version: 66.08
glider: 168
mission: 2
dive: 413
start: 11 1 110 5 59 19
data:
$ID,168
$MISSION,2
$DIVE,413
$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,-3725.6729
$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,48
$R_STBD_OVSHOOT,53
$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
$GPS1,011110,054937,2315.014,12644.446,27,1.3,27,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.5
$GPS2,011110,055852,2314.955,12644.342,12,2.2,31,-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,201.9,222730,-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,-185.1,0.0,0.0,0,31,0.00,0.00,-12.98,0.000,2,0.000,0.000,104,1517,1403,0,0,0,0,0,0
$GC,33,-0.68,-185.1,3.0,-1.7,2,140,10.07,2.28,-86.12,0.000,4,0.176,0.055,3020,2939,3825,0,0,0,0,0,0
$GC,288,-0.68,-185.1,38.9,-19.2,45,294,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,1561,3826,0,0,0,0,0,0
$GC,628,-0.64,-185.1,128.6,-20.4,106,635,0.10,2.20,0.00,0.000,4,0.177,0.051,3051,157,3826,0,0,0,0,0,0
$GC,704,-0.68,-185.1,141.0,-12.3,119,712,0.08,2.08,0.00,0.000,6,0.117,0.036,2955,1531,3827,0,0,0,0,0,0
$GC,1051,-0.62,-185.1,226.9,-24.1,180,1059,0.28,2.17,0.00,0.000,4,0.119,0.040,3045,2959,3828,0,0,0,0,0,0
$GC,1122,-0.66,-185.1,237.2,-9.7,192,1130,0.00,2.15,0.00,0.000,6,0.000,0.041,3044,1548,3828,0,0,0,0,0,0
$GC,1468,-0.68,-185.1,285.8,-15.3,253,1475,0.00,2.12,0.00,0.000,4,0.000,0.050,3044,166,3828,0,0,0,0,0,0
$GC,1494,-0.69,-185.1,289.8,-15.7,257,1500,0.00,2.10,0.00,0.000,6,0.000,0.037,3037,1557,3828,0,0,0,0,0,0
$GC,1830,-0.70,-185.1,341.4,-14.3,294,1834,0.00,2.15,0.00,0.000,4,0.000,0.044,3028,2958,3828,0,0,0,0,0,0
$GC,1884,-0.75,-185.1,348.0,-10.2,298,1892,0.08,2.15,0.00,0.000,6,0.116,0.043,2916,1550,3827,0,0,0,0,0,0
$GC,2210,-0.68,-185.1,422.5,-23.3,329,2215,0.32,2.15,0.00,0.000,4,0.125,0.041,3021,2956,3826,0,0,0,0,0,0
$GC,2243,-0.70,-185.1,428.5,-14.3,331,2250,0.00,2.15,0.00,0.000,6,0.000,0.043,3021,1551,3826,0,0,0,0,0,0
$GC,2569,-0.72,-185.1,468.9,-12.6,362,2573,0.00,2.15,0.00,0.000,4,0.000,0.044,3017,2955,3824,0,0,0,0,0,0
$GC,2611,-0.76,-185.1,473.7,-11.5,365,2615,0.00,2.12,0.00,0.000,6,0.000,0.044,3017,1562,3825,0,0,0,0,0,0
$GC,2936,-0.78,-185.1,512.5,-11.7,395,2940,0.00,2.17,0.00,0.000,4,0.000,0.055,3017,164,3823,0,0,0,0,0,0
$GC,2961,-0.80,-185.1,515.4,-12.2,397,2965,0.00,2.12,0.00,0.000,6,0.000,0.037,3010,1565,3822,0,0,0,0,0,0
$GC,3286,-0.82,-185.1,556.6,-13.3,427,3291,0.08,2.15,0.00,0.000,4,0.119,0.045,2888,2961,3820,0,0,0,0,0,0
$GC,3375,-0.78,-185.1,575.2,-21.4,434,3383,0.35,2.17,0.00,0.000,6,0.111,0.045,3004,1563,3819,0,0,0,0,0,0
$GC,3708,-0.80,-185.1,619.8,-13.2,459,3712,0.00,2.17,0.00,0.000,4,0.000,0.057,3004,168,3816,0,0,0,0,0,0
$GC,3731,-0.81,-185.1,623.1,-13.1,460,3735,0.00,2.15,0.00,0.000,6,0.000,0.037,2998,1580,3816,0,0,0,0,0,0
$GC,4052,-0.83,-185.1,662.5,-12.2,476,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1582,3813,0,0,0,0,0,0
