version: 66.08
glider: 169
mission: 2
dive: 365
start: 10 25 110 5 40 30
data:
$ID,169
$MISSION,2
$DIVE,365
$N_DIVES,367
$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,-7159.7871
$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
$GPS1,251010,053331,2329.551,12605.463,40,1.2,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.2
$GPS2,251010,054002,2329.620,12605.367,17,1.2,17,-3.4
$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,193.2,237202,-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,-96.00,0.000,2,0.000,0.000,150,1978,3081,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.6,-5.2,12,151,9.62,1.73,-14.50,0.000,4,0.231,0.067,2495,884,3927,0,0,0,0,0,0
$GC,298,-0.68,-204.4,66.2,-25.4,41,307,0.00,1.80,0.00,0.000,6,0.000,0.048,2495,2036,3927,0,0,0,0,0,0
$GC,662,-0.67,-204.4,159.1,-23.2,102,670,0.00,1.80,0.00,0.000,4,0.000,0.048,2495,873,3929,0,0,0,0,0,0
$GC,729,-0.67,-204.4,171.0,-16.2,113,736,0.00,1.80,0.00,0.000,6,0.000,0.047,2495,2036,3929,0,0,0,0,0,0
$GC,1077,-0.66,-204.4,236.3,-19.4,174,1085,0.00,1.75,0.00,0.000,4,0.000,0.055,2495,3168,3930,0,0,0,0,0,0
$GC,1193,-0.67,-204.4,254.9,-16.0,194,1201,0.00,1.80,0.00,0.000,6,0.000,0.042,2494,1999,3930,0,0,0,0,0,0
$GC,1537,-0.67,-204.4,314.7,-16.9,247,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1998,3930,0,0,0,0,0,0
$GC,1857,-0.67,-204.4,364.0,-14.7,277,1861,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3166,3928,0,0,0,0,0,0
$GC,1941,-0.68,-204.4,375.3,-12.1,284,1949,0.00,1.77,0.00,0.000,6,0.000,0.037,2495,2002,3928,0,0,0,0,0,0
$GC,2268,-0.68,-204.4,420.7,-13.6,315,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2000,3926,0,0,0,0,0,0
$GC,2595,-0.69,-204.4,459.4,-11.3,346,2599,0.00,1.80,0.00,0.000,4,0.000,0.054,2495,3168,3925,0,0,0,0,0,0
$GC,2620,-0.70,-204.4,462.1,-10.9,348,2623,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,1996,3924,0,0,0,0,0,0
$GC,2953,-0.71,-204.4,497.7,-10.9,379,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1995,3921,0,0,0,0,0,0
$GC,3280,-0.72,-204.4,534.9,-11.6,410,3283,0.00,1.85,0.00,0.000,4,0.000,0.055,2495,3168,3920,0,0,0,0,0,0
$GC,3349,-0.73,-204.4,542.6,-10.3,416,3353,0.00,1.80,0.00,0.000,6,0.000,0.040,2495,2000,3919,0,0,0,0,0,0
$GC,3680,-0.74,-204.4,582.0,-12.1,447,3684,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3168,3916,0,0,0,0,0,0
$GC,3726,-0.75,-204.4,587.3,-11.0,451,3730,0.00,1.77,0.00,0.000,6,0.000,0.040,2495,2000,3916,0,0,0,0,0,0
$GC,4063,-0.76,-204.4,626.4,-11.4,472,4067,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3172,3913,0,0,0,0,0,0
$GC,4096,-0.78,-204.4,630.3,-10.2,473,4100,0.00,1.77,0.00,0.000,6,0.000,0.040,2495,1988,3913,0,0,0,0,0,0
$GC,4418,-0.79,-204.4,664.0,-10.5,489,4421,0.00,1.88,0.00,0.000,4,0.000,0.057,2495,3172,3910,0,0,0,0,0,0
$GC,4457,-0.81,-204.4,667.9,-8.6,490,4464,0.00,1.77,0.00,0.000,6,0.000,0.042,2495,1997,3910,0,0,0,0,0,0
$GC,4775,-0.82,-204.4,700.2,-10.4,506,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1996,3907,0,0,0,0,0,0
