version: 66.08
glider: 168
mission: 2
dive: 398
start: 10 29 110 18 32 19
data:
$ID,168
$MISSION,2
$DIVE,398
$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,-3672.895
$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,37
$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
$GPS1,291010,182355,2342.764,12659.053,40,1.1,40,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-75.5
$GPS2,291010,183152,2342.759,12659.058,10,2.1,29,-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,200.7,279825,-20.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,55,0.00,0.00,-36.40,0.000,2,0.000,0.000,104,1529,1966,0,0,0,0,0,0
$GC,57,-0.68,-185.1,3.0,-1.2,6,134,10.25,2.30,-59.58,0.000,4,0.184,0.057,3019,2949,3824,0,0,0,0,0,0
$GC,297,-0.67,-185.1,45.7,-23.9,47,304,0.08,2.17,0.00,0.000,6,0.157,0.045,3042,1551,3825,0,0,0,0,0,0
$GC,640,-0.65,-185.1,125.9,-19.5,108,647,0.00,2.12,0.00,0.000,4,0.000,0.050,3043,165,3826,0,0,0,0,0,0
$GC,716,-0.65,-185.1,141.3,-18.4,121,723,0.00,2.10,0.00,0.000,6,0.000,0.037,3035,1551,3827,0,0,0,0,0,0
$GC,1061,-0.63,-185.1,205.9,-17.8,182,1068,0.00,2.17,0.00,0.000,4,0.000,0.044,3025,2966,3828,0,0,0,0,0,0
$GC,1087,-0.62,-185.1,210.3,-17.6,186,1094,0.10,2.17,0.00,0.000,6,0.132,0.041,3059,1549,3827,0,0,0,0,0,0
$GC,1431,-0.64,-185.1,259.6,-12.3,247,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1549,3828,0,0,0,0,0,0
$GC,1774,-0.67,-185.1,300.0,-12.2,308,1782,0.08,2.20,0.00,0.000,4,0.120,0.044,2952,2965,3828,0,0,0,0,0,0
$GC,1850,-0.65,-185.1,314.7,-20.2,315,1858,0.28,2.15,0.00,0.000,6,0.109,0.043,3045,1558,3827,0,0,0,0,0,0
$GC,2176,-0.67,-185.1,360.5,-13.7,346,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1558,3827,0,0,0,0,0,0
$GC,2496,-0.69,-185.1,399.7,-11.2,376,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1558,3825,0,0,0,0,0,0
$GC,2815,-0.72,-185.1,436.1,-11.3,406,2817,0.10,0.00,0.00,0.000,6,0.094,0.000,2935,1558,3823,0,0,0,0,0,0
$GC,3131,-0.67,-185.1,504.0,-21.1,436,3136,0.30,2.20,0.00,0.000,4,0.122,0.044,3029,2955,3822,0,0,0,0,0,0
$GC,3187,-0.73,-185.1,511.3,-8.9,440,3195,0.00,2.12,0.00,0.000,6,0.000,0.044,3028,1569,3822,0,0,0,0,0,0
$GC,3512,-0.76,-185.1,547.9,-11.7,471,3517,0.08,2.20,0.00,0.000,4,0.120,0.047,2917,2961,3819,0,0,0,0,0,0
$GC,3544,-0.73,-185.1,553.4,-18.1,473,3552,0.30,2.15,0.00,0.000,6,0.110,0.045,3016,1561,3819,0,0,0,0,0,0
$GC,3870,-0.75,-185.1,595.3,-12.5,504,3874,0.00,2.17,0.00,0.000,4,0.000,0.057,3017,168,3817,0,0,0,0,0,0
$GC,3925,-0.78,-185.1,602.6,-12.3,507,3932,0.00,2.12,0.00,0.000,6,0.000,0.038,3009,1565,3816,0,0,0,0,0,0
