version: 66.08
glider: 168
mission: 2
dive: 393
start: 10 28 110 22 16 33
data:
$ID,168
$MISSION,2
$DIVE,393
$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,-3666.6055
$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,44
$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
$GPS1,281010,220955,2350.648,12703.851,39,1.9,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-73.8
$GPS2,281010,221607,2350.633,12703.927,18,1.9,29,-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,221.7,296456,-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,14,begin dive
$GC,17,-0.68,-185.1,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,105,1521,2653,0,0,0,0,0,0
$GC,82,-0.68,-185.1,3.0,-0.6,10,127,10.27,2.20,-25.73,0.000,4,0.184,0.048,3015,2956,3823,0,0,0,0,0,0
$GC,244,-0.67,-185.1,43.1,-22.3,38,252,0.10,2.17,0.00,0.000,6,0.145,0.044,3047,1563,3824,0,0,0,0,0,0
$GC,591,-0.65,-185.1,122.5,-16.2,99,597,0.00,2.17,0.00,0.000,4,0.000,0.049,3047,161,3825,0,0,0,0,0,0
$GC,649,-0.66,-185.1,131.4,-13.8,109,656,0.00,2.08,0.00,0.000,6,0.000,0.037,3039,1536,3826,0,0,0,0,0,0
$GC,992,-0.65,-185.1,189.9,-14.9,170,999,0.00,2.17,0.00,0.000,4,0.000,0.044,3028,2965,3826,0,0,0,0,0,0
$GC,1057,-0.69,-185.1,198.5,-11.6,181,1064,0.00,2.17,0.00,0.000,6,0.000,0.041,3028,1542,3826,0,0,0,0,0,0
$GC,1401,-0.68,-185.1,255.9,-16.9,242,1408,0.00,2.10,0.00,0.000,4,0.000,0.051,3028,166,3826,0,0,0,0,0,0
$GC,1448,-0.70,-185.1,263.4,-14.7,250,1455,0.00,2.08,0.00,0.000,6,0.000,0.038,3020,1547,3827,0,0,0,0,0,0
$GC,1791,-0.70,-185.1,315.8,-14.6,302,1795,0.00,2.17,0.00,0.000,4,0.000,0.045,3010,2960,3827,0,0,0,0,0,0
$GC,1857,-0.73,-185.1,324.1,-10.6,307,1864,0.00,2.17,0.00,0.000,6,0.000,0.042,3010,1541,3827,0,0,0,0,0,0
$GC,2183,-0.72,-185.1,371.1,-14.6,338,2187,0.00,2.12,0.00,0.000,4,0.000,0.052,3010,166,3826,0,0,0,0,0,0
$GC,2200,-0.72,-185.1,373.7,-15.0,339,2205,0.08,2.10,0.00,0.000,6,0.174,0.038,3025,1557,3826,0,0,0,0,0,0
$GC,2527,-0.73,-185.1,418.9,-13.8,369,2530,0.00,2.17,0.00,0.000,4,0.000,0.046,3017,2962,3825,0,0,0,0,0,0
$GC,2595,-0.77,-185.1,427.6,-11.5,374,2601,0.00,2.15,0.00,0.000,6,0.000,0.043,3017,1562,3824,0,0,0,0,0,0
$GC,2921,-0.78,-185.1,471.9,-13.4,405,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1562,3823,0,0,0,0,0,0
$GC,3240,-0.80,-185.1,510.7,-11.3,435,3245,0.08,2.20,0.00,0.000,4,0.122,0.055,2901,169,3821,0,0,0,0,0,0
$GC,3302,-0.73,-185.1,522.6,-21.7,440,3307,0.38,2.12,0.00,0.000,6,0.116,0.040,3016,1564,3821,0,0,0,0,0,0
$GC,3630,-0.75,-185.1,559.5,-11.2,470,3634,0.00,2.12,0.00,0.000,4,0.000,0.046,3006,2957,3819,0,0,0,0,0,0
$GC,3684,-0.80,-185.1,565.8,-9.7,474,3691,0.00,2.15,0.00,0.000,6,0.000,0.044,3006,1562,3818,0,0,0,0,0,0
$GC,4022,-0.81,-185.1,610.0,-14.2,503,4026,0.00,2.17,0.00,0.000,4,0.000,0.055,3006,169,3817,0,0,0,0,0,0
$GC,4077,-0.84,-185.1,618.4,-13.3,505,4084,0.08,2.12,0.00,0.000,6,0.118,0.039,2913,1569,3816,0,0,0,0,0,0
$GC,4394,-0.79,-185.1,680.6,-19.2,521,4399,0.25,2.12,0.00,0.000,4,0.131,0.044,2992,2959,3814,0,0,0,0,0,0
