version: 66.08
glider: 168
mission: 2
dive: 397
start: 10 29 110 14 33 2
data:
$ID,168
$MISSION,2
$DIVE,397
$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,-3671.6367
$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,48
$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
$GPS1,291010,142608,2344.321,12659.947,35,1.7,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-76.5
$GPS2,291010,143236,2344.299,12659.882,14,1.3,24,-3.5
$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,201.8,282997,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,62,0.00,0.00,-43.47,0.000,2,0.000,0.000,104,1520,2413,0,0,0,0,0,0
$GC,65,-0.68,-185.1,3.0,-1.6,7,116,10.15,2.30,-35.50,0.000,4,0.179,0.054,3010,2955,3825,0,0,0,0,0,0
$GC,257,-0.67,-185.1,47.2,-22.3,40,264,0.10,2.15,0.00,0.000,6,0.143,0.044,3043,1564,3826,0,0,0,0,0,0
$GC,602,-0.65,-185.1,126.9,-18.1,101,609,0.00,2.15,0.00,0.000,4,0.000,0.050,3043,165,3827,0,0,0,0,0,0
$GC,704,-0.65,-185.1,143.7,-15.7,119,710,0.00,2.10,0.00,0.000,6,0.000,0.037,3036,1547,3829,0,0,0,0,0,0
$GC,1047,-0.64,-185.1,204.9,-17.0,180,1054,0.00,2.20,0.00,0.000,4,0.000,0.044,3026,2963,3829,0,0,0,0,0,0
$GC,1067,-0.63,-185.1,208.1,-16.1,183,1074,0.10,2.15,0.00,0.000,6,0.130,0.041,3061,1551,3829,0,0,0,0,0,0
$GC,1413,-0.65,-185.1,257.6,-12.7,244,1420,0.08,2.20,0.00,0.000,4,0.116,0.044,2948,2959,3829,0,0,0,0,0,0
$GC,1443,-0.63,-185.1,262.9,-17.8,249,1451,0.32,2.15,0.00,0.000,6,0.111,0.042,3057,1548,3829,0,0,0,0,0,0
$GC,1785,-0.65,-185.1,305.3,-12.3,306,1789,0.00,2.17,0.00,0.000,4,0.000,0.045,3049,2963,3829,0,0,0,0,0,0
$GC,1815,-0.69,-185.1,308.8,-11.6,308,1819,0.08,2.15,0.00,0.000,6,0.116,0.042,2948,1552,3829,0,0,0,0,0,0
$GC,2140,-0.62,-185.1,384.1,-23.9,338,2142,0.32,0.00,0.00,0.000,6,0.121,0.000,3051,1551,3829,0,0,0,0,0,0
$GC,2459,-0.66,-185.1,421.8,-10.4,368,2463,0.00,2.12,0.00,0.000,4,0.000,0.054,3052,169,3827,0,0,0,0,0,0
$GC,2492,-0.70,-185.1,425.6,-11.0,370,2501,0.08,2.10,0.00,0.000,6,0.118,0.038,2958,1561,3827,0,0,0,0,0,0
$GC,2818,-0.66,-185.1,485.8,-18.9,401,2823,0.25,2.15,0.00,0.000,4,0.114,0.044,3040,2958,3826,0,0,0,0,0,0
$GC,2893,-0.73,-185.1,493.8,-8.0,407,2898,0.08,2.15,0.00,0.000,6,0.116,0.042,2938,1563,3826,0,0,0,0,0,0
$GC,3220,-0.69,-185.1,558.1,-20.8,437,3225,0.28,2.15,0.00,0.000,4,0.122,0.041,3023,2959,3824,0,0,0,0,0,0
$GC,3249,-0.70,-185.1,563.2,-14.8,439,3253,0.00,2.15,0.00,0.000,6,0.000,0.046,3023,1574,3824,0,0,0,0,0,0
$GC,3590,-0.73,-185.1,602.8,-11.5,470,3594,0.00,2.20,0.00,0.000,4,0.000,0.057,3023,165,3822,0,0,0,0,0,0
$GC,3633,-0.77,-185.1,608.2,-11.8,472,3637,0.00,2.15,0.00,0.000,6,0.000,0.038,3017,1577,3821,0,0,0,0,0,0
$GC,3955,-0.80,-185.1,646.2,-11.9,488,3960,0.08,2.15,0.00,0.000,4,0.120,0.047,2900,2953,3819,0,0,0,0,0,0
$GC,4055,-0.76,-185.1,664.7,-18.6,492,4062,0.32,2.12,0.00,0.000,6,0.106,0.047,3008,1581,3818,0,0,0,0,0,0