$GC,4242,-0.80,-185.1,642.9,-12.2,523,4246,0.00,2.15,0.00,0.000,4,0.000,0.047,3001,2959,3814,0,0,0,0,0,0
$GC,4297,-0.85,-185.1,649.1,-10.2,525,4305,0.08,2.15,0.00,0.000,6,0.116,0.045,2902,1572,3813,0,0,0,0,0,0
$GC,4614,-0.79,-185.1,716.4,-22.5,541,4619,0.28,2.15,0.00,0.000,4,0.124,0.044,2989,2959,3811,0,0,0,0,0,0
$GC,4632,-0.74,-185.1,720.3,-22.2,542,4636,0.10,2.17,0.00,0.000,6,0.127,0.047,3023,1570,3811,0,0,0,0,0,0
$GC,4960,-0.78,-185.1,755.3,-10.2,558,4964,0.08,2.25,0.00,0.000,4,0.119,0.058,2925,165,3808,0,0,0,0,0,0
$GC,4981,-0.78,-185.1,758.6,-13.9,559,4986,0.28,2.17,0.00,0.000,6,0.119,0.041,3005,1580,3807,0,0,0,0,0,0
$GC,5304,-0.81,-185.1,796.9,-11.6,575,5308,0.00,2.15,0.00,0.000,4,0.000,0.050,2996,2956,3806,0,0,0,0,0,0
$GC,5359,-0.85,-185.1,803.0,-10.0,577,5366,0.08,2.15,0.00,0.000,6,0.116,0.048,2901,1577,3805,0,0,0,0,0,0
$GC,5675,-0.80,-185.1,865.0,-19.9,593,5677,0.30,0.00,0.00,0.000,6,0.121,0.000,2999,1575,3803,0,0,0,0,0,0
$GC,5985,-0.83,-185.1,899.7,-10.4,608,5989,0.00,2.17,0.00,0.000,4,0.000,0.050,2991,2955,3800,0,0,0,0,0,0
$GC,6029,-0.87,-185.1,904.3,-9.9,610,6033,0.08,2.15,0.00,0.000,6,0.116,0.050,2901,1581,3799,0,0,0,0,0,0
$GC,6351,-0.82,-185.1,963.2,-18.7,626,6356,0.25,2.15,0.00,0.000,4,0.127,0.049,2979,2955,3797,0,0,0,0,0,0
$GC,6401,-0.87,-185.1,970.6,-11.0,628,6405,0.00,2.15,0.00,0.000,6,0.000,0.051,2979,1592,3797,0,0,0,0,0,0
$STATE,6653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6653,begin apogee
$GC,6658,0.00,0.0,1000.5,11.8,640,6816,0.75,0.00,151.60,1.232,4,0.086,0.000,3255,1717,3067,0,0,0,0,0,0
$STATE,6816,end apogee,CONTROL_FINISHED_OK
$STATE,6817,begin climb
$GC,6818,0.68,185.1,1007.0,0.0,647,6986,0.60,2.28,160.12,1.175,4,0.031,0.047,3524,3098,2313,0,0,0,0,0,0
$GC,7069,0.61,185.1,970.0,22.5,659,7075,0.30,2.28,0.00,0.000,6,0.150,0.047,3447,1698,2306,0,0,0,0,0,0
$GC,7392,0.58,185.1,915.8,16.7,675,7396,0.00,2.17,0.00,0.000,4,0.000,0.043,3447,3105,2300,0,0,0,0,0,0
$GC,7436,0.55,185.1,907.7,16.6,677,7441,0.10,2.22,0.00,0.000,6,0.176,0.048,3430,1700,2300,0,0,0,0,0,0
$GC,7766,0.53,185.1,858.4,15.0,693,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1700,2297,0,0,0,0,0,0
$GC,8073,0.52,185.1,812.7,14.7,708,8077,0.00,2.17,0.00,0.000,4,0.000,0.044,3430,3101,2295,0,0,0,0,0,0
$GC,8094,0.50,185.1,809.2,15.5,709,8099,0.10,2.22,0.00,0.000,6,0.165,0.050,3411,1697,2295,0,0,0,0,0,0
$GC,8416,0.54,216.0,768.7,12.3,725,8443,0.00,0.00,25.10,1.110,6,0.000,0.000,3411,1697,2187,0,0,0,0,0,0
