version: 66.08
glider: 169
mission: 2
dive: 443
start: 11 8 110 3 21 54
data:
$ID,169
$MISSION,2
$DIVE,443
$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,-7306.8657
$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
$GPS1,081110,031430,2129.234,12555.355,37,1.2,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.3
$GPS2,081110,032126,2129.167,12555.314,14,1.2,14,-2.9
$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,141.0,17305,-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,-96.55,0.000,2,0.000,0.000,134,1999,3067,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.5,-4.9,12,152,9.82,1.77,-15.65,0.000,4,0.231,0.064,2499,874,3927,0,0,0,0,0,0
$GC,243,-0.68,-204.4,42.4,-22.2,31,252,0.00,1.83,0.00,0.000,6,0.000,0.051,2499,2034,3928,0,0,0,0,0,0
$GC,610,-0.67,-204.4,142.4,-23.6,92,619,0.00,1.77,0.00,0.000,4,0.000,0.058,2500,3161,3929,0,0,0,0,0,0
$GC,657,-0.67,-204.4,152.7,-19.6,99,663,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2003,3929,0,0,0,0,0,0
$GC,1011,-0.67,-204.4,217.9,-17.6,160,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2001,3931,0,0,0,0,0,0
$GC,1373,-0.67,-204.4,274.7,-15.0,221,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2001,3931,0,0,0,0,0,0
$GC,1721,-0.67,-204.4,322.9,-13.4,267,1725,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3164,3931,0,0,0,0,0,0
$GC,1871,-0.68,-204.4,340.5,-10.7,280,1875,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,1998,3930,0,0,0,0,0,0
$GC,2205,-0.69,-204.4,379.8,-12.0,311,2209,0.00,1.83,0.00,0.000,4,0.000,0.055,2500,3168,3929,0,0,0,0,0,0
$GC,2232,-0.70,-204.4,382.9,-11.8,313,2236,0.00,1.77,0.00,0.000,6,0.000,0.038,2500,1998,3929,0,0,0,0,0,0
$GC,2563,-0.71,-204.4,423.2,-12.2,344,2567,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3926,0,0,0,0,0,0
$GC,2604,-0.72,-204.4,428.0,-11.2,347,2610,0.00,1.77,0.00,0.000,6,0.000,0.038,2500,1999,3926,0,0,0,0,0,0
$GC,2929,-0.73,-204.4,467.5,-11.6,378,2933,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3168,3924,0,0,0,0,0,0
$GC,2969,-0.75,-204.4,471.8,-10.1,381,2976,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,1998,3923,0,0,0,0,0,0
$GC,3295,-0.76,-204.4,505.8,-10.2,412,3298,0.00,1.88,0.00,0.000,4,0.000,0.054,2500,3167,3921,0,0,0,0,0,0
$GC,3364,-0.77,-204.4,512.3,-8.7,418,3367,0.00,1.75,0.00,0.000,6,0.000,0.038,2500,1998,3921,0,0,0,0,0,0
$GC,3696,-0.79,-204.4,546.9,-10.8,449,3699,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3918,0,0,0,0,0,0
$GC,3743,-0.80,-204.4,551.5,-9.4,453,3747,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,2001,3917,0,0,0,0,0,0
$GC,4074,-0.82,-204.4,586.4,-10.6,484,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2000,3915,0,0,0,0,0,0
$GC,4388,-0.83,-204.4,620.6,-10.7,505,4393,0.10,1.90,0.00,0.000,4,0.128,0.056,2460,3184,3911,0,0,0,0,0,0
$GC,4482,-0.84,-204.4,632.5,-12.2,509,4486,0.00,1.85,0.00,0.000,6,0.000,0.043,2461,2002,3911,0,0,0,0,0,0
