version: 66.08
glider: 168
mission: 2
dive: 395
start: 10 29 110 6 39 4
data:
$ID,168
$MISSION,2
$DIVE,395
$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,-3669.1213
$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,50
$R_STBD_OVSHOOT,46
$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
$GPS1,291010,063037,2348.214,12702.976,34,1.0,34,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-73.9
$GPS2,291010,063838,2348.075,12702.992,10,1.2,10,-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,227.0,291456,-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,-185.1,0.0,0.0,0,78,0.00,0.00,-59.72,0.000,2,0.000,0.000,104,1515,2329,0,0,0,0,0,0
$GC,81,-0.68,-185.1,3.0,-2.6,10,143,10.15,2.15,-41.40,0.000,4,0.180,0.064,3022,187,3825,0,0,0,0,0,0
$GC,284,-0.63,-185.1,48.8,-27.6,45,292,0.12,2.08,0.00,0.000,6,0.145,0.039,3050,1538,3826,0,0,0,0,0,0
$GC,629,-0.61,-185.1,131.5,-19.1,106,636,0.00,2.17,0.00,0.000,4,0.000,0.044,3040,2964,3826,0,0,0,0,0,0
$GC,772,-0.64,-185.1,153.7,-13.9,131,778,0.00,2.12,0.00,0.000,6,0.000,0.043,3040,1585,3828,0,0,0,0,0,0
$GC,1114,-0.64,-185.1,212.9,-14.2,192,1121,0.00,2.20,0.00,0.000,4,0.000,0.051,3039,165,3828,0,0,0,0,0,0
$GC,1156,-0.64,-185.1,219.3,-15.0,199,1163,0.00,2.12,0.00,0.000,6,0.000,0.039,3031,1564,3828,0,0,0,0,0,0
$GC,1499,-0.64,-185.1,273.2,-15.7,260,1507,0.05,2.15,0.00,0.000,4,0.238,0.044,3038,2961,3828,0,0,0,0,0,0
$GC,1543,-0.68,-185.1,279.0,-12.1,267,1549,0.00,2.17,0.00,0.000,6,0.000,0.043,3038,1552,3827,0,0,0,0,0,0
$GC,1881,-0.69,-185.1,325.3,-14.4,312,1885,0.00,2.15,0.00,0.000,4,0.000,0.052,3038,166,3827,0,0,0,0,0,0
$GC,1909,-0.70,-185.1,329.5,-15.0,314,1913,0.00,2.12,0.00,0.000,6,0.000,0.039,3029,1564,3827,0,0,0,0,0,0
$GC,2234,-0.70,-185.1,378.4,-15.4,344,2238,0.00,2.15,0.00,0.000,4,0.000,0.044,3020,2965,3826,0,0,0,0,0,0
$GC,2305,-0.74,-185.1,387.8,-11.9,350,2312,0.00,2.15,0.00,0.000,6,0.000,0.042,3020,1564,3825,0,0,0,0,0,0
$GC,2631,-0.75,-185.1,435.6,-14.3,381,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1563,3824,0,0,0,0,0,0
$GC,2951,-0.76,-185.1,480.2,-13.8,411,2955,0.00,2.17,0.00,0.000,4,0.000,0.055,3020,159,3822,0,0,0,0,0,0
$GC,2983,-0.77,-185.1,485.2,-14.0,413,2990,0.00,2.15,0.00,0.000,6,0.000,0.040,3011,1574,3822,0,0,0,0,0,0
$GC,3310,-0.78,-185.1,526.7,-12.6,444,3313,0.00,2.15,0.00,0.000,4,0.000,0.047,3005,2958,3820,0,0,0,0,0,0
$GC,3330,-0.80,-185.1,529.0,-12.5,445,3334,0.00,2.17,0.00,0.000,6,0.000,0.046,3005,1557,3820,0,0,0,0,0,0
$GC,3655,-0.81,-185.1,571.9,-13.6,475,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1557,3818,0,0,0,0,0,0
$GC,3972,-0.82,-185.1,613.9,-13.5,500,3976,0.00,2.20,0.00,0.000,4,0.000,0.048,2998,2962,3815,0,0,0,0,0,0
$GC,4005,-0.85,-185.1,618.7,-12.6,501,4012,0.08,2.17,0.00,0.000,6,0.115,0.047,2902,1567,3814,0,0,0,0,0,0
$GC,4322,-0.79,-185.1,688.1,-22.3,517,4327,0.25,2.15,0.00,0.000,4,0.125,0.045,2983,2954,3811,0,0,0,0,0,0
