version: 66.08
glider: 168
mission: 2
dive: 476
start: 11 11 110 13 18 3
data:
$ID,168
$MISSION,2
$DIVE,476
$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,-3879.1902
$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,29
$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
$GPS1,111110,131230,2121.072,12559.646,34,0.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.38
$_SM_ANGLEo,-72.6
$GPS2,111110,131725,2121.017,12559.620,13,1.0,13,-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,62.0,2931,-23.5,-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,-0.70,-142.3,0.0,0.0,0,25,0.00,0.00,-7.20,0.000,2,0.000,0.000,104,1543,641,0,0,0,0,0,0
$GC,27,-0.75,-185.1,4.5,-0.0,1,167,9.65,2.25,-117.72,0.000,4,0.161,0.057,3002,2944,3825,0,0,0,0,0,0
$GC,180,-0.71,-185.1,11.2,-20.7,26,188,0.08,2.20,0.00,0.000,6,0.160,0.044,3025,1543,3825,0,0,0,0,0,0
$GC,525,-0.68,-185.1,109.5,-25.8,87,531,0.00,2.15,0.00,0.000,4,0.000,0.052,3026,165,3825,0,0,0,0,0,0
$GC,573,-0.66,-185.1,121.5,-23.6,95,581,0.08,2.08,0.00,0.000,6,0.171,0.039,3041,1534,3826,0,0,0,0,0,0
$GC,918,-0.68,-185.1,184.3,-16.4,156,925,0.00,2.20,0.00,0.000,4,0.000,0.044,3032,2961,3826,0,0,0,0,0,0
$GC,942,-0.71,-185.1,188.3,-16.0,160,949,0.00,2.20,0.00,0.000,6,0.000,0.044,3032,1544,3826,0,0,0,0,0,0
$GC,1286,-0.73,-185.1,243.6,-14.6,221,1293,0.00,2.15,0.00,0.000,4,0.000,0.052,3032,159,3826,0,0,0,0,0,0
$GC,1340,-0.76,-185.1,251.6,-14.1,230,1348,0.00,2.10,0.00,0.000,6,0.000,0.039,3023,1541,3826,0,0,0,0,0,0
$GC,1690,-0.78,-185.1,304.0,-14.8,290,1695,0.08,2.20,0.00,0.000,4,0.122,0.046,2879,2960,3826,0,0,0,0,0,0
$GC,1739,-0.74,-185.1,314.5,-22.7,294,1749,0.40,2.20,0.00,0.000,6,0.106,0.044,3014,1540,3826,0,0,0,0,0,0
$GC,2065,-0.76,-185.1,361.9,-14.6,325,2069,0.00,2.12,0.00,0.000,4,0.000,0.054,3014,165,3825,0,0,0,0,0,0
$GC,2087,-0.79,-185.1,365.7,-15.8,326,2095,0.00,2.10,0.00,0.000,6,0.000,0.039,3005,1533,3825,0,0,0,0,0,0
$GC,2413,-0.81,-185.1,412.4,-12.8,357,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1536,3823,0,0,0,0,0,0
$GC,2734,-0.84,-185.1,453.7,-12.8,387,2739,0.08,2.22,0.00,0.000,4,0.121,0.047,2864,2964,3821,0,0,0,0,0,0
$GC,2810,-0.80,-185.1,468.6,-21.8,393,2815,0.40,2.22,0.00,0.000,6,0.108,0.047,2998,1543,3821,0,0,0,0,0,0
$GC,3138,-0.83,-185.1,512.0,-12.6,423,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1543,3819,0,0,0,0,0,0
$GC,3465,-0.86,-185.1,553.0,-12.3,454,3470,0.10,2.20,0.00,0.000,4,0.092,0.058,2869,166,3816,0,0,0,0,0,0
$GC,3521,-0.81,-185.1,565.2,-23.2,458,3530,0.40,2.10,0.00,0.000,6,0.123,0.041,2989,1536,3815,0,0,0,0,0,0
$GC,3845,-0.84,-185.1,608.4,-12.5,486,3849,0.00,2.22,0.00,0.000,4,0.000,0.049,2980,2962,3813,0,0,0,0,0,0
$GC,3895,-0.90,-185.1,614.5,-10.8,488,3900,0.00,2.25,0.00,0.000,6,0.000,0.049,2980,1540,3813,0,0,0,0,0,0
$GC,4213,-0.92,-185.1,656.6,-13.5,503,4218,0.08,2.25,0.00,0.000,4,0.116,0.049,2851,2957,3810,0,0,0,0,0,0