$GC,4810,-0.84,-204.4,675.1,-12.6,525,4814,0.00,1.88,0.00,0.000,4,0.000,0.057,2460,3165,3908,0,0,0,0,0,0
$GC,4844,-0.85,-204.4,679.6,-12.0,526,4847,0.00,1.77,0.00,0.000,6,0.000,0.043,2461,1998,3908,0,0,0,0,0,0
$GC,5166,-0.85,-204.4,719.6,-12.4,542,5169,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3169,3905,0,0,0,0,0,0
$GC,5199,-0.86,-204.4,723.7,-11.4,543,5203,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,2003,3905,0,0,0,0,0,0
$GC,5522,-0.87,-204.4,761.0,-11.5,559,5526,0.00,1.85,0.00,0.000,4,0.000,0.059,2461,3172,3903,0,0,0,0,0,0
$GC,5556,-0.88,-204.4,764.8,-10.5,560,5559,0.00,1.80,0.00,0.000,6,0.000,0.045,2460,1993,3902,0,0,0,0,0,0
$GC,5878,-0.89,-204.4,801.9,-11.7,576,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1991,3900,0,0,0,0,0,0
$GC,6187,-0.89,-204.4,839.2,-12.5,591,6191,0.00,1.90,0.00,0.000,4,0.000,0.060,2461,3161,3897,0,0,0,0,0,0
$GC,6215,-0.90,-204.4,842.5,-12.0,592,6218,0.00,1.77,0.00,0.000,6,0.000,0.046,2460,2004,3897,0,0,0,0,0,0
$GC,6542,-0.91,-204.4,881.2,-11.8,608,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3895,0,0,0,0,0,0
$GC,6852,-0.92,-204.4,917.9,-11.7,623,6856,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3168,3893,0,0,0,0,0,0
$GC,6936,-0.93,-204.4,927.4,-10.9,626,6942,0.00,1.80,0.00,0.000,6,0.000,0.046,2461,2004,3892,0,0,0,0,0,0
$GC,7252,-0.94,-204.4,963.2,-11.3,642,7256,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3168,3891,0,0,0,0,0,0
$GC,7287,-0.95,-204.4,967.2,-11.2,643,7292,0.10,1.80,0.00,0.000,6,0.121,0.046,2422,1998,3890,0,0,0,0,0,0
$STATE,7524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7529,-0.18,0.0,1002.2,15.1,655,7711,0.80,0.05,174.68,1.274,6,0.148,0.068,2667,2094,3091,0,0,0,0,0,0
$STATE,7712,end apogee,CONTROL_FINISHED_OK
$STATE,7712,begin climb
$GC,7714,0.69,204.4,1012.6,0.0,663,7920,0.77,2.08,195.77,1.248,4,0.055,0.046,2956,3271,2255,0,0,0,0,0,0
$GC,7937,0.67,204.4,999.3,16.1,674,7941,0.00,1.92,0.00,0.000,6,0.000,0.034,2965,2093,2251,0,0,0,0,0,0
$GC,8265,0.66,204.4,940.5,18.0,690,8269,0.00,1.83,0.00,0.000,4,0.000,0.047,2961,3269,2241,0,0,0,0,0,0
$GC,8344,0.64,204.4,925.3,18.8,693,8348,0.12,1.80,0.00,0.000,6,0.189,0.035,2939,2081,2239,0,0,0,0,0,0
$GC,8667,0.63,204.4,874.5,15.5,709,8671,0.00,1.88,0.00,0.000,4,0.000,0.047,2939,3274,2238,0,0,0,0,0,0
$GC,8727,0.62,204.4,864.5,16.6,711,8734,0.00,1.83,0.00,0.000,6,0.000,0.036,2947,2082,2237,0,0,0,0,0,0
$GC,9043,0.61,204.4,817.3,14.3,727,9047,0.00,1.67,0.00,0.000,4,0.000,0.047,2956,957,2236,0,0,0,0,0,0
$GC,9093,0.60,204.4,810.1,14.0,729,9098,0.12,1.77,0.00,0.000,6,0.181,0.041,2924,2150,2236,0,0,0,0,0,0
$GC,9422,0.63,238.5,769.4,12.3,745,9454,0.00,0.00,29.65,1.105,6,0.000,0.000,2924,2150,2117,0,0,0,0,0,0
$GC,9756,0.66,261.9,726.5,12.8,761,9779,0.00,0.00,21.62,1.060,6,0.000,0.000,2924,2150,2023,0,0,0,0,0,0
$GC,10083,0.68,280.8,684.1,13.0,777,10106,0.00,1.90,17.55,1.021,4,0.000,0.047,2933,967,1945,0,0,0,0,0,0
$GC,10140,0.69,290.9,676.3,13.4,779,10155,0.00,1.80,10.20,0.938,6,0.000,0.040,2933,2158,1906,0,0,0,0,0,0