$GC,4377,-0.83,-185.1,696.8,-11.7,519,4384,0.00,2.17,0.00,0.000,6,0.000,0.049,2982,1569,3812,0,0,0,0,0,0
$GC,4694,-0.83,-185.1,736.4,-12.7,535,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1568,3809,0,0,0,0,0,0
$GC,5003,-0.84,-185.1,776.1,-12.9,550,5007,0.00,2.17,0.00,0.000,4,0.000,0.049,2974,2958,3806,0,0,0,0,0,0
$GC,5038,-0.86,-185.1,780.3,-11.7,551,5045,0.00,2.20,0.00,0.000,6,0.000,0.050,2974,1561,3806,0,0,0,0,0,0
$GC,5353,-0.86,-185.1,823.0,-14.2,567,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1562,3804,0,0,0,0,0,0
$GC,5663,-0.86,-185.1,865.7,-13.5,582,5667,0.00,2.20,0.00,0.000,4,0.000,0.050,2965,2955,3800,0,0,0,0,0,0
$GC,5690,-0.87,-185.1,869.4,-13.4,583,5695,0.00,2.20,0.00,0.000,6,0.000,0.052,2965,1570,3800,0,0,0,0,0,0
$GC,6006,-0.87,-185.1,912.4,-13.9,598,6010,0.00,2.17,0.00,0.000,4,0.000,0.050,2957,2954,3797,0,0,0,0,0,0
$GC,6033,-0.88,-185.1,916.1,-13.8,599,6037,0.00,2.20,0.00,0.000,6,0.000,0.052,2957,1570,3797,0,0,0,0,0,0
$GC,6350,-0.88,-185.1,960.2,-13.5,614,6354,0.00,2.15,0.00,0.000,4,0.000,0.050,2947,2955,3794,0,0,0,0,0,0
$GC,6383,-0.89,-185.1,964.9,-13.4,615,6387,0.08,2.20,0.00,0.000,6,0.155,0.052,2971,1571,3794,0,0,0,0,0,0
$STATE,6676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6676,begin apogee
$GC,6682,0.00,0.0,1001.0,12.1,629,6839,0.77,0.00,150.62,1.239,4,0.091,0.000,3255,1711,3068,0,0,0,0,0,0
$STATE,6840,end apogee,CONTROL_FINISHED_OK
$STATE,6840,begin climb
$GC,6842,0.68,185.1,1006.9,0.0,636,7012,0.60,2.42,160.20,1.176,4,0.029,0.060,3522,285,2312,0,0,0,0,0,0
$GC,7075,0.60,185.1,974.7,23.6,647,7080,0.28,2.22,0.00,0.000,6,0.142,0.032,3441,1701,2305,0,0,0,0,0,0
$GC,7397,0.57,185.1,920.1,16.4,663,7401,0.00,2.17,0.00,0.000,4,0.000,0.044,3441,3102,2297,0,0,0,0,0,0
$GC,7504,0.55,185.1,902.3,16.7,668,7509,0.10,2.22,0.00,0.000,6,0.171,0.050,3422,1700,2296,0,0,0,0,0,0
$GC,7832,0.54,185.1,854.2,14.7,684,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1699,2295,0,0,0,0,0,0
$GC,8140,0.52,185.1,809.0,14.5,699,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1699,2293,0,0,0,0,0,0
$GC,8450,0.52,192.3,765.7,13.5,714,8453,0.00,2.22,0.00,0.000,4,0.000,0.047,3423,3108,2292,0,0,0,0,0,0
$GC,8477,0.51,192.3,761.4,14.3,715,8481,0.03,2.25,0.00,0.000,6,0.187,0.050,3420,1705,2292,0,0,0,0,0,0
$GC,8799,0.53,206.6,718.7,13.2,731,8821,0.00,2.35,16.45,1.056,4,0.000,0.060,3431,289,2224,0,0,0,0,0,0
$GC,8860,0.54,216.8,710.1,13.4,733,8875,0.00,2.17,10.43,0.986,6,0.000,0.034,3431,1693,2183,0,0,0,0,0,0
$GC,9200,0.55,226.4,664.9,13.4,750,9214,0.00,2.25,9.38,0.955,4,0.000,0.048,3431,3107,2144,0,0,0,0,0,0
$GC,9267,0.55,226.4,655.2,14.7,753,9271,0.00,2.22,0.00,0.000,6,0.000,0.050,3440,1703,2143,0,0,0,0,0,0
$GC,9600,0.54,226.4,605.9,15.2,769,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1703,2141,0,0,0,0,0,0
