version: 66.08
glider: 168
mission: 2
dive: 452
start: 11 7 110 18 6 30
data:
$ID,168
$MISSION,2
$DIVE,452
$N_DIVES,456
$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,-3799.6973
$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,32
$R_STBD_OVSHOOT,41
$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
$GPS1,071110,180005,2149.807,12607.535,14,2.1,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-77.1
$GPS2,071110,180602,2149.788,12607.555,13,1.7,13,-3.0
$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,202.1,53342,-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,16,-0.68,-185.1,0.0,0.0,0,25,0.00,0.00,-7.05,0.000,2,0.000,0.000,104,1530,1274,0,0,0,0,0,0
$GC,28,-0.68,-185.1,3.8,-0.0,1,151,9.82,2.22,-102.72,0.000,4,0.163,0.068,3037,170,3824,0,0,0,0,0,0
$GC,266,-0.66,-185.1,31.7,-24.6,41,273,0.00,2.12,0.00,0.000,6,0.000,0.040,3027,1549,3825,0,0,0,0,0,0
$GC,611,-0.63,-185.1,129.7,-19.6,102,618,0.10,0.00,0.00,0.000,6,0.181,0.000,3056,1552,3825,0,0,0,0,0,0
$GC,954,-0.63,-185.1,185.0,-16.1,163,961,0.00,2.15,0.00,0.000,4,0.000,0.053,3056,169,3828,0,0,0,0,0,0
$GC,984,-0.64,-185.1,189.8,-15.8,168,991,0.00,2.10,0.00,0.000,6,0.000,0.038,3050,1556,3828,0,0,0,0,0,0
$GC,1329,-0.66,-185.1,237.7,-13.2,229,1337,0.00,2.17,0.00,0.000,4,0.000,0.044,3041,2967,3828,0,0,0,0,0,0
$GC,1371,-0.70,-185.1,243.1,-12.2,236,1379,0.00,2.15,0.00,0.000,6,0.000,0.041,3041,1552,3828,0,0,0,0,0,0
$GC,1717,-0.71,-185.1,289.3,-12.6,297,1725,0.08,0.00,0.00,0.000,6,0.120,0.000,2919,1551,3828,0,0,0,0,0,0
$GC,2047,-0.64,-185.1,372.8,-25.1,332,2050,0.40,0.00,0.00,0.000,6,0.115,0.000,3053,1551,3828,0,0,0,0,0,0
$GC,2367,-0.68,-185.1,407.4,-9.7,362,2372,0.08,2.22,0.00,0.000,4,0.118,0.044,2944,2963,3828,0,0,0,0,0,0
$GC,2399,-0.67,-185.1,412.2,-15.9,364,2407,0.28,2.15,0.00,0.000,6,0.104,0.043,3038,1556,3828,0,0,0,0,0,0
$GC,2725,-0.71,-185.1,449.3,-10.9,395,2729,0.00,2.20,0.00,0.000,4,0.000,0.045,3030,2962,3825,0,0,0,0,0,0
$GC,2759,-0.76,-185.1,453.0,-10.5,397,2767,0.08,2.15,0.00,0.000,6,0.114,0.043,2929,1559,3826,0,0,0,0,0,0
$GC,3084,-0.71,-185.1,518.9,-19.8,428,3086,0.30,0.00,0.00,0.000,6,0.116,0.000,3030,1559,3824,0,0,0,0,0,0
$GC,3403,-0.75,-185.1,552.8,-10.3,458,3405,0.08,0.00,0.00,0.000,6,0.115,0.000,2924,1558,3822,0,0,0,0,0,0
$GC,3722,-0.70,-185.1,617.5,-21.0,484,3726,0.30,2.17,0.00,0.000,4,0.119,0.044,3018,2956,3819,0,0,0,0,0,0
$GC,3776,-0.76,-185.1,625.2,-9.4,486,3783,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,1570,3819,0,0,0,0,0,0
$GC,4094,-0.80,-185.1,657.2,-10.0,502,4096,0.08,0.00,0.00,0.000,6,0.117,0.000,2909,1570,3817,0,0,0,0,0,0
$GC,4402,-0.74,-185.1,719.5,-21.1,517,4406,0.30,2.17,0.00,0.000,4,0.114,0.044,3002,2956,3814,0,0,0,0,0,0
$GC,4435,-0.77,-185.1,724.9,-13.1,518,4442,0.00,2.17,0.00,0.000,6,0.000,0.050,3002,1567,3814,0,0,0,0,0,0
