version: 66.08
glider: 168
mission: 2
dive: 392
start: 10 28 110 18 6 51
data:
$ID,168
$MISSION,2
$DIVE,392
$N_DIVES,400
$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,-3665.3459
$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,66
$R_STBD_OVSHOOT,48
$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
$GPS1,281010,180025,2351.903,12704.654,88,1.2,89,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-69.2
$GPS2,281010,180626,2351.918,12704.648,15,1.9,15,-3.6
$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,230.4,299126,-20.6,-13.889
$D_GRID,5000
$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,-185.1,0.0,0.0,0,79,0.00,0.00,-60.45,0.000,2,0.000,0.000,105,1513,2738,0,0,0,0,0,0
$GC,82,-0.68,-185.1,3.2,-0.7,10,125,10.27,2.25,-23.27,0.000,4,0.188,0.053,3018,2944,3825,0,0,0,0,0,0
$GC,189,-0.67,-185.1,29.7,-26.0,28,197,0.08,2.10,0.00,0.000,6,0.156,0.042,3042,1578,3826,0,0,0,0,0,0
$GC,534,-0.65,-185.1,112.3,-18.1,89,541,0.00,2.17,0.00,0.000,4,0.000,0.050,3043,164,3827,0,0,0,0,0,0
$GC,598,-0.67,-185.1,123.9,-15.9,100,605,0.00,2.08,0.00,0.000,6,0.000,0.037,3037,1541,3827,0,0,0,0,0,0
$GC,941,-0.65,-185.1,181.3,-17.3,161,949,0.00,2.17,0.00,0.000,4,0.000,0.043,3026,2967,3828,0,0,0,0,0,0
$GC,1017,-0.68,-185.1,192.6,-14.1,174,1024,0.00,2.15,0.00,0.000,6,0.000,0.040,3026,1550,3828,0,0,0,0,0,0
$GC,1361,-0.67,-185.1,248.8,-13.4,235,1367,0.00,2.17,0.00,0.000,4,0.000,0.044,3018,2964,3828,0,0,0,0,0,0
$GC,1375,-0.67,-185.1,250.9,-13.4,237,1383,0.08,2.15,0.00,0.000,6,0.151,0.042,3045,1555,3828,0,0,0,0,0,0
$GC,1722,-0.69,-185.1,290.7,-12.5,298,1729,0.00,2.15,0.00,0.000,4,0.000,0.052,3046,166,3828,0,0,0,0,0,0
$GC,1748,-0.71,-185.1,294.5,-13.5,302,1755,0.00,2.10,0.00,0.000,6,0.000,0.038,3040,1556,3828,0,0,0,0,0,0
$GC,2076,-0.72,-185.1,343.0,-14.5,336,2081,0.08,2.17,0.00,0.000,4,0.122,0.045,2913,2959,3827,0,0,0,0,0,0
$GC,2109,-0.68,-185.1,349.5,-21.5,338,2116,0.38,2.15,0.00,0.000,6,0.113,0.042,3039,1552,3827,0,0,0,0,0,0
$GC,2435,-0.70,-185.1,391.0,-11.0,369,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1552,3826,0,0,0,0,0,0
$GC,2754,-0.72,-185.1,424.9,-10.4,399,2759,0.08,2.20,0.00,0.000,4,0.121,0.047,2924,2956,3824,0,0,0,0,0,0
$GC,2787,-0.69,-185.1,429.9,-16.5,401,2795,0.32,2.15,0.00,0.000,6,0.112,0.044,3033,1558,3824,0,0,0,0,0,0
$GC,3112,-0.71,-185.1,466.2,-10.9,432,3116,0.00,2.15,0.00,0.000,4,0.000,0.046,3025,2956,3823,0,0,0,0,0,0
$GC,3135,-0.74,-185.1,468.8,-10.9,433,3143,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,1559,3822,0,0,0,0,0,0
$GC,3460,-0.76,-185.1,506.7,-12.4,464,3465,0.08,2.20,0.00,0.000,4,0.119,0.047,2907,2963,3820,0,0,0,0,0,0
$GC,3504,-0.73,-185.1,515.0,-20.1,467,3512,0.32,2.17,0.00,0.000,6,0.110,0.045,3016,1557,3820,0,0,0,0,0,0
$GC,3830,-0.75,-185.1,562.0,-14.1,498,3834,0.00,2.17,0.00,0.000,4,0.000,0.055,3016,165,3818,0,0,0,0,0,0
$GC,3863,-0.77,-185.1,566.7,-13.3,500,3870,0.00,2.12,0.00,0.000,6,0.000,0.039,3009,1563,3818,0,0,0,0,0,0
$GC,4188,-0.78,-185.1,605.7,-11.1,529,4191,0.00,2.12,0.00,0.000,4,0.000,0.047,3001,2958,3816,0,0,0,0,0,0
