version: 66.08
glider: 169
mission: 2
dive: 427
start: 11 5 110 6 39 29
data:
$ID,169
$MISSION,2
$DIVE,427
$N_DIVES,434
$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,-7276.8584
$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
$GPS1,051110,062907,2206.931,12546.047,57,1.0,57,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.6
$GPS2,051110,063902,2206.939,12546.038,13,1.0,13,-3.1
$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,171.8,87946,-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,-204.4,0.0,0.0,0,117,0.00,0.00,-99.65,0.000,2,0.000,0.000,136,1988,3213,0,0,0,0,0,0
$GC,120,-0.69,-204.4,4.4,-7.5,12,147,9.88,1.80,-11.90,0.000,4,0.234,0.071,2498,881,3928,0,0,0,0,0,0
$GC,257,-0.68,-204.4,51.9,-24.7,33,265,0.00,1.83,0.00,0.000,6,0.000,0.052,2498,2038,3929,0,0,0,0,0,0
$GC,623,-0.67,-204.4,143.6,-21.6,94,632,0.00,1.77,0.00,0.000,4,0.000,0.060,2497,3161,3931,0,0,0,0,0,0
$GC,694,-0.67,-204.4,156.5,-14.6,105,700,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,2001,3931,0,0,0,0,0,0
$GC,1049,-0.67,-204.4,216.7,-17.1,166,1059,0.00,1.73,0.00,0.000,4,0.000,0.050,2498,879,3931,0,0,0,0,0,0
$GC,1088,-0.67,-204.4,223.4,-16.5,172,1096,0.00,1.80,0.00,0.000,6,0.000,0.048,2498,2039,3931,0,0,0,0,0,0
$GC,1449,-0.67,-204.4,282.2,-14.5,233,1456,0.00,1.77,0.00,0.000,4,0.000,0.059,2497,3167,3931,0,0,0,0,0,0
$GC,1536,-0.68,-204.4,293.4,-12.3,247,1543,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1998,3931,0,0,0,0,0,0
$GC,1871,-0.68,-204.4,341.5,-14.1,282,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1996,3929,0,0,0,0,0,0
$GC,2191,-0.69,-204.4,385.6,-13.6,312,2195,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3168,3928,0,0,0,0,0,0
$GC,2238,-0.70,-204.4,391.9,-11.8,316,2242,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1999,3928,0,0,0,0,0,0
$GC,2572,-0.70,-204.4,431.0,-11.4,347,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1998,3926,0,0,0,0,0,0
$GC,2900,-0.71,-204.4,467.6,-10.9,378,2903,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3923,0,0,0,0,0,0
$GC,2992,-0.73,-204.4,476.6,-8.9,386,2996,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,1999,3923,0,0,0,0,0,0
$GC,3324,-0.74,-204.4,513.5,-11.3,417,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1998,3920,0,0,0,0,0,0
$GC,3644,-0.75,-204.4,546.6,-10.5,447,3648,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3168,3917,0,0,0,0,0,0
$GC,3749,-0.76,-204.4,556.5,-9.1,456,3752,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2002,3916,0,0,0,0,0,0
$GC,4080,-0.78,-204.4,591.8,-11.0,487,4084,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3161,3914,0,0,0,0,0,0
$GC,4138,-0.79,-204.4,597.7,-9.8,492,4141,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,1998,3913,0,0,0,0,0,0
$GC,4460,-0.80,-204.4,631.8,-10.2,509,4464,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3168,3911,0,0,0,0,0,0
$GC,4522,-0.82,-204.4,637.9,-8.9,511,4528,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2002,3910,0,0,0,0,0,0
