version: 66.08
glider: 169
mission: 2
dive: 400
start: 10 31 110 11 3 19
data:
$ID,169
$MISSION,2
$DIVE,400
$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,-7225.9272
$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
$GPS1,311010,105607,2245.442,12548.654,41,0.9,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,311010,110250,2245.486,12548.554,11,1.9,11,-3.2
$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,159.7,156880,-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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.47,0.000,2,0.000,0.000,149,2002,2973,0,0,0,0,0,0
$GC,114,-0.69,-204.4,3.0,-4.5,12,149,9.77,1.75,-17.58,0.000,4,0.235,0.063,2497,870,3927,0,0,0,0,0,0
$GC,285,-0.68,-204.4,55.7,-26.8,39,294,0.00,1.85,0.00,0.000,6,0.000,0.050,2495,2047,3929,0,0,0,0,0,0
$GC,651,-0.67,-204.4,147.5,-25.0,100,660,0.00,1.77,0.00,0.000,4,0.000,0.060,2495,3170,3930,0,0,0,0,0,0
$GC,734,-0.66,-204.4,164.5,-17.8,113,740,0.00,1.77,0.00,0.000,6,0.000,0.043,2495,2003,3930,0,0,0,0,0,0
$GC,1090,-0.66,-204.4,227.7,-17.5,174,1099,0.00,1.73,0.00,0.000,4,0.000,0.048,2496,873,3931,0,0,0,0,0,0
$GC,1173,-0.67,-204.4,239.3,-12.8,187,1179,0.00,1.80,0.00,0.000,6,0.000,0.047,2495,2036,3931,0,0,0,0,0,0
$GC,1528,-0.67,-204.4,295.4,-15.4,248,1537,0.00,1.75,0.00,0.000,4,0.000,0.056,2495,3164,3931,0,0,0,0,0,0
$GC,1590,-0.68,-204.4,303.6,-12.4,256,1594,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,1999,3931,0,0,0,0,0,0
$GC,1923,-0.68,-204.4,348.9,-13.9,287,1927,0.00,1.88,0.00,0.000,4,0.000,0.057,2495,3170,3929,0,0,0,0,0,0
$GC,1995,-0.69,-204.4,357.8,-11.4,293,1998,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2001,3929,0,0,0,0,0,0
$GC,2326,-0.70,-204.4,399.8,-12.2,324,2330,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3171,3927,0,0,0,0,0,0
$GC,2396,-0.71,-204.4,407.7,-10.7,330,2399,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,2004,3927,0,0,0,0,0,0
$GC,2729,-0.72,-204.4,447.5,-12.0,361,2732,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3170,3925,0,0,0,0,0,0
$GC,2810,-0.73,-204.4,456.9,-10.7,368,2814,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2002,3924,0,0,0,0,0,0
$GC,3144,-0.74,-204.4,496.5,-11.6,399,3148,0.00,1.83,0.00,0.000,4,0.000,0.055,2495,3168,3921,0,0,0,0,0,0
$GC,3191,-0.76,-204.4,501.7,-10.1,403,3195,0.00,1.77,0.00,0.000,6,0.000,0.041,2495,2001,3921,0,0,0,0,0,0
$GC,3522,-0.77,-204.4,535.9,-10.5,434,3526,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3170,3918,0,0,0,0,0,0
$GC,3568,-0.78,-204.4,540.2,-9.4,438,3572,0.00,1.75,0.00,0.000,6,0.000,0.041,2495,2003,3918,0,0,0,0,0,0
$GC,3899,-0.79,-204.4,575.9,-11.4,469,3903,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3170,3915,0,0,0,0,0,0
$GC,3945,-0.81,-204.4,580.7,-10.4,473,3948,0.00,1.77,0.00,0.000,6,0.000,0.042,2496,1989,3915,0,0,0,0,0,0
$GC,4273,-0.82,-204.4,615.8,-10.6,497,4277,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3173,3912,0,0,0,0,0,0
$GC,4312,-0.84,-204.4,620.1,-9.5,498,4320,0.10,1.80,0.00,0.000,6,0.116,0.042,2456,1992,3911,0,0,0,0,0,0
