version: 66.08
glider: 169
mission: 2
dive: 402
start: 10 31 110 19 37 5
data:
$ID,169
$MISSION,2
$DIVE,402
$N_DIVES,414
$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,-7230.5234
$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
$GPS1,311010,192931,2243.421,12548.889,39,1.3,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.4
$GPS2,311010,193637,2243.490,12548.859,28,2.0,28,-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,178.9,153147,-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,16,-0.69,-204.4,0.0,0.0,0,109,0.00,0.00,-91.05,0.000,2,0.000,0.000,150,1985,2935,0,0,0,0,0,0
$GC,112,-0.69,-204.4,3.3,-4.9,11,147,9.88,1.77,-18.48,0.000,4,0.238,0.067,2500,880,3929,0,0,0,0,0,0
$GC,278,-0.68,-204.4,52.7,-25.1,37,288,0.00,1.83,0.00,0.000,6,0.000,0.054,2500,2037,3930,0,0,0,0,0,0
$GC,641,-0.67,-204.4,141.8,-20.0,98,649,0.00,1.77,0.00,0.000,4,0.000,0.058,2500,3168,3931,0,0,0,0,0,0
$GC,682,-0.67,-204.4,150.0,-18.6,104,691,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2003,3931,0,0,0,0,0,0
$GC,1033,-0.66,-204.4,212.5,-18.0,165,1041,0.00,1.83,0.00,0.000,4,0.000,0.056,2500,3176,3932,0,0,0,0,0,0
$GC,1061,-0.66,-204.4,217.2,-16.3,169,1069,0.00,1.80,0.00,0.000,6,0.000,0.043,2500,1998,3932,0,0,0,0,0,0
$GC,1408,-0.66,-204.4,269.6,-14.1,230,1417,0.00,1.85,0.00,0.000,4,0.000,0.056,2500,3162,3932,0,0,0,0,0,0
$GC,1454,-0.67,-204.4,275.8,-13.8,237,1462,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,1998,3932,0,0,0,0,0,0
$GC,1796,-0.67,-204.4,321.9,-13.5,284,1800,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3172,3931,0,0,0,0,0,0
$GC,1824,-0.68,-204.4,325.8,-13.3,286,1833,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2003,3932,0,0,0,0,0,0
$GC,2152,-0.69,-204.4,367.7,-12.7,317,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2002,3929,0,0,0,0,0,0
$GC,2471,-0.69,-204.4,406.5,-11.7,347,2475,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3164,3928,0,0,0,0,0,0
$GC,2555,-0.71,-204.4,415.3,-9.6,354,2563,0.00,1.80,0.00,0.000,6,0.000,0.039,2500,1996,3927,0,0,0,0,0,0
$GC,2882,-0.72,-204.4,449.5,-10.7,385,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1995,3926,0,0,0,0,0,0
$GC,3202,-0.73,-204.4,485.7,-11.7,415,3206,0.00,1.88,0.00,0.000,4,0.000,0.055,2500,3167,3922,0,0,0,0,0,0
$GC,3249,-0.74,-204.4,491.2,-10.2,419,3253,0.00,1.80,0.00,0.000,6,0.000,0.040,2499,2000,3922,0,0,0,0,0,0
$GC,3581,-0.75,-204.4,527.2,-10.3,450,3585,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3168,3919,0,0,0,0,0,0
$GC,3628,-0.77,-204.4,531.6,-9.1,454,3632,0.00,1.77,0.00,0.000,6,0.000,0.040,2500,2002,3919,0,0,0,0,0,0
$GC,3959,-0.78,-204.4,562.9,-9.4,485,3963,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3170,3916,0,0,0,0,0,0
$GC,3987,-0.79,-204.4,565.5,-9.1,487,3993,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,1995,3916,0,0,0,0,0,0
$GC,4313,-0.80,-204.4,594.1,-8.1,518,4316,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3168,3913,0,0,0,0,0,0
$GC,4374,-0.82,-204.4,598.8,-6.9,523,4381,0.10,1.75,0.00,0.000,6,0.125,0.041,2461,2000,3912,0,0,0,0,0,0
