version: 66.08
glider: 169
mission: 2
dive: 438
start: 11 7 110 6 1 2
data:
$ID,169
$MISSION,2
$DIVE,438
$N_DIVES,446
$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,-7297.2188
$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
$GPS1,071110,054637,2142.298,12552.506,25,1.9,25,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.5
$GPS2,071110,060034,2142.313,12552.694,14,2.3,33,-3.0
$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,167.0,41070,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.10,0.000,2,0.000,0.000,136,2050,3043,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.3,-4.5,12,152,9.73,1.88,-16.52,0.000,4,0.228,0.064,2496,867,3927,0,0,0,0,0,0
$GC,173,-0.66,-204.4,24.0,-34.6,19,181,0.00,1.85,0.00,0.000,6,0.000,0.055,2496,2031,3927,0,0,0,0,0,0
$GC,539,-0.65,-204.4,128.4,-23.8,80,547,0.00,1.80,0.00,0.000,4,0.000,0.060,2496,3169,3928,0,0,0,0,0,0
$GC,649,-0.65,-204.4,150.6,-18.1,98,658,0.00,1.80,0.00,0.000,6,0.000,0.044,2496,2005,3928,0,0,0,0,0,0
$GC,1000,-0.64,-204.4,215.3,-19.8,159,1006,0.00,1.73,0.00,0.000,4,0.000,0.050,2497,865,3929,0,0,0,0,0,0
$GC,1060,-0.65,-204.4,225.8,-14.5,169,1068,0.00,1.77,0.00,0.000,6,0.000,0.047,2496,2048,3929,0,0,0,0,0,0
$GC,1408,-0.65,-204.4,282.2,-16.5,230,1416,0.00,1.77,0.00,0.000,4,0.000,0.057,2496,3170,3929,0,0,0,0,0,0
$GC,1534,-0.66,-204.4,300.2,-13.3,251,1540,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2002,3928,0,0,0,0,0,0
$GC,1860,-0.66,-204.4,346.9,-13.1,282,1863,0.00,1.70,0.00,0.000,4,0.000,0.047,2497,873,3927,0,0,0,0,0,0
$GC,1907,-0.67,-204.4,353.0,-12.0,286,1910,0.00,1.77,0.00,0.000,6,0.000,0.047,2496,2053,3927,0,0,0,0,0,0
$GC,2240,-0.67,-204.4,394.9,-12.8,317,2244,0.00,1.70,0.00,0.000,4,0.000,0.055,2496,3168,3925,0,0,0,0,0,0
$GC,2320,-0.69,-204.4,404.4,-11.4,324,2324,0.00,1.75,0.00,0.000,6,0.000,0.038,2496,1995,3925,0,0,0,0,0,0
$GC,2653,-0.70,-204.4,445.0,-11.3,355,2657,0.00,1.88,0.00,0.000,4,0.000,0.055,2497,3167,3923,0,0,0,0,0,0
$GC,2691,-0.71,-204.4,449.5,-10.1,358,2700,0.00,1.80,0.00,0.000,6,0.000,0.039,2496,1999,3922,0,0,0,0,0,0
$GC,3019,-0.72,-204.4,484.5,-10.7,389,3023,0.00,1.88,0.00,0.000,4,0.000,0.054,2497,3168,3920,0,0,0,0,0,0
$GC,3044,-0.73,-204.4,487.0,-10.0,391,3048,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,2000,3920,0,0,0,0,0,0
$GC,3376,-0.74,-204.4,521.7,-10.4,422,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2000,3917,0,0,0,0,0,0
$GC,3696,-0.75,-204.4,555.8,-10.5,452,3699,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3914,0,0,0,0,0,0
$GC,3759,-0.76,-204.4,562.2,-9.8,457,3767,0.00,1.75,0.00,0.000,6,0.000,0.039,2497,2000,3914,0,0,0,0,0,0
$GC,4084,-0.78,-204.4,596.9,-10.6,488,4088,0.00,1.88,0.00,0.000,4,0.000,0.055,2496,3167,3911,0,0,0,0,0,0
$GC,4133,-0.79,-204.4,601.6,-10.0,492,4136,0.00,1.77,0.00,0.000,6,0.000,0.038,2496,1995,3910,0,0,0,0,0,0
$GC,4466,-0.80,-204.4,635.8,-10.2,508,4470,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3168,3907,0,0,0,0,0,0
