version: 66.08
glider: 168
mission: 2
dive: 394
start: 10 29 110 2 27 33
data:
$ID,168
$MISSION,2
$DIVE,394
$N_DIVES,400
$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,-3667.863
$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,48
$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
$GPS1,291010,021556,2349.661,12703.394,60,1.4,60,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-71.0
$GPS2,291010,022707,2349.654,12703.538,12,1.6,12,-3.6
$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,219.4,294523,-20.6,-13.889
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-185.1,0.0,0.0,0,74,0.00,0.00,-54.78,0.000,2,0.000,0.000,104,1528,2392,0,0,0,0,0,0
$GC,76,-0.68,-185.1,3.3,-2.2,9,132,10.25,2.33,-35.40,0.000,4,0.183,0.063,3017,2948,3825,0,0,0,0,0,0
$GC,279,-0.66,-185.1,41.7,-21.0,44,287,0.08,2.17,0.00,0.000,6,0.158,0.046,3041,1560,3825,0,0,0,0,0,0
$GC,624,-0.64,-185.1,122.7,-20.8,105,630,0.00,2.15,0.00,0.000,4,0.000,0.052,3041,165,3826,0,0,0,0,0,0
$GC,654,-0.62,-185.1,129.3,-20.4,110,662,0.08,2.08,0.00,0.000,6,0.177,0.039,3056,1525,3826,0,0,0,0,0,0
$GC,997,-0.62,-185.1,183.0,-13.8,171,1005,0.00,2.20,0.00,0.000,4,0.000,0.046,3047,2962,3827,0,0,0,0,0,0
$GC,1078,-0.66,-185.1,192.7,-11.6,185,1085,0.00,2.17,0.00,0.000,6,0.000,0.041,3047,1542,3827,0,0,0,0,0,0
$GC,1422,-0.66,-185.1,243.0,-14.1,246,1429,0.00,2.10,0.00,0.000,4,0.000,0.052,3046,167,3827,0,0,0,0,0,0
$GC,1460,-0.69,-185.1,248.2,-14.1,252,1466,0.00,2.10,0.00,0.000,6,0.000,0.039,3046,1553,3827,0,0,0,0,0,0
$GC,1805,-0.71,-185.1,292.7,-13.2,313,1812,0.08,2.15,0.00,0.000,4,0.122,0.045,2913,2957,3826,0,0,0,0,0,0
$GC,1874,-0.66,-185.1,307.2,-22.4,323,1879,0.40,2.20,0.00,0.000,6,0.115,0.043,3047,1529,3826,0,0,0,0,0,0
$GC,2200,-0.68,-185.1,350.1,-12.4,353,2204,0.00,2.10,0.00,0.000,4,0.000,0.052,3047,166,3825,0,0,0,0,0,0
$GC,2217,-0.70,-185.1,352.3,-12.4,354,2222,0.00,2.10,0.00,0.000,6,0.000,0.038,3040,1565,3825,0,0,0,0,0,0
$GC,2549,-0.72,-185.1,389.5,-11.1,385,2553,0.08,2.17,0.00,0.000,4,0.122,0.045,2920,2964,3824,0,0,0,0,0,0
$GC,2636,-0.68,-185.1,405.4,-19.2,392,2644,0.35,2.20,0.00,0.000,6,0.112,0.044,3038,1539,3823,0,0,0,0,0,0
$GC,2963,-0.70,-185.1,445.1,-12.2,423,2967,0.00,2.17,0.00,0.000,4,0.000,0.046,3029,2959,3821,0,0,0,0,0,0
$GC,3014,-0.77,-185.1,450.8,-10.3,427,3019,0.08,2.17,0.00,0.000,6,0.116,0.042,2927,1547,3821,0,0,0,0,0,0
$GC,3340,-0.71,-185.1,517.3,-20.4,457,3344,0.28,2.15,0.00,0.000,4,0.128,0.052,3021,159,3819,0,0,0,0,0,0
$GC,3391,-0.74,-185.1,524.8,-12.7,461,3395,0.00,2.10,0.00,0.000,6,0.000,0.038,3017,1545,3819,0,0,0,0,0,0
$GC,3717,-0.75,-185.1,559.6,-10.0,491,3721,0.00,2.17,0.00,0.000,4,0.000,0.047,3009,2957,3817,0,0,0,0,0,0
$GC,3781,-0.80,-185.1,565.4,-8.5,496,3785,0.00,2.17,0.00,0.000,6,0.000,0.044,3008,1551,3817,0,0,0,0,0,0
$GC,4106,-0.81,-185.1,600.4,-11.3,526,4111,0.08,2.20,0.00,0.000,4,0.119,0.047,2889,2960,3814,0,0,0,0,0,0
$GC,4130,-0.79,-185.1,603.7,-14.6,527,4135,0.32,2.20,0.00,0.000,6,0.112,0.046,2996,1547,3814,0,0,0,0,0,0
