version: 66.08
glider: 168
mission: 2
dive: 321
start: 10 16 110 15 13 26
data:
$ID,168
$MISSION,2
$DIVE,321
$N_DIVES,331
$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,300
$T_MISSION,375
$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,-3572.3811
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,161010,150724,2429.769,12705.879,30,1.1,47,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.9
$GPS2,161010,151256,2429.761,12705.968,14,1.2,14,-3.7
$SPEED_LIMITS,0.192,0.299
$TGT_NAME,NORTH_EDGE
$TGT_LATLONG,2430.000,12705.000
$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,303.1,1690,-27.4,-11.111
$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,12,begin dive
$GC,15,-0.70,-73.7,0.0,0.0,0,102,0.00,0.00,-84.72,0.000,2,0.000,0.000,104,1522,3054,0,0,0,0,0,0
$GC,104,-0.78,-139.3,3.5,-4.5,11,136,10.38,2.28,-10.23,0.000,4,0.193,0.057,2991,2946,3639,0,0,0,0,0,0
$GC,224,-0.76,-139.3,44.8,-29.5,31,232,0.00,2.20,0.00,0.000,6,0.000,0.046,2991,1563,3640,0,0,0,0,0,0
$GC,550,-0.74,-139.3,129.9,-20.7,92,558,0.10,0.00,0.00,0.000,6,0.187,0.000,3019,1561,3643,0,0,0,0,0,0
$GC,882,-0.75,-139.3,196.9,-18.2,153,889,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1561,3643,0,0,0,0,0,0
$GC,1213,-0.77,-139.3,258.5,-17.6,214,1220,0.00,2.20,0.00,0.000,4,0.000,0.051,3019,159,3643,0,0,0,0,0,0
$GC,1257,-0.80,-139.3,266.2,-17.7,221,1265,0.00,2.10,0.00,0.000,6,0.000,0.037,3010,1544,3644,0,0,0,0,0,0
$GC,1586,-0.82,-139.3,322.4,-16.4,269,1590,0.08,2.17,0.00,0.000,4,0.123,0.044,2886,2966,3643,0,0,0,0,0,0
$GC,1659,-0.79,-139.3,338.2,-22.6,275,1664,0.35,2.17,0.00,0.000,6,0.124,0.045,2999,1543,3643,0,0,0,0,0,0
$GC,1985,-0.81,-139.3,390.8,-16.7,305,1989,0.00,2.12,0.00,0.000,4,0.000,0.053,2999,166,3642,0,0,0,0,0,0
$GC,2006,-0.83,-139.3,394.8,-16.6,306,2014,0.00,2.12,0.00,0.000,6,0.000,0.037,2990,1556,3642,0,0,0,0,0,0
$GC,2333,-0.85,-139.3,449.0,-15.9,337,2337,0.00,2.17,0.00,0.000,4,0.000,0.053,2990,160,3640,0,0,0,0,0,0
$GC,2362,-0.87,-139.3,454.1,-17.9,339,2366,0.00,2.12,0.00,0.000,6,0.000,0.039,2980,1558,3640,0,0,0,0,0,0
$GC,2690,-0.89,-139.3,504.2,-14.6,369,2694,0.00,2.12,0.00,0.000,4,0.000,0.046,2970,2959,3639,0,0,0,0,0,0
$GC,2785,-0.93,-139.3,517.4,-12.7,377,2789,0.00,2.17,0.00,0.000,6,0.000,0.046,2970,1554,3639,0,0,0,0,0,0
$GC,3113,-0.95,-139.3,569.2,-16.9,407,3118,0.08,2.17,0.00,0.000,4,0.123,0.056,2865,168,3636,0,0,0,0,0,0
$GC,3153,-0.90,-139.3,578.6,-25.0,410,3158,0.35,2.10,0.00,0.000,6,0.136,0.041,2966,1559,3636,0,0,0,0,0,0
$GC,3485,-0.92,-139.3,635.8,-16.5,431,3489,0.00,2.12,0.00,0.000,4,0.000,0.047,2956,2957,3633,0,0,0,0,0,0
$GC,3606,-0.95,-139.3,656.3,-15.4,436,3615,0.00,2.20,0.00,0.000,6,0.000,0.047,2955,1565,3632,0,0,0,0,0,0
$GC,3923,-0.97,-139.3,706.4,-15.2,452,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1565,3629,0,0,0,0,0,0
$GC,4233,-0.99,-139.3,750.5,-13.8,467,4238,0.08,2.20,0.00,0.000,4,0.123,0.059,2863,165,3626,0,0,0,0,0,0