$GC,4434,-0.82,-185.1,686.2,-11.0,523,4438,0.00,2.17,0.00,0.000,6,0.000,0.046,2992,1563,3813,0,0,0,0,0,0
$GC,4762,-0.82,-185.1,721.9,-11.3,539,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1562,3811,0,0,0,0,0,0
$GC,5072,-0.83,-185.1,758.1,-12.1,554,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1562,3809,0,0,0,0,0,0
$GC,5381,-0.85,-185.1,797.6,-13.1,569,5385,0.00,2.20,0.00,0.000,4,0.000,0.048,2985,2956,3807,0,0,0,0,0,0
$GC,5421,-0.88,-185.1,802.8,-12.7,571,5426,0.00,2.17,0.00,0.000,6,0.000,0.049,2984,1571,3806,0,0,0,0,0,0
$GC,5751,-0.89,-185.1,845.7,-12.9,587,5755,0.00,2.22,0.00,0.000,4,0.000,0.059,2985,166,3803,0,0,0,0,0,0
$GC,5767,-0.89,-185.1,848.3,-12.8,587,5774,0.00,2.15,0.00,0.000,6,0.000,0.039,2975,1573,3803,0,0,0,0,0,0
$GC,6083,-0.89,-185.1,887.6,-11.9,603,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1576,3800,0,0,0,0,0,0
$GC,6392,-0.89,-185.1,924.9,-12.0,618,6396,0.00,2.15,0.00,0.000,4,0.000,0.050,2966,2961,3798,0,0,0,0,0,0
$GC,6416,-0.91,-185.1,927.6,-11.9,619,6420,0.00,2.20,0.00,0.000,6,0.000,0.050,2966,1564,3798,0,0,0,0,0,0
$GC,6743,-0.91,-185.1,970.4,-13.9,635,6747,0.00,2.25,0.00,0.000,4,0.000,0.062,2966,161,3795,0,0,0,0,0,0
$GC,6763,-0.91,-185.1,973.8,-14.9,636,6768,0.00,2.17,0.00,0.000,6,0.000,0.040,2957,1560,3795,0,0,0,0,0,0
$STATE,6946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6946,begin apogee
$GC,6951,0.00,0.0,1001.0,15.1,645,7108,0.82,0.00,150.30,1.242,4,0.096,0.000,3253,1712,3068,0,0,0,0,0,0
$STATE,7109,end apogee,CONTROL_FINISHED_OK
$STATE,7109,begin climb
$GC,7111,0.68,185.1,1009.2,0.0,652,7278,0.60,2.40,159.38,1.179,4,0.030,0.060,3523,293,2313,0,0,0,0,0,0
$GC,7339,0.60,185.1,982.7,21.2,663,7344,0.28,2.20,0.00,0.000,6,0.142,0.032,3441,1696,2305,0,0,0,0,0,0
$GC,7667,0.57,185.1,929.9,15.6,679,7671,0.00,2.20,0.00,0.000,4,0.000,0.044,3441,3102,2297,0,0,0,0,0,0
$GC,7710,0.55,185.1,922.5,17.1,681,7715,0.10,2.22,0.00,0.000,6,0.170,0.049,3424,1701,2297,0,0,0,0,0,0
$GC,8039,0.54,185.1,875.2,14.7,697,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1701,2295,0,0,0,0,0,0
$GC,8346,0.52,185.1,831.0,13.9,712,8350,0.00,2.25,0.00,0.000,4,0.000,0.060,3434,287,2293,0,0,0,0,0,0
$GC,8409,0.52,185.1,822.0,14.0,715,8413,0.08,2.15,0.00,0.000,6,0.168,0.034,3411,1709,2292,0,0,0,0,0,0
$GC,8735,0.57,227.8,781.7,11.7,731,8780,0.08,2.22,34.85,1.122,4,0.125,0.047,3476,3100,2138,0,0,0,0,0,0
$GC,8827,0.54,227.8,766.4,17.3,735,8832,0.20,2.22,0.00,0.000,6,0.140,0.051,3427,1712,2134,0,0,0,0,0,0
$GC,9155,0.55,231.0,720.4,13.7,751,9159,0.00,2.28,0.00,0.000,4,0.000,0.060,3437,286,2131,0,0,0,0,0,0
$GC,9188,0.55,237.9,715.4,13.5,752,9203,0.00,2.17,9.05,0.968,6,0.000,0.035,3437,1710,2098,0,0,0,0,0,0
$GC,9509,0.55,237.9,669.9,14.3,768,9513,0.00,2.17,0.00,0.000,4,0.000,0.048,3436,3099,2094,0,0,0,0,0,0
$GC,9548,0.55,237.9,664.3,14.2,770,9553,0.08,2.22,0.00,0.000,6,0.194,0.051,3425,1705,2093,0,0,0,0,0,0
$GC,9877,0.62,288.0,624.7,11.4,786,9928,0.10,2.38,43.65,1.011,4,0.096,0.059,3513,289,1892,0,0,0,0,0,0
$GC,9985,0.59,288.0,604.7,19.0,791,9990,0.22,2.20,0.00,0.000,6,0.119,0.034,3442,1705,1887,0,0,0,0,0,0
