version: 66.08
glider: 168
mission: 2
dive: 360
start: 10 23 110 19 49 29
data:
$ID,168
$MISSION,2
$DIVE,360
$N_DIVES,370
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-3624.1758
$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
$GPS1,231010,194336,2419.043,12657.309,36,0.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-76.1
$GPS2,231010,194902,2419.050,12657.419,11,1.1,11,-3.7
$SPEED_LIMITS,0.191,0.298
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,254.5,176111,-16.8,-11.000
$D_GRID,5000
$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,-0.60,-185.1,0.0,0.0,0,97,0.00,0.00,-79.97,0.000,2,0.000,0.000,104,1526,2949,0,0,0,0,0,0
$GC,100,-0.60,-185.1,3.6,-3.5,11,132,10.10,2.20,-15.75,0.000,4,0.174,0.065,3048,172,3826,0,0,0,0,0,0
$GC,279,-0.54,-185.1,56.6,-21.0,42,288,0.10,2.12,0.00,0.000,6,0.115,0.038,3076,1538,3827,0,0,0,0,0,0
$GC,605,-0.51,-185.1,113.6,-15.8,103,613,0.00,2.20,0.00,0.000,4,0.000,0.044,3066,2955,3829,0,0,0,0,0,0
$GC,669,-0.54,-185.1,122.1,-11.0,114,678,0.00,2.15,0.00,0.000,6,0.000,0.041,3066,1570,3829,0,0,0,0,0,0
$GC,1001,-0.53,-185.1,175.4,-16.0,175,1008,0.08,2.17,0.00,0.000,4,0.178,0.053,3091,165,3829,0,0,0,0,0,0
$GC,1048,-0.56,-185.1,182.1,-12.0,183,1056,0.08,2.10,0.00,0.000,6,0.120,0.037,2998,1557,3830,0,0,0,0,0,0
$GC,1378,-0.50,-185.1,246.8,-19.3,244,1386,0.28,2.17,0.00,0.000,4,0.108,0.041,3089,2957,3830,0,0,0,0,0,0
$GC,1437,-0.57,-185.1,252.8,-6.3,254,1445,0.05,2.15,0.00,0.000,6,0.063,0.039,2992,1559,3830,0,0,0,0,0,0
$GC,1774,-0.52,-185.1,308.1,-17.3,312,1779,0.25,2.15,0.00,0.000,4,0.116,0.053,3086,169,3829,0,0,0,0,0,0
$GC,1828,-0.57,-185.1,314.8,-9.0,316,1837,0.03,2.10,0.00,0.000,6,0.098,0.037,3016,1548,3830,0,0,0,0,0,0
$GC,2156,-0.54,-185.1,360.9,-13.6,347,2161,0.20,2.12,0.00,0.000,4,0.109,0.041,3077,2958,3828,0,0,0,0,0,0
$GC,2212,-0.60,-185.1,366.1,-6.4,351,2220,0.08,2.15,0.00,0.000,6,0.121,0.040,2987,1551,3828,0,0,0,0,0,0
$GC,2538,-0.56,-185.1,413.0,-14.1,382,2543,0.25,2.15,0.00,0.000,4,0.112,0.053,3080,165,3826,0,0,0,0,0,0
$GC,2567,-0.57,-185.1,416.2,-10.4,384,2571,0.00,2.08,0.00,0.000,6,0.000,0.037,3079,1557,3826,0,0,0,0,0,0
$GC,2893,-0.61,-185.1,437.2,-6.9,414,2897,0.10,2.15,0.00,0.000,4,0.096,0.044,2972,2957,3824,0,0,0,0,0,0
$GC,3004,-0.60,-185.1,451.5,-13.7,424,3009,0.28,2.15,0.00,0.000,6,0.096,0.042,3068,1553,3823,0,0,0,0,0,0
$GC,3337,-0.63,-185.1,485.9,-9.9,455,3341,0.08,2.20,0.00,0.000,4,0.121,0.057,2973,164,3821,0,0,0,0,0,0
$GC,3357,-0.63,-185.1,489.1,-13.1,456,3366,0.22,2.15,0.00,0.000,6,0.094,0.041,3049,1555,3821,0,0,0,0,0,0