$GC,4260,-0.96,-139.3,755.7,-18.5,468,4265,0.30,2.15,0.00,0.000,6,0.135,0.041,2948,1562,3626,0,0,0,0,0,0
$GC,4577,-0.97,-139.3,801.4,-14.5,483,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1565,3623,0,0,0,0,0,0
$GC,4886,-0.98,-139.3,849.0,-15.9,498,4890,0.00,2.17,0.00,0.000,4,0.000,0.051,2937,2963,3620,0,0,0,0,0,0
$GC,4940,-1.01,-139.3,857.5,-14.3,500,4944,0.00,2.20,0.00,0.000,6,0.000,0.052,2937,1566,3620,0,0,0,0,0,0
$GC,5258,-1.03,-139.3,906.7,-15.0,515,5262,0.00,2.15,0.00,0.000,4,0.000,0.050,2927,2956,3617,0,0,0,0,0,0
$GC,5280,-1.04,-139.3,910.4,-15.2,516,5284,0.00,2.20,0.00,0.000,6,0.000,0.054,2927,1566,3617,0,0,0,0,0,0
$GC,5600,-1.04,-139.3,960.4,-15.4,532,5604,0.00,2.25,0.00,0.000,4,0.000,0.063,2927,159,3614,0,0,0,0,0,0
$GC,5626,-1.04,-139.3,965.2,-18.0,533,5631,0.00,2.20,0.00,0.000,6,0.000,0.044,2916,1561,3614,0,0,0,0,0,0
$STATE,5843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5844,begin apogee
$GC,5849,0.00,0.0,1001.0,16.7,544,5968,0.98,0.00,111.57,1.232,4,0.109,0.000,3252,1720,3068,0,0,0,0,0,0
$STATE,5968,end apogee,CONTROL_FINISHED_OK
$STATE,5969,begin climb
$GC,5970,0.78,139.3,1004.7,0.0,549,6097,0.65,0.00,119.47,1.181,6,0.033,0.000,3548,1720,2499,0,0,0,0,0,0
$GC,6427,0.71,139.3,919.4,23.0,571,6432,0.25,2.20,0.00,0.000,4,0.171,0.042,3471,3113,2487,0,0,0,0,0,0
$GC,6572,0.69,139.3,890.4,17.9,577,6579,0.00,2.25,0.00,0.000,6,0.000,0.048,3482,1700,2485,0,0,0,0,0,0
$GC,6889,0.66,139.3,831.2,18.6,593,6894,0.08,2.22,0.00,0.000,4,0.222,0.045,3465,3112,2482,0,0,0,0,0,0
$GC,7001,0.65,139.3,810.5,18.1,598,7006,0.08,2.22,0.00,0.000,6,0.209,0.049,3457,1711,2482,0,0,0,0,0,0
$GC,7323,0.64,139.3,757.9,16.2,614,7327,0.00,2.15,0.00,0.000,4,0.000,0.046,3457,3106,2480,0,0,0,0,0,0
$GC,7373,0.63,139.3,749.3,16.5,616,7376,0.00,2.20,0.00,0.000,6,0.000,0.050,3467,1714,2480,0,0,0,0,0,0
$GC,7694,0.61,139.3,700.7,14.4,632,7696,0.08,0.00,0.00,0.000,6,0.222,0.000,3450,1714,2479,0,0,0,0,0,0
$GC,8005,0.61,139.3,660.4,13.1,647,8009,0.00,2.17,0.00,0.000,4,0.000,0.047,3450,3109,2477,0,0,0,0,0,0
$GC,8091,0.61,139.3,648.7,13.9,651,8096,0.00,2.17,0.00,0.000,6,0.000,0.051,3461,1723,2477,0,0,0,0,0,0
$GC,8419,0.61,139.3,598.5,15.9,667,8423,0.00,2.12,0.00,0.000,4,0.000,0.047,3461,3105,2476,0,0,0,0,0,0
$GC,8460,0.61,139.3,592.0,17.4,670,8464,0.10,2.17,0.00,0.000,6,0.187,0.050,3445,1717,2476,0,0,0,0,0,0
$GC,8785,0.62,143.9,551.2,10.6,700,8789,0.00,2.12,0.00,0.000,4,0.000,0.046,3445,3104,2475,0,0,0,0,0,0
$GC,8847,0.63,143.9,544.5,11.1,705,8851,0.00,2.20,0.00,0.000,6,0.000,0.050,3455,1715,2475,0,0,0,0,0,0
$GC,9175,0.64,155.0,510.9,10.0,735,9190,0.00,2.17,10.05,0.887,4,0.000,0.047,3454,3105,2436,0,0,0,0,0,0
$GC,9208,0.64,155.0,507.0,11.2,738,9212,0.00,2.17,0.00,0.000,6,0.000,0.049,3465,1729,2436,0,0,0,0,0,0
$GC,9533,0.64,155.0,465.2,14.1,768,9537,0.00,2.12,0.00,0.000,4,0.000,0.046,3466,3105,2435,0,0,0,0,0,0