$GC,4528,-0.82,-204.4,641.6,-8.6,510,4534,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2002,3906,0,0,0,0,0,0
$GC,4845,-0.83,-204.4,673.0,-10.0,526,4849,0.10,1.88,0.00,0.000,4,0.128,0.057,2459,3172,3904,0,0,0,0,0,0
$GC,4894,-0.84,-204.4,679.1,-11.7,528,4898,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2002,3903,0,0,0,0,0,0
$GC,5222,-0.85,-204.4,721.4,-12.7,544,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2001,3900,0,0,0,0,0,0
$GC,5531,-0.85,-204.4,758.9,-11.9,559,5534,0.00,1.88,0.00,0.000,4,0.000,0.059,2459,3168,3898,0,0,0,0,0,0
$GC,5556,-0.86,-204.4,761.8,-11.5,560,5559,0.00,1.77,0.00,0.000,6,0.000,0.043,2458,2001,3898,0,0,0,0,0,0
$GC,5889,-0.87,-204.4,801.7,-12.2,576,5892,0.00,1.88,0.00,0.000,4,0.000,0.059,2458,3168,3895,0,0,0,0,0,0
$GC,5928,-0.88,-204.4,806.3,-10.7,577,5935,0.00,1.77,0.00,0.000,6,0.000,0.043,2459,2002,3895,0,0,0,0,0,0
$GC,6244,-0.88,-204.4,841.7,-11.3,593,6248,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3172,3893,0,0,0,0,0,0
$GC,6279,-0.89,-204.4,845.6,-10.5,594,6283,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2004,3893,0,0,0,0,0,0
$GC,6602,-0.90,-204.4,880.9,-11.0,610,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3890,0,0,0,0,0,0
$GC,6910,-0.91,-204.4,916.0,-11.5,625,6914,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3167,3888,0,0,0,0,0,0
$GC,6989,-0.92,-204.4,924.8,-10.6,628,6993,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2003,3887,0,0,0,0,0,0
$GC,7311,-0.93,-204.4,962.4,-11.7,644,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2001,3884,0,0,0,0,0,0
$GC,7620,-0.94,-204.4,996.5,-10.6,659,7624,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3168,3883,0,0,0,0,0,0
$STATE,7651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7651,begin apogee
$GC,7658,-0.18,0.0,1000.1,10.1,660,7839,0.65,0.08,174.12,1.272,6,0.133,0.118,2664,2141,3091,0,0,0,0,0,0
$STATE,7840,end apogee,CONTROL_FINISHED_OK
$STATE,7840,begin climb
$GC,7843,0.69,204.4,1009.3,0.0,669,8050,0.80,1.95,194.68,1.252,4,0.054,0.045,2957,3269,2254,0,0,0,0,0,0
$GC,8186,0.67,204.4,975.8,16.9,685,8190,0.00,1.80,0.00,0.000,6,0.000,0.035,2965,2082,2244,0,0,0,0,0,0
$GC,8519,0.66,204.4,921.3,16.0,701,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2080,2240,0,0,0,0,0,0
$GC,8829,0.64,204.4,871.6,16.4,716,8832,0.00,1.85,0.00,0.000,4,0.000,0.047,2961,3275,2238,0,0,0,0,0,0
$GC,8897,0.63,204.4,859.4,18.1,719,8901,0.10,1.83,0.00,0.000,6,0.170,0.036,2939,2083,2237,0,0,0,0,0,0
$GC,9231,0.62,204.4,809.4,15.4,735,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2082,2235,0,0,0,0,0,0
$GC,9539,0.61,204.4,764.0,14.3,750,9542,0.00,1.85,0.00,0.000,4,0.000,0.047,2935,3274,2234,0,0,0,0,0,0
$GC,9601,0.60,204.4,754.5,15.7,752,9608,0.00,1.77,0.00,0.000,6,0.000,0.035,2944,2086,2233,0,0,0,0,0,0
$GC,9917,0.59,204.4,708.5,14.2,768,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2084,2233,0,0,0,0,0,0
$GC,10227,0.59,215.4,666.6,13.4,783,10240,0.00,1.92,7.05,0.883,4,0.000,0.046,2938,3277,2212,0,0,0,0,0,0
