version: 66.08
glider: 168
mission: 2
dive: 442
start: 11 6 110 2 8 17
data:
$ID,168
$MISSION,2
$DIVE,442
$N_DIVES,444
$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,-3778.3479
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,061110,020255,2209.686,12614.832,44,1.6,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-75.2
$GPS2,061110,020750,2209.672,12614.821,11,1.7,11,-3.1
$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,192.3,92077,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,25,0.00,0.00,-7.38,0.000,2,0.000,0.000,104,1527,1202,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.6,-0.0,1,151,9.77,2.22,-105.95,0.000,4,0.164,0.068,3035,174,3823,0,0,0,0,0,0
$GC,231,-0.65,-185.1,19.0,-25.1,35,239,0.08,2.10,0.00,0.000,6,0.175,0.039,3047,1539,3825,0,0,0,0,0,0
$GC,577,-0.62,-185.1,108.4,-20.7,96,583,0.00,2.17,0.00,0.000,4,0.000,0.041,3037,2967,3826,0,0,0,0,0,0
$GC,630,-0.65,-185.1,117.3,-13.4,105,637,0.00,2.12,0.00,0.000,6,0.000,0.041,3037,1573,3826,0,0,0,0,0,0
$GC,973,-0.65,-185.1,177.5,-17.1,166,980,0.00,2.20,0.00,0.000,4,0.000,0.053,3037,161,3828,0,0,0,0,0,0
$GC,1067,-0.68,-185.1,191.5,-13.3,182,1074,0.00,2.12,0.00,0.000,6,0.000,0.038,3036,1562,3828,0,0,0,0,0,0
$GC,1409,-0.68,-185.1,245.1,-15.7,243,1417,0.00,2.15,0.00,0.000,4,0.000,0.043,3027,2959,3828,0,0,0,0,0,0
$GC,1436,-0.70,-185.1,248.9,-15.5,247,1444,0.00,2.12,0.00,0.000,6,0.000,0.041,3028,1567,3828,0,0,0,0,0,0
$GC,1781,-0.70,-185.1,300.0,-14.8,308,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1566,3828,0,0,0,0,0,0
$GC,2107,-0.70,-185.1,349.7,-15.0,339,2111,0.00,2.17,0.00,0.000,4,0.000,0.043,3019,2967,3827,0,0,0,0,0,0
$GC,2160,-0.75,-185.1,356.3,-10.9,343,2164,0.00,2.15,0.00,0.000,6,0.000,0.042,3019,1559,3827,0,0,0,0,0,0
$GC,2486,-0.77,-185.1,398.6,-12.2,373,2490,0.00,2.17,0.00,0.000,4,0.000,0.056,3019,162,3826,0,0,0,0,0,0
$GC,2531,-0.79,-185.1,404.7,-12.9,376,2537,0.00,2.15,0.00,0.000,6,0.000,0.039,3011,1574,3826,0,0,0,0,0,0
$GC,2856,-0.80,-185.1,446.7,-12.8,407,2860,0.00,2.15,0.00,0.000,4,0.000,0.045,3002,2965,3825,0,0,0,0,0,0
$GC,2902,-0.83,-185.1,452.6,-12.2,410,2909,0.08,2.15,0.00,0.000,6,0.115,0.044,2900,1566,3825,0,0,0,0,0,0
$GC,3227,-0.77,-185.1,527.4,-22.5,441,3232,0.30,2.17,0.00,0.000,4,0.120,0.040,2996,2962,3823,0,0,0,0,0,0
$GC,3245,-0.73,-185.1,531.1,-21.6,442,3250,0.10,2.12,0.00,0.000,6,0.125,0.045,3032,1580,3823,0,0,0,0,0,0
$GC,3572,-0.77,-185.1,564.7,-9.5,472,3573,0.10,0.00,0.00,0.000,6,0.093,0.000,2924,1580,3821,0,0,0,0,0,0
$GC,3887,-0.73,-185.1,624.3,-19.4,496,3892,0.28,2.25,0.00,0.000,4,0.119,0.059,3022,167,3818,0,0,0,0,0,0
$GC,3914,-0.73,-185.1,629.3,-14.9,497,3918,0.00,2.17,0.00,0.000,6,0.000,0.040,3017,1573,3818,0,0,0,0,0,0
$GC,4237,-0.76,-185.1,662.2,-10.4,513,4241,0.00,2.12,0.00,0.000,4,0.000,0.047,3010,2960,3815,0,0,0,0,0,0