$GC,9677,0.64,155.0,443.0,15.0,781,9682,0.08,2.15,0.00,0.000,6,0.200,0.050,3458,1732,2435,0,0,0,0,0,0
$GC,10004,0.65,155.0,400.2,12.2,811,10008,0.00,2.28,0.00,0.000,4,0.000,0.057,3469,286,2434,0,0,0,0,0,0
$GC,10087,0.66,155.0,389.5,12.6,818,10092,0.00,2.20,0.00,0.000,6,0.000,0.034,3469,1734,2432,0,0,0,0,0,0
$GC,10412,0.66,157.5,353.8,10.9,848,10416,0.00,2.10,0.00,0.000,4,0.000,0.045,3469,3109,2432,0,0,0,0,0,0
$GC,10433,0.66,157.5,351.1,12.4,849,10441,0.00,2.20,0.00,0.000,6,0.000,0.047,3479,1726,2432,0,0,0,0,0,0
$GC,10758,0.66,157.5,314.1,13.3,880,10762,0.00,2.12,0.00,0.000,4,0.000,0.044,3479,3106,2432,0,0,0,0,0,0
$GC,10829,0.66,157.5,304.9,13.2,886,10838,0.08,2.17,0.00,0.000,6,0.145,0.047,3462,1730,2432,0,0,0,0,0,0
$GC,11160,0.69,162.6,269.7,10.6,943,11175,0.00,2.28,7.85,0.667,4,0.000,0.054,3473,285,2404,0,0,0,0,0,0
$GC,11221,0.70,162.6,262.3,12.3,953,11229,0.00,2.20,0.00,0.000,6,0.000,0.033,3474,1738,2403,0,0,0,0,0,0
$GC,11553,0.74,181.3,226.4,9.2,1014,11575,0.05,0.00,17.50,0.705,6,0.173,0.000,3544,1739,2328,0,0,0,0,0,0
$GC,11899,0.72,181.3,181.0,11.3,1077,11907,0.20,2.28,0.00,0.000,4,0.149,0.050,3494,290,2325,0,0,0,0,0,0
$GC,11968,0.76,196.4,174.2,9.6,1089,11989,0.00,2.17,13.57,0.648,6,0.000,0.031,3494,1731,2267,0,0,0,0,0,0
$GC,12309,0.78,196.4,133.2,11.7,1152,12317,0.00,2.12,0.00,0.000,4,0.000,0.043,3494,3100,2264,0,0,0,0,0,0
$GC,12497,0.81,205.7,110.2,10.2,1186,12513,0.00,2.15,9.18,0.565,6,0.000,0.044,3502,1733,2228,0,0,0,0,0,0
$GC,12831,0.87,227.4,76.4,8.9,1248,12856,0.10,2.33,19.12,0.587,4,0.095,0.050,3602,292,2139,0,0,0,0,0,0
$GC,12876,0.85,227.4,71.6,11.3,1254,12884,0.22,2.20,0.00,0.000,6,0.119,0.031,3523,1733,2137,0,0,0,0,0,0
$GC,13203,0.92,255.5,45.1,8.3,1315,13234,0.08,0.00,23.50,0.565,6,0.116,0.000,3594,1736,2024,0,0,0,0,0,0
$GC,13554,0.92,255.5,6.5,12.6,1379,13562,0.15,2.12,0.00,0.000,4,0.145,0.040,3548,3101,2020,0,0,0,0,0,0
$STATE,13589,end climb,SURFACE_DEPTH_REACHED
$STATE,13589,begin surface coast
$FINISH,1.0,1.022064
$STATE,13619,end surface coast,CONTROL_FINISHED_OK
$STATE,13619,begin surface
$SM_CCo,13638,81.62,0.494,1,0,1436,400.08
$SM_GC,1.80,0.00,0.00,81.62,0.000,0.000,0.494,103,1539,1436,-9.85,-0.31,400.08
$IRIDIUM_FIX,2420.48,12706.40,161010,101051
$TT8_MAMPS,0.026964
$HUMID,43.54
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.4,40.533
$10V_AH,10.3,30.875
$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,23.250,122.550,331.825,81.625,0.000,26.267,19.189,157.232,0.250,0.000,15.728,3500.232,6121.374,529.491,3662.220,242.188,0.000,1778.649,0.000,3452.217,0.000,0.539,0.000
$DEVICE_MAMPS,221.850,64.260,1232.415,494.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.486,0.000,2233.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,86815,1390
$CAP_FILE_SIZE,159532,0
$CFSIZE,260165632,236707840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109, 92.7,1
$GPS,161010,190357,2430.459,12705.186,48,2.3,67,-3.7