$GC,5083,-0.83,-204.4,731.1,-9.9,521,5087,0.00,1.85,0.00,0.000,4,0.000,0.057,2495,3171,3904,0,0,0,0,0,0
$GC,5166,-0.85,-204.4,738.2,-7.9,524,5174,0.12,1.80,0.00,0.000,6,0.107,0.043,2447,1995,3903,0,0,0,0,0,0
$GC,5483,-0.85,-204.4,777.7,-12.4,540,5487,0.00,1.73,0.00,0.000,4,0.000,0.054,2446,869,3901,0,0,0,0,0,0
$GC,5530,-0.86,-204.4,783.4,-11.8,542,5533,0.00,1.83,0.00,0.000,6,0.000,0.050,2446,2049,3901,0,0,0,0,0,0
$GC,5863,-0.86,-204.4,822.5,-11.9,558,5866,0.00,1.73,0.00,0.000,4,0.000,0.060,2446,3168,3899,0,0,0,0,0,0
$GC,5931,-0.87,-204.4,830.0,-10.5,561,5935,0.00,1.83,0.00,0.000,6,0.000,0.047,2447,2003,3898,0,0,0,0,0,0
$GC,6264,-0.87,-204.4,871.0,-12.5,577,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2001,3896,0,0,0,0,0,0
$GC,6574,-0.88,-204.4,911.2,-13.1,592,6578,0.00,1.85,0.00,0.000,4,0.000,0.060,2447,3166,3893,0,0,0,0,0,0
$GC,6607,-0.88,-204.4,915.7,-12.5,593,6611,0.00,1.80,0.00,0.000,6,0.000,0.046,2446,2002,3893,0,0,0,0,0,0
$GC,6929,-0.89,-204.4,954.2,-11.9,609,6933,0.00,1.85,0.00,0.000,4,0.000,0.060,2447,3168,3892,0,0,0,0,0,0
$GC,6957,-0.90,-204.4,957.6,-10.9,610,6960,0.00,1.77,0.00,0.000,6,0.000,0.046,2446,2004,3891,0,0,0,0,0,0
$GC,7284,-0.90,-204.4,994.9,-11.3,626,7288,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3168,3889,0,0,0,0,0,0
$GC,7323,-0.91,-204.4,999.3,-11.0,627,7331,0.00,1.77,0.00,0.000,6,0.000,0.047,2447,2004,3889,0,0,0,0,0,0
$STATE,7348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7348,begin apogee
$GC,7353,-0.18,0.0,1002.1,10.8,629,7532,0.70,0.05,172.50,1.274,6,0.144,0.067,2664,2099,3091,0,0,0,0,0,0
$STATE,7533,end apogee,CONTROL_FINISHED_OK
$STATE,7533,begin climb
$GC,7535,0.69,204.4,1009.8,0.0,637,7740,0.80,2.00,194.23,1.248,4,0.061,0.045,2950,3267,2254,0,0,0,0,0,0
$GC,7959,0.67,204.4,955.0,18.8,656,7966,0.00,1.83,0.00,0.000,6,0.000,0.036,2959,2064,2242,0,0,0,0,0,0
$GC,8276,0.66,204.4,897.9,17.5,672,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2063,2239,0,0,0,0,0,0
$GC,8584,0.64,204.4,844.2,16.9,687,8588,0.00,1.65,0.00,0.000,4,0.000,0.045,2967,957,2237,0,0,0,0,0,0
$GC,8622,0.63,204.4,837.7,15.3,688,8629,0.10,1.83,0.00,0.000,6,0.164,0.040,2936,2152,2236,0,0,0,0,0,0
$GC,8939,0.62,204.4,792.1,14.8,704,8943,0.00,1.80,0.00,0.000,4,0.000,0.045,2945,967,2234,0,0,0,0,0,0
$GC,9011,0.61,204.4,781.3,14.0,707,9015,0.00,1.80,0.00,0.000,6,0.000,0.040,2944,2148,2234,0,0,0,0,0,0
$GC,9339,0.60,204.4,732.7,14.6,723,9343,0.00,1.83,0.00,0.000,4,0.000,0.044,2953,964,2233,0,0,0,0,0,0
$GC,9388,0.60,204.4,725.1,14.2,725,9393,0.05,1.80,0.00,0.000,6,0.162,0.041,2927,2143,2233,0,0,0,0,0,0
$GC,9717,0.60,209.2,680.2,13.7,741,9721,0.00,1.73,0.00,0.000,4,0.000,0.047,2927,3278,2232,0,0,0,0,0,0
$GC,9789,0.59,209.2,669.5,14.5,744,9793,0.00,1.83,0.00,0.000,6,0.000,0.035,2936,2078,2231,0,0,0,0,0,0
$GC,10117,0.60,222.0,625.6,13.3,760,10139,0.00,1.75,13.18,0.964,4,0.000,0.047,2945,965,2185,0,0,0,0,0,0
$GC,10219,0.59,222.8,611.7,13.9,764,10223,0.00,1.77,0.00,0.000,6,0.000,0.041,2944,2150,2182,0,0,0,0,0,0
$GC,10550,0.58,222.8,565.8,14.3,791,10553,0.00,1.70,0.00,0.000,4,0.000,0.048,2944,3278,2180,0,0,0,0,0,0
