version: 66.08
glider: 168
mission: 2
dive: 463
start: 11 9 110 13 53 25
data:
$ID,168
$MISSION,2
$DIVE,463
$N_DIVES,468
$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,-3817.4966
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,091110,134725,2123.913,12600.940,40,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.00
$_SM_ANGLEo,-71.6
$GPS2,091110,135244,2123.893,12600.917,14,1.3,14,-2.9
$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,165.8,4274,-24.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-133.4,0.0,0.0,0,24,0.00,0.00,-6.62,0.000,2,0.000,0.000,104,1533,620,0,0,0,0,0,0
$GC,26,-0.77,-185.1,4.0,-0.0,1,167,9.55,2.17,-119.38,0.000,4,0.158,0.063,2998,174,3825,0,0,0,0,0,0
$GC,251,-0.73,-185.1,29.7,-26.9,39,259,0.10,2.08,0.00,0.000,6,0.166,0.041,3018,1539,3826,0,0,0,0,0,0
$GC,597,-0.71,-185.1,127.7,-25.1,100,603,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1544,3826,0,0,0,0,0,0
$GC,939,-0.71,-185.1,197.8,-20.0,161,946,0.00,2.15,0.00,0.000,4,0.000,0.051,3017,166,3826,0,0,0,0,0,0
$GC,1020,-0.73,-185.1,213.6,-18.1,175,1027,0.00,2.10,0.00,0.000,6,0.000,0.040,3009,1557,3827,0,0,0,0,0,0
$GC,1363,-0.74,-185.1,275.6,-16.9,236,1370,0.00,2.15,0.00,0.000,4,0.000,0.052,3009,176,3827,0,0,0,0,0,0
$GC,1387,-0.75,-185.1,280.4,-19.7,240,1394,0.00,2.05,0.00,0.000,6,0.000,0.037,2999,1542,3827,0,0,0,0,0,0
$GC,1718,-0.76,-185.1,338.4,-16.5,280,1722,0.00,2.17,0.00,0.000,4,0.000,0.044,2990,2960,3827,0,0,0,0,0,0
$GC,1840,-0.80,-185.1,354.9,-12.5,290,1844,0.00,2.15,0.00,0.000,6,0.000,0.043,2990,1554,3826,0,0,0,0,0,0
$GC,2165,-0.82,-185.1,407.4,-16.4,320,2169,0.00,2.15,0.00,0.000,4,0.000,0.055,2990,165,3824,0,0,0,0,0,0
$GC,2192,-0.83,-185.1,412.2,-17.4,322,2199,0.00,2.12,0.00,0.000,6,0.000,0.040,2980,1560,3825,0,0,0,0,0,0
$GC,2518,-0.84,-185.1,464.9,-15.5,353,2522,0.00,2.15,0.00,0.000,4,0.000,0.045,2970,2968,3823,0,0,0,0,0,0
$GC,2562,-0.88,-185.1,471.2,-13.1,356,2569,0.00,2.17,0.00,0.000,6,0.000,0.045,2970,1554,3823,0,0,0,0,0,0
$GC,2888,-0.89,-185.1,519.3,-14.6,387,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1554,3821,0,0,0,0,0,0
$GC,3208,-0.90,-185.1,567.4,-15.3,417,3212,0.00,2.17,0.00,0.000,4,0.000,0.047,2961,2959,3819,0,0,0,0,0,0
$GC,3242,-0.94,-185.1,572.6,-14.6,420,3246,0.00,2.17,0.00,0.000,6,0.000,0.047,2961,1555,3819,0,0,0,0,0,0
$GC,3565,-0.95,-185.1,623.1,-15.8,443,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1554,3815,0,0,0,0,0,0
$GC,3872,-0.96,-185.1,670.5,-15.1,458,3876,0.00,2.20,0.00,0.000,4,0.000,0.049,2952,2957,3812,0,0,0,0,0,0
$GC,3917,-1.00,-185.1,677.3,-13.7,460,3922,0.08,2.22,0.00,0.000,6,0.112,0.049,2852,1551,3812,0,0,0,0,0,0