$GC,4361,-0.85,-185.1,701.4,-12.6,491,4365,0.00,2.10,0.00,0.000,4,0.000,0.046,2991,2955,3811,0,0,0,0,0,0
$GC,4389,-0.87,-185.1,705.1,-12.5,492,4394,0.08,2.15,0.00,0.000,6,0.116,0.046,2895,1570,3810,0,0,0,0,0,0
$GC,4712,-0.82,-185.1,773.1,-21.4,508,4714,0.30,0.00,0.00,0.000,6,0.118,0.000,2993,1569,3807,0,0,0,0,0,0
$GC,5021,-0.84,-185.1,810.1,-10.9,523,5025,0.00,2.22,0.00,0.000,4,0.000,0.060,2994,162,3805,0,0,0,0,0,0
$GC,5061,-0.86,-185.1,815.0,-11.3,525,5066,0.00,2.15,0.00,0.000,6,0.000,0.039,2985,1573,3805,0,0,0,0,0,0
$GC,5391,-0.88,-185.1,851.5,-10.9,541,5395,0.00,2.15,0.00,0.000,4,0.000,0.048,2976,2955,3802,0,0,0,0,0,0
$GC,5454,-0.91,-185.1,858.0,-9.6,544,5459,0.08,2.17,0.00,0.000,6,0.115,0.050,2891,1574,3801,0,0,0,0,0,0
$GC,5789,-0.86,-185.1,919.7,-19.2,560,5793,0.25,2.15,0.00,0.000,4,0.129,0.046,2962,2955,3798,0,0,0,0,0,0
$GC,5829,-0.88,-185.1,925.9,-11.8,562,5833,0.00,2.15,0.00,0.000,6,0.000,0.051,2962,1583,3798,0,0,0,0,0,0
$GC,6155,-0.88,-185.1,963.6,-11.7,578,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1582,3795,0,0,0,0,0,0
$STATE,6463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6463,begin apogee
$GC,6469,0.00,0.0,1002.6,13.0,593,6626,0.80,0.00,151.32,1.234,4,0.089,0.000,3254,1701,3067,0,0,0,0,0,0
$STATE,6626,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6629,0.68,185.1,1008.9,0.0,600,6799,0.60,2.40,160.48,1.172,4,0.028,0.060,3523,292,2313,0,0,0,0,0,0
$GC,6845,0.60,185.1,980.9,22.8,610,6850,0.28,2.22,0.00,0.000,6,0.140,0.033,3442,1706,2305,0,0,0,0,0,0
$GC,7163,0.57,185.1,927.3,16.4,625,7167,0.00,2.15,0.00,0.000,4,0.000,0.041,3442,3102,2298,0,0,0,0,0,0
$GC,7196,0.55,185.1,921.0,17.3,626,7201,0.10,2.25,0.00,0.000,6,0.172,0.047,3425,1691,2297,0,0,0,0,0,0
$GC,7513,0.53,185.1,873.3,15.3,641,7517,0.00,2.17,0.00,0.000,4,0.000,0.042,3425,3105,2295,0,0,0,0,0,0
$GC,7531,0.51,185.1,870.3,15.2,642,7536,0.08,2.22,0.00,0.000,6,0.194,0.047,3414,1702,2295,0,0,0,0,0,0
$GC,7859,0.52,189.9,824.5,13.7,658,7863,0.00,2.25,0.00,0.000,4,0.000,0.061,3424,286,2294,0,0,0,0,0,0
$GC,7881,0.51,189.9,821.0,14.1,659,7885,0.00,2.15,0.00,0.000,6,0.000,0.034,3424,1715,2292,0,0,0,0,0,0
$GC,8203,0.51,194.9,777.4,13.6,675,8211,0.00,0.00,6.28,0.907,6,0.000,0.000,3424,1718,2272,0,0,0,0,0,0
$GC,8512,0.50,198.8,736.6,13.7,690,8518,0.00,0.00,4.88,0.802,6,0.000,0.000,3424,1718,2257,0,0,0,0,0,0
$GC,8821,0.50,198.8,692.8,14.4,705,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1718,2255,0,0,0,0,0,0
$GC,9130,0.51,206.7,650.1,13.5,720,9140,0.00,0.00,8.45,0.929,6,0.000,0.000,3424,1718,2225,0,0,0,0,0,0
$GC,9439,0.55,235.6,611.2,12.4,735,9468,0.00,0.00,27.08,1.019,6,0.000,0.000,3424,1718,2107,0,0,0,0,0,0
$GC,9779,0.56,235.6,565.7,14.0,762,9783,0.00,2.30,0.00,0.000,4,0.000,0.061,3434,290,2100,0,0,0,0,0,0
$GC,9834,0.58,236.9,557.2,13.8,766,9840,0.00,2.15,0.00,0.000,6,0.000,0.034,3434,1708,2098,0,0,0,0,0,0
$GC,10159,0.58,240.9,512.0,13.7,797,10172,0.00,2.17,4.85,0.704,4,0.000,0.044,3434,3103,2085,0,0,0,0,0,0