$GC,3684,-0.64,-185.1,522.7,-9.1,487,3688,0.00,2.15,0.00,0.000,4,0.000,0.047,3040,2960,3819,0,0,0,0,0,0
$GC,3751,-0.69,-185.1,528.3,-7.2,492,3758,0.00,2.12,0.00,0.000,6,0.000,0.042,3040,1577,3819,0,0,0,0,0,0
$GC,4077,-0.70,-185.1,556.0,-8.7,523,4081,0.00,2.22,0.00,0.000,4,0.000,0.059,3039,166,3816,0,0,0,0,0,0
$GC,4106,-0.72,-185.1,558.7,-9.6,525,4110,0.00,2.15,0.00,0.000,6,0.000,0.041,3037,1580,3815,0,0,0,0,0,0
$GC,4437,-0.73,-185.1,588.0,-9.4,556,4442,0.08,2.12,0.00,0.000,4,0.122,0.046,2919,2959,3813,0,0,0,0,0,0
$GC,4502,-0.68,-185.1,597.7,-15.5,561,4511,0.35,2.15,0.00,0.000,6,0.107,0.045,3038,1575,3812,0,0,0,0,0,0
$GC,4832,-0.69,-185.1,628.9,-9.6,578,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1575,3810,0,0,0,0,0,0
$GC,5139,-0.71,-185.1,659.6,-10.1,593,5143,0.00,2.15,0.00,0.000,4,0.000,0.049,3036,2958,3807,0,0,0,0,0,0
$GC,5182,-0.75,-185.1,663.9,-8.7,595,5187,0.10,2.15,0.00,0.000,6,0.091,0.046,2937,1580,3807,0,0,0,0,0,0
$GC,5505,-0.69,-185.1,721.3,-17.8,611,5510,0.25,2.25,0.00,0.000,4,0.125,0.060,3026,165,3805,0,0,0,0,0,0
$GC,5532,-0.68,-185.1,725.5,-13.0,612,5536,0.00,2.17,0.00,0.000,6,0.000,0.041,3020,1580,3805,0,0,0,0,0,0
$GC,5854,-0.68,-185.1,755.7,-9.2,628,5858,0.00,2.12,0.00,0.000,4,0.000,0.047,3013,2957,3802,0,0,0,0,0,0
$GC,5904,-0.71,-185.1,760.1,-8.1,630,5907,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,1578,3801,0,0,0,0,0,0
$GC,6226,-0.71,-185.1,791.7,-10.1,646,6230,0.00,2.28,0.00,0.000,4,0.000,0.064,3013,162,3800,0,0,0,0,0,0
$GC,6271,-0.72,-185.1,796.7,-10.4,648,6275,0.00,2.15,0.00,0.000,6,0.000,0.041,3009,1577,3800,0,0,0,0,0,0
$GC,6592,-0.72,-185.1,831.1,-11.0,664,6596,0.00,2.12,0.00,0.000,4,0.000,0.048,3001,2959,3797,0,0,0,0,0,0
$GC,6619,-0.74,-185.1,834.0,-10.4,665,6623,0.00,2.15,0.00,0.000,6,0.000,0.048,3001,1574,3797,0,0,0,0,0,0
$GC,6935,-0.74,-185.1,869.9,-11.2,680,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1573,3795,0,0,0,0,0,0
$GC,7244,-0.74,-185.1,903.1,-10.6,695,7248,0.00,2.15,0.00,0.000,4,0.000,0.050,2995,2956,3792,0,0,0,0,0,0
$GC,7295,-0.76,-185.1,907.9,-8.9,697,7299,0.00,2.17,0.00,0.000,6,0.000,0.050,2995,1577,3792,0,0,0,0,0,0
$GC,7611,-0.76,-185.1,942.0,-10.9,712,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1577,3790,0,0,0,0,0,0
$GC,7920,-0.76,-185.1,975.6,-10.9,727,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1577,3789,0,0,0,0,0,0
$STATE,8063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8063,begin apogee