$GC,4752,-0.79,-185.1,760.1,-11.0,534,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1566,3811,0,0,0,0,0,0
$GC,5061,-0.82,-185.1,793.8,-10.6,549,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1566,3809,0,0,0,0,0,0
$GC,5370,-0.85,-185.1,827.2,-10.8,564,5375,0.08,2.20,0.00,0.000,4,0.118,0.049,2890,2953,3805,0,0,0,0,0,0
$GC,5397,-0.83,-185.1,831.4,-15.2,565,5402,0.30,2.17,0.00,0.000,6,0.105,0.050,2992,1567,3805,0,0,0,0,0,0
$GC,5715,-0.85,-185.1,869.2,-11.8,580,5719,0.00,2.22,0.00,0.000,4,0.000,0.064,2992,169,3803,0,0,0,0,0,0
$GC,5738,-0.87,-185.1,872.5,-12.7,581,5742,0.00,2.17,0.00,0.000,6,0.000,0.042,2984,1574,3803,0,0,0,0,0,0
$GC,6060,-0.89,-185.1,912.8,-12.5,597,6064,0.00,2.15,0.00,0.000,4,0.000,0.049,2974,2957,3800,0,0,0,0,0,0
$GC,6109,-0.93,-185.1,918.8,-10.7,599,6114,0.08,2.20,0.00,0.000,6,0.113,0.051,2883,1574,3799,0,0,0,0,0,0
$GC,6427,-0.87,-185.1,982.9,-21.0,614,6429,0.28,0.00,0.00,0.000,6,0.122,0.000,2973,1574,3797,0,0,0,0,0,0
$STATE,6547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6547,begin apogee
$GC,6552,0.00,0.0,1000.4,12.9,620,6711,0.75,0.00,152.02,1.216,4,0.087,0.000,3249,1712,3068,0,0,0,0,0,0
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6715,0.68,185.1,1007.0,0.0,627,6884,0.60,2.42,160.18,1.149,4,0.029,0.063,3519,294,2313,0,0,0,0,0,0
$GC,6931,0.61,185.1,979.9,23.4,637,6935,0.25,2.22,0.00,0.000,6,0.141,0.034,3446,1700,2305,0,0,0,0,0,0
$GC,7247,0.57,185.1,922.9,17.8,652,7251,0.00,2.17,0.00,0.000,4,0.000,0.041,3446,3108,2297,0,0,0,0,0,0
$GC,7275,0.54,185.1,917.4,18.9,653,7279,0.12,2.25,0.00,0.000,6,0.158,0.047,3421,1697,2296,0,0,0,0,0,0
$GC,7592,0.53,185.1,869.4,15.1,668,7596,0.00,2.25,0.00,0.000,4,0.000,0.064,3431,294,2294,0,0,0,0,0,0
$GC,7613,0.51,185.1,865.6,15.2,669,7618,0.08,2.15,0.00,0.000,6,0.171,0.035,3409,1700,2293,0,0,0,0,0,0
$GC,7935,0.53,199.6,821.5,13.2,685,7950,0.00,2.17,10.73,1.036,4,0.000,0.041,3409,3106,2253,0,0,0,0,0,0
$GC,7983,0.53,205.5,814.7,13.6,686,7996,0.00,2.22,6.82,0.921,6,0.000,0.049,3418,1704,2230,0,0,0,0,0,0
$GC,8306,0.55,220.3,772.2,13.1,702,8328,0.00,2.33,14.27,1.052,4,0.000,0.064,3429,294,2169,0,0,0,0,0,0
$GC,8401,0.56,223.4,758.7,13.7,706,8405,0.00,2.15,0.00,0.000,6,0.000,0.035,3429,1700,2165,0,0,0,0,0,0
$GC,8730,0.55,223.4,710.7,15.0,722,8734,0.00,2.15,0.00,0.000,4,0.000,0.043,3429,3106,2163,0,0,0,0,0,0
$GC,8773,0.55,223.4,703.4,15.6,724,8777,0.00,2.25,0.00,0.000,6,0.000,0.049,3438,1701,2162,0,0,0,0,0,0
$GC,9101,0.54,223.4,650.7,16.4,740,9105,0.00,2.28,0.00,0.000,4,0.000,0.064,3450,296,2161,0,0,0,0,0,0
$GC,9150,0.54,223.4,642.3,16.6,742,9155,0.10,2.12,0.00,0.000,6,0.157,0.035,3418,1705,2160,0,0,0,0,0,0
$GC,9467,0.54,223.4,596.3,14.0,758,9471,0.00,2.12,0.00,0.000,4,0.000,0.044,3418,3106,2160,0,0,0,0,0,0
