version: 66.08
glider: 169
mission: 2
dive: 473
start: 11 12 110 16 26 55
data:
$ID,169
$MISSION,2
$DIVE,473
$N_DIVES,486
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,120
$T_MISSION,180
$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,-7346.9106
$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
$GPS1,121110,162038,2121.923,12601.348,11,1.3,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.5
$GPS2,121110,162626,2121.906,12601.380,13,1.3,13,-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,234.1,645,-27.7,-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,-0.74,-102.8,0.0,0.0,0,115,0.00,0.00,-96.72,0.000,2,0.000,0.000,150,1995,3077,0,0,0,0,0,0
$GC,118,-0.85,-190.4,3.8,-6.0,12,152,9.55,1.75,-15.05,0.000,4,0.233,0.064,2447,878,3869,0,0,0,0,0,0
$GC,227,-0.85,-190.4,41.2,-29.6,28,236,0.00,1.83,0.00,0.000,6,0.000,0.055,2447,2034,3870,0,0,0,0,0,0
$GC,588,-0.84,-190.4,162.7,-28.8,89,596,0.00,1.77,0.00,0.000,4,0.000,0.058,2447,3177,3870,0,0,0,0,0,0
$GC,688,-0.84,-190.4,185.6,-21.7,106,696,0.00,1.83,0.00,0.000,6,0.000,0.044,2447,2004,3871,0,0,0,0,0,0
$GC,1038,-0.85,-190.4,262.7,-21.1,167,1045,0.00,1.83,0.00,0.000,4,0.000,0.056,2447,3177,3872,0,0,0,0,0,0
$GC,1065,-0.85,-190.4,268.0,-19.4,171,1072,0.00,1.80,0.00,0.000,6,0.000,0.043,2447,2000,3871,0,0,0,0,0,0
$GC,1405,-0.86,-190.4,335.6,-19.6,216,1409,0.00,1.85,0.00,0.000,4,0.000,0.055,2447,3162,3871,0,0,0,0,0,0
$GC,1500,-0.88,-190.4,353.1,-17.2,224,1509,0.00,1.80,0.00,0.000,6,0.000,0.042,2447,2003,3872,0,0,0,0,0,0
$GC,1827,-0.89,-190.4,411.2,-16.0,255,1831,0.00,1.85,0.00,0.000,4,0.000,0.054,2447,3163,3871,0,0,0,0,0,0
$GC,1885,-0.90,-190.4,420.2,-14.8,260,1889,0.00,1.77,0.00,0.000,6,0.000,0.041,2447,2001,3871,0,0,0,0,0,0
$GC,2218,-0.92,-190.4,471.8,-14.9,291,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2000,3870,0,0,0,0,0,0
$STATE,2406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2406,begin apogee
$GC,2412,-0.18,0.0,501.2,16.2,309,2571,0.73,0.08,154.12,0.871,6,0.158,0.106,2666,2095,3091,0,0,0,0,0,0
$STATE,2572,end apogee,CONTROL_FINISHED_OK
$STATE,2572,begin climb
$GC,2575,0.85,190.4,510.7,0.0,323,2746,0.93,1.90,162.30,0.866,4,0.070,0.039,3005,3278,2313,0,0,0,0,0,0
$GC,2867,0.84,190.4,489.7,16.2,349,2871,0.00,1.77,0.00,0.000,6,0.000,0.030,3015,2077,2305,0,0,0,0,0,0
$GC,3201,0.84,190.4,435.5,15.9,380,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2076,2300,0,0,0,0,0,0
$GC,3530,0.85,197.5,387.2,13.2,411,3543,0.00,1.70,4.40,0.529,4,0.000,0.038,3023,955,2285,0,0,0,0,0,0
$GC,3567,0.84,197.5,381.4,14.2,414,3571,0.00,1.77,0.00,0.000,6,0.000,0.033,3019,2167,2284,0,0,0,0,0,0
$GC,3900,0.84,197.5,334.5,14.1,445,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,2281,0,0,0,0,0,0
$GC,4221,0.84,198.7,292.7,13.8,479,4228,0.00,1.65,0.00,0.000,4,0.000,0.041,3018,3275,2279,0,0,0,0,0,0
$GC,4249,0.84,199.9,288.9,13.8,483,4257,0.00,1.77,0.00,0.000,6,0.000,0.029,3028,2066,2279,0,0,0,0,0,0
$GC,4597,0.85,205.6,238.2,13.4,544,4612,0.00,1.62,7.85,0.608,4,0.000,0.036,3037,961,2253,0,0,0,0,0,0
$GC,4723,0.87,224.1,222.3,12.2,565,4746,0.00,1.75,18.17,0.674,6,0.000,0.033,3035,2156,2177,0,0,0,0,0,0
$GC,5090,0.89,236.9,174.4,12.7,628,5106,0.00,1.75,11.23,0.609,4,0.000,0.040,3035,3277,2125,0,0,0,0,0,0
$GC,5306,0.90,246.4,145.8,13.0,665,5323,0.00,1.80,9.52,0.565,6,0.000,0.029,3044,2071,2085,0,0,0,0,0,0
$GC,5680,1.04,359.5,111.7,3.7,727,5778,0.00,1.92,92.32,0.615,4,0.000,0.037,3044,3275,1624,0,0,0,0,0,0
$GC,5893,1.06,365.1,88.5,13.4,758,5903,0.00,1.80,5.05,0.413,6,0.000,0.029,3053,2077,1602,0,0,0,0,0,0
$GC,6257,1.07,365.1,39.3,13.9,819,6266,0.00,1.65,0.00,0.000,4,0.000,0.037,3062,963,1598,0,0,0,0,0,0
$GC,6340,1.10,378.6,28.4,12.7,832,6357,0.00,1.77,12.18,0.496,6,0.000,0.031,3062,2165,1546,0,0,0,0,0,0
$STATE,6515,end climb,SURFACE_DEPTH_REACHED
$STATE,6515,begin surface coast
$FINISH,0.5,1.009869
$STATE,6541,end surface coast,CONTROL_FINISHED_OK
$STATE,6541,begin surface
$SM_CCo,6558,169.10,0.498,1,0,481,640.23
$SM_GC,1.40,0.00,0.00,169.10,0.000,0.000,0.498,140,1996,481,-8.09,-0.82,640.23
$IRIDIUM_FIX,2113.32,12418.00,121110,141459
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,24.0,75.973
$10V_AH,10.1,61.060
$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,19.325,43.275,477.150,169.100,0.000,31.369,28.310,160.478,0.250,0.000,14.249,2028.073,1552.389,653.088,2631.484,217.340,0.000,1457.972,0.000,2432.848,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,105.570,871.335,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.871,0.000,1788.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,50209,865
$CAP_FILE_SIZE,86880,0
$CFSIZE,260165632,225394688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,102.5,1
$GPS,121110,182006,2121.427,12601.099,30,0.9,30,-2.9