$GC,4304,-0.82,-185.1,668.6,-8.6,516,4308,0.08,2.12,0.00,0.000,6,0.115,0.044,2913,1584,3815,0,0,0,0,0,0
$GC,4627,-0.77,-185.1,729.0,-19.4,532,4629,0.30,0.00,0.00,0.000,6,0.115,0.000,3009,1584,3812,0,0,0,0,0,0
$GC,4934,-0.81,-185.1,762.0,-10.0,547,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1584,3809,0,0,0,0,0,0
$GC,5244,-0.84,-185.1,793.3,-10.2,562,5249,0.10,2.15,0.00,0.000,4,0.093,0.047,2889,2958,3806,0,0,0,0,0,0
$GC,5271,-0.83,-185.1,797.4,-14.9,563,5276,0.30,2.17,0.00,0.000,6,0.105,0.050,2991,1584,3806,0,0,0,0,0,0
$GC,5589,-0.85,-185.1,834.5,-11.5,578,5593,0.00,2.28,0.00,0.000,4,0.000,0.064,2991,169,3804,0,0,0,0,0,0
$GC,5611,-0.87,-185.1,837.4,-12.0,579,5615,0.00,2.17,0.00,0.000,6,0.000,0.041,2984,1591,3803,0,0,0,0,0,0
$GC,5933,-0.88,-185.1,877.6,-12.6,595,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1594,3800,0,0,0,0,0,0
$GC,6243,-0.90,-185.1,915.4,-12.4,610,6248,0.08,2.12,0.00,0.000,4,0.119,0.048,2875,2959,3798,0,0,0,0,0,0
$GC,6297,-0.87,-185.1,925.3,-19.4,612,6302,0.30,2.15,0.00,0.000,6,0.108,0.050,2975,1590,3798,0,0,0,0,0,0
$GC,6616,-0.88,-185.1,967.4,-12.6,627,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1590,3796,0,0,0,0,0,0
$STATE,6900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6900,begin apogee
$GC,6905,0.00,0.0,1002.3,11.8,641,7065,0.75,0.00,152.48,1.228,4,0.087,0.000,3252,1713,3068,0,0,0,0,0,0
$STATE,7065,end apogee,CONTROL_FINISHED_OK
$STATE,7065,begin climb
$GC,7068,0.68,185.1,1008.1,0.0,648,7237,0.60,2.42,161.88,1.154,4,0.029,0.063,3522,293,2313,0,0,0,0,0,0
$GC,7289,0.60,185.1,978.1,23.5,658,7296,0.25,2.22,0.00,0.000,6,0.142,0.033,3449,1710,2305,0,0,0,0,0,0
$GC,7605,0.57,185.1,922.3,16.9,674,7609,0.00,2.12,0.00,0.000,4,0.000,0.040,3449,3105,2297,0,0,0,0,0,0
$GC,7646,0.54,185.1,915.2,17.4,676,7651,0.12,2.22,0.00,0.000,6,0.160,0.047,3423,1695,2297,0,0,0,0,0,0
$GC,7975,0.53,186.3,867.6,13.8,692,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1695,2295,0,0,0,0,0,0
$GC,8283,0.54,197.5,825.6,13.3,707,8298,0.00,2.30,8.82,1.001,4,0.000,0.064,3434,301,2263,0,0,0,0,0,0
$GC,8350,0.53,197.7,816.4,13.9,710,8354,0.00,2.12,0.00,0.000,6,0.000,0.035,3434,1703,2261,0,0,0,0,0,0
$GC,8683,0.51,197.7,769.3,14.2,726,8687,0.08,2.17,0.00,0.000,4,0.187,0.043,3412,3102,2259,0,0,0,0,0,0
$GC,8715,0.51,197.7,764.4,14.4,727,8719,0.00,2.25,0.00,0.000,6,0.000,0.048,3421,1700,2259,0,0,0,0,0,0
$GC,9037,0.52,202.0,721.2,13.7,743,9047,0.00,2.28,5.10,0.805,4,0.000,0.063,3431,290,2244,0,0,0,0,0,0
$GC,9092,0.52,202.0,713.5,13.9,745,9099,0.00,2.17,0.00,0.000,6,0.000,0.035,3431,1726,2243,0,0,0,0,0,0
$GC,9408,0.53,218.3,671.1,13.1,761,9431,0.00,2.20,16.45,1.021,4,0.000,0.042,3431,3102,2176,0,0,0,0,0,0
$GC,9455,0.53,218.3,664.6,14.3,763,9460,0.08,2.22,0.00,0.000,6,0.189,0.047,3421,1695,2175,0,0,0,0,0,0