$GC,4275,-0.89,-185.1,669.5,-21.7,506,4280,0.35,2.22,0.00,0.000,6,0.109,0.049,2969,1544,3809,0,0,0,0,0,0
$GC,4605,-0.91,-185.1,716.6,-13.5,522,4609,0.00,2.20,0.00,0.000,4,0.000,0.060,2969,155,3807,0,0,0,0,0,0
$GC,4631,-0.92,-185.1,720.9,-15.0,523,4635,0.00,2.12,0.00,0.000,6,0.000,0.043,2961,1549,3806,0,0,0,0,0,0
$GC,4960,-0.94,-185.1,764.5,-13.1,539,4964,0.00,2.20,0.00,0.000,4,0.000,0.050,2951,2963,3802,0,0,0,0,0,0
$GC,5006,-0.98,-185.1,770.2,-11.3,541,5010,0.00,2.22,0.00,0.000,6,0.000,0.051,2950,1548,3802,0,0,0,0,0,0
$GC,5339,-0.99,-185.1,816.2,-14.4,557,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1547,3800,0,0,0,0,0,0
$GC,5648,-1.00,-185.1,861.3,-14.7,572,5653,0.08,2.25,0.00,0.000,4,0.119,0.050,2837,2968,3797,0,0,0,0,0,0
$GC,5681,-0.96,-185.1,867.6,-20.3,573,5686,0.32,2.28,0.00,0.000,6,0.112,0.051,2947,1543,3796,0,0,0,0,0,0
$GC,5998,-0.98,-185.1,914.9,-14.5,588,6002,0.00,2.22,0.00,0.000,4,0.000,0.050,2938,2964,3793,0,0,0,0,0,0
$GC,6042,-1.01,-185.1,921.4,-13.5,590,6046,0.00,2.28,0.00,0.000,6,0.000,0.053,2937,1545,3793,0,0,0,0,0,0
$GC,6363,-1.01,-185.1,970.2,-15.2,606,6367,0.00,2.22,0.00,0.000,4,0.000,0.050,2927,2961,3791,0,0,0,0,0,0
$GC,6408,-1.03,-185.1,976.7,-13.7,608,6412,0.00,2.25,0.00,0.000,6,0.000,0.053,2927,1555,3791,0,0,0,0,0,0
$STATE,6562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6562,begin apogee
$GC,6567,0.00,0.0,1000.8,15.7,616,6727,0.90,0.00,153.10,1.210,4,0.093,0.000,3250,1708,3067,0,0,0,0,0,0
$STATE,6727,end apogee,CONTROL_FINISHED_OK
$STATE,6727,begin climb
$GC,6730,0.75,185.1,1007.5,0.0,623,6899,0.65,2.42,161.60,1.138,4,0.028,0.063,3546,290,2314,0,0,0,0,0,0
$GC,6973,0.67,185.1,970.7,25.9,634,6982,0.28,2.22,0.00,0.000,6,0.136,0.033,3464,1710,2304,0,0,0,0,0,0
$GC,7290,0.65,185.1,913.0,17.6,650,7294,0.00,2.15,0.00,0.000,4,0.000,0.043,3464,3111,2298,0,0,0,0,0,0
$GC,7369,0.64,185.1,898.1,18.7,653,7376,0.08,2.28,0.00,0.000,6,0.197,0.050,3455,1692,2297,0,0,0,0,0,0
$GC,7685,0.62,185.1,842.7,18.1,669,7689,0.00,2.17,0.00,0.000,4,0.000,0.043,3455,3106,2295,0,0,0,0,0,0
$GC,7719,0.61,185.1,836.5,18.6,670,7727,0.08,2.25,0.00,0.000,6,0.194,0.050,3446,1698,2294,0,0,0,0,0,0
$GC,8035,0.61,185.1,783.7,16.5,686,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1698,2293,0,0,0,0,0,0
$GC,8345,0.61,185.1,731.8,17.1,701,8349,0.00,2.20,0.00,0.000,4,0.000,0.043,3446,3111,2292,0,0,0,0,0,0
$GC,8366,0.61,185.1,727.8,17.5,702,8370,0.00,2.28,0.00,0.000,6,0.000,0.050,3457,1703,2292,0,0,0,0,0,0
$GC,8694,0.60,185.1,670.6,17.5,718,8698,0.00,2.25,0.00,0.000,4,0.000,0.062,3467,289,2291,0,0,0,0,0,0
$GC,8715,0.59,185.1,666.4,18.8,719,8720,0.10,2.15,0.00,0.000,6,0.164,0.035,3438,1700,2290,0,0,0,0,0,0
$GC,9037,0.59,185.1,618.0,14.3,735,9041,0.00,2.15,0.00,0.000,4,0.000,0.045,3438,3107,2289,0,0,0,0,0,0
$GC,9086,0.60,185.1,610.4,14.6,737,9090,0.00,2.20,0.00,0.000,6,0.000,0.049,3449,1705,2289,0,0,0,0,0,0
$GC,9418,0.62,195.8,566.2,13.2,764,9426,0.00,0.00,6.28,0.797,6,0.000,0.000,3449,1705,2269,0,0,0,0,0,0