$GC,4703,-0.82,-204.4,637.6,-13.1,540,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1998,3910,0,0,0,0,0,0
$GC,5010,-0.83,-204.4,678.7,-13.5,555,5014,0.00,1.88,0.00,0.000,4,0.000,0.058,2461,3168,3908,0,0,0,0,0,0
$GC,5072,-0.84,-204.4,686.4,-11.3,557,5080,0.00,1.80,0.00,0.000,6,0.000,0.044,2461,2002,3907,0,0,0,0,0,0
$GC,5388,-0.84,-204.4,724.0,-11.8,573,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2000,3905,0,0,0,0,0,0
$GC,5698,-0.85,-204.4,761.5,-12.4,588,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2000,3902,0,0,0,0,0,0
$GC,6007,-0.85,-204.4,799.5,-12.3,603,6010,0.00,1.88,0.00,0.000,4,0.000,0.060,2461,3167,3899,0,0,0,0,0,0
$GC,6062,-0.87,-204.4,806.2,-11.1,605,6066,0.00,1.83,0.00,0.000,6,0.000,0.044,2460,2003,3900,0,0,0,0,0,0
$GC,6384,-0.87,-204.4,845.0,-12.4,621,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2002,3897,0,0,0,0,0,0
$GC,6694,-0.88,-204.4,882.0,-12.1,636,6697,0.00,1.88,0.00,0.000,4,0.000,0.060,2461,3168,3895,0,0,0,0,0,0
$GC,6749,-0.89,-204.4,888.7,-11.2,638,6753,0.00,1.77,0.00,0.000,6,0.000,0.046,2461,2004,3895,0,0,0,0,0,0
$GC,7071,-0.90,-204.4,926.1,-11.4,654,7075,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3173,3893,0,0,0,0,0,0
$GC,7099,-0.91,-204.4,929.4,-11.1,655,7103,0.00,1.80,0.00,0.000,6,0.000,0.047,2460,2004,3892,0,0,0,0,0,0
$GC,7427,-0.92,-204.4,966.0,-11.2,671,7431,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3170,3891,0,0,0,0,0,0
$GC,7473,-0.93,-204.4,971.0,-10.4,673,7477,0.00,1.80,0.00,0.000,6,0.000,0.047,2461,1998,3890,0,0,0,0,0,0
$STATE,7762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7762,begin apogee
$GC,7768,-0.18,0.0,1000.9,10.0,687,7947,0.65,0.08,173.45,1.270,6,0.138,0.107,2665,2092,3091,0,0,0,0,0,0
$STATE,7948,end apogee,CONTROL_FINISHED_OK
$STATE,7948,begin climb
$GC,7951,0.69,204.4,1007.8,0.0,695,8154,0.80,2.08,194.93,1.245,4,0.059,0.047,2950,3265,2256,0,0,0,0,0,0
$GC,8324,0.67,204.4,965.1,18.1,713,8327,0.00,1.80,0.00,0.000,6,0.000,0.035,2959,2082,2243,0,0,0,0,0,0
$GC,8656,0.66,204.4,908.8,16.1,729,8660,0.00,1.83,0.00,0.000,4,0.000,0.046,2951,3274,2239,0,0,0,0,0,0
$GC,8684,0.65,204.4,904.0,16.5,730,8688,0.00,1.77,0.00,0.000,6,0.000,0.036,2960,2085,2239,0,0,0,0,0,0
$GC,9011,0.63,204.4,852.8,15.5,746,9015,0.00,1.70,0.00,0.000,4,0.000,0.047,2968,959,2237,0,0,0,0,0,0
$GC,9050,0.62,204.4,846.2,16.4,747,9057,0.12,1.77,0.00,0.000,6,0.181,0.041,2931,2152,2236,0,0,0,0,0,0
$GC,9367,0.62,214.6,803.8,13.4,763,9378,0.00,1.77,6.95,0.918,4,0.000,0.048,2930,3270,2214,0,0,0,0,0,0
$GC,9411,0.62,218.7,797.3,13.7,765,9421,0.00,1.77,5.57,0.844,6,0.000,0.035,2939,2083,2199,0,0,0,0,0,0
$GC,9734,0.62,224.7,753.5,13.6,780,9746,0.00,1.75,7.05,0.911,4,0.000,0.046,2947,966,2175,0,0,0,0,0,0
$GC,9790,0.62,233.4,745.3,13.5,782,9806,0.00,1.80,10.25,0.986,6,0.000,0.040,2948,2139,2138,0,0,0,0,0,0
$GC,10130,0.62,233.4,695.7,14.9,799,10134,0.00,1.83,0.00,0.000,4,0.000,0.045,2956,962,2131,0,0,0,0,0,0
$GC,10186,0.61,233.4,686.6,15.7,801,10190,0.00,1.77,0.00,0.000,6,0.000,0.041,2956,2150,2131,0,0,0,0,0,0