$GC,4373,-0.79,-185.1,704.1,-12.1,508,4377,0.00,2.22,0.00,0.000,4,0.000,0.058,3009,162,3815,0,0,0,0,0,0
$GC,4394,-0.81,-185.1,707.2,-12.7,509,4399,0.00,2.17,0.00,0.000,6,0.000,0.038,3004,1584,3815,0,0,0,0,0,0
$GC,4716,-0.83,-185.1,746.2,-12.1,525,4721,0.08,2.15,0.00,0.000,4,0.119,0.047,2886,2957,3812,0,0,0,0,0,0
$GC,4805,-0.80,-185.1,762.9,-19.4,529,4810,0.32,2.12,0.00,0.000,6,0.111,0.048,2994,1589,3811,0,0,0,0,0,0
$GC,5129,-0.82,-185.1,802.4,-11.3,545,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1588,3809,0,0,0,0,0,0
$GC,5436,-0.84,-185.1,835.5,-10.5,560,5440,0.00,2.25,0.00,0.000,4,0.000,0.060,2994,165,3806,0,0,0,0,0,0
$GC,5469,-0.86,-185.1,839.5,-11.1,561,5476,0.00,2.17,0.00,0.000,6,0.000,0.038,2987,1588,3806,0,0,0,0,0,0
$GC,5786,-0.87,-185.1,872.5,-10.9,577,5790,0.00,2.10,0.00,0.000,4,0.000,0.049,2978,2957,3803,0,0,0,0,0,0
$GC,5853,-0.91,-185.1,879.5,-9.8,580,5858,0.08,2.15,0.00,0.000,6,0.116,0.049,2886,1593,3803,0,0,0,0,0,0
$GC,6176,-0.86,-185.1,940.6,-19.9,596,6178,0.28,0.00,0.00,0.000,6,0.126,0.000,2975,1592,3800,0,0,0,0,0,0
$GC,6484,-0.87,-185.1,979.1,-11.9,611,6488,0.00,2.17,0.00,0.000,4,0.000,0.050,2968,2960,3798,0,0,0,0,0,0
$GC,6529,-0.90,-185.1,984.5,-10.7,613,6533,0.00,2.15,0.00,0.000,6,0.000,0.051,2969,1593,3797,0,0,0,0,0,0
$STATE,6662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6662,begin apogee
$GC,6668,0.00,0.0,1001.2,12.8,620,6827,0.77,0.00,151.90,1.239,4,0.089,0.000,3253,1716,3068,0,0,0,0,0,0
$STATE,6828,end apogee,CONTROL_FINISHED_OK
$STATE,6828,begin climb
$GC,6831,0.68,185.1,1007.7,0.0,627,7000,0.60,2.42,160.60,1.176,4,0.029,0.060,3522,292,2314,0,0,0,0,0,0
$GC,7013,0.60,185.1,988.3,20.8,636,7018,0.28,2.25,0.00,0.000,6,0.138,0.032,3442,1699,2309,0,0,0,0,0,0
$GC,7341,0.57,185.1,934.7,16.3,652,7345,0.00,2.17,0.00,0.000,4,0.000,0.044,3442,3104,2299,0,0,0,0,0,0
$GC,7441,0.55,185.1,917.5,17.0,656,7449,0.10,2.25,0.00,0.000,6,0.173,0.050,3425,1695,2298,0,0,0,0,0,0
$GC,7757,0.53,185.1,871.2,15.0,672,7761,0.00,2.28,0.00,0.000,4,0.000,0.060,3436,286,2296,0,0,0,0,0,0
$GC,7802,0.52,185.1,864.3,15.3,674,7806,0.08,2.17,0.00,0.000,6,0.168,0.034,3413,1711,2294,0,0,0,0,0,0
$GC,8122,0.52,185.1,818.1,14.4,690,8126,0.00,2.15,0.00,0.000,4,0.000,0.047,3413,3108,2294,0,0,0,0,0,0
$GC,8161,0.52,185.1,812.3,15.2,692,8165,0.00,2.25,0.00,0.000,6,0.000,0.050,3421,1691,2293,0,0,0,0,0,0
$GC,8488,0.51,185.1,762.7,14.9,708,8492,0.00,2.22,0.00,0.000,4,0.000,0.060,3432,294,2293,0,0,0,0,0,0
$GC,8520,0.50,185.1,757.4,16.5,709,8528,0.08,2.10,0.00,0.000,6,0.170,0.034,3410,1697,2292,0,0,0,0,0,0
$GC,8837,0.54,223.9,717.4,11.9,725,8871,0.05,0.00,31.52,1.086,6,0.168,0.000,3469,1699,2155,0,0,0,0,0,0
$GC,9183,0.51,223.9,660.2,17.2,741,9187,0.17,2.22,0.00,0.000,4,0.141,0.046,3414,3109,2149,0,0,0,0,0,0
$GC,9225,0.53,223.9,653.4,14.2,743,9230,0.00,2.28,0.00,0.000,6,0.000,0.050,3422,1691,2148,0,0,0,0,0,0
$GC,9554,0.54,229.9,609.9,13.6,759,9561,0.00,0.00,5.47,0.792,6,0.000,0.000,3422,1690,2130,0,0,0,0,0,0