$GC,4240,-0.94,-185.1,753.9,-24.7,476,4242,0.32,0.00,0.00,0.000,6,0.124,0.000,2957,1550,3808,0,0,0,0,0,0
$GC,4547,-0.96,-185.1,799.5,-14.0,491,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1549,3806,0,0,0,0,0,0
$GC,4858,-0.97,-185.1,842.6,-14.0,506,4862,0.08,2.25,0.00,0.000,4,0.116,0.048,2850,2965,3802,0,0,0,0,0,0
$GC,4907,-0.95,-185.1,852.2,-19.7,508,4912,0.30,2.22,0.00,0.000,6,0.114,0.050,2950,1552,3802,0,0,0,0,0,0
$GC,5231,-0.96,-185.1,898.5,-13.9,524,5235,0.00,2.22,0.00,0.000,4,0.000,0.049,2941,2962,3799,0,0,0,0,0,0
$GC,5286,-1.00,-185.1,906.6,-13.2,526,5293,0.00,2.20,0.00,0.000,6,0.000,0.051,2941,1564,3798,0,0,0,0,0,0
$GC,5603,-1.02,-185.1,952.9,-14.8,542,5607,0.00,2.17,0.00,0.000,4,0.000,0.049,2931,2960,3796,0,0,0,0,0,0
$GC,5653,-1.05,-185.1,960.0,-13.1,544,5657,0.00,2.20,0.00,0.000,6,0.000,0.052,2930,1569,3795,0,0,0,0,0,0
$STATE,5925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5925,begin apogee
$GC,5931,0.00,0.0,1000.8,15.0,557,6089,0.90,0.00,152.50,1.209,4,0.092,0.000,3255,1712,3068,0,0,0,0,0,0
$STATE,6089,end apogee,CONTROL_FINISHED_OK
$STATE,6090,begin climb
$GC,6092,0.77,185.1,1005.8,0.0,564,6260,0.65,2.45,160.18,1.139,4,0.028,0.063,3545,285,2312,0,0,0,0,0,0
$GC,6311,0.70,185.1,973.5,24.9,574,6318,0.22,2.22,0.00,0.000,6,0.142,0.033,3479,1694,2305,0,0,0,0,0,0
$GC,6628,0.67,185.1,910.6,19.0,590,6632,0.00,2.15,0.00,0.000,4,0.000,0.041,3479,3107,2297,0,0,0,0,0,0
$GC,6696,0.65,185.1,897.4,18.9,593,6701,0.12,2.22,0.00,0.000,6,0.165,0.050,3455,1701,2295,0,0,0,0,0,0
$GC,7025,0.64,185.1,843.3,16.2,609,7028,0.00,2.17,0.00,0.000,4,0.000,0.041,3454,3108,2294,0,0,0,0,0,0
$GC,7096,0.64,185.1,830.7,16.7,612,7100,0.00,2.25,0.00,0.000,6,0.000,0.050,3465,1712,2293,0,0,0,0,0,0
$GC,7419,0.62,185.1,776.3,16.7,628,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1712,2291,0,0,0,0,0,0
$GC,7728,0.61,185.1,726.0,16.1,643,7733,0.08,2.15,0.00,0.000,4,0.205,0.041,3446,3107,2290,0,0,0,0,0,0
$GC,7760,0.61,185.1,720.2,15.9,644,7767,0.00,2.25,0.00,0.000,6,0.000,0.049,3456,1712,2290,0,0,0,0,0,0
$GC,8077,0.61,185.1,671.1,15.7,660,8081,0.00,2.28,0.00,0.000,4,0.000,0.063,3467,287,2289,0,0,0,0,0,0
$GC,8099,0.60,185.1,667.5,15.8,661,8104,0.10,2.17,0.00,0.000,6,0.162,0.036,3438,1714,2288,0,0,0,0,0,0
$GC,8421,0.61,185.1,622.8,14.0,677,8425,0.00,2.15,0.00,0.000,4,0.000,0.044,3438,3110,2287,0,0,0,0,0,0
$GC,8450,0.62,185.1,618.4,13.9,678,8454,0.00,2.20,0.00,0.000,6,0.000,0.049,3449,1709,2287,0,0,0,0,0,0
$GC,8773,0.62,185.1,570.6,15.1,702,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1709,2286,0,0,0,0,0,0
$GC,9092,0.63,189.7,524.6,13.6,732,9096,0.00,2.28,0.00,0.000,4,0.000,0.063,3460,285,2285,0,0,0,0,0,0
