version: 66.08
glider: 168
mission: 2
dive: 409
start: 10 31 110 14 1 5
data:
$ID,168
$MISSION,2
$DIVE,409
$N_DIVES,415
$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,0
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-3719.3928
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-59.994087
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,311010,135528,2323.383,12648.011,11,3.6,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-74.3
$GPS2,311010,140037,2323.407,12647.981,39,1.1,39,-3.4
$SPEED_LIMITS,0.241,0.322
$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,182.5,239582,-20.6,-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,-0.68,-185.1,0.0,0.0,0,55,0.00,0.00,-37.58,0.000,2,0.000,0.000,104,1537,2253,0,0,0,0,0,0
$GC,58,-0.68,-185.1,3.2,-0.9,6,120,10.20,2.15,-44.33,0.000,4,0.182,0.048,3020,2948,3824,0,0,0,0,0,0
$GC,259,-0.68,-185.1,39.7,-18.0,41,266,0.00,2.17,0.00,0.000,6,0.000,0.044,3020,1555,3826,0,0,0,0,0,0
$GC,602,-0.65,-185.1,132.5,-21.9,102,610,0.10,2.15,0.00,0.000,4,0.178,0.050,3050,163,3826,0,0,0,0,0,0
$GC,623,-0.61,-185.1,137.0,-21.9,105,630,0.00,2.08,0.00,0.000,6,0.000,0.036,3042,1537,3827,0,0,0,0,0,0
$GC,966,-0.60,-185.1,200.5,-16.4,166,973,0.05,2.20,0.00,0.000,4,0.234,0.044,3047,2962,3829,0,0,0,0,0,0
$GC,1031,-0.65,-185.1,208.9,-10.8,177,1038,0.00,2.15,0.00,0.000,6,0.000,0.041,3048,1549,3828,0,0,0,0,0,0
$GC,1377,-0.66,-185.1,259.2,-13.7,238,1384,0.00,2.15,0.00,0.000,4,0.000,0.051,3047,159,3829,0,0,0,0,0,0
$GC,1408,-0.68,-185.1,263.8,-14.6,243,1415,0.00,2.08,0.00,0.000,6,0.000,0.037,3045,1552,3829,0,0,0,0,0,0
$GC,1747,-0.70,-185.1,306.7,-11.7,299,1751,0.00,2.17,0.00,0.000,4,0.000,0.045,3037,2961,3829,0,0,0,0,0,0
$GC,1811,-0.75,-185.1,313.0,-8.8,304,1816,0.08,2.15,0.00,0.000,6,0.116,0.041,2933,1550,3829,0,0,0,0,0,0
$GC,2137,-0.68,-185.1,390.2,-24.3,334,2141,0.30,2.15,0.00,0.000,4,0.127,0.050,3034,166,3828,0,0,0,0,0,0
$GC,2171,-0.67,-185.1,396.7,-17.2,337,2175,0.00,2.10,0.00,0.000,6,0.000,0.037,3026,1555,3828,0,0,0,0,0,0
$GC,2503,-0.69,-185.1,439.8,-12.3,368,2507,0.00,2.15,0.00,0.000,4,0.000,0.045,3017,2962,3827,0,0,0,0,0,0
$GC,2580,-0.74,-185.1,448.2,-9.4,374,2587,0.00,2.15,0.00,0.000,6,0.000,0.041,3017,1551,3827,0,0,0,0,0,0
$GC,2906,-0.75,-185.1,486.0,-11.7,405,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1551,3826,0,0,0,0,0,0
$GC,3226,-0.77,-185.1,520.8,-11.3,435,3230,0.00,2.20,0.00,0.000,4,0.000,0.045,3009,2955,3824,0,0,0,0,0,0
$GC,3251,-0.79,-185.1,523.6,-11.4,437,3254,0.00,2.15,0.00,0.000,6,0.000,0.044,3009,1555,3824,0,0,0,0,0,0
$GC,3576,-0.81,-185.1,561.5,-12.2,467,3580,0.00,2.15,0.00,0.000,4,0.000,0.056,3009,169,3822,0,0,0,0,0,0
$GC,3598,-0.82,-185.1,564.6,-13.6,468,3606,0.00,2.10,0.00,0.000,6,0.000,0.038,3004,1563,3821,0,0,0,0,0,0
