version: 66.08
glider: 168
mission: 2
dive: 456
start: 11 8 110 9 45 29
data:
$ID,168
$MISSION,2
$DIVE,456
$N_DIVES,468
$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,-3806.0591
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,081110,094007,2140.591,12604.177,34,1.0,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.78
$_SM_ANGLEo,-71.6
$GPS2,081110,094501,2140.555,12604.170,10,1.5,15,-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,182.5,35477,-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,-185.1,0.0,0.0,0,24,0.00,0.00,-7.38,0.000,2,0.000,0.000,104,1525,641,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.8,-0.0,1,162,9.77,2.12,-114.90,0.000,4,0.163,0.065,3037,172,3824,0,0,0,0,0,0
$GC,281,-0.65,-185.1,36.3,-23.8,44,288,0.05,2.08,0.00,0.000,6,0.216,0.041,3042,1538,3825,0,0,0,0,0,0
$GC,625,-0.61,-185.1,124.9,-21.9,105,632,0.00,2.20,0.00,0.000,4,0.000,0.042,3032,2966,3825,0,0,0,0,0,0
$GC,680,-0.63,-185.1,134.5,-16.0,114,687,0.08,2.17,0.00,0.000,6,0.151,0.044,3059,1554,3825,0,0,0,0,0,0
$GC,1025,-0.64,-185.1,185.7,-15.0,175,1032,0.00,2.17,0.00,0.000,4,0.000,0.053,3060,161,3826,0,0,0,0,0,0
$GC,1130,-0.70,-185.1,198.5,-10.2,193,1139,0.10,2.08,0.00,0.000,6,0.090,0.037,2955,1544,3826,0,0,0,0,0,0
$GC,1475,-0.64,-185.1,278.7,-25.3,254,1483,0.25,2.17,0.00,0.000,4,0.120,0.041,3037,2967,3826,0,0,0,0,0,0
$GC,1540,-0.69,-185.1,289.4,-11.3,265,1548,0.00,2.20,0.00,0.000,6,0.000,0.042,3037,1542,3826,0,0,0,0,0,0
$GC,1873,-0.70,-185.1,334.4,-13.4,303,1877,0.00,2.15,0.00,0.000,4,0.000,0.054,3036,165,3826,0,0,0,0,0,0
$GC,1891,-0.72,-185.1,336.8,-13.4,304,1894,0.00,2.10,0.00,0.000,6,0.000,0.041,3036,1553,3826,0,0,0,0,0,0
$GC,2222,-0.74,-185.1,377.9,-12.2,335,2227,0.08,2.20,0.00,0.000,4,0.123,0.046,2904,2960,3825,0,0,0,0,0,0
$GC,2278,-0.70,-185.1,388.1,-20.0,339,2285,0.38,2.20,0.00,0.000,6,0.106,0.044,3033,1542,3825,0,0,0,0,0,0
$GC,2604,-0.73,-185.1,431.0,-12.9,370,2608,0.00,2.20,0.00,0.000,4,0.000,0.045,3027,2959,3823,0,0,0,0,0,0
$GC,2627,-0.76,-185.1,434.0,-12.3,372,2632,0.08,2.17,0.00,0.000,6,0.116,0.044,2923,1544,3824,0,0,0,0,0,0
$GC,2953,-0.70,-185.1,506.7,-22.7,402,2958,0.30,2.17,0.00,0.000,4,0.121,0.042,3014,2960,3822,0,0,0,0,0,0
$GC,2993,-0.73,-185.1,512.8,-12.6,405,2997,0.00,2.17,0.00,0.000,6,0.000,0.046,3014,1552,3821,0,0,0,0,0,0
$GC,3319,-0.76,-185.1,549.7,-10.9,435,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1552,3819,0,0,0,0,0,0
$GC,3641,-0.78,-185.1,584.9,-10.8,465,3645,0.00,2.17,0.00,0.000,4,0.000,0.047,3007,2957,3816,0,0,0,0,0,0
$GC,3686,-0.83,-185.1,589.9,-9.4,468,3694,0.08,2.20,0.00,0.000,6,0.113,0.046,2906,1553,3816,0,0,0,0,0,0
$GC,4006,-0.77,-185.1,653.5,-20.8,487,4010,0.28,2.20,0.00,0.000,4,0.114,0.045,2996,2957,3814,0,0,0,0,0,0
