version: 66.08
glider: 168
mission: 2
dive: 411
start: 10 31 110 21 57 35
data:
$ID,168
$MISSION,2
$DIVE,411
$N_DIVES,423
$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,-3721.9094
$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,37
$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
$GPS1,311010,215207,2319.753,12646.480,41,1.4,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-74.5
$GPS2,311010,215708,2319.753,12646.471,12,1.9,12,-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,194.6,232332,-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,16,-0.68,-185.1,0.0,0.0,0,60,0.00,0.00,-41.55,0.000,2,0.000,0.000,104,1528,2213,0,0,0,0,0,0
$GC,62,-0.68,-185.1,3.2,-0.9,7,132,10.20,2.12,-51.80,0.000,4,0.181,0.060,3022,167,3823,0,0,0,0,0,0
$GC,194,-0.63,-185.1,27.3,-31.6,29,202,0.12,2.08,0.00,0.000,6,0.146,0.036,3049,1537,3825,0,0,0,0,0,0
$GC,538,-0.60,-185.1,115.9,-18.8,90,546,0.00,2.15,0.00,0.000,4,0.000,0.042,3039,2955,3825,0,0,0,0,0,0
$GC,620,-0.62,-185.1,127.8,-13.1,104,627,0.00,2.12,0.00,0.000,6,0.000,0.041,3039,1566,3825,0,0,0,0,0,0
$GC,964,-0.61,-185.1,190.6,-18.2,165,972,0.05,2.17,0.00,0.000,4,0.232,0.050,3053,166,3827,0,0,0,0,0,0
$GC,1023,-0.64,-185.1,200.7,-15.6,175,1030,0.00,2.10,0.00,0.000,6,0.000,0.036,3050,1560,3827,0,0,0,0,0,0
$GC,1366,-0.64,-185.1,255.8,-14.9,236,1372,0.00,2.15,0.00,0.000,4,0.000,0.044,3040,2958,3827,0,0,0,0,0,0
$GC,1408,-0.68,-185.1,261.4,-13.1,243,1415,0.00,2.15,0.00,0.000,6,0.000,0.042,3040,1555,3827,0,0,0,0,0,0
$GC,1747,-0.69,-185.1,310.9,-14.9,297,1751,0.00,2.12,0.00,0.000,4,0.000,0.052,3040,167,3827,0,0,0,0,0,0
$GC,1790,-0.71,-185.1,317.6,-14.4,300,1797,0.00,2.08,0.00,0.000,6,0.000,0.037,3036,1558,3827,0,0,0,0,0,0
$GC,2116,-0.72,-185.1,363.6,-14.1,331,2120,0.00,2.12,0.00,0.000,4,0.000,0.044,3027,2959,3827,0,0,0,0,0,0
$GC,2191,-0.77,-185.1,372.6,-10.5,337,2195,0.08,2.12,0.00,0.000,6,0.118,0.042,2922,1560,3827,0,0,0,0,0,0
$GC,2518,-0.70,-185.1,449.0,-23.8,367,2525,0.35,0.00,0.00,0.000,6,0.127,0.000,3033,1559,3826,0,0,0,0,0,0
$GC,2844,-0.73,-185.1,488.4,-11.4,398,2848,0.00,2.17,0.00,0.000,4,0.000,0.047,3024,2964,3825,0,0,0,0,0,0
$GC,2882,-0.77,-185.1,492.8,-10.4,401,2890,0.08,2.15,0.00,0.000,6,0.115,0.044,2923,1562,3824,0,0,0,0,0,0
$GC,3207,-0.72,-185.1,564.4,-21.8,432,3212,0.28,2.17,0.00,0.000,4,0.127,0.054,3020,168,3823,0,0,0,0,0,0
$GC,3225,-0.68,-185.1,567.8,-20.6,433,3230,0.08,2.12,0.00,0.000,6,0.166,0.037,3037,1574,3823,0,0,0,0,0,0
$GC,3562,-0.72,-185.1,602.4,-9.5,463,3566,0.08,2.15,0.00,0.000,4,0.121,0.046,2926,2954,3820,0,0,0,0,0,0
$GC,3628,-0.70,-185.1,613.0,-16.8,466,3633,0.30,2.15,0.00,0.000,6,0.109,0.045,3026,1571,3819,0,0,0,0,0,0
$GC,3951,-0.74,-185.1,647.3,-10.6,482,3955,0.00,2.20,0.00,0.000,4,0.000,0.056,3026,166,3817,0,0,0,0,0,0
$GC,3984,-0.78,-185.1,651.1,-10.9,483,3991,0.08,2.15,0.00,0.000,6,0.115,0.037,2926,1579,3816,0,0,0,0,0,0