$GC,10585,0.57,222.8,560.1,15.5,794,10589,0.10,1.83,0.00,0.000,6,0.164,0.036,2922,2086,2179,0,0,0,0,0,0
$GC,10916,0.59,234.1,515.8,13.4,825,10932,0.00,1.67,12.00,0.885,4,0.000,0.043,2930,965,2135,0,0,0,0,0,0
$GC,10948,0.61,255.9,511.0,12.9,827,10978,0.00,1.80,21.27,0.916,6,0.000,0.038,2926,2144,2045,0,0,0,0,0,0
$GC,11297,0.67,302.4,466.2,11.8,860,11346,0.00,1.88,40.38,0.910,4,0.000,0.046,2934,960,1857,0,0,0,0,0,0
$GC,11370,0.71,336.7,457.4,12.3,866,11409,0.00,1.83,31.23,0.882,6,0.000,0.038,2934,2147,1717,0,0,0,0,0,0
$GC,11726,0.75,366.9,411.3,12.5,899,11757,0.10,1.83,25.75,0.851,4,0.097,0.041,2997,969,1594,0,0,0,0,0,0
$GC,11806,0.75,366.9,398.4,17.0,905,11810,0.00,1.77,0.00,0.000,6,0.000,0.039,2996,2147,1590,0,0,0,0,0,0
$GC,12137,0.74,366.9,335.9,19.0,936,12141,0.00,1.80,0.00,0.000,4,0.000,0.044,3005,974,1586,0,0,0,0,0,0
$GC,12196,0.73,366.9,325.0,18.1,941,12200,0.15,1.75,0.00,0.000,6,0.161,0.039,2964,2153,1585,0,0,0,0,0,0
$GC,12532,0.73,366.9,270.5,16.0,987,12539,0.00,1.80,0.00,0.000,4,0.000,0.044,2972,960,1584,0,0,0,0,0,0
$GC,12604,0.74,366.9,259.5,14.2,999,12612,0.00,1.77,0.00,0.000,6,0.000,0.038,2972,2149,1583,0,0,0,0,0,0
$GC,12953,0.74,372.9,208.8,13.6,1060,12963,0.00,1.85,4.85,0.516,4,0.000,0.043,2981,963,1570,0,0,0,0,0,0
$GC,13045,0.76,381.1,197.0,13.5,1075,13061,0.00,1.75,8.77,0.617,6,0.000,0.036,2981,2157,1537,0,0,0,0,0,0
$GC,13405,0.80,411.7,148.3,12.5,1137,13438,0.00,1.83,26.80,0.653,4,0.000,0.041,2988,967,1412,0,0,0,0,0,0
$GC,13518,0.86,456.3,133.6,11.8,1154,13560,0.00,1.80,38.17,0.643,6,0.000,0.035,2988,2153,1230,0,0,0,0,0,0
$GC,13912,0.94,510.6,86.8,11.4,1219,13963,0.12,1.90,44.40,0.604,4,0.083,0.041,3064,958,1008,0,0,0,0,0,0
$GC,14055,0.94,510.6,61.9,16.1,1240,14064,0.08,1.80,0.00,0.000,6,0.138,0.034,3038,2151,1005,0,0,0,0,0,0
$GC,14424,1.05,586.9,18.6,10.4,1301,14490,0.00,1.90,60.38,0.548,4,0.000,0.040,3040,957,697,0,0,0,0,0,0
$GC,14576,1.27,752.0,4.9,6.3,1323,14597,0.22,1.80,15.15,0.500,2,0.044,0.034,3149,2150,625,0,0,0,0,0,0
$STATE,14598,end climb,SURFACE_DEPTH_REACHED
$STATE,14598,begin surface coast
$FINISH,0.1,1.009168
$STATE,14635,end surface coast,CONTROL_FINISHED_OK
$STATE,14635,begin surface
$SM_CCo,14653,27.05,0.057,0,0,482,640.23
$SM_GC,0.92,0.00,0.00,27.05,0.000,0.000,0.057,147,1999,482,-8.07,-0.74,640.23
$IRIDIUM_FIX,2319.18,12604.75,251010,010106
$TT8_MAMPS,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.5,53.437
$10V_AH,9.9,44.845
$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,20.800,112.200,709.050,27.050,0.000,22.692,37.551,195.085,0.000,0.000,18.781,3297.680,7077.086,715.979,3684.778,284.581,0.000,2080.514,0.000,3431.139,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,75.735,1274.490,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.391,0.000,1872.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,80282,1331
$CAP_FILE_SIZE,166681,0
$CFSIZE,260165632,233852928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,332.4,1
$GPS,251010,094607,2328.300,12604.073,28,1.1,28,-3.4