version: 66.08
glider: 168
mission: 2
dive: 473
start: 11 11 110 2 31 0
data:
$ID,168
$MISSION,2
$DIVE,473
$N_DIVES,484
$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,-3872.802
$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,41
$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
$GPS1,111110,022355,2120.963,12559.855,39,1.2,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.28
$_SM_ANGLEo,-69.9
$GPS2,111110,023032,2120.874,12559.780,13,1.2,13,-2.9
$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,46.2,2794,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,23,0.00,0.00,-6.60,0.000,2,0.000,0.000,104,1527,619,0,0,0,0,0,0
$GC,26,-0.68,-185.1,4.3,-0.0,1,164,9.73,2.30,-119.38,0.000,4,0.161,0.057,3025,2951,3824,0,0,0,0,0,0
$GC,204,-0.68,-185.1,15.5,-18.8,30,211,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,1562,3825,0,0,0,0,0,0
$GC,548,-0.62,-185.1,119.1,-25.3,91,556,0.10,2.17,0.00,0.000,4,0.174,0.051,3056,163,3825,0,0,0,0,0,0
$GC,603,-0.62,-185.1,130.9,-18.5,100,609,0.00,2.10,0.00,0.000,6,0.000,0.038,3048,1541,3825,0,0,0,0,0,0
$GC,946,-0.62,-185.1,192.0,-14.1,161,952,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1544,3826,0,0,0,0,0,0
$GC,1290,-0.63,-185.1,240.2,-13.3,222,1297,0.00,2.17,0.00,0.000,4,0.000,0.045,3038,2959,3826,0,0,0,0,0,0
$GC,1331,-0.68,-185.1,245.1,-10.7,229,1338,0.00,2.17,0.00,0.000,6,0.000,0.042,3037,1537,3826,0,0,0,0,0,0
$GC,1676,-0.69,-185.1,292.6,-14.2,290,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1537,3826,0,0,0,0,0,0
$GC,2009,-0.71,-185.1,335.9,-12.6,326,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1537,3826,0,0,0,0,0,0
$GC,2331,-0.73,-185.1,372.2,-9.8,356,2337,0.08,0.00,0.00,0.000,6,0.122,0.000,2922,1537,3824,0,0,0,0,0,0
$GC,2656,-0.68,-185.1,435.9,-21.0,387,2658,0.35,0.00,0.00,0.000,6,0.110,0.000,3042,1537,3821,0,0,0,0,0,0
$GC,2975,-0.72,-185.1,469.5,-10.2,417,2980,0.08,2.25,0.00,0.000,4,0.118,0.050,2929,2961,3820,0,0,0,0,0,0
$GC,3038,-0.71,-185.1,479.3,-17.2,422,3043,0.30,2.20,0.00,0.000,6,0.104,0.047,3031,1554,3819,0,0,0,0,0,0
$GC,3365,-0.75,-185.1,515.7,-11.0,452,3372,0.08,0.00,0.00,0.000,6,0.119,0.000,2923,1554,3816,0,0,0,0,0,0
$GC,3691,-0.71,-185.1,579.5,-19.1,483,3696,0.30,2.22,0.00,0.000,4,0.113,0.047,3022,2957,3813,0,0,0,0,0,0
$GC,3743,-0.77,-185.1,585.6,-8.3,487,3748,0.08,2.20,0.00,0.000,6,0.112,0.047,2926,1554,3813,0,0,0,0,0,0
$GC,4063,-0.74,-185.1,642.5,-18.5,506,4065,0.28,0.00,0.00,0.000,6,0.114,0.000,3016,1553,3811,0,0,0,0,0,0
$GC,4372,-0.77,-185.1,675.5,-10.0,521,4376,0.00,2.20,0.00,0.000,4,0.000,0.051,3009,2956,3807,0,0,0,0,0,0