$GC,4301,-0.74,-185.1,710.8,-19.6,499,4305,0.25,2.10,0.00,0.000,4,0.119,0.042,3009,2954,3815,0,0,0,0,0,0
$GC,4334,-0.77,-185.1,716.0,-12.7,500,4341,0.00,2.12,0.00,0.000,6,0.000,0.046,3009,1575,3814,0,0,0,0,0,0
$GC,4650,-0.80,-185.1,751.6,-11.4,516,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1575,3811,0,0,0,0,0,0
$GC,4962,-0.83,-185.1,787.1,-11.5,531,4964,0.08,0.00,0.00,0.000,6,0.119,0.000,2902,1575,3808,0,0,0,0,0,0
$GC,5268,-0.78,-185.1,849.8,-20.4,546,5273,0.28,2.15,0.00,0.000,4,0.119,0.046,2990,2952,3806,0,0,0,0,0,0
$GC,5318,-0.83,-185.1,856.6,-10.7,548,5322,0.00,2.15,0.00,0.000,6,0.000,0.049,2990,1574,3805,0,0,0,0,0,0
$GC,5635,-0.84,-185.1,891.5,-10.8,563,5639,0.00,2.22,0.00,0.000,4,0.000,0.060,2990,164,3803,0,0,0,0,0,0
$GC,5663,-0.86,-185.1,895.0,-12.0,564,5667,0.00,2.12,0.00,0.000,6,0.000,0.040,2983,1567,3802,0,0,0,0,0,0
$GC,5980,-0.88,-185.1,930.6,-11.2,579,5984,0.00,2.12,0.00,0.000,4,0.000,0.048,2973,2956,3800,0,0,0,0,0,0
$GC,6036,-0.91,-185.1,937.0,-10.2,581,6043,0.00,2.15,0.00,0.000,6,0.000,0.049,2973,1578,3800,0,0,0,0,0,0
$GC,6353,-0.92,-185.1,974.6,-12.3,597,6355,0.08,0.00,0.00,0.000,6,0.118,0.000,2874,1578,3797,0,0,0,0,0,0
$STATE,6494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6494,begin apogee
$GC,6499,0.00,0.0,1003.7,21.2,604,6658,1.08,0.00,152.05,1.234,4,0.106,0.000,3248,1704,3068,0,0,0,0,0,0
$STATE,6659,end apogee,CONTROL_FINISHED_OK
$STATE,6659,begin climb
$GC,6661,0.68,185.1,1012.0,0.0,611,6830,0.60,2.30,160.82,1.172,4,0.030,0.046,3520,3105,2312,0,0,0,0,0,0
$GC,6847,0.61,185.1,991.6,20.7,620,6852,0.30,2.33,0.00,0.000,6,0.147,0.046,3445,1700,2308,0,0,0,0,0,0
$GC,7170,0.58,185.1,937.1,17.1,636,7174,0.00,2.17,0.00,0.000,4,0.000,0.041,3445,3109,2300,0,0,0,0,0,0
$GC,7203,0.55,185.1,930.8,18.1,637,7210,0.10,2.25,0.00,0.000,6,0.174,0.047,3428,1695,2298,0,0,0,0,0,0
$GC,7519,0.53,185.1,880.2,16.1,653,7523,0.00,2.22,0.00,0.000,4,0.000,0.061,3438,294,2296,0,0,0,0,0,0
$GC,7562,0.52,185.1,873.0,16.6,655,7566,0.08,2.12,0.00,0.000,6,0.174,0.034,3417,1704,2295,0,0,0,0,0,0
$GC,7890,0.52,185.1,825.5,14.0,671,7894,0.00,2.12,0.00,0.000,4,0.000,0.043,3417,3099,2294,0,0,0,0,0,0
$GC,7929,0.52,185.1,819.6,14.8,673,7933,0.00,2.20,0.00,0.000,6,0.000,0.047,3425,1693,2294,0,0,0,0,0,0
$GC,8257,0.53,202.0,776.1,13.0,689,8279,0.00,2.25,12.55,1.053,4,0.000,0.043,3425,3098,2243,0,0,0,0,0,0
$GC,8295,0.55,229.6,770.6,12.5,690,8327,0.00,2.25,25.65,1.078,6,0.000,0.047,3436,1687,2131,0,0,0,0,0,0
$GC,8656,0.56,231.9,721.5,13.8,708,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1687,2125,0,0,0,0,0,0
$GC,8965,0.56,231.9,678.1,14.1,723,8970,0.00,2.25,0.00,0.000,4,0.000,0.061,3447,288,2122,0,0,0,0,0,0
$GC,8983,0.55,231.9,675.6,14.2,724,8988,0.08,2.10,0.00,0.000,6,0.172,0.034,3425,1690,2121,0,0,0,0,0,0
$GC,9311,0.55,232.5,632.1,13.9,740,9315,0.00,2.25,0.00,0.000,4,0.000,0.060,3434,293,2120,0,0,0,0,0,0