$GC,4838,-0.83,-204.4,669.0,-10.1,527,4843,0.10,1.88,0.00,0.000,4,0.118,0.057,2457,3171,3908,0,0,0,0,0,0
$GC,4917,-0.84,-204.4,678.4,-11.9,530,4920,0.00,1.77,0.00,0.000,6,0.000,0.046,2457,2004,3907,0,0,0,0,0,0
$GC,5238,-0.85,-204.4,721.5,-13.3,546,5242,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3167,3905,0,0,0,0,0,0
$GC,5278,-0.85,-204.4,726.9,-13.2,547,5284,0.00,1.80,0.00,0.000,6,0.000,0.044,2457,1998,3904,0,0,0,0,0,0
$GC,5597,-0.86,-204.4,768.6,-13.2,563,5600,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3174,3902,0,0,0,0,0,0
$GC,5643,-0.87,-204.4,774.6,-11.7,565,5646,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,1996,3902,0,0,0,0,0,0
$GC,5977,-0.87,-204.4,816.4,-12.5,581,5980,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3168,3899,0,0,0,0,0,0
$GC,6010,-0.88,-204.4,820.7,-12.0,582,6013,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2003,3899,0,0,0,0,0,0
$GC,6332,-0.89,-204.4,859.8,-12.3,598,6336,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3171,3896,0,0,0,0,0,0
$GC,6387,-0.90,-204.4,866.6,-11.9,600,6391,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,2000,3896,0,0,0,0,0,0
$GC,6709,-0.91,-204.4,906.4,-12.8,616,6713,0.00,1.88,0.00,0.000,4,0.000,0.061,2457,3170,3894,0,0,0,0,0,0
$GC,6804,-0.92,-204.4,918.0,-12.1,620,6808,0.00,1.80,0.00,0.000,6,0.000,0.046,2457,1997,3894,0,0,0,0,0,0
$GC,7132,-0.92,-204.4,960.1,-13.0,636,7136,0.00,1.85,0.00,0.000,4,0.000,0.062,2457,3166,3891,0,0,0,0,0,0
$GC,7171,-0.93,-204.4,965.5,-12.4,637,7178,0.00,1.77,0.00,0.000,6,0.000,0.046,2458,2004,3891,0,0,0,0,0,0
$STATE,7444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7444,begin apogee
$GC,7449,-0.18,0.0,1002.0,13.4,651,7630,0.65,0.05,173.38,1.274,6,0.129,0.068,2667,2102,3091,0,0,0,0,0,0
$STATE,7631,end apogee,CONTROL_FINISHED_OK
$STATE,7631,begin climb
$GC,7633,0.69,204.4,1015.3,0.0,659,7838,0.77,2.03,195.90,1.249,4,0.057,0.046,2952,3259,2255,0,0,0,0,0,0
$GC,7923,0.67,204.4,996.0,16.2,673,7927,0.00,1.80,0.00,0.000,6,0.000,0.037,2960,2095,2246,0,0,0,0,0,0
$GC,8256,0.66,204.4,940.6,16.7,689,8260,0.00,1.67,0.00,0.000,4,0.000,0.047,2969,969,2240,0,0,0,0,0,0
$GC,8357,0.65,204.4,923.3,16.9,693,8360,0.00,1.80,0.00,0.000,6,0.000,0.040,2962,2152,2239,0,0,0,0,0,0
$GC,8679,0.63,204.4,868.0,17.4,709,8683,0.00,1.70,0.00,0.000,4,0.000,0.047,2962,3272,2237,0,0,0,0,0,0
$GC,8724,0.62,204.4,859.6,19.3,711,8729,0.15,1.80,0.00,0.000,6,0.187,0.037,2933,2076,2236,0,0,0,0,0,0
$GC,9057,0.61,204.4,809.7,14.2,727,9061,0.00,1.67,0.00,0.000,4,0.000,0.049,2941,965,2235,0,0,0,0,0,0
$GC,9141,0.60,204.4,797.3,14.6,730,9147,0.00,1.77,0.00,0.000,6,0.000,0.040,2936,2157,2235,0,0,0,0,0,0
$GC,9457,0.61,216.6,753.8,13.3,746,9467,0.00,0.00,8.48,0.960,6,0.000,0.000,2936,2157,2208,0,0,0,0,0,0
$GC,9766,0.60,216.6,711.6,14.4,761,9770,0.00,1.80,0.00,0.000,4,0.000,0.047,2945,963,2205,0,0,0,0,0,0
$GC,9816,0.59,216.6,704.1,14.3,763,9820,0.00,1.80,0.00,0.000,6,0.000,0.039,2944,2144,2205,0,0,0,0,0,0