$GC,4050,-0.81,-185.1,660.8,-11.9,489,4054,0.00,2.20,0.00,0.000,6,0.000,0.048,2996,1562,3813,0,0,0,0,0,0
$GC,4372,-0.83,-185.1,699.7,-12.1,505,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1562,3811,0,0,0,0,0,0
$GC,4682,-0.85,-185.1,737.0,-11.7,520,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1562,3808,0,0,0,0,0,0
$GC,4990,-0.87,-185.1,772.4,-11.1,535,4995,0.08,2.22,0.00,0.000,4,0.118,0.050,2877,2964,3804,0,0,0,0,0,0
$GC,5023,-0.84,-185.1,777.6,-16.9,536,5028,0.32,2.20,0.00,0.000,6,0.104,0.051,2989,1566,3804,0,0,0,0,0,0
$GC,5341,-0.85,-185.1,813.7,-10.9,551,5345,0.00,2.17,0.00,0.000,4,0.000,0.048,2981,2956,3801,0,0,0,0,0,0
$GC,5362,-0.88,-185.1,816.4,-10.6,552,5366,0.00,2.17,0.00,0.000,6,0.000,0.050,2981,1574,3801,0,0,0,0,0,0
$GC,5685,-0.89,-185.1,854.1,-11.7,568,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1574,3798,0,0,0,0,0,0
$GC,5994,-0.90,-185.1,890.8,-11.9,583,5995,0.08,0.00,0.00,0.000,6,0.117,0.000,2877,1573,3796,0,0,0,0,0,0
$GC,6304,-0.84,-185.1,953.3,-20.6,598,6309,0.30,2.17,0.00,0.000,4,0.113,0.048,2974,2957,3793,0,0,0,0,0,0
$GC,6359,-0.88,-185.1,960.8,-9.6,600,6366,0.00,2.20,0.00,0.000,6,0.000,0.053,2974,1580,3793,0,0,0,0,0,0
$GC,6676,-0.89,-185.1,994.7,-11.1,616,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1580,3791,0,0,0,0,0,0
$STATE,6735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6735,begin apogee
$GC,6740,0.00,0.0,1001.5,11.1,619,6899,0.75,0.00,152.25,1.217,4,0.084,0.000,3251,1707,3068,0,0,0,0,0,0
$STATE,6900,end apogee,CONTROL_FINISHED_OK
$STATE,6900,begin climb
$GC,6903,0.68,185.1,1006.5,0.0,626,7072,0.60,2.33,161.18,1.147,4,0.030,0.047,3524,3105,2313,0,0,0,0,0,0
$GC,7215,0.61,185.1,953.0,24.1,641,7220,0.30,2.28,0.00,0.000,6,0.151,0.049,3447,1701,2304,0,0,0,0,0,0
$GC,7544,0.58,185.1,895.6,17.0,657,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1700,2298,0,0,0,0,0,0
$GC,7852,0.54,185.1,846.0,15.6,672,7856,0.08,2.20,0.00,0.000,4,0.198,0.041,3427,3111,2297,0,0,0,0,0,0
$GC,7878,0.52,185.1,841.5,15.8,673,7883,0.08,2.25,0.00,0.000,6,0.185,0.050,3417,1698,2297,0,0,0,0,0,0
$GC,8202,0.52,195.2,798.9,13.4,689,8216,0.00,2.35,7.20,0.939,4,0.000,0.066,3426,295,2272,0,0,0,0,0,0
$GC,8239,0.52,195.2,793.0,14.6,690,8246,0.00,2.15,0.00,0.000,6,0.000,0.035,3426,1696,2270,0,0,0,0,0,0
$GC,8556,0.50,195.2,746.9,14.8,706,8560,0.00,2.30,0.00,0.000,4,0.000,0.064,3437,288,2268,0,0,0,0,0,0
$GC,8578,0.49,195.2,743.2,15.4,707,8582,0.10,2.15,0.00,0.000,6,0.153,0.036,3407,1694,2267,0,0,0,0,0,0
$GC,8899,0.53,231.5,701.8,12.1,723,8938,0.00,0.00,33.05,1.055,6,0.000,0.000,3407,1696,2124,0,0,0,0,0,0
$GC,9249,0.59,268.3,658.5,12.0,740,9293,0.10,2.40,31.88,0.972,4,0.095,0.064,3500,296,1972,0,0,0,0,0,0
$GC,9298,0.54,268.3,649.6,19.7,742,9303,0.25,2.15,0.00,0.000,6,0.129,0.034,3424,1692,1971,0,0,0,0,0,0