$GC,8068,0.00,0.0,992.0,11.3,734,8223,0.70,0.00,149.15,1.230,4,0.084,0.000,3255,1698,3068,0,0,0,0,0,0
$STATE,8225,end apogee,CONTROL_FINISHED_OK
$STATE,8225,begin climb
$GC,8227,0.60,185.1,998.8,0.0,741,8396,0.52,2.42,161.18,1.177,4,0.032,0.064,3486,289,2312,0,0,0,0,0,0
$GC,8432,0.52,185.1,979.7,17.8,751,8437,0.22,2.28,0.00,0.000,6,0.129,0.032,3419,1707,2306,0,0,0,0,0,0
$GC,8759,0.47,185.1,935.8,12.8,767,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1709,2297,0,0,0,0,0,0
$GC,9069,0.43,185.1,894.7,13.4,782,9073,0.10,2.15,0.00,0.000,4,0.171,0.042,3390,3109,2295,0,0,0,0,0,0
$GC,9140,0.42,185.1,885.4,12.3,785,9144,0.00,2.22,0.00,0.000,6,0.000,0.048,3398,1702,2295,0,0,0,0,0,0
$GC,9463,0.40,185.1,846.4,12.4,801,9467,0.08,2.25,0.00,0.000,4,0.185,0.064,3387,296,2293,0,0,0,0,0,0
$GC,9502,0.39,185.1,841.6,11.2,803,9506,0.00,2.15,0.00,0.000,6,0.000,0.035,3387,1704,2292,0,0,0,0,0,0
$GC,9830,0.39,197.3,806.2,10.5,819,9844,0.00,2.33,8.35,1.004,4,0.000,0.064,3395,301,2263,0,0,0,0,0,0
$GC,9867,0.37,197.3,801.9,11.1,820,9875,0.10,2.15,0.00,0.000,6,0.140,0.036,3363,1691,2261,0,0,0,0,0,0
$GC,10184,0.46,268.8,775.5,8.1,836,10249,0.12,0.00,63.12,1.095,6,0.080,0.000,3464,1693,1972,0,0,0,0,0,0
$GC,10577,0.42,268.8,709.9,16.9,855,10582,0.25,2.20,0.00,0.000,4,0.135,0.042,3379,3103,1960,0,0,0,0,0,0
$GC,10598,0.40,268.8,706.6,14.5,856,10602,0.00,2.22,0.00,0.000,6,0.000,0.049,3385,1698,1959,0,0,0,0,0,0
$GC,10926,0.44,295.8,674.7,9.9,872,10956,0.00,2.40,22.70,1.028,4,0.000,0.067,3390,286,1861,0,0,0,0,0,0
$GC,11019,0.54,351.8,665.6,8.8,876,11079,0.12,2.17,48.80,0.985,6,0.077,0.036,3487,1688,1631,0,0,0,0,0,0
$GC,11388,0.50,351.8,594.8,19.2,895,11393,0.25,2.22,0.00,0.000,4,0.125,0.041,3402,3105,1623,0,0,0,0,0,0
$GC,11415,0.50,351.8,590.3,15.1,897,11419,0.00,2.28,0.00,0.000,6,0.000,0.050,3402,1684,1621,0,0,0,0,0,0
$GC,11741,0.54,375.4,559.1,10.1,927,11767,0.10,2.28,19.50,0.967,4,0.094,0.041,3483,3105,1536,0,0,0,0,0,0
$GC,11867,0.55,375.4,538.5,15.3,938,11874,0.20,2.30,0.00,0.000,6,0.125,0.050,3422,1664,1533,0,0,0,0,0,0
$GC,12194,0.57,375.4,494.8,13.6,969,12198,0.00,2.20,0.00,0.000,4,0.000,0.065,3431,293,1530,0,0,0,0,0,0
$GC,12293,0.60,375.4,481.7,12.2,977,12301,0.00,2.08,0.00,0.000,6,0.000,0.034,3431,1659,1529,0,0,0,0,0,0
$GC,12619,0.61,375.4,439.2,12.3,1008,12623,0.05,2.20,0.00,0.000,4,0.164,0.064,3510,288,1529,0,0,0,0,0,0
$GC,12660,0.58,375.4,432.0,17.3,1011,12668,0.17,2.08,0.00,0.000,6,0.093,0.034,3433,1636,1529,0,0,0,0,0,0
$GC,12987,0.59,375.4,393.4,12.1,1042,12991,0.00,2.15,0.00,0.000,4,0.000,0.063,3441,289,1528,0,0,0,0,0,0
