version: 66.08
glider: 168
mission: 2
dive: 370
start: 10 25 110 18 40 19
data:
$ID,168
$MISSION,2
$DIVE,370
$N_DIVES,382
$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,-3637.5076
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,251010,183336,2416.125,12655.609,39,0.9,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.8
$GPS2,251010,183952,2416.139,12655.592,10,3.1,29,-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,249.0,169898,-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,14,-0.60,-185.1,0.0,0.0,0,93,0.00,0.00,-75.88,0.000,2,0.000,0.000,104,1554,2676,0,0,0,0,0,0
$GC,95,-0.60,-185.1,3.2,-1.6,10,141,10.20,2.25,-24.65,0.000,4,0.178,0.058,3039,2965,3826,0,0,0,0,0,0
$GC,287,-0.58,-185.1,46.3,-16.7,43,296,0.05,2.22,0.00,0.000,6,0.106,0.044,3063,1551,3827,0,0,0,0,0,0
$GC,613,-0.54,-185.1,112.5,-16.7,104,621,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1551,3827,0,0,0,0,0,0
$GC,944,-0.52,-185.1,164.2,-13.6,165,951,0.08,2.17,0.00,0.000,4,0.190,0.050,3088,156,3828,0,0,0,0,0,0
$GC,998,-0.57,-185.1,170.5,-9.2,174,1006,0.03,2.15,0.00,0.000,6,0.099,0.037,3009,1562,3828,0,0,0,0,0,0
$GC,1343,-0.52,-185.1,233.5,-17.7,235,1350,0.25,2.12,0.00,0.000,4,0.114,0.042,3092,2962,3828,0,0,0,0,0,0
$GC,1396,-0.58,-185.1,239.8,-7.9,244,1406,0.05,2.17,0.00,0.000,6,0.063,0.041,3004,1551,3828,0,0,0,0,0,0
$GC,1742,-0.53,-185.1,296.2,-16.0,305,1749,0.25,2.12,0.00,0.000,4,0.116,0.050,3097,162,3828,0,0,0,0,0,0
$GC,1789,-0.59,-185.1,301.6,-7.8,312,1793,0.12,2.10,0.00,0.000,6,0.082,0.036,2992,1561,3828,0,0,0,0,0,0
$GC,2114,-0.54,-185.1,353.7,-16.9,342,2119,0.25,2.12,0.00,0.000,4,0.106,0.041,3078,2963,3827,0,0,0,0,0,0
$GC,2192,-0.60,-185.1,360.9,-7.5,348,2202,0.05,2.17,0.00,0.000,6,0.063,0.040,2987,1553,3827,0,0,0,0,0,0
$GC,2520,-0.56,-185.1,410.1,-15.1,379,2526,0.28,0.00,0.00,0.000,6,0.112,0.000,3083,1553,3825,0,0,0,0,0,0
$GC,2846,-0.59,-185.1,433.2,-6.2,410,2851,0.08,2.20,0.00,0.000,4,0.123,0.047,2991,2956,3823,0,0,0,0,0,0
$GC,2896,-0.59,-185.1,438.2,-10.7,414,2901,0.22,2.15,0.00,0.000,6,0.096,0.044,3071,1557,3823,0,0,0,0,0,0
$GC,3222,-0.63,-185.1,465.1,-8.3,444,3227,0.08,2.15,0.00,0.000,4,0.122,0.047,2978,2954,3820,0,0,0,0,0,0
$GC,3263,-0.61,-185.1,469.9,-14.2,447,3268,0.25,2.15,0.00,0.000,6,0.096,0.046,3066,1567,3820,0,0,0,0,0,0
$GC,3591,-0.64,-185.1,499.7,-8.8,477,3593,0.08,0.00,0.00,0.000,6,0.202,0.000,2981,1567,3818,0,0,0,0,0,0
$GC,3907,-0.60,-185.1,548.2,-15.4,507,3912,0.25,2.15,0.00,0.000,4,0.109,0.044,3065,2961,3816,0,0,0,0,0,0