$GC,4238,-0.83,-185.1,610.9,-9.1,531,4242,0.00,2.12,0.00,0.000,6,0.000,0.044,3001,1572,3815,0,0,0,0,0,0
$GC,4560,-0.84,-185.1,646.7,-11.6,547,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1572,3812,0,0,0,0,0,0
$GC,4870,-0.85,-185.1,686.2,-13.2,562,4872,0.08,0.00,0.00,0.000,6,0.120,0.000,2890,1572,3810,0,0,0,0,0,0
$GC,5178,-0.79,-185.1,753.5,-21.9,577,5183,0.32,2.15,0.00,0.000,4,0.119,0.045,2991,2958,3807,0,0,0,0,0,0
$GC,5219,-0.81,-185.1,759.9,-12.9,579,5223,0.00,2.15,0.00,0.000,6,0.000,0.047,2991,1580,3807,0,0,0,0,0,0
$GC,5546,-0.82,-185.1,800.5,-12.4,595,5550,0.00,2.17,0.00,0.000,4,0.000,0.048,2987,2965,3805,0,0,0,0,0,0
$GC,5569,-0.85,-185.1,803.4,-12.2,596,5573,0.00,2.17,0.00,0.000,6,0.000,0.049,2987,1576,3805,0,0,0,0,0,0
$GC,5891,-0.86,-185.1,841.7,-11.9,612,5895,0.00,2.25,0.00,0.000,4,0.000,0.060,2987,162,3802,0,0,0,0,0,0
$GC,5925,-0.87,-185.1,846.0,-11.8,613,5933,0.00,2.17,0.00,0.000,6,0.000,0.039,2983,1582,3801,0,0,0,0,0,0
$GC,6242,-0.88,-185.1,883.2,-12.1,629,6246,0.00,2.12,0.00,0.000,4,0.000,0.049,2973,2955,3798,0,0,0,0,0,0
$GC,6288,-0.91,-185.1,888.5,-11.3,631,6292,0.00,2.17,0.00,0.000,6,0.000,0.050,2973,1570,3798,0,0,0,0,0,0
$GC,6620,-0.91,-185.1,930.9,-12.8,647,6624,0.00,2.25,0.00,0.000,4,0.000,0.060,2973,161,3796,0,0,0,0,0,0
$GC,6638,-0.91,-185.1,933.1,-13.1,648,6642,0.00,2.17,0.00,0.000,6,0.000,0.041,2964,1578,3795,0,0,0,0,0,0
$GC,6965,-0.91,-185.1,977.2,-13.3,664,6969,0.00,2.12,0.00,0.000,4,0.000,0.050,2955,2955,3794,0,0,0,0,0,0
$GC,6998,-0.93,-185.1,981.6,-12.5,665,7006,0.00,2.17,0.00,0.000,6,0.000,0.051,2955,1583,3794,0,0,0,0,0,0
$STATE,7147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7147,begin apogee
$GC,7152,0.00,0.0,1002.2,14.1,673,7307,0.82,0.00,150.15,1.248,4,0.095,0.000,3253,1708,3068,0,0,0,0,0,0
$STATE,7308,end apogee,CONTROL_FINISHED_OK
$STATE,7308,begin climb
$GC,7309,0.68,185.1,1009.1,0.0,680,7480,0.60,2.28,157.98,1.184,4,0.031,0.047,3521,3099,2313,0,0,0,0,0,0
$GC,7575,0.61,185.1,971.8,22.1,692,7580,0.30,2.28,0.00,0.000,6,0.148,0.048,3443,1695,2307,0,0,0,0,0,0
$GC,7898,0.57,185.1,922.0,15.3,708,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1694,2301,0,0,0,0,0,0
$GC,8206,0.54,185.1,874.1,15.4,723,8208,0.08,0.00,0.00,0.000,6,0.201,0.000,3423,1694,2298,0,0,0,0,0,0
$GC,8515,0.53,191.2,830.6,13.6,738,8521,0.00,0.00,4.03,0.733,6,0.000,0.000,3422,1694,2288,0,0,0,0,0,0
$GC,8825,0.54,208.8,790.0,13.0,753,8844,0.00,0.00,17.00,1.102,6,0.000,0.000,3423,1694,2216,0,0,0,0,0,0
$GC,9154,0.57,238.0,748.2,12.4,769,9185,0.00,2.25,26.45,1.101,4,0.000,0.044,3423,3104,2096,0,0,0,0,0,0
$GC,9238,0.58,238.0,737.2,13.9,773,9242,0.00,2.25,0.00,0.000,6,0.000,0.050,3431,1701,2092,0,0,0,0,0,0
$GC,9570,0.58,239.5,690.9,13.8,789,9574,0.00,2.25,0.00,0.000,4,0.000,0.060,3442,290,2089,0,0,0,0,0,0
$GC,9603,0.58,239.5,686.1,14.6,790,9610,0.00,2.15,0.00,0.000,6,0.000,0.034,3442,1698,2087,0,0,0,0,0,0
$GC,9920,0.58,239.5,641.4,14.0,806,9924,0.00,2.20,0.00,0.000,4,0.000,0.047,3442,3109,2086,0,0,0,0,0,0
$GC,9935,0.58,239.5,638.9,14.0,806,9943,0.03,2.25,0.00,0.000,6,0.184,0.050,3440,1703,2086,0,0,0,0,0,0