$GC,9917,0.54,226.4,556.5,14.6,797,9921,0.00,2.25,0.00,0.000,4,0.000,0.060,3451,294,2140,0,0,0,0,0,0
$GC,9938,0.53,226.4,553.0,16.2,798,9945,0.10,2.15,0.00,0.000,6,0.155,0.034,3420,1707,2139,0,0,0,0,0,0
$GC,10264,0.60,268.4,513.5,11.8,829,10310,0.08,2.22,36.75,0.963,4,0.116,0.045,3489,3101,1972,0,0,0,0,0,0
$GC,10328,0.57,268.4,502.3,19.4,834,10336,0.22,2.28,0.00,0.000,6,0.137,0.050,3429,1698,1969,0,0,0,0,0,0
$GC,10654,0.61,286.0,458.7,13.0,865,10678,0.05,2.28,15.32,0.879,4,0.163,0.060,3501,295,1901,0,0,0,0,0,0
$GC,10740,0.59,286.0,442.3,19.8,872,10749,0.20,2.15,0.00,0.000,6,0.116,0.033,3436,1696,1898,0,0,0,0,0,0
$GC,11066,0.64,313.9,398.4,12.5,903,11096,0.08,0.00,24.65,0.860,6,0.117,0.000,3512,1698,1787,0,0,0,0,0,0
$GC,11414,0.61,313.9,333.4,18.6,936,11419,0.20,2.28,0.00,0.000,4,0.124,0.057,3458,286,1782,0,0,0,0,0,0
$GC,11435,0.60,313.9,329.5,17.7,937,11442,0.00,2.15,0.00,0.000,6,0.000,0.032,3458,1699,1781,0,0,0,0,0,0
$GC,11765,0.61,313.9,283.0,15.3,978,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1700,1780,0,0,0,0,0,0
$GC,12107,0.64,319.5,234.8,13.6,1039,12121,0.00,2.22,5.12,0.555,4,0.000,0.057,3466,294,1765,0,0,0,0,0,0
$GC,12173,0.71,347.8,226.4,12.5,1050,12205,0.00,2.12,24.73,0.721,6,0.000,0.031,3466,1704,1650,0,0,0,0,0,0
$GC,12542,0.79,386.5,180.1,11.9,1115,12581,0.12,2.35,32.42,0.685,4,0.079,0.054,3592,289,1491,0,0,0,0,0,0
$GC,12616,0.74,386.5,164.2,25.0,1127,12624,0.32,2.15,0.00,0.000,6,0.105,0.030,3482,1695,1488,0,0,0,0,0,0
$GC,12961,0.83,438.0,113.7,11.3,1188,13011,0.12,2.28,41.28,0.630,4,0.080,0.054,3603,293,1282,0,0,0,0,0,0
$GC,13056,0.81,438.0,95.0,19.9,1204,13064,0.30,2.12,0.00,0.000,6,0.108,0.029,3502,1688,1278,0,0,0,0,0,0
$GC,13402,1.01,555.4,67.3,8.0,1265,13501,0.20,2.35,89.78,0.587,4,0.054,0.055,3628,293,802,0,0,0,0,0,0
$GC,13541,1.00,555.4,37.3,25.8,1288,13550,0.17,2.10,0.00,0.000,6,0.117,0.030,3571,1666,800,0,0,0,0,0,0
$STATE,13733,end climb,SURFACE_DEPTH_REACHED
$STATE,13733,begin surface coast
$FINISH,1.6,1.010193
$STATE,13752,end surface coast,CONTROL_FINISHED_OK
$STATE,13752,begin surface
$SM_CCo,13829,0.00,0.000,0,0,795,557.57
$SM_GC,2.39,8.50,0.00,0.00,0.021,0.000,0.000,104,1511,795,-9.70,-1.05,557.57
$IRIDIUM_FIX,2340.34,12703.97,291010,060633
$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.2,52.984
$10V_AH,10.2,40.728
$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,23.175,118.975,617.125,0.000,0.000,60.159,84.379,150.229,0.250,0.000,13.195,3219.379,7674.548,706.182,2439.236,264.364,0.000,1891.219,0.000,2137.592,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,67.320,1238.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334128
$DATA_FILE_SIZE,76966,1325
$CAP_FILE_SIZE,158210,0
$CFSIZE,260165632,230404096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,143.6,1
$GPS,291010,103055,2345.950,12701.749,46,1.7,46,-3.5