$GC,4629,-0.84,-204.4,661.5,-13.0,514,4632,0.00,1.85,0.00,0.000,4,0.000,0.059,2456,3167,3909,0,0,0,0,0,0
$GC,4684,-0.85,-204.4,668.4,-11.2,516,4688,0.00,1.80,0.00,0.000,6,0.000,0.044,2456,1992,3908,0,0,0,0,0,0
$GC,5007,-0.85,-204.4,708.3,-12.6,532,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1990,3905,0,0,0,0,0,0
$GC,5316,-0.86,-204.4,747.8,-12.8,547,5320,0.00,1.88,0.00,0.000,4,0.000,0.060,2456,3167,3902,0,0,0,0,0,0
$GC,5385,-0.87,-204.4,756.0,-11.2,550,5388,0.00,1.77,0.00,0.000,6,0.000,0.045,2456,2002,3902,0,0,0,0,0,0
$GC,5718,-0.87,-204.4,799.1,-12.8,566,5722,0.00,1.83,0.00,0.000,4,0.000,0.060,2456,3167,3900,0,0,0,0,0,0
$GC,5781,-0.88,-204.4,807.1,-12.6,568,5788,0.00,1.80,0.00,0.000,6,0.000,0.045,2456,2001,3899,0,0,0,0,0,0
$GC,6098,-0.89,-204.4,846.5,-12.5,584,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2001,3897,0,0,0,0,0,0
$GC,6407,-0.90,-204.4,884.7,-12.3,599,6411,0.00,1.88,0.00,0.000,4,0.000,0.060,2456,3174,3894,0,0,0,0,0,0
$GC,6485,-0.91,-204.4,893.8,-11.1,602,6489,0.00,1.83,0.00,0.000,6,0.000,0.047,2456,2000,3894,0,0,0,0,0,0
$GC,6807,-0.92,-204.4,931.6,-11.6,618,6811,0.00,1.88,0.00,0.000,4,0.000,0.060,2456,3168,3891,0,0,0,0,0,0
$GC,6853,-0.93,-204.4,936.6,-10.4,620,6856,0.00,1.80,0.00,0.000,6,0.000,0.046,2456,2004,3892,0,0,0,0,0,0
$GC,7186,-0.94,-204.4,974.8,-11.4,636,7190,0.00,1.88,0.00,0.000,4,0.000,0.062,2456,3173,3889,0,0,0,0,0,0
$GC,7225,-0.95,-204.4,979.4,-11.0,637,7232,0.00,1.83,0.00,0.000,6,0.000,0.047,2456,2000,3889,0,0,0,0,0,0
$STATE,7415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7416,begin apogee
$GC,7421,-0.18,0.0,1000.4,11.0,647,7602,0.65,0.05,174.30,1.273,6,0.134,0.065,2664,2097,3091,0,0,0,0,0,0
$STATE,7603,end apogee,CONTROL_FINISHED_OK
$STATE,7603,begin climb
$GC,7605,0.69,204.4,1009.9,0.0,655,7811,0.77,1.95,196.60,1.245,4,0.048,0.045,2967,968,2255,0,0,0,0,0,0
$GC,7939,0.67,204.4,977.1,17.2,670,7946,0.00,1.85,0.00,0.000,6,0.000,0.041,2963,2152,2245,0,0,0,0,0,0
$GC,8256,0.66,204.4,920.7,18.3,686,8259,0.00,1.73,0.00,0.000,4,0.000,0.049,2963,3276,2240,0,0,0,0,0,0
$GC,8295,0.64,204.4,913.2,18.8,687,8302,0.12,1.77,0.00,0.000,6,0.196,0.036,2942,2083,2239,0,0,0,0,0,0
$GC,8610,0.63,204.4,864.6,15.0,703,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2081,2237,0,0,0,0,0,0
$GC,8920,0.62,204.4,820.8,14.1,718,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2081,2236,0,0,0,0,0,0
$GC,9230,0.61,204.4,777.6,13.9,733,9234,0.00,1.85,0.00,0.000,4,0.000,0.047,2936,3268,2235,0,0,0,0,0,0
$GC,9257,0.60,204.4,773.5,14.7,734,9261,0.00,1.80,0.00,0.000,6,0.000,0.035,2944,2082,2234,0,0,0,0,0,0
$GC,9585,0.60,204.4,728.3,14.1,750,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2080,2233,0,0,0,0,0,0
$GC,9894,0.59,204.4,684.3,14.1,765,9898,0.00,1.70,0.00,0.000,4,0.000,0.047,2953,967,2233,0,0,0,0,0,0
$GC,9978,0.58,208.5,672.3,13.7,768,9986,0.12,1.80,0.00,0.000,6,0.174,0.041,2919,2159,2232,0,0,0,0,0,0
$GC,10295,0.65,265.8,635.4,11.3,784,10352,0.00,1.75,52.78,1.040,4,0.000,0.048,2919,3268,2006,0,0,0,0,0,0