$GC,3941,-0.64,-185.1,551.7,-8.1,509,3948,0.08,2.17,0.00,0.000,6,0.119,0.045,2986,1559,3816,0,0,0,0,0,0
$GC,4266,-0.61,-185.1,593.7,-13.2,540,4271,0.22,2.17,0.00,0.000,4,0.112,0.056,3063,168,3812,0,0,0,0,0,0
$GC,4287,-0.61,-185.1,596.2,-11.5,541,4294,0.00,2.12,0.00,0.000,6,0.000,0.040,3063,1562,3813,0,0,0,0,0,0
$GC,4618,-0.65,-185.1,617.2,-6.6,560,4623,0.08,2.15,0.00,0.000,4,0.122,0.049,2970,2958,3810,0,0,0,0,0,0
$GC,4690,-0.65,-185.1,625.5,-11.8,563,4694,0.22,2.15,0.00,0.000,6,0.099,0.047,3048,1581,3810,0,0,0,0,0,0
$GC,5012,-0.67,-185.1,655.3,-9.9,579,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1580,3807,0,0,0,0,0,0
$GC,5321,-0.70,-185.1,686.2,-9.9,594,5323,0.08,0.00,0.00,0.000,6,0.122,0.000,2962,1580,3804,0,0,0,0,0,0
$GC,5630,-0.66,-185.1,735.3,-16.0,609,5632,0.25,0.00,0.00,0.000,6,0.109,0.000,3047,1580,3802,0,0,0,0,0,0
$GC,5940,-0.69,-185.1,762.2,-7.7,624,5944,0.08,2.17,0.00,0.000,4,0.119,0.050,2957,2965,3799,0,0,0,0,0,0
$GC,5994,-0.68,-185.1,768.2,-11.0,626,6002,0.20,2.20,0.00,0.000,6,0.086,0.050,3032,1587,3799,0,0,0,0,0,0
$GC,6312,-0.70,-185.1,792.2,-7.2,642,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1587,3797,0,0,0,0,0,0
$GC,6621,-0.72,-185.1,815.1,-7.9,657,6625,0.00,2.12,0.00,0.000,4,0.000,0.050,3025,2958,3794,0,0,0,0,0,0
$GC,6643,-0.75,-185.1,816.9,-7.5,658,6647,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,1581,3794,0,0,0,0,0,0
$GC,6966,-0.76,-185.1,844.2,-8.5,674,6970,0.08,2.17,0.00,0.000,4,0.119,0.052,2927,2957,3792,0,0,0,0,0,0
$GC,7009,-0.73,-185.1,850.1,-14.4,676,7014,0.28,2.17,0.00,0.000,6,0.109,0.053,3018,1592,3792,0,0,0,0,0,0
$GC,7338,-0.74,-185.1,881.3,-9.0,692,7342,0.00,2.12,0.00,0.000,4,0.000,0.051,3011,2957,3789,0,0,0,0,0,0
$GC,7366,-0.76,-185.1,884.0,-8.5,693,7370,0.00,2.17,0.00,0.000,6,0.000,0.052,3011,1586,3789,0,0,0,0,0,0
$GC,7682,-0.76,-185.1,913.4,-9.8,708,7686,0.00,2.30,0.00,0.000,4,0.000,0.064,3011,158,3787,0,0,0,0,0,0
$GC,7715,-0.77,-185.1,917.0,-10.7,709,7722,0.00,2.20,0.00,0.000,6,0.000,0.043,3004,1590,3787,0,0,0,0,0,0
$GC,8032,-0.77,-185.1,950.3,-10.6,725,8036,0.00,2.15,0.00,0.000,4,0.000,0.053,2997,2967,3786,0,0,0,0,0,0
$GC,8078,-0.80,-185.1,954.9,-9.6,727,8082,0.00,2.17,0.00,0.000,6,0.000,0.052,2996,1592,3786,0,0,0,0,0,0
$STATE,8408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8408,begin apogee
$GC,8413,0.00,0.0,990.5,10.6,743,8567,0.70,0.00,148.70,1.235,4,0.085,0.000,3256,1715,3068,0,0,0,0,0,0
