version: 66.08
glider: 169
mission: 2
dive: 453
start: 11 9 110 20 22 46
data:
$ID,169
$MISSION,2
$DIVE,453
$N_DIVES,457
$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,-7321.666
$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
$GPS1,091110,201357,2121.109,12602.427,40,2.6,59,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.8
$GPS2,091110,202206,2120.968,12602.534,12,1.1,28,-2.9
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,226.6,4468,-19.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-198.5,0.0,0.0,0,112,0.00,0.00,-93.00,0.000,2,0.000,0.000,150,1978,2954,0,0,0,0,0,0
$GC,115,-0.69,-204.4,3.0,-4.9,12,150,10.00,1.80,-19.15,0.000,4,0.239,0.072,2494,868,3928,0,0,0,0,0,0
$GC,297,-0.69,-204.4,50.4,-22.5,41,307,0.00,1.85,0.00,0.000,6,0.000,0.053,2494,2037,3929,0,0,0,0,0,0
$GC,665,-0.68,-204.4,141.4,-23.2,102,674,0.00,1.75,0.00,0.000,4,0.000,0.055,2494,3162,3930,0,0,0,0,0,0
$GC,805,-0.68,-204.4,168.1,-18.2,126,814,0.00,1.80,0.00,0.000,6,0.000,0.042,2495,2002,3931,0,0,0,0,0,0
$GC,1155,-0.67,-204.4,232.7,-18.2,187,1162,0.00,1.85,0.00,0.000,4,0.000,0.056,2494,3173,3931,0,0,0,0,0,0
$GC,1205,-0.68,-204.4,241.5,-17.2,195,1211,0.00,1.80,0.00,0.000,6,0.000,0.040,2494,2003,3931,0,0,0,0,0,0
$GC,1551,-0.68,-204.4,299.5,-16.0,256,1559,0.00,1.85,0.00,0.000,4,0.000,0.055,2494,3162,3931,0,0,0,0,0,0
$GC,1602,-0.68,-204.4,307.0,-14.3,261,1605,0.00,1.77,0.00,0.000,6,0.000,0.039,2494,1992,3931,0,0,0,0,0,0
$GC,1933,-0.69,-204.4,356.8,-15.4,292,1936,0.00,1.88,0.00,0.000,4,0.000,0.056,2494,3174,3930,0,0,0,0,0,0
$GC,1983,-0.70,-204.4,364.1,-13.5,296,1991,0.00,1.80,0.00,0.000,6,0.000,0.039,2495,2003,3930,0,0,0,0,0,0
$GC,2310,-0.70,-204.4,407.7,-12.6,327,2314,0.00,1.85,0.00,0.000,4,0.000,0.054,2494,3165,3928,0,0,0,0,0,0
$GC,2358,-0.71,-204.4,413.6,-11.8,331,2362,0.00,1.77,0.00,0.000,6,0.000,0.037,2494,2003,3928,0,0,0,0,0,0
$GC,2690,-0.72,-204.4,456.8,-12.8,362,2694,0.00,1.83,0.00,0.000,4,0.000,0.054,2494,3177,3926,0,0,0,0,0,0
$GC,2738,-0.73,-204.4,462.3,-11.0,366,2741,0.00,1.80,0.00,0.000,6,0.000,0.039,2495,1985,3926,0,0,0,0,0,0
$GC,3069,-0.74,-204.4,501.8,-11.3,397,3072,0.00,1.88,0.00,0.000,4,0.000,0.056,2494,3168,3923,0,0,0,0,0,0
$GC,3149,-0.76,-204.4,509.4,-9.1,404,3152,0.00,1.77,0.00,0.000,6,0.000,0.038,2494,1993,3922,0,0,0,0,0,0
$GC,3480,-0.77,-204.4,541.6,-10.0,435,3484,0.00,1.85,0.00,0.000,4,0.000,0.054,2494,3167,3920,0,0,0,0,0,0
$GC,3537,-0.78,-204.4,547.0,-9.2,440,3541,0.00,1.77,0.00,0.000,6,0.000,0.038,2494,1995,3920,0,0,0,0,0,0
$GC,3868,-0.79,-204.4,580.3,-10.0,471,3872,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3178,3916,0,0,0,0,0,0
$GC,3926,-0.81,-204.4,586.0,-9.5,476,3930,0.00,1.80,0.00,0.000,6,0.000,0.040,2494,1995,3916,0,0,0,0,0,0
$GC,4254,-0.82,-204.4,619.3,-10.3,498,4258,0.00,1.88,0.00,0.000,4,0.000,0.056,2494,3166,3914,0,0,0,0,0,0
$GC,4346,-0.83,-204.4,628.0,-8.4,502,4350,0.00,1.77,0.00,0.000,6,0.000,0.039,2495,1998,3912,0,0,0,0,0,0
$GC,4680,-0.85,-204.4,661.5,-9.7,518,4685,0.10,1.90,0.00,0.000,4,0.131,0.057,2457,3165,3910,0,0,0,0,0,0