$GC,9783,0.55,224.9,620.5,13.6,779,9797,0.00,2.35,6.82,0.854,4,0.000,0.064,3430,292,2150,0,0,0,0,0,0
$GC,9854,0.59,255.6,610.6,12.3,782,9893,0.00,2.12,28.42,0.981,6,0.000,0.035,3430,1694,2025,0,0,0,0,0,0
$GC,10210,0.62,266.6,560.7,13.3,812,10226,0.08,2.33,9.77,0.884,4,0.121,0.063,3508,302,1981,0,0,0,0,0,0
$GC,10245,0.58,266.6,554.9,18.0,815,10249,0.22,2.10,0.00,0.000,6,0.128,0.034,3437,1688,1979,0,0,0,0,0,0
$GC,10570,0.60,283.5,508.5,13.0,845,10593,0.00,2.20,15.75,0.907,4,0.000,0.040,3437,3103,1911,0,0,0,0,0,0
$GC,10617,0.62,283.5,502.2,14.1,849,10621,0.00,2.28,0.00,0.000,6,0.000,0.048,3443,1688,1909,0,0,0,0,0,0
$GC,10942,0.63,295.3,457.9,13.3,879,10958,0.00,2.30,11.18,0.842,4,0.000,0.063,3454,288,1863,0,0,0,0,0,0
$GC,11004,0.67,309.5,449.3,13.2,884,11022,0.00,2.12,13.95,0.848,6,0.000,0.034,3454,1689,1806,0,0,0,0,0,0
$GC,11341,0.67,309.5,397.7,14.9,916,11345,0.00,2.28,0.00,0.000,4,0.000,0.063,3464,288,1800,0,0,0,0,0,0
$GC,11403,0.71,321.5,388.9,13.3,921,11419,0.00,2.10,10.77,0.785,6,0.000,0.034,3463,1684,1757,0,0,0,0,0,0
$GC,11739,0.71,321.5,334.1,15.8,952,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1684,1754,0,0,0,0,0,0
$GC,12061,0.72,321.5,282.7,16.8,991,12070,0.08,2.22,0.00,0.000,4,0.122,0.060,3562,293,1753,0,0,0,0,0,0
$GC,12117,0.68,321.5,271.0,21.8,1000,12124,0.30,2.08,0.00,0.000,6,0.113,0.033,3463,1683,1753,0,0,0,0,0,0
$GC,12462,0.70,332.2,220.9,13.4,1061,12481,0.00,2.28,10.23,0.649,4,0.000,0.059,3472,296,1713,0,0,0,0,0,0
$GC,12494,0.72,332.2,216.1,14.0,1066,12501,0.00,2.05,0.00,0.000,6,0.000,0.031,3472,1676,1712,0,0,0,0,0,0
$GC,12838,0.80,378.7,169.4,11.5,1127,12881,0.12,0.00,39.50,0.658,6,0.079,0.000,3582,1678,1523,0,0,0,0,0,0
$GC,13218,0.76,378.7,82.9,19.8,1194,13225,0.25,2.20,0.00,0.000,4,0.129,0.053,3506,293,1518,0,0,0,0,0,0
$GC,13277,0.94,480.2,75.7,8.8,1204,13362,0.15,2.08,79.60,0.585,6,0.064,0.031,3616,1670,1110,0,0,0,0,0,0
$STATE,13604,end climb,SURFACE_DEPTH_REACHED
$STATE,13604,begin surface coast
$FINISH,2.7,1.009886
$STATE,13617,end surface coast,CONTROL_FINISHED_OK
$STATE,13617,begin surface
$SM_CCo,13694,0.00,0.000,0,0,1099,483.00
$SM_GC,3.58,8.57,0.00,0.00,0.020,0.000,0.000,103,1536,1099,-9.70,-0.40,483.00
$IRIDIUM_FIX,2202.04,12613.10,051110,222225
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,23.0,61.076
$10V_AH,10.1,44.423
$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,23.500,118.375,570.725,0.000,0.000,24.260,19.576,127.022,0.750,0.000,12.328,3112.348,7698.193,654.796,2254.736,265.504,0.000,1809.355,0.000,2067.223,0.000,0.538,0.000
$DEVICE_MAMPS,188.955,71.910,1227.825,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,73526,1263
$CAP_FILE_SIZE,155800,0
$CFSIZE,260165632,226803712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,255.4,1
$GPS,061110,055736,2207.465,12613.710,30,1.3,30,-3.1