$GC,9340,0.55,232.5,627.5,14.7,741,9344,0.00,2.10,0.00,0.000,6,0.000,0.033,3433,1693,2119,0,0,0,0,0,0
$GC,9660,0.55,232.5,578.6,15.5,762,9663,0.00,2.15,0.00,0.000,4,0.000,0.044,3434,3103,2119,0,0,0,0,0,0
$GC,9692,0.55,232.5,572.9,16.7,764,9699,0.00,2.25,0.00,0.000,6,0.000,0.047,3442,1693,2119,0,0,0,0,0,0
$GC,10019,0.55,235.7,525.1,13.7,795,10031,0.00,2.25,4.53,0.681,4,0.000,0.060,3453,289,2107,0,0,0,0,0,0
$GC,10083,0.58,257.7,516.1,12.8,800,10112,0.00,2.10,20.90,0.942,6,0.000,0.034,3452,1688,2016,0,0,0,0,0,0
$GC,10429,0.58,257.7,467.1,14.7,833,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1688,2010,0,0,0,0,0,0
$GC,10750,0.58,257.7,417.4,15.9,863,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1688,2008,0,0,0,0,0,0
$GC,11068,0.58,257.7,368.6,14.7,893,11072,0.00,2.15,0.00,0.000,4,0.000,0.042,3453,3101,2008,0,0,0,0,0,0
$GC,11111,0.60,257.7,361.7,14.0,896,11118,0.00,2.22,0.00,0.000,6,0.000,0.047,3459,1674,2008,0,0,0,0,0,0
$GC,11437,0.61,269.2,317.6,13.3,927,11453,0.00,2.25,9.98,0.728,4,0.000,0.058,3469,290,1970,0,0,0,0,0,0
$GC,11487,0.62,269.2,310.4,14.2,931,11494,0.08,2.08,0.00,0.000,6,0.161,0.032,3442,1682,1967,0,0,0,0,0,0
$GC,11824,0.68,300.2,270.4,12.3,984,11861,0.10,2.28,27.45,0.751,4,0.093,0.055,3550,294,1843,0,0,0,0,0,0
$GC,11898,0.63,300.2,256.8,21.0,996,11905,0.30,2.08,0.00,0.000,6,0.113,0.030,3451,1674,1841,0,0,0,0,0,0
$GC,12245,0.69,330.9,209.8,12.3,1057,12276,0.08,0.00,25.98,0.695,6,0.120,0.000,3542,1677,1719,0,0,0,0,0,0
$GC,12612,0.67,330.9,138.8,19.8,1122,12620,0.25,2.20,0.00,0.000,4,0.125,0.053,3464,283,1714,0,0,0,0,0,0
$GC,12706,0.84,426.5,127.4,9.1,1138,12789,0.17,2.05,76.45,0.640,6,0.059,0.031,3594,1662,1329,0,0,0,0,0,0
$GC,13129,0.83,426.5,43.5,19.4,1211,13135,0.25,0.00,0.00,0.000,6,0.122,0.000,3504,1662,1320,0,0,0,0,0,0
$GC,13473,1.05,558.5,13.8,7.2,1272,13535,0.22,0.00,58.50,0.548,2,0.051,0.000,3637,1662,1015,0,0,0,0,0,0
$STATE,13536,end climb,SURFACE_DEPTH_REACHED
$STATE,13536,begin surface coast
$FINISH,2.0,1.022257
$STATE,13548,end surface coast,CONTROL_FINISHED_OK
$STATE,13548,begin surface
$SM_CCo,13626,0.00,0.000,0,0,1009,504.83
$SM_GC,2.85,8.77,0.00,0.00,0.023,0.000,0.000,104,1528,1009,-9.69,-0.57,504.83
$IRIDIUM_FIX,2316.83,12645.15,311010,171715
$TT8_MAMPS,0.026964
$HUMID,47.32
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,23.1,55.762
$10V_AH,10.2,41.975
$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,24.800,117.250,574.850,0.000,0.000,31.082,18.946,126.062,0.750,0.000,14.954,3148.859,7585.630,659.506,2277.812,250.668,0.000,1817.836,0.000,2079.329,0.000,0.539,0.000
$DEVICE_MAMPS,231.795,77.265,1233.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,73594,1284
$CAP_FILE_SIZE,156408,0
$CFSIZE,260165632,229191680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 71.3,1
$GPS,011110,014601,2317.628,12646.063,44,1.1,44,-3.4