version: 66.08
glider: 168
mission: 2
dive: 399
start: 10 29 110 22 23 53
data:
$ID,168
$MISSION,2
$DIVE,399
$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,-3674.1533
$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,47
$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
$GPS1,291010,221807,2341.106,12659.125,47,1.0,47,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-76.2
$GPS2,291010,222326,2341.090,12659.117,13,1.2,13,-3.5
$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,219.5,276976,-20.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,60,0.00,0.00,-41.60,0.000,2,0.000,0.000,104,1536,2436,0,0,0,0,0,0
$GC,63,-0.68,-185.1,3.1,-1.3,7,119,10.25,2.22,-36.00,0.000,4,0.183,0.053,3023,2940,3825,0,0,0,0,0,0
$GC,237,-0.67,-185.1,36.8,-20.7,37,244,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,1559,3827,0,0,0,0,0,0
$GC,583,-0.63,-185.1,130.9,-21.1,98,590,0.10,2.20,0.00,0.000,4,0.175,0.050,3052,158,3828,0,0,0,0,0,0
$GC,653,-0.65,-185.1,143.6,-15.1,110,660,0.00,2.08,0.00,0.000,6,0.000,0.035,3046,1535,3828,0,0,0,0,0,0
$GC,998,-0.63,-185.1,208.1,-18.0,171,1004,0.00,2.17,0.00,0.000,4,0.000,0.042,3035,2960,3830,0,0,0,0,0,0
$GC,1057,-0.66,-185.1,217.3,-13.4,181,1064,0.00,2.20,0.00,0.000,6,0.000,0.041,3035,1529,3830,0,0,0,0,0,0
$GC,1402,-0.65,-185.1,278.4,-19.3,242,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1529,3830,0,0,0,0,0,0
$GC,1739,-0.65,-185.1,334.6,-16.4,284,1743,0.00,2.20,0.00,0.000,4,0.000,0.045,3025,2954,3830,0,0,0,0,0,0
$GC,1809,-0.69,-185.1,344.6,-13.2,290,1813,0.00,2.12,0.00,0.000,6,0.000,0.042,3025,1555,3830,0,0,0,0,0,0
$GC,2134,-0.69,-185.1,394.5,-15.4,320,2138,0.00,2.15,0.00,0.000,4,0.000,0.052,3025,170,3829,0,0,0,0,0,0
$GC,2156,-0.69,-185.1,398.2,-16.4,321,2164,0.00,2.12,0.00,0.000,6,0.000,0.037,3017,1556,3829,0,0,0,0,0,0
$GC,2481,-0.69,-185.1,447.9,-15.3,352,2485,0.00,2.15,0.00,0.000,4,0.000,0.044,3008,2956,3829,0,0,0,0,0,0
$GC,2507,-0.70,-185.1,452.0,-14.1,354,2515,0.08,2.15,0.00,0.000,6,0.151,0.042,3034,1554,3829,0,0,0,0,0,0
$GC,2833,-0.73,-185.1,492.1,-12.8,385,2837,0.00,2.15,0.00,0.000,4,0.000,0.045,3027,2956,3827,0,0,0,0,0,0
$GC,2866,-0.77,-185.1,495.9,-10.9,387,2874,0.08,2.17,0.00,0.000,6,0.114,0.043,2929,1548,3827,0,0,0,0,0,0
$GC,3194,-0.71,-185.1,565.4,-21.4,418,3201,0.30,0.00,0.00,0.000,6,0.126,0.000,3028,1547,3826,0,0,0,0,0,0
$GC,3520,-0.74,-185.1,604.9,-11.5,447,3524,0.00,2.20,0.00,0.000,4,0.000,0.045,3020,2955,3824,0,0,0,0,0,0
$GC,3547,-0.78,-185.1,608.2,-10.4,448,3552,0.08,2.17,0.00,0.000,6,0.114,0.044,2925,1552,3824,0,0,0,0,0,0
$GC,3863,-0.73,-185.1,671.6,-20.5,463,3865,0.30,0.00,0.00,0.000,6,0.123,0.000,3022,1552,3822,0,0,0,0,0,0
$GC,4173,-0.76,-185.1,706.5,-10.8,478,4177,0.00,2.17,0.00,0.000,4,0.000,0.047,3018,2955,3820,0,0,0,0,0,0