$GC,10270,0.58,215.4,660.6,14.2,785,10274,0.00,1.77,0.00,0.000,6,0.000,0.035,2947,2088,2210,0,0,0,0,0,0
$GC,10603,0.62,248.6,617.1,12.4,801,10641,0.00,1.90,32.62,1.021,4,0.000,0.044,2947,3270,2076,0,0,0,0,0,0
$GC,10711,0.61,248.6,602.1,15.1,805,10715,0.00,1.80,0.00,0.000,6,0.000,0.035,2956,2077,2068,0,0,0,0,0,0
$GC,11043,0.60,248.6,554.9,14.4,835,11047,0.12,1.67,0.00,0.000,4,0.192,0.047,2932,962,2065,0,0,0,0,0,0
$GC,11092,0.64,279.5,548.4,12.5,839,11126,0.00,1.80,27.67,0.965,6,0.000,0.039,2932,2153,1950,0,0,0,0,0,0
$GC,11453,0.68,315.2,503.3,12.3,873,11490,0.00,1.90,31.62,0.935,4,0.000,0.048,2934,973,1804,0,0,0,0,0,0
$GC,11522,0.75,369.9,495.3,11.4,879,11576,0.12,1.77,48.80,0.929,6,0.084,0.037,2997,2150,1583,0,0,0,0,0,0
$GC,11897,0.75,369.9,423.9,20.6,913,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2149,1571,0,0,0,0,0,0
$GC,12217,0.74,369.9,361.0,19.8,943,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2149,1569,0,0,0,0,0,0
$GC,12544,0.73,369.9,302.4,17.7,974,12548,0.12,1.77,0.00,0.000,4,0.182,0.043,2973,967,1568,0,0,0,0,0,0
$GC,12658,0.77,400.7,286.7,12.5,992,12688,0.00,1.80,25.38,0.767,6,0.000,0.037,2971,2155,1457,0,0,0,0,0,0
$GC,13033,0.77,400.7,232.4,14.4,1056,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2154,1451,0,0,0,0,0,0
$GC,13383,0.83,438.6,187.8,12.2,1117,13427,0.00,1.88,33.00,0.688,4,0.000,0.044,2974,967,1301,0,0,0,0,0,0
$GC,13499,0.90,491.8,174.4,11.5,1135,13549,0.12,1.77,45.10,0.679,6,0.084,0.034,3037,2153,1085,0,0,0,0,0,0
$GC,13904,0.90,491.8,104.6,16.7,1202,13913,0.00,1.83,0.00,0.000,4,0.000,0.041,3042,965,1081,0,0,0,0,0,0
$GC,13934,0.91,491.8,100.2,14.6,1206,13943,0.00,1.77,0.00,0.000,6,0.000,0.032,3042,2150,1080,0,0,0,0,0,0
$GC,14302,0.92,502.3,52.1,13.4,1267,14318,0.00,1.80,9.45,0.514,4,0.000,0.040,3042,966,1043,0,0,0,0,0,0
$GC,14422,1.01,566.5,37.2,11.0,1286,14487,0.00,1.77,53.30,0.565,6,0.000,0.031,3042,2162,779,0,0,0,0,0,0
$STATE,14699,end climb,SURFACE_DEPTH_REACHED
$STATE,14699,begin surface coast
$FINISH,0.2,0.997792
$STATE,14723,end surface coast,CONTROL_FINISHED_OK
$STATE,14724,begin surface
$SM_CCo,14741,52.00,0.057,0,0,481,640.23
$SM_GC,1.02,0.00,0.00,52.00,0.000,0.000,0.057,152,1985,481,-8.06,-1.13,640.23
$IRIDIUM_FIX,2134.17,12551.41,071110,050514
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.3,69.335
$10V_AH,9.8,56.088
$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,20.125,101.525,682.800,52.000,0.000,83.815,107.905,325.368,0.000,0.000,34.914,3287.611,7357.234,731.089,3911.651,331.096,0.000,2050.620,0.000,3370.717,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,117.810,1272.195,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.450,0.000,1820.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,80278,1334
$CAP_FILE_SIZE,165359,0
$CFSIZE,260165632,227893248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,167.7,1
$GPS,071110,100837,2139.748,12552.944,32,0.9,32,-3.0