$GC,3923,-0.83,-185.1,608.5,-13.7,496,3928,0.08,2.15,0.00,0.000,4,0.122,0.045,2877,2955,3820,0,0,0,0,0,0
$GC,4000,-0.78,-185.1,625.4,-22.3,499,4008,0.38,2.12,0.00,0.000,6,0.109,0.045,3002,1572,3819,0,0,0,0,0,0
$GC,4318,-0.80,-185.1,668.6,-12.4,515,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1571,3817,0,0,0,0,0,0
$GC,4628,-0.82,-185.1,703.3,-10.8,530,4632,0.00,2.15,0.00,0.000,4,0.000,0.046,2995,2960,3813,0,0,0,0,0,0
$GC,4656,-0.85,-185.1,706.7,-10.4,531,4660,0.00,2.17,0.00,0.000,6,0.000,0.046,2994,1566,3814,0,0,0,0,0,0
$GC,4978,-0.86,-185.1,745.0,-12.6,547,4980,0.08,0.00,0.00,0.000,6,0.119,0.000,2885,1566,3811,0,0,0,0,0,0
$GC,5287,-0.80,-185.1,814.0,-22.7,562,5292,0.32,2.17,0.00,0.000,4,0.118,0.044,2988,2961,3808,0,0,0,0,0,0
$GC,5319,-0.81,-185.1,819.9,-14.4,563,5326,0.00,2.17,0.00,0.000,6,0.000,0.048,2988,1563,3809,0,0,0,0,0,0
$GC,5636,-0.82,-185.1,857.0,-11.5,579,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1563,3806,0,0,0,0,0,0
$GC,5945,-0.84,-185.1,892.0,-11.3,594,5949,0.00,2.17,0.00,0.000,4,0.000,0.048,2982,2957,3805,0,0,0,0,0,0
$GC,5978,-0.88,-185.1,895.7,-10.5,595,5982,0.00,2.17,0.00,0.000,6,0.000,0.050,2982,1569,3804,0,0,0,0,0,0
$GC,6295,-0.89,-185.1,931.3,-11.5,610,6298,0.00,2.17,0.00,0.000,4,0.000,0.048,2973,2955,3802,0,0,0,0,0,0
$GC,6322,-0.91,-185.1,934.5,-11.1,611,6326,0.00,2.17,0.00,0.000,6,0.000,0.050,2973,1570,3801,0,0,0,0,0,0
$GC,6639,-0.92,-185.1,972.2,-11.9,626,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1570,3799,0,0,0,0,0,0
$STATE,6883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6883,begin apogee
$GC,6888,0.00,0.0,1002.3,12.4,638,7046,0.75,0.00,152.45,1.236,4,0.088,0.000,3249,1708,3068,0,0,0,0,0,0
$STATE,7046,end apogee,CONTROL_FINISHED_OK
$STATE,7047,begin climb
$GC,7048,0.68,185.1,1008.4,0.0,645,7218,0.60,2.33,160.88,1.174,4,0.031,0.046,3520,3108,2312,0,0,0,0,0,0
$GC,7382,0.61,185.1,953.0,22.4,660,7390,0.28,2.25,0.00,0.000,6,0.151,0.047,3450,1699,2303,0,0,0,0,0,0
$GC,7698,0.57,185.1,898.5,17.1,676,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1698,2299,0,0,0,0,0,0
$GC,8007,0.54,185.1,844.0,17.7,691,8009,0.10,0.00,0.00,0.000,6,0.177,0.000,3422,1698,2297,0,0,0,0,0,0
$GC,8317,0.53,185.1,798.0,14.6,706,8321,0.00,2.25,0.00,0.000,4,0.000,0.060,3432,292,2295,0,0,0,0,0,0
$GC,8349,0.51,185.1,792.8,14.9,707,8357,0.08,2.12,0.00,0.000,6,0.165,0.034,3410,1710,2294,0,0,0,0,0,0
$GC,8665,0.54,205.7,751.0,12.9,723,8685,0.00,0.00,16.00,1.065,6,0.000,0.000,3410,1713,2228,0,0,0,0,0,0
$GC,8995,0.55,215.1,707.1,13.4,739,9010,0.05,2.35,9.20,0.970,4,0.170,0.061,3484,292,2191,0,0,0,0,0,0
$GC,9021,0.52,215.1,702.8,15.9,740,9025,0.22,2.15,0.00,0.000,6,0.126,0.033,3412,1711,2189,0,0,0,0,0,0
$GC,9350,0.57,253.1,660.8,12.0,756,9388,0.08,0.00,34.40,1.047,6,0.119,0.000,3481,1713,2035,0,0,0,0,0,0