$GC,10143,0.58,216.6,657.5,14.2,779,10147,0.00,1.77,0.00,0.000,4,0.000,0.045,2953,958,2203,0,0,0,0,0,0
$GC,10190,0.59,230.9,651.4,13.2,781,10213,0.12,1.80,15.00,0.993,6,0.174,0.041,2920,2152,2148,0,0,0,0,0,0
$GC,10523,0.66,286.2,611.2,11.4,797,10578,0.00,1.90,50.45,1.021,4,0.000,0.047,2929,975,1924,0,0,0,0,0,0
$GC,10635,0.70,316.8,597.5,12.5,802,10668,0.00,1.80,28.40,0.979,6,0.000,0.041,2930,2154,1799,0,0,0,0,0,0
$GC,10989,0.71,327.2,550.6,13.4,835,11002,0.00,1.90,9.02,0.849,4,0.000,0.047,2935,963,1757,0,0,0,0,0,0
$GC,11081,0.73,341.6,538.6,13.2,843,11105,0.00,1.77,14.55,0.905,6,0.000,0.040,2934,2147,1697,0,0,0,0,0,0
$GC,11425,0.75,355.1,491.5,13.3,875,11443,0.10,1.80,12.77,0.870,4,0.096,0.045,3001,969,1642,0,0,0,0,0,0
$GC,11526,0.74,355.1,474.2,17.8,883,11531,0.08,1.83,0.00,0.000,6,0.157,0.041,2976,2152,1638,0,0,0,0,0,0
$GC,11857,0.74,355.1,413.5,18.6,914,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2153,1636,0,0,0,0,0,0
$GC,12178,0.73,355.1,357.4,16.6,944,12182,0.00,1.80,0.00,0.000,4,0.000,0.046,2984,969,1635,0,0,0,0,0,0
$GC,12282,0.73,355.1,341.0,15.1,953,12286,0.00,1.75,0.00,0.000,6,0.000,0.040,2983,2147,1634,0,0,0,0,0,0
$GC,12612,0.73,355.1,288.2,15.3,990,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2147,1634,0,0,0,0,0,0
$GC,12962,0.72,355.1,233.3,15.5,1051,12969,0.00,1.77,0.00,0.000,4,0.000,0.044,2992,962,1634,0,0,0,0,0,0
$GC,13022,0.72,355.1,224.1,14.9,1061,13029,0.00,1.75,0.00,0.000,6,0.000,0.038,2991,2149,1634,0,0,0,0,0,0
$GC,13369,0.73,364.4,171.2,13.5,1122,13385,0.00,1.80,8.30,0.596,4,0.000,0.041,3000,957,1604,0,0,0,0,0,0
$GC,13518,0.77,391.1,152.0,12.7,1147,13548,0.00,1.77,24.33,0.654,6,0.000,0.037,3000,2162,1496,0,0,0,0,0,0
$GC,13900,0.85,457.2,103.1,10.9,1211,13958,0.00,0.00,55.53,0.628,6,0.000,0.000,3000,2163,1227,0,0,0,0,0,0
$GC,14316,1.02,582.5,67.9,8.2,1278,14422,0.15,1.92,100.82,0.591,4,0.070,0.041,3102,967,715,0,0,0,0,0,0
$GC,14543,1.02,582.5,30.5,14.3,1311,14553,0.12,1.77,0.00,0.000,6,0.136,0.032,3060,2153,712,0,0,0,0,0,0
$STATE,14719,end climb,SURFACE_DEPTH_REACHED
$STATE,14719,begin surface coast
$FINISH,0.2,1.001051
$STATE,14738,end surface coast,CONTROL_FINISHED_OK
$STATE,14738,begin surface
$SM_CCo,14755,42.83,0.058,0,0,481,640.23
$SM_GC,0.98,0.00,0.00,42.83,0.000,0.000,0.058,151,1993,481,-8.06,-0.90,640.23
$IRIDIUM_FIX,2159.71,12544.71,051110,020252
$TT8_MAMPS,0.026964
$HUMID,46.10
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.3,66.927
$10V_AH,9.8,54.400
$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,20.350,105.075,696.925,42.825,0.000,23.895,15.500,355.874,0.000,0.000,14.150,3333.632,7105.344,721.337,3833.776,365.843,0.000,2071.413,0.000,3466.250,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,75.735,1274.490,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.659,0.000,1872.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,80321,1343
$CAP_FILE_SIZE,167053,0
$CFSIZE,260165632,228794368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,262.1,1
$GPS,051110,104707,2204.497,12545.645,31,1.0,31,-3.1