version: 66.08
glider: 169
mission: 2
dive: 428
start: 11 5 110 10 54 29
data:
$ID,169
$MISSION,2
$DIVE,428
$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,-7279.1938
$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
$GPS1,051110,104707,2204.497,12545.645,31,1.0,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.4
$GPS2,051110,105401,2204.458,12545.655,11,1.1,11,-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,156.9,83780,-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,-204.4,0.0,0.0,0,115,0.00,0.00,-96.80,0.000,2,0.000,0.000,150,1993,3114,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.0,-6.8,12,152,9.85,1.80,-13.82,0.000,4,0.234,0.074,2500,880,3928,0,0,0,0,0,0
$GC,184,-0.66,-204.4,33.9,-38.5,21,193,0.00,1.85,0.00,0.000,6,0.000,0.055,2500,2042,3928,0,0,0,0,0,0
$GC,550,-0.65,-204.4,138.1,-21.3,82,559,0.00,1.77,0.00,0.000,4,0.000,0.060,2500,3167,3930,0,0,0,0,0,0
$GC,655,-0.65,-204.4,157.1,-16.8,99,662,0.00,1.77,0.00,0.000,6,0.000,0.042,2500,2003,3930,0,0,0,0,0,0
$GC,1009,-0.65,-204.4,220.6,-17.5,160,1018,0.00,1.85,0.00,0.000,4,0.000,0.057,2500,3165,3931,0,0,0,0,0,0
$GC,1037,-0.65,-204.4,225.4,-17.6,164,1045,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,1999,3931,0,0,0,0,0,0
$GC,1399,-0.65,-204.4,285.0,-15.5,225,1405,0.00,1.83,0.00,0.000,4,0.000,0.055,2500,3171,3931,0,0,0,0,0,0
$GC,1438,-0.66,-204.4,290.9,-15.3,231,1445,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2002,3931,0,0,0,0,0,0
$GC,1778,-0.66,-204.4,340.9,-13.6,267,1781,0.00,1.70,0.00,0.000,4,0.000,0.047,2500,870,3930,0,0,0,0,0,0
$GC,1803,-0.67,-204.4,344.6,-13.7,269,1807,0.00,1.77,0.00,0.000,6,0.000,0.045,2500,2054,3930,0,0,0,0,0,0
$GC,2135,-0.68,-204.4,387.4,-12.6,300,2139,0.00,1.73,0.00,0.000,4,0.000,0.056,2500,3175,3928,0,0,0,0,0,0
$GC,2219,-0.69,-204.4,396.2,-11.1,307,2223,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2004,3928,0,0,0,0,0,0
$GC,2550,-0.70,-204.4,435.1,-11.4,338,2554,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3173,3926,0,0,0,0,0,0
$GC,2579,-0.71,-204.4,438.5,-10.7,340,2587,0.00,1.80,0.00,0.000,6,0.000,0.040,2500,2003,3926,0,0,0,0,0,0
$GC,2907,-0.72,-204.4,476.5,-11.9,371,2911,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3161,3924,0,0,0,0,0,0
$GC,2979,-0.73,-204.4,484.5,-10.5,377,2982,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,1986,3922,0,0,0,0,0,0
$GC,3310,-0.74,-204.4,520.9,-10.7,408,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1985,3921,0,0,0,0,0,0
$GC,3630,-0.75,-204.4,554.5,-10.3,438,3633,0.00,1.88,0.00,0.000,4,0.000,0.055,2500,3168,3918,0,0,0,0,0,0
$GC,3702,-0.77,-204.4,561.2,-8.4,444,3709,0.00,1.77,0.00,0.000,6,0.000,0.038,2500,1989,3917,0,0,0,0,0,0
$GC,4028,-0.78,-204.4,592.6,-9.8,475,4032,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3168,3915,0,0,0,0,0,0
$GC,4086,-0.80,-204.4,597.9,-8.4,480,4090,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,1998,3915,0,0,0,0,0,0
$GC,4409,-0.81,-204.4,628.7,-9.7,497,4412,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3912,0,0,0,0,0,0
$GC,4436,-0.83,-204.4,631.5,-9.6,498,4441,0.12,1.75,0.00,0.000,6,0.110,0.039,2453,2000,3911,0,0,0,0,0,0