$GC,10483,0.69,290.9,627.1,14.3,796,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2158,1899,0,0,0,0,0,0
$GC,10795,0.72,314.9,585.4,12.8,816,10827,0.00,1.92,22.40,0.984,4,0.000,0.047,2935,961,1805,0,0,0,0,0,0
$GC,10843,0.76,345.5,578.8,12.5,820,10877,0.08,1.83,28.88,0.978,6,0.050,0.039,2990,2139,1682,0,0,0,0,0,0
$GC,11198,0.75,345.5,512.2,19.4,853,11202,0.00,1.77,0.00,0.000,4,0.000,0.046,2999,958,1672,0,0,0,0,0,0
$GC,11225,0.74,345.5,506.3,20.2,855,11232,0.00,1.83,0.00,0.000,6,0.000,0.041,2999,2145,1672,0,0,0,0,0,0
$GC,11551,0.74,345.5,442.5,19.3,886,11553,0.12,0.00,0.00,0.000,6,0.186,0.000,2967,2146,1670,0,0,0,0,0,0
$GC,11870,0.73,345.5,390.5,15.7,916,11873,0.00,1.77,0.00,0.000,4,0.000,0.046,2974,958,1668,0,0,0,0,0,0
$GC,11887,0.73,345.5,387.7,15.3,917,11893,0.00,1.77,0.00,0.000,6,0.000,0.039,2974,2154,1668,0,0,0,0,0,0
$GC,12212,0.73,345.5,338.9,15.9,948,12216,0.00,1.80,0.00,0.000,4,0.000,0.045,2983,964,1667,0,0,0,0,0,0
$GC,12350,0.73,345.5,318.6,15.4,960,12354,0.00,1.80,0.00,0.000,6,0.000,0.039,2983,2147,1666,0,0,0,0,0,0
$GC,12695,0.73,345.5,265.2,15.2,1010,12704,0.00,1.73,0.00,0.000,4,0.000,0.045,2983,3273,1666,0,0,0,0,0,0
$GC,12722,0.72,345.5,261.1,14.9,1014,12731,0.00,1.80,0.00,0.000,6,0.000,0.034,2992,2086,1665,0,0,0,0,0,0
$GC,13083,0.73,356.2,210.9,13.4,1075,13099,0.00,1.70,8.38,0.627,4,0.000,0.042,3000,961,1637,0,0,0,0,0,0
$GC,13266,0.76,378.3,186.9,12.9,1105,13295,0.00,1.77,20.40,0.678,6,0.000,0.036,3000,2155,1547,0,0,0,0,0,0
$GC,13648,0.80,411.3,132.6,12.4,1169,13682,0.00,1.88,28.62,0.646,4,0.000,0.041,3009,966,1413,0,0,0,0,0,0
$GC,13737,0.87,464.1,121.6,11.5,1182,13786,0.00,1.80,45.10,0.640,6,0.000,0.034,3009,2155,1198,0,0,0,0,0,0
$GC,14144,1.01,568.8,78.3,9.1,1248,14234,0.12,1.90,84.68,0.604,4,0.082,0.041,3092,966,771,0,0,0,0,0,0
$GC,14363,1.01,568.8,40.6,16.8,1280,14373,0.08,1.77,0.00,0.000,6,0.145,0.031,3063,2153,768,0,0,0,0,0,0
$STATE,14592,end climb,SURFACE_DEPTH_REACHED
$STATE,14592,begin surface coast
$FINISH,0.4,1.022384
$STATE,14612,end surface coast,CONTROL_FINISHED_OK
$STATE,14612,begin surface
$SM_CCo,14629,49.40,0.057,0,0,480,640.23
$SM_GC,0.96,0.00,0.00,49.40,0.000,0.000,0.057,150,1986,480,-8.06,-1.10,640.23
$IRIDIUM_FIX,2122.58,12555.68,071110,222207
$TT8_MAMPS,0.026215
$HUMID,46.49
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.3,70.437
$10V_AH,9.9,56.848
$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,20.600,102.325,687.925,49.400,0.000,28.893,39.891,202.312,0.000,0.000,16.303,3259.731,7186.238,721.705,3608.533,307.918,0.000,2026.747,0.000,3341.842,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,79.560,1273.725,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.242,0.000,1824.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333672
$DATA_FILE_SIZE,76876,1321
$CAP_FILE_SIZE,159704,0
$CFSIZE,260165632,227495936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,116.2,1
$GPS,081110,072737,2127.063,12556.975,35,0.9,35,-2.9