$GC,4458,-0.80,-185.1,645.8,-12.4,543,4462,0.00,2.15,0.00,0.000,4,0.000,0.056,2996,166,3811,0,0,0,0,0,0
$GC,4474,-0.80,-185.1,648.3,-12.8,543,4482,0.00,2.12,0.00,0.000,6,0.000,0.038,2988,1548,3811,0,0,0,0,0,0
$GC,4791,-0.80,-185.1,688.6,-12.8,559,4795,0.00,2.17,0.00,0.000,4,0.000,0.048,2979,2964,3808,0,0,0,0,0,0
$GC,4863,-0.83,-185.1,697.4,-11.1,562,4867,0.00,2.17,0.00,0.000,6,0.000,0.047,2979,1565,3807,0,0,0,0,0,0
$GC,5185,-0.83,-185.1,737.8,-12.2,578,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1564,3806,0,0,0,0,0,0
$GC,5493,-0.83,-185.1,775.1,-12.2,593,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1564,3803,0,0,0,0,0,0
$GC,5803,-0.83,-185.1,814.2,-12.9,608,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1564,3800,0,0,0,0,0,0
$GC,6112,-0.83,-185.1,851.9,-12.8,623,6116,0.00,2.22,0.00,0.000,4,0.000,0.061,2979,169,3797,0,0,0,0,0,0
$GC,6145,-0.83,-185.1,856.7,-13.4,624,6152,0.00,2.15,0.00,0.000,6,0.000,0.040,2971,1572,3797,0,0,0,0,0,0
$GC,6463,-0.83,-185.1,899.3,-13.6,640,6467,0.05,2.17,0.00,0.000,4,0.227,0.050,2976,2956,3794,0,0,0,0,0,0
$GC,6518,-0.87,-185.1,906.0,-11.0,642,6524,0.00,2.20,0.00,0.000,6,0.000,0.050,2976,1567,3794,0,0,0,0,0,0
$GC,6834,-0.87,-185.1,943.4,-11.7,658,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1567,3792,0,0,0,0,0,0
$GC,7144,-0.88,-185.1,979.5,-11.6,673,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1567,3790,0,0,0,0,0,0
$STATE,7326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7326,begin apogee
$GC,7331,0.00,0.0,1000.7,11.4,682,7486,0.75,0.00,149.68,1.239,4,0.089,0.000,3250,1707,3068,0,0,0,0,0,0
$STATE,7487,end apogee,CONTROL_FINISHED_OK
$STATE,7487,begin climb
$GC,7489,0.68,185.1,1005.3,0.0,689,7658,0.60,2.40,159.80,1.175,4,0.029,0.060,3521,296,2313,0,0,0,0,0,0
$GC,7697,0.61,185.1,977.4,22.6,699,7702,0.25,2.20,0.00,0.000,6,0.142,0.032,3449,1700,2306,0,0,0,0,0,0
$GC,8021,0.57,185.1,921.7,16.6,715,8025,0.00,2.17,0.00,0.000,4,0.000,0.044,3449,3104,2298,0,0,0,0,0,0
$GC,8093,0.54,185.1,908.7,17.2,718,8097,0.12,2.22,0.00,0.000,6,0.162,0.049,3423,1706,2297,0,0,0,0,0,0
$GC,8416,0.53,185.1,863.1,14.0,734,8420,0.00,2.20,0.00,0.000,4,0.000,0.045,3423,3110,2295,0,0,0,0,0,0
$GC,8437,0.51,185.1,859.5,15.3,735,8441,0.05,2.25,0.00,0.000,6,0.145,0.050,3413,1706,2295,0,0,0,0,0,0
$GC,8764,0.53,204.4,817.3,12.9,751,8787,0.00,2.30,15.00,1.095,4,0.000,0.059,3423,290,2233,0,0,0,0,0,0
$GC,8844,0.56,223.4,806.5,12.9,754,8867,0.00,2.15,18.00,1.101,6,0.000,0.034,3423,1696,2157,0,0,0,0,0,0
$GC,9185,0.57,231.4,760.9,13.5,771,9199,0.00,2.25,7.88,0.962,4,0.000,0.047,3423,3098,2124,0,0,0,0,0,0
$GC,9239,0.57,231.4,753.0,14.0,773,9243,0.00,2.25,0.00,0.000,6,0.000,0.051,3432,1698,2122,0,0,0,0,0,0
$GC,9555,0.59,244.7,709.8,13.2,788,9575,0.00,0.00,12.85,1.027,6,0.000,0.000,3432,1697,2070,0,0,0,0,0,0
$GC,9885,0.63,272.3,667.0,12.5,804,9912,0.08,0.00,25.17,1.036,6,0.123,0.000,3496,1697,1957,0,0,0,0,0,0
$GC,10214,0.59,272.3,604.2,19.9,820,10216,0.17,0.00,0.00,0.000,6,0.139,0.000,3442,1697,1950,0,0,0,0,0,0