$GC,4774,-0.86,-204.4,672.9,-11.8,522,4778,0.00,1.80,0.00,0.000,6,0.000,0.042,2457,2005,3909,0,0,0,0,0,0
$GC,5103,-0.86,-204.4,715.4,-13.0,538,5107,0.00,1.88,0.00,0.000,4,0.000,0.058,2457,3166,3906,0,0,0,0,0,0
$GC,5153,-0.87,-204.4,721.9,-11.5,540,5156,0.00,1.80,0.00,0.000,6,0.000,0.042,2457,1995,3906,0,0,0,0,0,0
$GC,5481,-0.88,-204.4,764.8,-13.3,556,5485,0.00,1.88,0.00,0.000,4,0.000,0.059,2458,3168,3903,0,0,0,0,0,0
$GC,5531,-0.89,-204.4,771.4,-12.3,558,5535,0.00,1.80,0.00,0.000,6,0.000,0.043,2457,1999,3902,0,0,0,0,0,0
$GC,5860,-0.89,-204.4,812.0,-12.1,574,5863,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3173,3900,0,0,0,0,0,0
$GC,5898,-0.90,-204.4,817.0,-11.4,575,5905,0.00,1.80,0.00,0.000,6,0.000,0.044,2458,2004,3900,0,0,0,0,0,0
$GC,6215,-0.91,-204.4,854.0,-11.8,591,6218,0.00,1.85,0.00,0.000,4,0.000,0.058,2457,3166,3897,0,0,0,0,0,0
$GC,6243,-0.92,-204.4,857.4,-11.0,592,6247,0.00,1.83,0.00,0.000,6,0.000,0.044,2457,2003,3897,0,0,0,0,0,0
$GC,6570,-0.92,-204.4,894.8,-11.2,608,6574,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3166,3895,0,0,0,0,0,0
$GC,6631,-0.93,-204.4,901.4,-9.9,610,6638,0.00,1.80,0.00,0.000,6,0.000,0.044,2457,2001,3894,0,0,0,0,0,0
$GC,6949,-0.94,-204.4,935.8,-10.9,626,6952,0.00,1.85,0.00,0.000,4,0.000,0.059,2457,3169,3893,0,0,0,0,0,0
$GC,7017,-0.95,-204.4,943.1,-10.0,629,7022,0.10,1.77,0.00,0.000,6,0.122,0.045,2420,2004,3891,0,0,0,0,0,0
$GC,7350,-0.95,-204.4,991.4,-15.1,645,7354,0.00,1.75,0.00,0.000,4,0.000,0.054,2420,867,3890,0,0,0,0,0,0
$GC,7383,-0.96,-204.4,996.6,-15.1,646,7387,0.00,1.85,0.00,0.000,6,0.000,0.051,2420,2036,3890,0,0,0,0,0,0
$STATE,7414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7414,begin apogee
$GC,7419,-0.18,0.0,1001.1,14.2,648,7602,0.80,0.08,175.98,1.280,6,0.148,0.058,2666,2090,3090,0,0,0,0,0,0
$STATE,7602,end apogee,CONTROL_FINISHED_OK
$STATE,7603,begin climb
$GC,7605,0.69,204.4,1012.3,0.0,656,7807,0.77,1.85,194.15,1.262,4,0.054,0.044,2966,973,2256,0,0,0,0,0,0
$GC,7863,0.68,204.4,996.2,14.9,668,7870,0.00,1.83,0.00,0.000,6,0.000,0.037,2966,2148,2248,0,0,0,0,0,0
$GC,8179,0.67,204.4,947.2,15.8,684,8183,0.00,1.83,0.00,0.000,4,0.000,0.045,2974,962,2241,0,0,0,0,0,0
$GC,8229,0.65,204.4,939.0,16.1,686,8233,0.12,1.80,0.00,0.000,6,0.184,0.037,2943,2161,2240,0,0,0,0,0,0
$GC,8557,0.64,204.4,892.6,14.5,702,8561,0.00,1.65,0.00,0.000,4,0.000,0.046,2943,3272,2237,0,0,0,0,0,0
$GC,8630,0.63,204.4,880.9,15.4,705,8633,0.00,1.80,0.00,0.000,6,0.000,0.035,2952,2082,2236,0,0,0,0,0,0
$GC,8958,0.62,204.4,829.0,16.3,721,8961,0.00,1.85,0.00,0.000,4,0.000,0.046,2947,3280,2235,0,0,0,0,0,0
$GC,8996,0.61,204.4,822.0,17.0,722,9003,0.00,1.80,0.00,0.000,6,0.000,0.035,2957,2094,2235,0,0,0,0,0,0
$GC,9313,0.60,204.4,771.3,15.8,738,9315,0.12,0.00,0.00,0.000,6,0.190,0.000,2925,2092,2234,0,0,0,0,0,0
$GC,9623,0.62,222.9,730.5,13.0,753,9646,0.00,1.90,14.57,1.040,4,0.000,0.046,2924,3268,2181,0,0,0,0,0,0
$GC,9679,0.61,222.9,722.2,14.4,755,9683,0.00,1.83,0.00,0.000,6,0.000,0.034,2933,2082,2179,0,0,0,0,0,0
$GC,10001,0.61,222.9,676.5,14.5,771,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2081,2176,0,0,0,0,0,0