$GC,10311,0.60,288.0,558.9,14.2,820,10315,0.00,2.30,0.00,0.000,4,0.000,0.060,3453,290,1883,0,0,0,0,0,0
$GC,10351,0.61,288.0,552.9,14.4,823,10355,0.00,2.15,0.00,0.000,6,0.000,0.034,3453,1699,1882,0,0,0,0,0,0
$GC,10677,0.61,288.0,503.3,15.5,853,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1701,1882,0,0,0,0,0,0
$GC,10996,0.62,293.7,456.5,13.6,883,11009,0.00,2.30,4.15,0.608,4,0.000,0.060,3461,296,1870,0,0,0,0,0,0
$GC,11067,0.69,335.1,447.3,11.8,889,11112,0.00,2.12,36.60,0.903,6,0.000,0.033,3462,1699,1700,0,0,0,0,0,0
$GC,11430,0.73,357.1,400.5,12.8,923,11455,0.08,2.28,18.88,0.836,4,0.121,0.042,3549,3110,1612,0,0,0,0,0,0
$GC,11467,0.70,357.1,393.7,19.3,926,11472,0.28,2.28,0.00,0.000,6,0.126,0.048,3473,1695,1610,0,0,0,0,0,0
$GC,11794,0.71,357.1,344.2,15.0,956,11798,0.00,2.22,0.00,0.000,4,0.000,0.059,3483,293,1607,0,0,0,0,0,0
$GC,11891,0.74,360.6,330.6,13.7,964,11895,0.00,2.10,0.00,0.000,6,0.000,0.032,3483,1685,1606,0,0,0,0,0,0
$GC,12222,0.74,360.6,280.0,15.9,1005,12229,0.00,2.20,0.00,0.000,4,0.000,0.057,3487,292,1605,0,0,0,0,0,0
$GC,12271,0.77,360.6,273.1,14.3,1013,12277,0.00,2.05,0.00,0.000,6,0.000,0.031,3487,1672,1605,0,0,0,0,0,0
$GC,12615,0.79,364.1,222.4,13.7,1074,12629,0.05,2.20,6.57,0.591,4,0.171,0.054,3575,293,1582,0,0,0,0,0,0
$GC,12647,0.76,364.1,216.5,18.3,1079,12654,0.25,2.05,0.00,0.000,6,0.114,0.030,3491,1664,1582,0,0,0,0,0,0
$GC,12994,0.83,404.1,169.5,11.9,1140,13033,0.10,2.25,34.10,0.669,4,0.096,0.054,3602,292,1419,0,0,0,0,0,0
$GC,13058,0.78,404.1,157.0,21.9,1150,13065,0.32,2.05,0.00,0.000,6,0.114,0.028,3495,1653,1417,0,0,0,0,0,0
$GC,13405,0.93,487.9,118.0,9.7,1211,13480,0.15,2.25,65.82,0.629,4,0.068,0.054,3614,285,1077,0,0,0,0,0,0
$GC,13509,0.89,487.9,98.7,21.8,1228,13517,0.25,2.05,0.00,0.000,6,0.116,0.028,3534,1637,1075,0,0,0,0,0,0
$GC,13855,1.03,560.8,58.8,10.2,1289,13917,0.15,2.35,55.67,0.578,4,0.067,0.036,3647,3100,780,0,0,0,0,0,0
$GC,13946,1.03,560.8,37.5,24.3,1304,13955,0.25,2.38,0.00,0.000,6,0.115,0.048,3575,1626,777,0,0,0,0,0,0
$STATE,14166,end climb,SURFACE_DEPTH_REACHED
$STATE,14166,begin surface coast
$FINISH,1.6,1.022144
$STATE,14190,end surface coast,CONTROL_FINISHED_OK
$STATE,14190,begin surface
$SM_CCo,14267,0.00,0.000,0,0,773,562.96
$SM_GC,2.40,8.35,0.00,0.00,0.016,0.000,0.000,103,1529,773,-9.69,-0.57,562.96
$IRIDIUM_FIX,2345.05,12703.51,281010,181805
$TT8_MAMPS,0.026964
$HUMID,48.66
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.3,52.600
$10V_AH,10.3,40.563
$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,24.000,135.975,619.025,0.000,0.000,31.250,41.614,156.432,0.250,0.000,32.084,3334.800,7863.376,687.939,2487.244,259.570,0.000,1924.097,0.000,2222.663,0.000,0.539,0.000
$DEVICE_MAMPS,193.545,91.800,1241.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,914.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76906,1347
$CAP_FILE_SIZE,167815,0
$CFSIZE,260165632,230551552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 59.6,1
$GPS,291010,021556,2349.661,12703.394,60,1.4,60,-3.6