$GC,4405,-0.82,-185.1,679.0,-9.6,522,4412,0.08,2.20,0.00,0.000,6,0.114,0.050,2913,1553,3807,0,0,0,0,0,0
$GC,4721,-0.78,-185.1,736.1,-18.5,538,4726,0.25,2.20,0.00,0.000,4,0.115,0.050,2993,2956,3804,0,0,0,0,0,0
$GC,4743,-0.78,-185.1,739.9,-15.9,539,4747,0.00,2.20,0.00,0.000,6,0.000,0.051,2994,1557,3804,0,0,0,0,0,0
$GC,5071,-0.80,-185.1,776.6,-11.5,555,5075,0.00,2.20,0.00,0.000,4,0.000,0.052,2985,2962,3801,0,0,0,0,0,0
$GC,5104,-0.84,-185.1,780.6,-11.0,556,5111,0.00,2.20,0.00,0.000,6,0.000,0.051,2985,1562,3800,0,0,0,0,0,0
$GC,5421,-0.86,-185.1,817.9,-11.8,572,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1562,3798,0,0,0,0,0,0
$GC,5731,-0.88,-185.1,854.1,-11.5,587,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1562,3795,0,0,0,0,0,0
$GC,6039,-0.90,-185.1,887.7,-10.6,602,6044,0.08,2.22,0.00,0.000,4,0.117,0.053,2875,2961,3792,0,0,0,0,0,0
$GC,6060,-0.89,-185.1,890.9,-13.8,603,6065,0.28,2.22,0.00,0.000,6,0.108,0.053,2967,1565,3792,0,0,0,0,0,0
$GC,6384,-0.90,-185.1,930.8,-12.3,619,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1565,3789,0,0,0,0,0,0
$GC,6691,-0.91,-185.1,969.0,-12.4,634,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1565,3788,0,0,0,0,0,0
$STATE,6957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6957,begin apogee
$GC,6962,0.00,0.0,1002.2,12.3,647,7120,0.77,0.00,152.68,1.214,4,0.088,0.000,3252,1712,3068,0,0,0,0,0,0
$STATE,7121,end apogee,CONTROL_FINISHED_OK
$STATE,7121,begin climb
$GC,7124,0.68,185.1,1008.2,0.0,654,7294,0.60,2.33,162.32,1.147,4,0.031,0.050,3525,3102,2313,0,0,0,0,0,0
$GC,7473,0.61,185.1,947.5,24.0,670,7481,0.30,2.28,0.00,0.000,6,0.151,0.050,3447,1698,2303,0,0,0,0,0,0
$GC,7790,0.58,185.1,891.9,17.4,686,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1698,2298,0,0,0,0,0,0
$GC,8099,0.55,185.1,839.1,16.7,701,8101,0.08,0.00,0.00,0.000,6,0.197,0.000,3427,1698,2295,0,0,0,0,0,0
$GC,8408,0.53,185.1,793.6,14.7,716,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1698,2294,0,0,0,0,0,0
$GC,8718,0.52,185.1,748.8,14.9,731,8722,0.00,2.28,0.00,0.000,4,0.000,0.063,3438,293,2294,0,0,0,0,0,0
$GC,8736,0.50,185.1,746.0,15.3,732,8740,0.10,2.15,0.00,0.000,6,0.148,0.035,3408,1699,2292,0,0,0,0,0,0
$GC,9063,0.52,205.4,703.8,12.9,748,9084,0.00,0.00,15.77,1.029,6,0.000,0.000,3407,1701,2229,0,0,0,0,0,0
$GC,9397,0.57,235.8,661.7,12.4,764,9432,0.10,2.40,27.98,1.018,4,0.093,0.062,3500,288,2105,0,0,0,0,0,0
$GC,9443,0.52,235.8,653.2,18.8,766,9448,0.28,2.17,0.00,0.000,6,0.126,0.035,3414,1694,2104,0,0,0,0,0,0
$GC,9766,0.58,271.1,611.7,12.1,782,9800,0.08,0.00,30.75,0.946,6,0.122,0.000,3486,1696,1962,0,0,0,0,0,0
$GC,10105,0.55,271.1,550.2,18.2,810,10107,0.20,0.00,0.00,0.000,6,0.129,0.000,3423,1696,1953,0,0,0,0,0,0
