
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.4,60.202
$10V_AH,9.8,49.619
$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,21.075,112.575,729.975,22.525,0.000,24.330,59.234,199.362,0.000,0.000,16.168,3290.095,7239.085,753.212,3607.680,301.451,0.000,2069.188,0.000,3339.808,0.000,0.543,0.000
$DEVICE_MAMPS,253.980,78.030,1272.960,279.990,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.908,0.000,1811.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80291,1332
$CAP_FILE_SIZE,165827,0
$CFSIZE,260165632,231325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,  8.5,1
$GPS,301010,215653,2249.592,12550.741,24,1.4,40,-3.3