$GC,13038,0.65,399.5,387.7,10.0,1046,13063,0.08,2.03,20.38,0.845,6,0.116,0.034,3522,1635,1439,0,0,0,0,0,0
$GC,13381,0.60,399.5,313.8,22.9,1078,13386,0.25,2.25,0.00,0.000,4,0.127,0.037,3435,3103,1435,0,0,0,0,0,0
$GC,13402,0.58,399.5,309.2,20.2,1079,13409,0.00,2.35,0.00,0.000,6,0.000,0.048,3435,1619,1434,0,0,0,0,0,0
$GC,13734,0.62,406.7,271.7,10.7,1133,13749,0.05,2.12,7.07,0.649,4,0.168,0.060,3496,290,1410,0,0,0,0,0,0
$GC,13828,0.62,406.7,259.6,12.9,1149,13836,0.15,1.98,0.00,0.000,6,0.111,0.032,3443,1609,1408,0,0,0,0,0,0
$GC,14162,0.66,412.0,224.9,10.8,1210,14171,0.08,0.00,6.22,0.588,6,0.119,0.000,3531,1611,1387,0,0,0,0,0,0
$GC,14495,0.61,412.0,154.5,20.7,1271,14503,0.25,2.08,0.00,0.000,4,0.124,0.056,3452,290,1387,0,0,0,0,0,0
$GC,14521,0.61,412.0,149.7,17.2,1275,14529,0.00,1.98,0.00,0.000,6,0.000,0.031,3453,1598,1386,0,0,0,0,0,0
$GC,14851,0.74,471.9,120.2,8.6,1336,14911,0.12,2.17,48.53,0.635,4,0.082,0.057,3564,290,1143,0,0,0,0,0,0
$GC,14926,0.70,471.9,106.9,20.9,1346,14935,0.25,2.00,0.00,0.000,6,0.087,0.029,3469,1597,1141,0,0,0,0,0,0
$GC,15255,0.95,615.2,84.7,5.3,1407,15376,0.25,2.20,109.22,0.597,4,0.051,0.057,3604,287,557,0,0,0,0,0,0
$GC,15395,0.93,615.2,62.3,19.7,1426,15404,0.15,2.03,0.00,0.000,6,0.090,0.027,3545,1604,556,0,0,0,0,0,0
$GC,15723,1.07,682.6,29.3,8.3,1487,15755,0.15,2.17,27.38,0.538,4,0.071,0.054,3658,284,414,0,0,0,0,0,0
$GC,15790,1.03,682.6,15.8,25.4,1497,15799,0.20,1.98,0.00,0.000,6,0.098,0.028,3583,1591,413,0,0,0,0,0,0
$STATE,15868,end climb,SURFACE_DEPTH_REACHED
$STATE,15868,begin surface coast
$FINISH,1.3,1.008390
$STATE,15892,end surface coast,CONTROL_FINISHED_OK
$STATE,15892,begin surface
$SM_CCo,15969,0.00,0.000,0,0,410,652.01
$SM_GC,2.08,8.43,0.00,0.00,0.016,0.000,0.000,102,1543,410,-9.70,-0.17,652.01
$IRIDIUM_FIX,2411.01,12655.03,231010,141402
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.0,46.972
$10V_AH,10.2,37.030
$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,26.325,151.925,691.600,0.000,0.000,22.697,15.589,152.166,0.250,0.000,14.422,3783.724,7837.004,733.025,3630.558,298.998,0.000,2182.571,0.000,3434.461,0.000,0.540,0.000
$DEVICE_MAMPS,185.130,120.105,1230.120,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.860,0.000,1777.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333848
$DATA_FILE_SIZE,90304,1515
$CAP_FILE_SIZE,190196,0
$CFSIZE,260165632,233123840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 85.5,1
$GPS,241010,001655,2418.739,12657.398,41,1.1,41,-3.7