$GC,10253,0.58,239.5,595.8,14.4,823,10257,0.00,2.25,0.00,0.000,4,0.000,0.060,3449,294,2085,0,0,0,0,0,0
$GC,10303,0.58,239.5,588.1,15.2,827,10307,0.00,2.12,0.00,0.000,6,0.000,0.034,3450,1697,2085,0,0,0,0,0,0
$GC,10629,0.57,239.5,540.0,14.1,857,10634,0.08,2.25,0.00,0.000,4,0.190,0.060,3438,290,2084,0,0,0,0,0,0
$GC,10670,0.59,257.2,534.7,13.0,860,10693,0.00,2.12,16.17,0.945,6,0.000,0.034,3438,1696,2017,0,0,0,0,0,0
$GC,11012,0.66,305.1,495.3,11.5,892,11061,0.08,2.30,41.33,0.946,4,0.120,0.044,3498,3099,1823,0,0,0,0,0,0
$GC,11072,0.64,305.1,485.7,17.2,897,11080,0.17,2.30,0.00,0.000,6,0.136,0.049,3455,1687,1822,0,0,0,0,0,0
$GC,11398,0.65,305.1,440.1,14.6,928,11402,0.00,2.25,0.00,0.000,4,0.000,0.059,3466,293,1816,0,0,0,0,0,0
$GC,11465,0.67,306.8,430.1,13.8,933,11472,0.00,2.10,0.00,0.000,6,0.000,0.033,3466,1677,1814,0,0,0,0,0,0
$GC,11791,0.67,306.8,383.4,14.3,964,11795,0.00,2.17,0.00,0.000,4,0.000,0.044,3466,3103,1814,0,0,0,0,0,0
$GC,11831,0.71,317.6,377.6,13.3,967,11848,0.00,2.22,10.50,0.773,6,0.000,0.050,3468,1684,1772,0,0,0,0,0,0
$GC,12174,0.73,332.3,330.1,13.1,999,12198,0.08,2.28,13.68,0.762,4,0.120,0.056,3566,293,1712,0,0,0,0,0,0
$GC,12301,0.69,332.3,305.2,19.9,1010,12306,0.30,2.10,0.00,0.000,6,0.112,0.031,3467,1682,1709,0,0,0,0,0,0
$GC,12643,0.75,366.5,260.5,12.2,1067,12675,0.08,0.00,29.17,0.740,6,0.124,0.000,3557,1684,1573,0,0,0,0,0,0
$GC,13011,0.72,366.5,187.8,17.8,1132,13018,0.25,0.00,0.00,0.000,6,0.129,0.000,3468,1685,1568,0,0,0,0,0,0
$GC,13355,0.85,438.9,152.3,10.2,1193,13424,0.17,2.30,57.92,0.659,4,0.063,0.055,3603,294,1276,0,0,0,0,0,0
$GC,13475,0.82,438.9,127.2,20.7,1213,13483,0.28,2.10,0.00,0.000,6,0.113,0.029,3513,1676,1272,0,0,0,0,0,0
$GC,13823,0.94,503.6,89.2,10.6,1274,13879,0.12,2.30,50.22,0.604,4,0.076,0.054,3618,293,1014,0,0,0,0,0,0
$GC,13964,0.96,503.6,63.0,16.1,1298,13971,0.17,2.08,0.00,0.000,6,0.114,0.031,3558,1659,1010,0,0,0,0,0,0
$GC,14311,1.03,529.6,24.7,12.6,1359,14338,0.08,2.22,20.60,0.535,4,0.119,0.053,3657,290,908,0,0,0,0,0,0
$GC,14391,1.01,529.6,7.2,25.6,1372,14399,0.25,2.05,0.00,0.000,6,0.105,0.031,3571,1652,906,0,0,0,0,0,0
$STATE,14415,end climb,SURFACE_DEPTH_REACHED
$STATE,14415,begin surface coast
$FINISH,1.6,1.000645
$STATE,14432,end surface coast,CONTROL_FINISHED_OK
$STATE,14432,begin surface
$SM_CCo,14509,0.00,0.000,0,0,903,531.07
$SM_GC,2.42,8.38,0.00,0.00,0.016,0.000,0.000,103,1517,903,-9.68,-0.85,531.07
$IRIDIUM_FIX,2342.70,12728.95,281010,151542
$TT8_MAMPS,0.026964
$HUMID,49.21
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.5,52.413
$10V_AH,10.2,40.482
$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,24.375,131.275,595.200,0.000,0.000,31.014,43.132,164.332,0.250,0.000,16.537,3394.403,8022.071,694.004,2493.857,265.681,0.000,1929.210,0.000,2232.745,0.000,0.541,0.000
$DEVICE_MAMPS,201.195,71.910,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,80256,1379
$CAP_FILE_SIZE,169317,0
$CFSIZE,260165632,230625280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 83.4,1
$GPS,281010,220955,2350.648,12703.851,39,1.9,39,-3.6