$GC,10424,0.59,290.3,508.8,12.9,840,10447,0.08,2.35,16.52,0.904,4,0.117,0.062,3511,290,1884,0,0,0,0,0,0
$GC,10459,0.56,290.3,502.4,19.2,843,10467,0.25,2.17,0.00,0.000,6,0.125,0.034,3433,1699,1882,0,0,0,0,0,0
$GC,10786,0.57,290.3,454.8,14.9,874,10790,0.00,2.33,0.00,0.000,4,0.000,0.063,3442,288,1878,0,0,0,0,0,0
$GC,10821,0.58,290.3,449.3,15.0,876,10828,0.00,2.12,0.00,0.000,6,0.000,0.035,3442,1687,1877,0,0,0,0,0,0
$GC,11146,0.61,300.2,404.0,13.4,907,11160,0.00,2.33,9.20,0.776,4,0.000,0.062,3452,293,1844,0,0,0,0,0,0
$GC,11222,0.65,318.9,393.8,12.9,913,11244,0.00,2.10,17.48,0.823,6,0.000,0.034,3451,1678,1767,0,0,0,0,0,0
$GC,11565,0.67,322.2,347.0,13.7,945,11569,0.00,2.22,0.00,0.000,4,0.000,0.061,3460,293,1761,0,0,0,0,0,0
$GC,11605,0.72,345.2,341.5,12.7,948,11639,0.08,2.08,23.10,0.790,6,0.119,0.033,3548,1669,1659,0,0,0,0,0,0
$GC,11967,0.67,345.2,260.2,21.9,996,11974,0.25,2.20,0.00,0.000,4,0.135,0.058,3472,293,1654,0,0,0,0,0,0
$GC,12015,0.70,354.4,251.5,13.4,1004,12029,0.00,2.08,8.45,0.649,6,0.000,0.033,3472,1669,1622,0,0,0,0,0,0
$GC,12367,0.72,354.4,202.7,14.6,1066,12373,0.00,2.22,0.00,0.000,4,0.000,0.060,3479,287,1620,0,0,0,0,0,0
$GC,12427,0.81,400.7,194.5,11.6,1076,12477,0.10,2.08,39.15,0.676,6,0.092,0.033,3581,1659,1432,0,0,0,0,0,0
$GC,12813,0.79,400.7,112.6,16.7,1144,12822,0.25,2.17,0.00,0.000,4,0.125,0.054,3503,289,1427,0,0,0,0,0,0
$GC,12864,1.01,521.9,107.5,7.8,1152,12968,0.20,2.05,94.25,0.601,6,0.053,0.032,3629,1645,938,0,0,0,0,0,0
$GC,13303,1.39,746.4,3.9,2.6,1229,13375,0.20,2.28,65.10,0.516,4,0.067,0.057,3728,286,413,0,0,0,0,0,0
$GC,13410,1.91,1019.5,3.4,0.1,1247,13418,0.38,2.08,0.00,0.000,6,0.059,0.031,3882,1644,411,0,0,0,0,0,0
$FREEZE,3.52,26.351,-1.134,0,1,0
$STATE,13451,end climb,NO_VERTICAL_VELOCITY
$STATE,13451,begin surface
$SM_CCo,13685,0.00,0.000,0,0,409,652.25
$SM_GC,4.28,9.30,0.00,0.00,0.023,0.000,0.000,105,1537,409,-9.70,-0.37,652.25
$IRIDIUM_FIX,2113.32,12559.43,101110,222221
$TT8_MAMPS,0.026964
$HUMID,49.33
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.30
$XPDR_PINGS,18
$24V_AH,23.1,66.432
$10V_AH,10.2,46.804
$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,25.600,88.425,662.750,0.000,0.000,24.316,45.568,185.321,4.500,0.000,16.740,3011.288,7798.656,733.506,2273.723,261.055,0.000,1854.402,0.000,1995.290,0.000,0.538,0.000
$DEVICE_MAMPS,197.370,88.740,1214.055,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70284,1254
$CAP_FILE_SIZE,147122,0
$CFSIZE,260165632,224477184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,254.3,1
$GPS,111110,062007,2122.154,12600.549,27,1.1,27,-2.9