$GC,9113,0.63,191.3,521.1,13.8,733,9121,0.00,2.17,0.00,0.000,6,0.000,0.035,3460,1723,2285,0,0,0,0,0,0
$GC,9439,0.63,191.3,476.3,14.1,764,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1725,2285,0,0,0,0,0,0
$GC,9759,0.63,191.3,431.8,14.2,794,9763,0.00,2.12,0.00,0.000,4,0.000,0.043,3459,3117,2285,0,0,0,0,0,0
$GC,9787,0.64,201.3,427.8,13.2,796,9802,0.00,2.20,10.32,0.809,6,0.000,0.047,3469,1716,2247,0,0,0,0,0,0
$GC,10128,0.64,202.7,379.9,13.8,828,10132,0.00,2.30,0.00,0.000,4,0.000,0.061,3480,289,2245,0,0,0,0,0,0
$GC,10161,0.64,202.7,374.9,15.2,830,10168,0.05,2.20,0.00,0.000,6,0.132,0.034,3459,1718,2244,0,0,0,0,0,0
$GC,10487,0.67,216.2,332.8,13.0,861,10511,0.00,2.35,14.38,0.766,4,0.000,0.060,3469,300,2185,0,0,0,0,0,0
$GC,10558,0.71,223.9,323.3,13.4,867,10571,0.00,2.15,8.18,0.691,6,0.000,0.034,3469,1714,2155,0,0,0,0,0,0
$GC,10896,0.73,225.4,279.9,13.8,911,10903,0.00,2.15,0.00,0.000,4,0.000,0.041,3469,3117,2151,0,0,0,0,0,0
$GC,10939,0.75,231.4,274.3,13.5,918,10953,0.08,2.20,8.07,0.655,6,0.115,0.046,3557,1710,2124,0,0,0,0,0,0
$GC,11291,0.72,231.4,207.9,19.9,980,11299,0.25,2.25,0.00,0.000,4,0.141,0.054,3484,292,2122,0,0,0,0,0,0
$GC,11355,0.79,267.1,199.1,11.4,991,11392,0.08,2.12,30.62,0.685,6,0.119,0.033,3578,1711,1979,0,0,0,0,0,0
$GC,11728,0.76,267.1,130.5,18.7,1057,11736,0.25,2.12,0.00,0.000,4,0.137,0.036,3492,3111,1973,0,0,0,0,0,0
$GC,11761,0.79,267.1,125.6,14.7,1062,11767,0.00,2.17,0.00,0.000,6,0.000,0.044,3497,1710,1972,0,0,0,0,0,0
$GC,12105,0.98,380.8,93.9,6.0,1123,12205,0.20,2.20,90.18,0.584,4,0.053,0.034,3648,3111,1515,0,0,0,0,0,0
$GC,12301,0.96,380.8,54.5,23.0,1156,12308,0.32,2.20,0.00,0.000,6,0.132,0.045,3556,1731,1511,0,0,0,0,0,0
$GC,12646,1.37,583.9,3.3,-0.3,1217,12749,0.32,2.25,93.88,0.497,4,0.046,0.043,3711,3105,686,0,0,0,0,0,0
$FREEZE,3.18,26.806,-1.903,0,1,0
$STATE,12760,end climb,NO_VERTICAL_VELOCITY
$STATE,12761,begin surface
$SM_CCo,12764,36.25,0.483,0,0,414,650.78
$SM_GC,3.97,8.85,0.00,0.00,0.020,0.000,0.000,104,1541,408,-9.71,-0.20,652.25
$IRIDIUM_FIX,2117.95,12602.66,091110,090906
$TT8_MAMPS,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.90
$XPDR_PINGS,8
$24V_AH,23.2,64.789
$10V_AH,10.1,46.064
$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,22.900,114.500,568.300,36.250,0.000,25.129,38.631,125.674,2.000,0.000,18.254,3001.380,7197.082,700.535,2208.343,258.488,0.000,1816.831,0.000,1996.155,0.000,0.539,0.000
$DEVICE_MAMPS,205.020,65.025,1208.700,483.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,70180,1236
$CAP_FILE_SIZE,146294,0
$CFSIZE,260165632,225202176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,147.9,1
$GPS,091110,173155,2121.786,12601.598,37,1.7,37,-2.9