$GC,9745,0.62,195.8,523.6,14.0,795,9749,0.00,2.25,0.00,0.000,4,0.000,0.061,3460,292,2267,0,0,0,0,0,0
$GC,9784,0.62,195.8,517.8,14.7,798,9788,0.00,2.12,0.00,0.000,6,0.000,0.034,3460,1702,2267,0,0,0,0,0,0
$GC,10109,0.62,195.8,469.6,14.7,828,10113,0.00,2.15,0.00,0.000,4,0.000,0.044,3460,3110,2267,0,0,0,0,0,0
$GC,10138,0.62,195.8,465.1,16.0,830,10143,0.08,2.22,0.00,0.000,6,0.187,0.049,3450,1695,2266,0,0,0,0,0,0
$GC,10464,0.65,215.7,421.5,12.6,860,10485,0.00,0.00,18.95,0.855,6,0.000,0.000,3451,1695,2187,0,0,0,0,0,0
$GC,10803,0.71,249.5,379.3,11.7,892,10836,0.10,0.00,30.52,0.829,6,0.099,0.000,3542,1695,2050,0,0,0,0,0,0
$GC,11151,0.67,249.5,310.5,21.6,925,11156,0.25,2.25,0.00,0.000,4,0.139,0.055,3468,290,2042,0,0,0,0,0,0
$GC,11161,0.64,249.5,307.8,22.4,925,11168,0.00,2.17,0.00,0.000,6,0.000,0.032,3468,1717,2042,0,0,0,0,0,0
$GC,11501,0.67,256.4,259.6,13.4,982,11515,0.00,2.20,6.10,0.595,4,0.000,0.043,3468,3114,2021,0,0,0,0,0,0
$GC,11529,0.69,260.1,255.9,13.6,986,11543,0.00,2.25,4.62,0.523,6,0.000,0.047,3474,1693,2006,0,0,0,0,0,0
$GC,11882,0.76,291.7,211.9,11.8,1048,11920,0.08,2.30,28.00,0.684,4,0.119,0.056,3580,294,1877,0,0,0,0,0,0
$GC,11956,0.73,291.7,197.9,18.7,1060,11964,0.30,2.15,0.00,0.000,6,0.117,0.031,3481,1700,1874,0,0,0,0,0,0
$GC,12302,0.83,347.9,157.0,10.2,1121,12358,0.12,2.33,46.17,0.635,4,0.077,0.054,3603,296,1647,0,0,0,0,0,0
$GC,12432,0.81,347.9,131.9,19.5,1143,12440,0.30,2.12,0.00,0.000,6,0.115,0.031,3505,1689,1643,0,0,0,0,0,0
$GC,12779,0.96,428.0,96.4,8.6,1204,12853,0.15,2.33,63.50,0.574,4,0.067,0.055,3642,296,1322,0,0,0,0,0,0
$GC,12917,0.95,428.0,68.0,22.5,1227,12924,0.28,2.10,0.00,0.000,6,0.118,0.029,3553,1680,1317,0,0,0,0,0,0
$GC,13264,0.98,428.0,12.7,18.3,1288,13270,0.00,2.20,0.00,0.000,4,0.000,0.054,3562,293,1316,0,0,0,0,0,0
$GC,13322,1.04,428.0,3.7,15.5,1298,13331,0.10,2.05,0.00,0.000,6,0.126,0.028,3601,1676,1312,0,0,0,0,0,0
$GC,13671,1.47,637.1,3.6,0.2,1359,13679,0.30,0.00,5.78,0.380,2,0.057,0.000,3743,1679,1272,0,0,0,0,0,0
$FREEZE,3.69,26.364,-1.860,0,1,0
$STATE,13681,end climb,NO_VERTICAL_VELOCITY
$STATE,13681,begin surface
$SM_CCo,13685,99.82,0.490,0,0,413,650.78
$SM_GC,4.42,8.88,0.00,0.00,0.021,0.000,0.000,103,1528,409,-9.69,-0.54,652.25
$IRIDIUM_FIX,2113.32,12559.43,111110,090909
$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.10
$XPDR_PINGS,16
$24V_AH,23.2,66.905
$10V_AH,10.2,47.025
$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,25.075,128.250,524.625,99.825,0.000,30.792,16.762,120.721,4.000,0.000,15.905,3330.489,7566.719,762.580,2381.504,281.564,0.000,1971.178,0.000,2189.984,0.000,0.539,0.000
$DEVICE_MAMPS,197.370,74.205,1210.230,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76813,1360
$CAP_FILE_SIZE,162455,0
$CFSIZE,260165632,224243712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,157.6,1
$GPS,111110,171255,2121.787,12601.715,37,1.7,37,-2.9