$GC,4214,-0.82,-185.1,710.8,-9.9,480,4218,0.10,2.17,0.00,0.000,6,0.089,0.046,2914,1557,3819,0,0,0,0,0,0
$GC,4542,-0.77,-185.1,777.6,-20.9,496,4544,0.28,0.00,0.00,0.000,6,0.123,0.000,3002,1557,3817,0,0,0,0,0,0
$GC,4850,-0.80,-185.1,814.6,-10.8,511,4854,0.00,2.20,0.00,0.000,4,0.000,0.048,2994,2959,3815,0,0,0,0,0,0
$GC,4884,-0.83,-185.1,818.2,-10.7,512,4891,0.00,2.20,0.00,0.000,6,0.000,0.047,2994,1557,3814,0,0,0,0,0,0
$GC,5200,-0.85,-185.1,853.2,-11.5,528,5204,0.00,2.20,0.00,0.000,4,0.000,0.049,2991,2957,3811,0,0,0,0,0,0
$GC,5233,-0.89,-185.1,857.1,-11.1,529,5242,0.10,2.20,0.00,0.000,6,0.091,0.049,2888,1560,3811,0,0,0,0,0,0
$GC,5550,-0.84,-185.1,920.8,-20.7,545,5555,0.25,2.17,0.00,0.000,4,0.129,0.047,2969,2953,3809,0,0,0,0,0,0
$GC,5612,-0.87,-185.1,929.7,-11.6,548,5616,0.00,2.17,0.00,0.000,6,0.000,0.050,2969,1574,3808,0,0,0,0,0,0
$GC,5939,-0.87,-185.1,970.4,-12.5,564,5943,0.00,2.17,0.00,0.000,4,0.000,0.049,2960,2955,3805,0,0,0,0,0,0
$GC,5983,-0.89,-185.1,975.8,-11.4,566,5987,0.00,2.20,0.00,0.000,6,0.000,0.050,2960,1567,3805,0,0,0,0,0,0
$STATE,6178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6178,begin apogee
$GC,6184,0.00,0.0,1000.9,13.0,576,6343,0.82,0.00,153.07,1.235,4,0.093,0.000,3258,1709,3067,0,0,0,0,0,0
$STATE,6344,end apogee,CONTROL_FINISHED_OK
$STATE,6344,begin climb
$GC,6346,0.68,185.1,1006.0,0.0,583,6515,0.57,2.30,160.25,1.170,4,0.030,0.052,3520,3101,2312,0,0,0,0,0,0
$GC,6666,0.61,185.1,950.5,23.9,598,6671,0.30,2.28,0.00,0.000,6,0.150,0.046,3442,1693,2304,0,0,0,0,0,0
$GC,6989,0.58,185.1,896.8,15.7,614,6993,0.00,2.17,0.00,0.000,4,0.000,0.042,3442,3104,2299,0,0,0,0,0,0
$GC,7053,0.56,185.1,886.2,17.0,617,7058,0.10,2.22,0.00,0.000,6,0.171,0.047,3425,1704,2299,0,0,0,0,0,0
$GC,7381,0.54,185.1,839.6,13.9,633,7385,0.00,2.25,0.00,0.000,4,0.000,0.060,3434,294,2296,0,0,0,0,0,0
$GC,7402,0.52,185.1,836.1,14.3,634,7406,0.00,2.15,0.00,0.000,6,0.000,0.032,3435,1697,2294,0,0,0,0,0,0
$GC,7731,0.50,185.1,787.5,15.2,650,7735,0.08,2.15,0.00,0.000,4,0.189,0.044,3414,3105,2294,0,0,0,0,0,0
$GC,7821,0.50,185.1,774.2,15.1,654,7825,0.00,2.20,0.00,0.000,6,0.000,0.049,3422,1712,2294,0,0,0,0,0,0
$GC,8148,0.51,188.7,729.6,13.7,670,8152,0.00,2.25,0.00,0.000,4,0.000,0.060,3432,292,2293,0,0,0,0,0,0
$GC,8189,0.50,188.7,723.7,14.5,672,8193,0.08,2.15,0.00,0.000,6,0.169,0.033,3411,1712,2290,0,0,0,0,0,0
$GC,8517,0.55,226.2,683.2,12.0,688,8562,0.05,2.25,33.38,1.064,4,0.170,0.044,3472,3102,2144,0,0,0,0,0,0
$GC,8596,0.52,226.2,669.9,19.0,691,8601,0.22,2.25,0.00,0.000,6,0.132,0.048,3413,1709,2142,0,0,0,0,0,0
$GC,8914,0.57,257.9,629.2,12.3,706,8950,0.08,2.38,27.88,1.018,4,0.117,0.059,3495,295,2015,0,0,0,0,0,0
$GC,8984,0.54,257.9,616.5,18.9,709,8989,0.22,2.20,0.00,0.000,6,0.118,0.033,3423,1713,2010,0,0,0,0,0,0
$GC,9312,0.59,282.2,572.7,12.7,735,9339,0.05,2.35,21.15,0.968,4,0.168,0.059,3495,289,1916,0,0,0,0,0,0