$GC,10311,0.60,222.9,631.3,14.4,786,10314,0.00,1.67,0.00,0.000,4,0.000,0.046,2941,961,2175,0,0,0,0,0,0
$GC,10388,0.60,222.9,619.8,14.3,789,10392,0.00,1.83,0.00,0.000,6,0.000,0.038,2940,2155,2174,0,0,0,0,0,0
$GC,10717,0.62,245.6,576.3,12.8,813,10744,0.00,1.77,21.75,0.982,4,0.000,0.047,2940,3274,2088,0,0,0,0,0,0
$GC,10802,0.66,277.4,565.0,12.4,820,10837,0.00,1.83,29.90,0.978,6,0.000,0.034,2949,2075,1960,0,0,0,0,0,0
$GC,11156,0.65,277.4,515.2,14.6,853,11159,0.00,1.65,0.00,0.000,4,0.000,0.047,2957,968,1949,0,0,0,0,0,0
$GC,11250,0.65,277.4,501.7,14.4,861,11258,0.00,1.80,0.00,0.000,6,0.000,0.037,2958,2154,1948,0,0,0,0,0,0
$GC,11576,0.65,277.4,454.6,14.2,892,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2154,1947,0,0,0,0,0,0
$GC,11897,0.66,288.0,410.4,13.4,922,11910,0.00,1.83,8.88,0.781,4,0.000,0.044,2967,968,1915,0,0,0,0,0,0
$GC,11938,0.68,307.1,404.2,13.0,925,11963,0.00,1.77,18.98,0.850,6,0.000,0.037,2967,2151,1838,0,0,0,0,0,0
$GC,12289,0.68,307.1,353.2,14.7,958,12293,0.00,1.83,0.00,0.000,4,0.000,0.044,2975,967,1830,0,0,0,0,0,0
$GC,12357,0.70,329.4,344.0,12.8,964,12383,0.00,1.75,19.95,0.811,6,0.000,0.036,2974,2152,1747,0,0,0,0,0,0
$GC,12705,0.70,329.4,293.7,13.9,999,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2152,1741,0,0,0,0,0,0
$GC,13051,0.70,329.4,243.5,13.9,1060,13059,0.00,1.83,0.00,0.000,4,0.000,0.044,2984,961,1740,0,0,0,0,0,0
$GC,13120,0.74,357.3,234.6,12.6,1071,13150,0.00,1.77,24.62,0.729,6,0.000,0.036,2984,2155,1633,0,0,0,0,0,0
$GC,13493,0.75,369.5,182.2,13.3,1135,13508,0.00,0.00,11.05,0.634,6,0.000,0.000,2984,2155,1584,0,0,0,0,0,0
$GC,13854,0.82,420.5,138.6,11.5,1197,13904,0.00,1.83,43.97,0.661,4,0.000,0.041,2991,961,1376,0,0,0,0,0,0
$GC,13973,0.94,512.4,125.5,9.6,1214,14055,0.08,1.80,76.18,0.649,6,0.056,0.033,3046,2152,1001,0,0,0,0,0,0
$GC,14414,0.95,512.4,63.5,13.9,1284,14423,0.00,1.80,0.00,0.000,4,0.000,0.041,3053,966,996,0,0,0,0,0,0
$GC,14479,0.98,529.0,54.7,13.1,1294,14503,0.00,1.77,14.27,0.545,6,0.000,0.031,3053,2158,932,0,0,0,0,0,0
$STATE,14830,end climb,SURFACE_DEPTH_REACHED
$STATE,14831,begin surface coast
$FINISH,0.2,1.009940
$STATE,14857,end surface coast,CONTROL_FINISHED_OK
$STATE,14857,begin surface
$SM_CCo,14874,77.93,0.057,0,0,481,640.23
$SM_GC,1.13,0.00,0.00,77.93,0.000,0.000,0.057,144,1983,481,-8.08,-1.19,640.23
$IRIDIUM_FIX,2111.01,12559.43,091110,161608
$TT8_MAMPS,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.3,72.552
$10V_AH,9.8,58.348
$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,20.450,116.400,654.250,77.925,0.000,28.076,18.830,282.430,0.000,0.000,29.559,3389.183,7184.422,716.109,3812.035,341.581,0.000,2091.118,0.000,3493.204,0.000,0.542,0.000
$DEVICE_MAMPS,239.445,94.860,1279.845,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.467,0.000,1878.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,80077,1357
$CAP_FILE_SIZE,168684,0
$CFSIZE,260165632,226680832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,157.9,1
$GPS,101110,003307,2118.749,12600.871,39,1.1,39,-2.9