$GC,10207,0.59,240.9,505.2,14.6,801,10211,0.00,2.20,0.00,0.000,6,0.000,0.047,3441,1709,2084,0,0,0,0,0,0
$GC,10533,0.60,243.4,459.8,13.8,831,10537,0.00,2.25,0.00,0.000,4,0.000,0.060,3451,293,2083,0,0,0,0,0,0
$GC,10598,0.60,243.4,450.0,14.3,836,10606,0.00,2.17,0.00,0.000,6,0.000,0.034,3452,1707,2082,0,0,0,0,0,0
$GC,10924,0.60,243.4,403.3,13.9,867,10928,0.00,2.12,0.00,0.000,4,0.000,0.042,3452,3107,2081,0,0,0,0,0,0
$GC,10945,0.60,243.4,399.9,14.2,868,10954,0.03,2.25,0.00,0.000,6,0.189,0.046,3448,1696,2081,0,0,0,0,0,0
$GC,11271,0.62,259.0,357.4,13.1,899,11295,0.00,2.28,16.73,0.806,4,0.000,0.057,3458,286,2010,0,0,0,0,0,0
$GC,11311,0.63,271.0,351.8,13.3,902,11330,0.00,2.12,11.30,0.761,6,0.000,0.033,3458,1705,1963,0,0,0,0,0,0
$GC,11647,0.63,271.0,306.6,14.1,934,11651,0.00,2.25,0.00,0.000,4,0.000,0.057,3466,286,1958,0,0,0,0,0,0
$GC,11680,0.64,271.1,301.7,13.9,936,11687,0.00,2.12,0.00,0.000,6,0.000,0.032,3466,1702,1957,0,0,0,0,0,0
$GC,12019,0.66,290.5,253.9,12.9,996,12044,0.00,2.15,17.35,0.721,4,0.000,0.040,3466,3103,1883,0,0,0,0,0,0
$GC,12058,0.69,305.9,248.9,13.1,1002,12078,0.00,2.22,14.65,0.698,6,0.000,0.044,3470,1694,1820,0,0,0,0,0,0
$GC,12416,0.72,321.1,200.0,13.1,1065,12434,0.00,0.00,13.43,0.658,6,0.000,0.000,3470,1694,1757,0,0,0,0,0,0
$GC,12773,0.78,346.5,154.8,12.6,1128,12805,0.10,2.28,22.10,0.647,4,0.095,0.053,3581,294,1654,0,0,0,0,0,0
$GC,12854,0.75,346.5,139.1,20.1,1141,12862,0.28,2.12,0.00,0.000,6,0.106,0.030,3486,1698,1651,0,0,0,0,0,0
$GC,13201,0.87,414.6,97.5,10.5,1202,13263,0.12,2.33,54.88,0.620,4,0.077,0.051,3601,292,1376,0,0,0,0,0,0
$GC,13319,0.85,414.6,76.2,18.7,1222,13327,0.25,2.12,0.00,0.000,6,0.106,0.029,3516,1691,1371,0,0,0,0,0,0
$GC,13663,0.96,469.9,38.4,11.1,1283,13714,0.12,2.30,43.33,0.565,4,0.074,0.050,3622,292,1151,0,0,0,0,0,0
$GC,13771,0.96,469.9,16.9,22.8,1301,13778,0.20,2.10,0.00,0.000,6,0.113,0.031,3556,1674,1147,0,0,0,0,0,0
$STATE,13849,end climb,SURFACE_DEPTH_REACHED
$STATE,13849,begin surface coast
$FINISH,2.1,1.000355
$STATE,13868,end surface coast,CONTROL_FINISHED_OK
$STATE,13868,begin surface
$SM_CCo,13946,0.00,0.000,0,0,1142,472.20
$SM_GC,2.91,8.50,0.00,0.00,0.024,0.000,0.000,104,1533,1142,-9.68,-0.48,472.20
$IRIDIUM_FIX,2309.79,12647.03,011110,010147
$TT8_MAMPS,0.026215
$HUMID,46.77
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,23.1,56.104
$10V_AH,10.2,42.134
$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,23.500,122.550,557.075,0.000,0.000,107.904,55.296,124.016,0.750,0.000,34.730,3239.932,7898.298,662.912,2437.235,257.204,0.000,1824.212,0.000,2108.053,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,70.380,1233.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,76905,1318
$CAP_FILE_SIZE,160502,0
$CFSIZE,260165632,229031936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,248.3,1
$GPS,011110,095306,2312.397,12641.833,41,1.6,46,-3.4