$STATE,8567,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8569,0.60,185.1,996.4,0.0,750,8738,0.50,2.45,160.77,1.178,4,0.031,0.063,3496,290,2313,0,0,0,0,0,0
$GC,8768,0.51,185.1,975.1,19.4,760,8773,0.28,2.28,0.00,0.000,6,0.129,0.034,3414,1696,2307,0,0,0,0,0,0
$GC,9096,0.47,185.1,927.2,14.3,776,9100,0.00,2.20,0.00,0.000,4,0.000,0.045,3414,3109,2297,0,0,0,0,0,0
$GC,9165,0.44,185.1,917.3,14.4,779,9170,0.12,2.25,0.00,0.000,6,0.161,0.051,3387,1706,2296,0,0,0,0,0,0
$GC,9493,0.42,190.0,881.3,10.8,795,9497,0.00,2.28,0.00,0.000,4,0.000,0.063,3397,293,2295,0,0,0,0,0,0
$GC,9548,0.41,190.0,874.9,11.2,797,9555,0.00,2.15,0.00,0.000,6,0.000,0.037,3396,1704,2294,0,0,0,0,0,0
$GC,9865,0.39,190.0,838.9,11.5,813,9869,0.08,2.17,0.00,0.000,4,0.175,0.047,3375,3108,2293,0,0,0,0,0,0
$GC,9929,0.39,190.0,831.9,11.5,816,9933,0.00,2.22,0.00,0.000,6,0.000,0.052,3382,1706,2293,0,0,0,0,0,0
$GC,10256,0.38,190.0,795.6,11.2,832,10260,0.00,2.25,0.00,0.000,4,0.000,0.063,3392,292,2292,0,0,0,0,0,0
$GC,10299,0.38,190.0,790.4,11.2,834,10304,0.05,2.20,0.00,0.000,6,0.112,0.037,3371,1710,2291,0,0,0,0,0,0
$GC,10628,0.41,222.3,758.1,9.7,850,10663,0.00,2.22,30.00,1.112,4,0.000,0.048,3371,3111,2161,0,0,0,0,0,0
$GC,10709,0.45,234.1,749.7,10.5,853,10727,0.08,2.25,11.82,0.951,6,0.121,0.051,3444,1712,2113,0,0,0,0,0,0
$GC,11043,0.41,234.1,697.2,16.2,870,11048,0.20,2.33,0.00,0.000,4,0.134,0.064,3391,292,2106,0,0,0,0,0,0
$GC,11109,0.43,234.1,688.7,11.0,873,11113,0.00,2.17,0.00,0.000,6,0.000,0.037,3391,1702,2105,0,0,0,0,0,0
$GC,11437,0.44,249.2,653.9,10.4,889,11459,0.00,2.35,13.38,1.005,4,0.000,0.064,3399,294,2051,0,0,0,0,0,0
$GC,11493,0.47,258.8,647.7,10.6,891,11508,0.00,2.17,10.35,0.946,6,0.000,0.037,3399,1699,2012,0,0,0,0,0,0
$GC,11837,0.49,281.3,612.2,10.1,908,11859,0.00,0.00,19.90,0.967,6,0.000,0.000,3399,1699,1921,0,0,0,0,0,0
$GC,12173,0.53,308.5,578.6,9.9,934,12208,0.08,2.38,24.40,0.947,4,0.119,0.063,3477,293,1808,0,0,0,0,0,0
$GC,12266,0.50,308.5,564.1,15.5,942,12271,0.22,2.20,0.00,0.000,6,0.108,0.036,3403,1702,1805,0,0,0,0,0,0
$GC,12593,0.51,308.5,527.1,11.3,972,12597,0.00,2.30,0.00,0.000,4,0.000,0.063,3411,292,1802,0,0,0,0,0,0
$GC,12621,0.52,308.5,523.7,11.5,974,12626,0.00,2.15,0.00,0.000,6,0.000,0.036,3410,1695,1801,0,0,0,0,0,0
$GC,12955,0.53,308.5,485.4,11.5,1005,12959,0.00,2.28,0.00,0.000,4,0.000,0.063,3418,293,1800,0,0,0,0,0,0
$GC,13007,0.56,308.5,479.3,11.3,1009,13011,0.00,2.12,0.00,0.000,6,0.000,0.036,3418,1682,1799,0,0,0,0,0,0
$GC,13334,0.56,308.5,441.2,11.4,1039,13338,0.00,2.20,0.00,0.000,4,0.000,0.046,3418,3107,1800,0,0,0,0,0,0