$GC,9489,0.55,223.4,592.9,14.5,759,9496,0.00,2.25,0.00,0.000,6,0.000,0.047,3426,1685,2160,0,0,0,0,0,0
$GC,9815,0.59,257.8,550.2,12.2,790,9856,0.00,0.00,33.08,0.979,6,0.000,0.000,3426,1685,2016,0,0,0,0,0,0
$GC,10173,0.60,257.8,502.2,14.0,824,10178,0.05,2.25,0.00,0.000,4,0.170,0.063,3499,289,2006,0,0,0,0,0,0
$GC,10236,0.57,257.8,490.8,19.2,829,10240,0.20,2.15,0.00,0.000,6,0.127,0.035,3436,1692,2006,0,0,0,0,0,0
$GC,10562,0.57,257.8,441.3,14.6,859,10566,0.00,2.17,0.00,0.000,4,0.000,0.041,3436,3106,2005,0,0,0,0,0,0
$GC,10602,0.59,257.8,435.3,14.5,862,10606,0.00,2.25,0.00,0.000,6,0.000,0.047,3444,1690,2005,0,0,0,0,0,0
$GC,10927,0.59,257.8,388.5,14.2,892,10931,0.00,2.22,0.00,0.000,4,0.000,0.062,3454,293,2004,0,0,0,0,0,0
$GC,10976,0.61,263.1,381.5,13.6,896,10983,0.00,2.12,0.00,0.000,6,0.000,0.040,3455,1693,2002,0,0,0,0,0,0
$GC,11301,0.61,263.1,336.0,14.0,927,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1695,2002,0,0,0,0,0,0
$GC,11623,0.65,294.6,293.8,12.3,961,11661,0.00,2.30,30.67,0.767,4,0.000,0.060,3464,291,1864,0,0,0,0,0,0
$GC,11696,0.69,314.0,284.3,12.9,973,11722,0.00,2.12,17.42,0.725,6,0.000,0.032,3464,1689,1786,0,0,0,0,0,0
$GC,12058,0.70,314.0,234.2,15.6,1037,12066,0.00,2.25,0.00,0.000,4,0.000,0.059,3473,292,1781,0,0,0,0,0,0
$GC,12101,0.72,314.0,228.1,13.9,1044,12108,0.00,2.08,0.00,0.000,6,0.000,0.032,3473,1677,1780,0,0,0,0,0,0
$GC,12447,0.78,349.8,182.5,12.1,1105,12479,0.10,0.00,29.83,0.657,6,0.096,0.000,3574,1679,1640,0,0,0,0,0,0
$GC,12816,0.75,349.8,102.8,16.0,1170,12823,0.25,2.20,0.00,0.000,4,0.132,0.053,3496,293,1636,0,0,0,0,0,0
$GC,12858,0.92,446.0,98.3,9.0,1177,12945,0.15,2.05,76.20,0.592,6,0.065,0.032,3617,1662,1247,0,0,0,0,0,0
$GC,13282,0.89,446.0,7.6,19.8,1251,13290,0.25,2.20,0.00,0.000,4,0.132,0.054,3540,290,1242,0,0,0,0,0,0
$STATE,13306,end climb,SURFACE_DEPTH_REACHED
$STATE,13306,begin surface coast
$FINISH,3.0,1.022504
$STATE,13324,end surface coast,CONTROL_FINISHED_OK
$STATE,13324,begin surface
$SM_CCo,13404,0.00,0.000,0,0,1236,449.14
$SM_GC,3.64,8.35,0.00,0.00,0.020,0.000,0.000,103,1571,1236,-9.68,0.65,449.14
$IRIDIUM_FIX,2145.77,12605.74,071110,141456
$TT8_MAMPS,0.026964
$HUMID,49.21
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,23.0,62.807
$10V_AH,10.1,45.209
$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,23.850,109.500,531.225,0.000,0.000,28.067,49.457,155.841,0.750,0.000,15.475,3082.077,7502.640,638.421,2275.535,258.668,0.000,1757.842,0.000,2025.064,0.000,0.538,0.000
$DEVICE_MAMPS,181.305,68.085,1216.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,73497,1258
$CAP_FILE_SIZE,150310,0
$CFSIZE,260165632,226041856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,175.6,1
$GPS,071110,215105,2147.458,12606.719,34,0.8,36,-3.0