$GC,10508,0.60,233.4,636.5,15.7,817,10510,0.12,0.00,0.00,0.000,6,0.184,0.000,2924,2152,2130,0,0,0,0,0,0
$GC,10818,0.63,258.0,595.5,12.8,833,10849,0.00,1.88,22.55,0.993,4,0.000,0.047,2933,966,2037,0,0,0,0,0,0
$GC,10874,0.66,279.8,588.5,12.9,838,10899,0.00,1.77,21.27,0.971,6,0.000,0.039,2932,2147,1950,0,0,0,0,0,0
$GC,11225,0.69,306.9,542.4,12.6,871,11256,0.00,0.00,24.33,0.952,6,0.000,0.000,2932,2147,1838,0,0,0,0,0,0
$GC,11574,0.71,327.2,497.6,13.0,904,11600,0.00,1.85,18.55,0.910,4,0.000,0.044,2940,965,1755,0,0,0,0,0,0
$GC,11638,0.74,348.4,489.5,12.9,909,11664,0.00,1.80,19.73,0.898,6,0.000,0.039,2940,2155,1669,0,0,0,0,0,0
$GC,11981,0.76,360.8,441.6,13.3,941,12001,0.10,0.00,11.20,0.819,6,0.099,0.000,2994,2155,1619,0,0,0,0,0,0
$GC,12319,0.75,360.8,381.3,18.7,973,12323,0.00,1.83,0.00,0.000,4,0.000,0.044,3003,972,1615,0,0,0,0,0,0
$GC,12389,0.75,360.8,368.6,17.3,979,12393,0.12,1.75,0.00,0.000,6,0.170,0.041,2969,2148,1614,0,0,0,0,0,0
$GC,12720,0.75,360.8,315.3,15.5,1010,12724,0.00,1.80,0.00,0.000,4,0.000,0.044,2978,969,1613,0,0,0,0,0,0
$GC,12768,0.75,360.8,307.5,15.8,1014,12778,0.00,1.77,0.00,0.000,6,0.000,0.037,2974,2143,1613,0,0,0,0,0,0
$GC,13114,0.75,360.8,252.2,15.9,1071,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2143,1612,0,0,0,0,0,0
$GC,13461,0.77,380.0,201.6,13.0,1132,13484,0.00,1.80,17.40,0.682,4,0.000,0.041,2983,960,1538,0,0,0,0,0,0
$GC,13533,0.81,405.8,192.5,12.7,1143,13563,0.00,1.80,23.12,0.683,6,0.000,0.037,2983,2162,1435,0,0,0,0,0,0
$GC,13910,0.81,405.8,137.9,14.7,1207,13919,0.00,1.83,0.00,0.000,4,0.000,0.042,2992,966,1430,0,0,0,0,0,0
$GC,13975,0.85,435.9,129.2,12.5,1217,14009,0.00,1.77,26.17,0.635,6,0.000,0.035,2992,2147,1312,0,0,0,0,0,0
$GC,14361,0.95,506.1,84.1,10.7,1281,14428,0.12,1.83,57.92,0.602,4,0.083,0.039,3067,963,1026,0,0,0,0,0,0
$GC,14542,0.96,506.1,59.7,15.2,1308,14551,0.00,1.80,0.00,0.000,6,0.000,0.033,3067,2155,1023,0,0,0,0,0,0
$GC,14908,0.96,506.1,4.2,17.9,1369,14918,0.00,1.80,0.00,0.000,4,0.000,0.042,3075,972,1023,0,0,0,0,0,0
$STATE,14924,end climb,SURFACE_DEPTH_REACHED
$STATE,14925,begin surface coast
$FINISH,0.2,1.022102
$STATE,14945,end surface coast,CONTROL_FINISHED_OK
$STATE,14946,begin surface
$SM_CCo,14963,95.30,0.482,1,0,480,640.23
$SM_GC,0.91,0.00,0.00,95.30,0.000,0.000,0.482,147,2057,480,-8.07,0.90,640.23
$IRIDIUM_FIX,2239.35,12549.10,311010,151504
$TT8_MAMPS,0.026964
$HUMID,45.82
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.4,61.502
$10V_AH,9.9,50.540
$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,20.300,105.225,640.450,95.300,0.000,25.790,43.871,203.222,0.000,0.000,30.482,3393.865,7296.907,768.769,3718.015,302.427,0.000,2098.085,0.000,3446.748,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,107.100,1269.900,481.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.924,0.000,1891.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80271,1374
$CAP_FILE_SIZE,164999,0
$CFSIZE,260165632,230834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.118, 18.6,1
$GPS,311010,234907,2241.939,12549.061,28,1.4,28,-3.2