$GC,9366,0.56,282.2,563.1,20.1,739,9373,0.20,2.20,0.00,0.000,6,0.119,0.032,3432,1714,1913,0,0,0,0,0,0
$GC,9692,0.60,308.4,519.9,12.6,770,9725,0.00,2.40,23.10,0.935,4,0.000,0.059,3441,288,1809,0,0,0,0,0,0
$GC,9765,0.64,313.2,510.1,13.6,776,9775,0.00,2.17,5.15,0.692,6,0.000,0.032,3441,1701,1791,0,0,0,0,0,0
$GC,10101,0.66,313.2,462.0,14.6,808,10103,0.08,0.00,0.00,0.000,6,0.119,0.000,3516,1704,1787,0,0,0,0,0,0
$GC,10420,0.62,313.2,395.6,20.2,838,10425,0.20,2.15,0.00,0.000,4,0.131,0.041,3453,3103,1786,0,0,0,0,0,0
$GC,10448,0.62,313.2,390.2,17.8,840,10452,0.00,2.22,0.00,0.000,6,0.000,0.048,3457,1696,1785,0,0,0,0,0,0
$GC,10778,0.63,313.2,341.7,14.5,871,10782,0.00,2.22,0.00,0.000,4,0.000,0.059,3468,287,1785,0,0,0,0,0,0
$GC,10862,0.67,322.3,329.9,13.4,878,10880,0.00,2.10,8.38,0.708,6,0.000,0.031,3468,1689,1753,0,0,0,0,0,0
$GC,11205,0.68,322.3,280.6,13.9,922,11211,0.00,2.15,0.00,0.000,4,0.000,0.041,3468,3102,1753,0,0,0,0,0,0
$GC,11241,0.70,322.3,275.6,14.2,928,11247,0.00,2.22,0.00,0.000,6,0.000,0.046,3471,1683,1753,0,0,0,0,0,0
$GC,11586,0.71,322.3,228.0,14.7,989,11594,0.00,2.20,0.00,0.000,4,0.000,0.056,3479,293,1753,0,0,0,0,0,0
$GC,11663,0.78,347.5,217.1,12.6,1002,11695,0.08,2.05,22.38,0.695,6,0.121,0.031,3574,1682,1651,0,0,0,0,0,0
$GC,12031,0.73,347.5,132.3,23.4,1067,12038,0.25,2.15,0.00,0.000,4,0.136,0.036,3488,3098,1649,0,0,0,0,0,0
$GC,12074,0.77,355.0,124.8,13.5,1074,12087,0.00,2.25,7.85,0.557,6,0.000,0.046,3490,1669,1619,0,0,0,0,0,0
$GC,12425,0.97,464.5,85.9,8.4,1136,12519,0.20,2.30,86.25,0.614,4,0.055,0.052,3618,293,1173,0,0,0,0,0,0
$GC,12572,0.95,464.5,57.8,22.3,1160,12579,0.20,2.08,0.00,0.000,6,0.122,0.028,3553,1662,1169,0,0,0,0,0,0
$GC,12916,1.00,481.2,5.8,13.0,1221,12937,0.08,2.17,13.60,0.510,4,0.119,0.052,3650,290,1104,0,0,0,0,0,0
$STATE,12942,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,1.7,1.022334
$STATE,12965,end surface coast,CONTROL_FINISHED_OK
$STATE,12965,begin surface
$SM_CCo,13044,0.00,0.000,0,0,1100,482.75
$SM_GC,2.77,8.60,0.00,0.00,0.016,0.000,0.000,104,1564,1100,-9.69,0.45,482.75
$IRIDIUM_FIX,2333.28,12700.67,291010,181849
$TT8_MAMPS,0.026964
$HUMID,47.20
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,4
$24V_AH,23.2,53.673
$10V_AH,10.2,41.036
$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,24.350,127.225,562.425,0.000,0.000,30.566,18.382,146.361,1.000,0.000,14.487,3049.888,7152.416,641.556,2271.791,243.906,0.000,1788.205,0.000,2053.698,0.000,0.539,0.000
$DEVICE_MAMPS,188.955,64.260,1234.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334152
$DATA_FILE_SIZE,70217,1229
$CAP_FILE_SIZE,154896,0
$CFSIZE,260165632,230105088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 80.8,1
$GPS,301010,020230,2339.570,12658.461,39,1.2,39,-3.5