$GC,10371,0.68,287.3,625.9,12.9,787,10395,0.00,1.83,20.50,0.975,6,0.000,0.034,2928,2077,1919,0,0,0,0,0,0
$GC,10717,0.69,294.4,579.7,13.6,811,10729,0.00,1.67,5.75,0.760,4,0.000,0.045,2935,970,1891,0,0,0,0,0,0
$GC,10765,0.72,318.1,573.6,12.8,815,10792,0.00,1.80,23.20,0.964,6,0.000,0.040,2934,2155,1794,0,0,0,0,0,0
$GC,11112,0.72,318.1,524.0,14.7,847,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2155,1785,0,0,0,0,0,0
$GC,11434,0.72,318.1,479.4,13.9,877,11438,0.00,1.80,0.00,0.000,4,0.000,0.047,2943,969,1783,0,0,0,0,0,0
$GC,11529,0.74,331.3,466.9,13.3,885,11545,0.00,1.77,11.52,0.848,6,0.000,0.040,2943,2148,1740,0,0,0,0,0,0
$GC,11866,0.76,351.1,420.8,13.0,916,11889,0.00,1.88,18.50,0.858,4,0.000,0.047,2948,971,1659,0,0,0,0,0,0
$GC,11913,0.78,366.8,414.3,13.2,920,11933,0.00,1.77,15.07,0.826,6,0.000,0.040,2948,2150,1595,0,0,0,0,0,0
$GC,12254,0.78,366.8,365.5,15.0,951,12257,0.00,1.77,0.00,0.000,4,0.000,0.046,2957,968,1587,0,0,0,0,0,0
$GC,12302,0.79,372.9,358.5,13.6,955,12315,0.00,1.77,5.65,0.647,6,0.000,0.039,2956,2148,1569,0,0,0,0,0,0
$GC,12632,0.79,373.2,310.1,13.9,986,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2148,1567,0,0,0,0,0,0
$GC,12978,0.80,375.1,260.9,13.8,1039,12985,0.00,1.80,0.00,0.000,4,0.000,0.044,2964,972,1567,0,0,0,0,0,0
$GC,13035,0.85,414.0,253.5,12.1,1048,13079,0.08,1.77,36.33,0.747,6,0.051,0.037,3020,2147,1402,0,0,0,0,0,0
$GC,13430,0.85,414.0,177.7,18.9,1114,13438,0.00,1.83,0.00,0.000,4,0.000,0.043,3029,964,1397,0,0,0,0,0,0
$GC,13574,0.85,414.0,153.5,15.4,1138,13583,0.00,1.80,0.00,0.000,6,0.000,0.037,3030,2155,1396,0,0,0,0,0,0
$GC,13942,0.84,414.0,90.6,15.1,1199,13950,0.00,1.80,0.00,0.000,4,0.000,0.041,3039,970,1396,0,0,0,0,0,0
$GC,14041,0.86,427.5,75.8,13.3,1215,14060,0.08,1.77,12.05,0.555,6,0.125,0.035,3011,2154,1347,0,0,0,0,0,0
$GC,14413,1.00,526.0,40.0,9.4,1277,14502,0.12,1.85,80.55,0.565,4,0.084,0.037,3092,968,945,0,0,0,0,0,0
$GC,14566,1.00,526.0,13.7,17.6,1298,14575,0.10,1.77,0.00,0.000,6,0.134,0.030,3056,2158,943,0,0,0,0,0,0
$STATE,14652,end climb,SURFACE_DEPTH_REACHED
$STATE,14652,begin surface coast
$FINISH,0.1,0.997125
$STATE,14691,end surface coast,CONTROL_FINISHED_OK
$STATE,14691,begin surface
$SM_CCo,14708,82.25,0.057,0,0,480,640.23
$SM_GC,1.04,0.00,0.00,82.25,0.000,0.000,0.057,153,1981,480,-8.06,-1.22,640.23
$IRIDIUM_FIX,2237.01,12550.47,311010,060633
$TT8_MAMPS,0.025466
$HUMID,44.52
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.3,61.068
$10V_AH,9.9,50.228
$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,20.325,108.700,652.800,82.250,0.000,28.247,22.552,212.038,0.000,0.000,12.542,3282.483,7255.594,736.514,3609.176,299.871,0.000,2048.733,0.000,3360.394,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,79.560,1272.960,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.085,0.000,1817.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76894,1318
$CAP_FILE_SIZE,163045,0
$CFSIZE,260165632,231010304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,348.2,1
$GPS,311010,151100,2244.442,12548.838,36,1.3,41,-3.2