$GC,13367,0.58,308.5,436.8,11.3,1041,13375,0.08,2.28,0.00,0.000,6,0.117,0.050,3478,1675,1798,0,0,0,0,0,0
$GC,13693,0.54,308.5,386.3,14.9,1072,13698,0.17,2.22,0.00,0.000,4,0.135,0.061,3432,286,1799,0,0,0,0,0,0
$GC,13757,0.59,320.6,378.7,10.5,1077,13773,0.00,2.10,9.88,0.779,6,0.000,0.035,3432,1675,1760,0,0,0,0,0,0
$GC,14100,0.59,320.6,338.6,11.4,1109,14104,0.00,2.20,0.00,0.000,4,0.000,0.060,3438,290,1758,0,0,0,0,0,0
$GC,14139,0.61,327.5,334.1,10.7,1112,14154,0.00,2.08,7.57,0.703,6,0.000,0.034,3438,1666,1732,0,0,0,0,0,0
$GC,14470,0.64,349.9,298.6,10.1,1144,14493,0.08,0.00,20.27,0.767,6,0.119,0.000,3518,1668,1641,0,0,0,0,0,0
$GC,14827,0.59,349.9,234.1,18.8,1207,14834,0.25,2.20,0.00,0.000,4,0.120,0.057,3440,285,1637,0,0,0,0,0,0
$GC,14857,0.59,349.9,229.5,12.8,1212,14867,0.00,2.10,0.00,0.000,6,0.000,0.033,3440,1653,1636,0,0,0,0,0,0
$GC,15200,0.64,371.6,198.4,10.1,1273,15228,0.05,0.00,18.77,0.680,6,0.169,0.000,3511,1654,1552,0,0,0,0,0,0
$GC,15563,0.62,371.6,142.9,14.4,1337,15572,0.20,2.20,0.00,0.000,4,0.114,0.055,3455,293,1549,0,0,0,0,0,0
$GC,15645,0.82,493.6,135.9,6.1,1351,15751,0.15,2.08,96.55,0.649,6,0.037,0.032,3581,1658,1053,0,0,0,0,0,0
$GC,16073,0.80,493.6,59.5,16.1,1425,16081,0.22,2.22,0.00,0.000,4,0.119,0.054,3514,285,1046,0,0,0,0,0,0
$GC,16117,0.89,525.9,53.6,9.7,1432,16149,0.05,2.08,24.70,0.565,6,0.062,0.029,3581,1655,923,0,0,0,0,0,0
$GC,16472,0.88,525.9,6.3,20.2,1496,16481,0.15,2.17,0.00,0.000,4,0.120,0.050,3538,293,920,0,0,0,0,0,0
$STATE,16499,end climb,SURFACE_DEPTH_REACHED
$STATE,16499,begin surface coast
$FINISH,1.8,1.021840
$STATE,16521,end surface coast,CONTROL_FINISHED_OK
$STATE,16521,begin surface
$SM_CCo,16600,0.00,0.000,0,0,912,528.87
$SM_GC,2.36,8.43,0.00,0.00,0.026,0.000,0.000,104,1541,912,-9.69,-0.25,528.87
$IRIDIUM_FIX,2408.65,12612.94,251010,131337
$TT8_MAMPS,0.026964
$HUMID,45.98
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.0,48.913
$10V_AH,10.2,38.613
$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,26.225,149.100,597.075,0.000,0.000,27.695,36.659,161.050,0.500,0.000,34.378,3785.469,8598.370,669.592,3604.513,305.461,0.000,2092.198,0.000,3362.476,0.000,0.540,0.000
$DEVICE_MAMPS,201.960,72.675,1235.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.552,0.000,1660.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333836
$DATA_FILE_SIZE,90272,1504
$CAP_FILE_SIZE,190010,0
$CFSIZE,260165632,232181760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 72.7,1
$GPS,251010,231837,2416.062,12655.436,62,1.1,62,-3.7