$GC,4766,-0.83,-204.4,675.4,-13.4,514,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1998,3910,0,0,0,0,0,0
$GC,5073,-0.84,-204.4,716.4,-13.2,529,5077,0.00,1.85,0.00,0.000,4,0.000,0.057,2452,3172,3907,0,0,0,0,0,0
$GC,5097,-0.84,-204.4,719.6,-13.5,530,5101,0.00,1.77,0.00,0.000,6,0.000,0.044,2453,2003,3906,0,0,0,0,0,0
$GC,5431,-0.84,-204.4,764.1,-13.3,546,5434,0.00,1.73,0.00,0.000,4,0.000,0.052,2453,873,3904,0,0,0,0,0,0
$GC,5469,-0.85,-204.4,769.3,-12.7,547,5476,0.00,1.80,0.00,0.000,6,0.000,0.050,2453,2051,3904,0,0,0,0,0,0
$GC,5787,-0.86,-204.4,810.9,-13.1,563,5790,0.00,1.73,0.00,0.000,4,0.000,0.059,2453,3170,3902,0,0,0,0,0,0
$GC,5825,-0.87,-204.4,816.1,-12.1,564,5832,0.00,1.80,0.00,0.000,6,0.000,0.044,2453,2000,3901,0,0,0,0,0,0
$GC,6142,-0.87,-204.4,855.1,-12.4,580,6146,0.00,1.85,0.00,0.000,4,0.000,0.059,2453,3175,3898,0,0,0,0,0,0
$GC,6188,-0.88,-204.4,860.5,-10.8,582,6192,0.00,1.80,0.00,0.000,6,0.000,0.045,2452,1992,3898,0,0,0,0,0,0
$GC,6522,-0.89,-204.4,898.8,-11.3,598,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1990,3896,0,0,0,0,0,0
$GC,6831,-0.90,-204.4,933.9,-11.2,613,6835,0.00,1.88,0.00,0.000,4,0.000,0.060,2453,3172,3894,0,0,0,0,0,0
$GC,6887,-0.91,-204.4,940.2,-10.7,615,6890,0.00,1.83,0.00,0.000,6,0.000,0.047,2453,2000,3894,0,0,0,0,0,0
$GC,7210,-0.91,-204.4,978.2,-11.9,631,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1999,3893,0,0,0,0,0,0
$STATE,7391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7391,begin apogee
$GC,7397,-0.18,0.0,1001.7,12.8,640,7580,0.68,0.08,176.02,1.275,6,0.143,0.106,2661,2092,3090,0,0,0,0,0,0
$STATE,7581,end apogee,CONTROL_FINISHED_OK
$STATE,7581,begin climb
$GC,7583,0.69,204.4,1013.2,0.0,648,7790,0.80,2.08,197.05,1.250,4,0.062,0.044,2950,3265,2254,0,0,0,0,0,0
$GC,7825,0.67,204.4,1001.6,15.8,660,7829,0.00,1.90,0.00,0.000,6,0.000,0.034,2959,2087,2248,0,0,0,0,0,0
$GC,8159,0.66,204.4,948.7,15.7,676,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2085,2241,0,0,0,0,0,0
$GC,8468,0.64,204.4,898.0,16.7,691,8471,0.00,1.85,0.00,0.000,4,0.000,0.045,2951,3278,2239,0,0,0,0,0,0
$GC,8523,0.63,204.4,888.2,16.8,693,8526,0.00,1.83,0.00,0.000,6,0.000,0.035,2959,2085,2238,0,0,0,0,0,0
$GC,8845,0.62,204.4,836.4,15.9,709,8849,0.00,1.65,0.00,0.000,4,0.000,0.046,2968,968,2236,0,0,0,0,0,0
$GC,8895,0.60,204.4,828.2,15.2,711,8899,0.10,1.80,0.00,0.000,6,0.161,0.038,2931,2153,2235,0,0,0,0,0,0
$GC,9224,0.62,226.6,785.1,12.9,727,9247,0.00,1.77,18.25,1.083,4,0.000,0.046,2930,3268,2167,0,0,0,0,0,0
$GC,9316,0.63,236.0,772.6,13.5,731,9331,0.00,1.77,10.18,0.989,6,0.000,0.035,2939,2081,2128,0,0,0,0,0,0
$GC,9644,0.65,256.6,730.0,13.0,746,9667,0.00,1.77,19.55,1.056,4,0.000,0.047,2948,968,2044,0,0,0,0,0,0
$GC,9692,0.66,267.3,723.4,13.4,748,9707,0.00,1.77,11.32,0.978,6,0.000,0.038,2948,2148,2001,0,0,0,0,0,0
$GC,10020,0.65,267.3,674.9,15.2,763,10023,0.00,1.73,0.00,0.000,4,0.000,0.047,2948,3272,1992,0,0,0,0,0,0
$GC,10047,0.64,267.3,669.8,17.0,764,10051,0.00,1.83,0.00,0.000,6,0.000,0.034,2957,2084,1991,0,0,0,0,0,0
$GC,10374,0.63,267.3,617.5,16.0,780,10378,0.00,1.67,0.00,0.000,4,0.000,0.047,2965,959,1990,0,0,0,0,0,0