$GC,9870,0.57,256.3,567.7,12.6,785,9904,0.00,2.35,24.60,0.988,4,0.000,0.061,3433,292,2022,0,0,0,0,0,0
$GC,9933,0.59,260.2,559.5,13.7,790,9942,0.00,2.17,4.60,0.684,6,0.000,0.034,3432,1701,2007,0,0,0,0,0,0
$GC,10258,0.63,286.2,517.6,12.6,821,10288,0.08,2.22,23.50,0.939,4,0.119,0.044,3501,3107,1900,0,0,0,0,0,0
$GC,10324,0.60,286.2,506.3,19.0,826,10329,0.22,2.28,0.00,0.000,6,0.136,0.049,3442,1700,1896,0,0,0,0,0,0
$GC,10649,0.61,286.2,459.1,14.5,856,10653,0.00,2.30,0.00,0.000,4,0.000,0.060,3453,289,1893,0,0,0,0,0,0
$GC,10681,0.62,286.2,453.9,15.5,858,10689,0.00,2.15,0.00,0.000,6,0.000,0.032,3453,1712,1892,0,0,0,0,0,0
$GC,11007,0.63,286.2,405.3,14.4,889,11011,0.00,2.12,0.00,0.000,4,0.000,0.045,3453,3102,1891,0,0,0,0,0,0
$GC,11028,0.64,286.2,401.7,15.5,890,11036,0.00,2.20,0.00,0.000,6,0.000,0.048,3456,1709,1891,0,0,0,0,0,0
$GC,11354,0.64,287.6,355.2,13.8,921,11358,0.00,2.25,0.00,0.000,4,0.000,0.059,3467,288,1891,0,0,0,0,0,0
$GC,11409,0.67,293.2,347.1,13.6,925,11419,0.00,2.12,5.80,0.658,6,0.000,0.032,3467,1709,1872,0,0,0,0,0,0
$GC,11739,0.67,293.2,297.0,15.4,958,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1711,1872,0,0,0,0,0,0
$GC,12083,0.68,293.2,244.8,14.0,1019,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1711,1872,0,0,0,0,0,0
$GC,12426,0.74,333.3,200.6,11.9,1080,12471,0.08,2.17,34.80,0.698,4,0.122,0.041,3562,3104,1708,0,0,0,0,0,0
$GC,12501,0.71,333.3,185.8,20.9,1092,12508,0.30,2.25,0.00,0.000,6,0.125,0.047,3477,1694,1706,0,0,0,0,0,0
$GC,12844,0.79,378.9,138.7,11.6,1153,12889,0.10,2.25,37.60,0.645,4,0.096,0.054,3588,293,1521,0,0,0,0,0,0
$GC,12962,0.75,378.9,115.4,21.3,1173,12970,0.30,2.12,0.00,0.000,6,0.109,0.030,3488,1704,1517,0,0,0,0,0,0
$GC,13307,1.01,536.2,73.0,6.0,1234,13436,0.25,2.40,120.78,0.597,4,0.048,0.054,3645,286,880,0,0,0,0,0,0
$GC,13471,0.97,536.2,38.1,24.9,1261,13478,0.28,2.15,0.00,0.000,6,0.119,0.029,3557,1682,877,0,0,0,0,0,0
$STATE,13678,end climb,SURFACE_DEPTH_REACHED
$STATE,13678,begin surface coast
$FINISH,1.8,1.022199
$STATE,13701,end surface coast,CONTROL_FINISHED_OK
$STATE,13701,begin surface
$SM_CCo,13778,0.00,0.000,0,0,871,538.92
$SM_GC,2.72,8.32,0.00,0.00,0.014,0.000,0.000,103,1524,871,-9.68,-0.62,538.92
$IRIDIUM_FIX,2337.99,12703.97,291010,101040
$TT8_MAMPS,0.026964
$HUMID,48.58
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.1,53.332
$10V_AH,10.2,40.884
$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,25.025,127.550,601.175,0.000,0.000,24.625,47.113,181.165,0.250,0.000,27.024,3212.054,7596.018,671.571,2420.504,260.003,0.000,1857.537,0.000,2144.164,0.000,0.539,0.000
$DEVICE_MAMPS,179.010,68.850,1239.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334152
$DATA_FILE_SIZE,73605,1302
$CAP_FILE_SIZE,162606,0
$CFSIZE,260165632,230248448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,  0.6,1
$GPS,291010,182355,2342.764,12659.053,40,1.1,40,-3.5