$GC,10532,0.59,272.3,554.9,15.0,848,10536,0.00,2.20,0.00,0.000,4,0.000,0.047,3442,3104,1948,0,0,0,0,0,0
$GC,10560,0.60,272.3,550.3,15.8,850,10564,0.00,2.25,0.00,0.000,6,0.000,0.051,3451,1694,1947,0,0,0,0,0,0
$GC,10886,0.62,283.0,503.2,13.4,880,10901,0.00,2.30,8.95,0.855,4,0.000,0.061,3461,292,1914,0,0,0,0,0,0
$GC,10982,0.65,294.3,490.2,13.3,888,11000,0.00,2.12,11.35,0.874,6,0.000,0.034,3461,1687,1868,0,0,0,0,0,0
$GC,11319,0.65,294.3,443.0,13.9,920,11323,0.00,2.22,0.00,0.000,4,0.000,0.060,3470,293,1864,0,0,0,0,0,0
$GC,11358,0.65,294.3,437.4,14.0,923,11362,0.00,2.12,0.00,0.000,6,0.000,0.033,3470,1688,1864,0,0,0,0,0,0
$GC,11683,0.65,294.3,391.0,14.5,953,11687,0.00,2.17,0.00,0.000,4,0.000,0.045,3470,3107,1863,0,0,0,0,0,0
$GC,11703,0.65,294.3,387.6,14.5,954,11711,0.05,2.28,0.00,0.000,6,0.126,0.050,3457,1689,1863,0,0,0,0,0,0
$GC,12029,0.66,294.3,342.5,14.0,985,12033,0.00,2.22,0.00,0.000,4,0.000,0.059,3467,290,1863,0,0,0,0,0,0
$GC,12076,0.67,294.3,336.1,14.4,989,12079,0.00,2.10,0.00,0.000,6,0.000,0.033,3466,1684,1863,0,0,0,0,0,0
$GC,12403,0.69,305.4,291.7,13.3,1024,12421,0.00,2.28,10.43,0.714,4,0.000,0.057,3475,285,1823,0,0,0,0,0,0
$GC,12434,0.69,309.6,287.4,13.7,1029,12448,0.00,2.12,5.25,0.584,6,0.000,0.031,3475,1693,1806,0,0,0,0,0,0
$GC,12786,0.75,344.4,243.6,12.1,1091,12825,0.05,2.28,30.52,0.729,4,0.169,0.054,3563,287,1662,0,0,0,0,0,0
$GC,12883,0.73,344.4,226.1,17.8,1107,12892,0.25,2.12,0.00,0.000,6,0.109,0.031,3479,1684,1658,0,0,0,0,0,0
$GC,13229,0.81,388.6,178.9,11.7,1168,13273,0.10,2.25,35.97,0.678,4,0.097,0.053,3591,286,1484,0,0,0,0,0,0
$GC,13355,0.78,388.6,153.1,20.6,1189,13362,0.28,2.10,0.00,0.000,6,0.104,0.031,3497,1667,1480,0,0,0,0,0,0
$GC,13700,0.89,459.3,108.2,10.3,1250,13764,0.12,2.30,56.33,0.628,4,0.078,0.054,3617,289,1194,0,0,0,0,0,0
$GC,13793,0.85,459.3,91.5,20.4,1265,13800,0.30,2.10,0.00,0.000,6,0.112,0.029,3519,1668,1191,0,0,0,0,0,0
$GC,14137,1.11,616.8,63.5,6.0,1326,14266,0.25,2.25,118.72,0.584,4,0.050,0.053,3684,292,553,0,0,0,0,0,0
$GC,14290,1.05,616.8,26.5,29.8,1351,14298,0.30,2.10,0.00,0.000,6,0.122,0.028,3588,1667,551,0,0,0,0,0,0
$STATE,14414,end climb,SURFACE_DEPTH_REACHED
$STATE,14414,begin surface coast
$FINISH,1.7,1.022140
$STATE,14437,end surface coast,CONTROL_FINISHED_OK
$STATE,14437,begin surface
$SM_CCo,14514,0.00,0.000,0,0,548,618.16
$SM_GC,2.54,8.55,0.00,0.00,0.020,0.000,0.000,104,1511,548,-9.69,-1.02,618.16
$IRIDIUM_FIX,2342.70,12705.39,291010,020248
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.3,52.800
$10V_AH,10.2,40.648
$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,24.375,131.650,665.900,0.000,0.000,97.754,75.699,240.250,0.250,0.000,14.917,3358.673,8143.070,738.864,2651.133,287.102,0.000,1980.736,0.000,2226.572,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,65.025,1239.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,80302,1377
$CAP_FILE_SIZE,170527,0
$CFSIZE,260165632,230465536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 89.6,1
$GPS,291010,063037,2348.214,12702.976,34,1.0,34,-3.6