$GC,9699,0.54,253.1,598.3,18.4,773,9701,0.17,0.00,0.00,0.000,6,0.135,0.000,3427,1713,2026,0,0,0,0,0,0
$GC,10016,0.55,253.1,552.9,14.0,803,10020,0.00,2.30,0.00,0.000,4,0.000,0.060,3438,288,2024,0,0,0,0,0,0
$GC,10048,0.56,253.1,548.2,14.1,805,10055,0.00,2.12,0.00,0.000,6,0.000,0.034,3438,1703,2023,0,0,0,0,0,0
$GC,10373,0.57,254.8,502.8,13.8,836,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1705,2022,0,0,0,0,0,0
$GC,10693,0.57,254.8,459.3,14.1,866,10697,0.00,2.25,0.00,0.000,4,0.000,0.060,3447,289,2022,0,0,0,0,0,0
$GC,10726,0.58,254.8,454.3,14.0,868,10734,0.00,2.12,0.00,0.000,6,0.000,0.034,3446,1705,2021,0,0,0,0,0,0
$GC,11051,0.58,254.8,409.3,14.0,899,11055,0.00,2.28,0.00,0.000,4,0.000,0.058,3455,288,2021,0,0,0,0,0,0
$GC,11080,0.58,254.8,405.1,14.1,901,11085,0.08,2.12,0.00,0.000,6,0.163,0.033,3432,1700,2021,0,0,0,0,0,0
$GC,11411,0.68,318.9,367.0,10.7,932,11471,0.12,0.00,54.25,0.852,6,0.076,0.000,3537,1702,1766,0,0,0,0,0,0
$GC,11793,0.64,318.9,287.1,21.1,973,11799,0.25,0.00,0.00,0.000,6,0.133,0.000,3451,1703,1758,0,0,0,0,0,0
$GC,12139,0.70,354.2,240.5,12.1,1034,12177,0.08,2.28,28.90,0.737,4,0.118,0.057,3545,290,1623,0,0,0,0,0,0
$GC,12225,0.67,354.2,224.0,20.4,1048,12233,0.25,2.12,0.00,0.000,6,0.111,0.031,3463,1697,1620,0,0,0,0,0,0
$GC,12571,0.75,393.9,178.3,11.9,1109,12615,0.10,2.33,32.85,0.687,4,0.095,0.056,3576,295,1461,0,0,0,0,0,0
$GC,12667,0.72,393.9,158.4,20.3,1125,12675,0.30,2.10,0.00,0.000,6,0.106,0.030,3474,1697,1459,0,0,0,0,0,0
$GC,13015,0.76,395.8,110.7,13.8,1186,13022,0.08,2.28,0.00,0.000,4,0.119,0.055,3577,285,1457,0,0,0,0,0,0
$GC,13045,0.76,395.8,105.0,19.0,1191,13052,0.25,2.10,0.00,0.000,6,0.101,0.031,3489,1695,1455,0,0,0,0,0,0
$GC,13391,0.94,482.7,68.8,9.5,1252,13464,0.17,0.00,69.28,0.599,6,0.060,0.000,3600,1698,1099,0,0,0,0,0,0
$STATE,13721,end climb,SURFACE_DEPTH_REACHED
$STATE,13721,begin surface coast
$FINISH,2.2,1.022266
$STATE,13741,end surface coast,CONTROL_FINISHED_OK
$STATE,13741,begin surface
$SM_CCo,13818,0.00,0.000,0,0,1091,484.96
$SM_GC,2.71,8.45,0.00,0.00,0.016,0.000,0.000,105,1489,1091,-9.68,-1.70,484.96
$IRIDIUM_FIX,2314.48,12648.44,311010,101022
$TT8_MAMPS,0.026964
$HUMID,48.58
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.1,55.419
$10V_AH,10.2,41.820
$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,24.025,100.525,558.200,0.000,0.000,22.556,17.058,125.543,0.500,0.000,40.365,3221.215,7730.705,639.630,2290.201,244.231,0.000,1772.759,0.000,2083.992,0.000,0.538,0.000
$DEVICE_MAMPS,234.090,64.260,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,73621,1313
$CAP_FILE_SIZE,151264,0
$CFSIZE,260165632,229351424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,299.8,1
$GPS,311010,175228,2321.620,12647.058,11,2.1,30,-3.4