$GC,10424,0.63,267.3,609.2,16.1,782,10429,0.12,1.77,0.00,0.000,6,0.170,0.038,2931,2154,1990,0,0,0,0,0,0
$GC,10749,0.65,289.3,565.4,12.9,809,10774,0.00,1.77,19.70,0.966,4,0.000,0.046,2931,3272,1911,0,0,0,0,0,0
$GC,10797,0.65,289.3,558.6,14.0,813,10803,0.00,1.83,0.00,0.000,6,0.000,0.034,2940,2091,1907,0,0,0,0,0,0
$GC,11122,0.66,295.2,514.4,13.6,844,11134,0.00,0.00,6.00,0.755,6,0.000,0.000,2940,2089,1886,0,0,0,0,0,0
$GC,11454,0.66,295.2,467.9,14.0,875,11458,0.00,1.67,0.00,0.000,4,0.000,0.047,2948,969,1884,0,0,0,0,0,0
$GC,11527,0.67,307.2,458.1,13.3,881,11544,0.00,1.75,12.57,0.858,6,0.000,0.037,2948,2149,1837,0,0,0,0,0,0
$GC,11862,0.69,318.9,410.7,13.4,912,11879,0.00,1.75,11.15,0.810,4,0.000,0.045,2948,3268,1791,0,0,0,0,0,0
$GC,11924,0.72,344.6,402.9,12.7,917,11953,0.00,1.77,24.45,0.856,6,0.000,0.034,2957,2078,1686,0,0,0,0,0,0
$GC,12275,0.72,344.8,353.8,13.9,949,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2077,1678,0,0,0,0,0,0
$GC,12595,0.73,354.0,310.8,13.5,979,12608,0.00,1.75,8.52,0.698,4,0.000,0.044,2965,966,1646,0,0,0,0,0,0
$GC,12646,0.75,368.8,303.9,13.2,983,12671,0.00,1.75,14.40,0.746,6,0.000,0.035,2965,2155,1585,0,0,0,0,0,0
$GC,13016,0.75,368.8,250.0,14.1,1044,13024,0.00,1.83,0.00,0.000,4,0.000,0.043,2973,967,1580,0,0,0,0,0,0
$GC,13121,0.80,399.4,236.5,12.5,1061,13156,0.00,1.75,27.05,0.723,6,0.000,0.034,2974,2153,1460,0,0,0,0,0,0
$GC,13507,0.84,430.2,185.0,12.5,1126,13545,0.00,1.75,26.70,0.677,4,0.000,0.041,2973,3271,1336,0,0,0,0,0,0
$GC,13587,0.91,481.1,175.1,11.6,1138,13639,0.08,1.80,43.62,0.675,6,0.049,0.031,3043,2089,1128,0,0,0,0,0,0
$GC,13998,0.90,481.1,99.8,17.7,1205,14007,0.00,1.70,0.00,0.000,4,0.000,0.041,3051,965,1123,0,0,0,0,0,0
$GC,14057,0.90,481.1,90.5,15.5,1214,14067,0.08,1.77,0.00,0.000,6,0.142,0.032,3025,2155,1123,0,0,0,0,0,0
$GC,14427,0.97,532.6,39.9,11.5,1275,14477,0.00,1.83,42.38,0.568,4,0.000,0.038,3026,963,917,0,0,0,0,0,0
$GC,14575,1.18,687.2,25.3,6.8,1297,14680,0.20,1.77,93.80,0.555,6,0.043,0.031,3127,2151,433,0,0,0,0,0,0
$STATE,14689,end climb,SURFACE_DEPTH_REACHED
$STATE,14689,begin surface coast
$FINISH,0.9,1.022489
$STATE,14702,end surface coast,CONTROL_FINISHED_OK
$STATE,14702,begin surface
$SM_CCo,14780,0.00,0.000,0,0,429,652.99
$SM_GC,1.02,8.73,0.00,0.00,0.092,0.000,0.000,148,1988,429,-8.05,-1.05,652.99
$IRIDIUM_FIX,2157.39,12546.59,051110,060607
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,9.16407
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,22.2,67.154
$10V_AH,9.8,54.549
$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,20.750,111.550,762.725,0.000,0.000,28.655,42.164,201.152,0.000,0.000,13.063,3230.110,7361.099,733.474,3550.714,305.086,0.000,2073.282,0.000,3289.016,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,105.570,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.139,0.000,1753.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333696
$DATA_FILE_SIZE,76775,1313
$CAP_FILE_SIZE,164515,0
$CFSIZE,260165632,228712448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,358.7,1
$GPS,051110,150155,2202.709,12546.542,39,1.5,39,-3.1