$GC,9622,0.55,268.3,603.4,14.1,758,9626,0.00,2.28,0.00,0.000,4,0.000,0.064,3435,296,1964,0,0,0,0,0,0
$GC,9650,0.56,268.3,599.0,14.5,759,9654,0.00,2.12,0.00,0.000,6,0.000,0.035,3435,1693,1963,0,0,0,0,0,0
$GC,9975,0.56,268.3,549.9,15.4,789,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1695,1961,0,0,0,0,0,0
$GC,10295,0.56,268.3,500.3,15.7,819,10299,0.00,2.28,0.00,0.000,4,0.000,0.065,3444,289,1961,0,0,0,0,0,0
$GC,10339,0.57,268.3,493.1,14.9,822,10346,0.00,2.12,0.00,0.000,6,0.000,0.035,3444,1684,1959,0,0,0,0,0,0
$GC,10664,0.57,268.3,444.7,14.1,853,10668,0.00,2.28,0.00,0.000,4,0.000,0.063,3454,290,1960,0,0,0,0,0,0
$GC,10704,0.57,268.3,439.4,14.1,856,10709,0.08,2.10,0.00,0.000,6,0.165,0.034,3431,1675,1959,0,0,0,0,0,0
$GC,11030,0.59,270.0,395.6,13.8,886,11034,0.00,2.22,0.00,0.000,4,0.000,0.063,3440,293,1958,0,0,0,0,0,0
$GC,11053,0.61,270.3,392.3,13.9,887,11059,0.00,2.10,0.00,0.000,6,0.000,0.034,3440,1677,1958,0,0,0,0,0,0
$GC,11379,0.63,279.1,349.3,13.4,918,11389,0.00,0.00,8.27,0.715,6,0.000,0.000,3440,1679,1929,0,0,0,0,0,0
$GC,11707,0.68,305.7,307.7,12.5,949,11737,0.10,0.00,24.75,0.764,6,0.096,0.000,3537,1680,1820,0,0,0,0,0,0
$GC,12074,0.64,305.7,232.1,20.6,1010,12082,0.25,2.25,0.00,0.000,4,0.137,0.057,3463,294,1815,0,0,0,0,0,0
$GC,12139,0.73,351.5,222.3,11.6,1021,12185,0.08,2.08,38.45,0.700,6,0.116,0.033,3556,1674,1633,0,0,0,0,0,0
$GC,12521,0.70,351.5,142.5,17.9,1088,12528,0.25,2.25,0.00,0.000,4,0.134,0.057,3480,287,1626,0,0,0,0,0,0
$GC,12563,0.77,383.4,136.3,12.3,1095,12595,0.05,2.05,25.67,0.619,6,0.165,0.033,3566,1642,1504,0,0,0,0,0,0
$GC,12930,0.75,383.4,77.1,15.3,1160,12937,0.22,2.28,0.00,0.000,4,0.125,0.037,3493,3113,1499,0,0,0,0,0,0
$GC,12990,0.96,488.6,70.5,8.6,1170,13081,0.20,2.33,82.20,0.565,6,0.053,0.044,3602,1633,1075,0,0,0,0,0,0
$STATE,13372,end climb,SURFACE_DEPTH_REACHED
$STATE,13372,begin surface coast
$FINISH,3.0,1.022303
$STATE,13487,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13487,begin surface
$SM_CCo,13490,81.25,0.507,0,0,414,650.78
$SM_GC,3.89,8.60,0.00,0.00,0.021,0.000,0.000,105,1534,410,-9.70,-0.42,652.01
$IRIDIUM_FIX,2134.17,12604.88,081110,050518
$TT8_MAMPS,0.026964
$HUMID,47.00
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.50
$XPDR_PINGS,6
$24V_AH,23.1,63.538
$10V_AH,10.1,45.517
$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,24.275,110.100,564.900,81.250,0.000,28.390,14.871,122.743,1.500,0.000,16.144,3089.343,7775.008,749.615,2199.997,263.036,0.000,1872.270,0.000,2015.882,0.000,0.540,0.000
$DEVICE_MAMPS,215.730,100.980,1217.115,507.195,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334012
$DATA_FILE_SIZE,73740,1257
$CAP_FILE_SIZE,153291,0
$CFSIZE,260165632,225726464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,261.3,1
$GPS,081110,133631,2138.491,12603.582,39,1.1,39,-3.0