$GC,8745,0.58,246.2,727.9,12.4,741,8780,0.10,2.38,27.02,1.068,4,0.093,0.060,3500,294,2063,0,0,0,0,0,0
$GC,8811,0.54,246.2,716.1,21.4,744,8816,0.25,2.17,0.00,0.000,6,0.122,0.034,3421,1705,2060,0,0,0,0,0,0
$GC,9139,0.55,246.2,667.8,14.3,760,9143,0.00,2.20,0.00,0.000,4,0.000,0.047,3421,3107,2054,0,0,0,0,0,0
$GC,9166,0.56,246.2,663.4,15.8,761,9170,0.00,2.25,0.00,0.000,6,0.000,0.050,3426,1699,2054,0,0,0,0,0,0
$GC,9488,0.56,247.0,618.1,13.8,777,9492,0.00,2.22,0.00,0.000,4,0.000,0.061,3436,296,2053,0,0,0,0,0,0
$GC,9567,0.59,262.1,607.3,13.1,780,9585,0.00,2.12,13.48,0.967,6,0.000,0.034,3437,1710,1999,0,0,0,0,0,0
$GC,9909,0.59,262.1,559.3,14.0,810,9913,0.00,2.28,0.00,0.000,4,0.000,0.060,3446,296,1993,0,0,0,0,0,0
$GC,9941,0.59,262.1,554.6,14.8,812,9949,0.00,2.10,0.00,0.000,6,0.000,0.032,3446,1699,1992,0,0,0,0,0,0
$GC,10266,0.59,262.1,507.5,14.5,843,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1701,1992,0,0,0,0,0,0
$GC,10587,0.59,262.1,461.9,14.0,873,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1701,1991,0,0,0,0,0,0
$GC,10906,0.62,286.2,421.2,12.7,903,10933,0.00,0.00,20.98,0.865,6,0.000,0.000,3446,1701,1901,0,0,0,0,0,0
$GC,11252,0.66,304.7,376.4,13.0,936,11277,0.05,2.25,17.25,0.811,4,0.172,0.055,3523,296,1824,0,0,0,0,0,0
$GC,11290,0.63,304.7,370.1,18.3,939,11295,0.22,2.12,0.00,0.000,6,0.120,0.031,3451,1700,1823,0,0,0,0,0,0
$GC,11617,0.65,308.8,323.6,13.7,969,11630,0.00,2.25,4.30,0.545,4,0.000,0.057,3461,296,1809,0,0,0,0,0,0
$GC,11646,0.67,308.8,319.0,14.0,971,11653,0.00,2.12,0.00,0.000,6,0.000,0.031,3461,1698,1808,0,0,0,0,0,0
$GC,11981,0.69,313.7,271.9,13.6,1019,11995,0.00,2.20,5.70,0.594,4,0.000,0.044,3461,3102,1789,0,0,0,0,0,0
$GC,12025,0.74,337.6,265.9,12.7,1026,12053,0.08,2.22,21.75,0.730,6,0.116,0.047,3551,1688,1691,0,0,0,0,0,0
$GC,12390,0.70,337.6,188.0,20.6,1090,12397,0.25,2.22,0.00,0.000,4,0.130,0.054,3473,294,1686,0,0,0,0,0,0
$GC,12454,0.77,352.9,178.0,13.1,1101,12474,0.08,2.10,13.57,0.643,6,0.118,0.031,3562,1688,1629,0,0,0,0,0,0
$GC,12811,0.73,352.9,102.4,21.7,1164,12819,0.25,2.17,0.00,0.000,4,0.125,0.037,3472,3106,1627,0,0,0,0,0,0
$GC,12860,0.86,423.9,95.8,10.3,1172,12923,0.17,2.25,57.58,0.623,6,0.058,0.044,3591,1671,1339,0,0,0,0,0,0
$GC,13259,0.84,423.9,21.3,16.5,1242,13266,0.22,2.20,0.00,0.000,4,0.125,0.054,3526,292,1332,0,0,0,0,0,0
$GC,13324,0.92,440.7,12.3,13.0,1253,13344,0.08,2.08,13.32,0.524,6,0.114,0.029,3607,1680,1270,0,0,0,0,0,0
$STATE,13375,end climb,SURFACE_DEPTH_REACHED
$STATE,13375,begin surface coast
$FINISH,1.8,1.022234
$STATE,13389,end surface coast,CONTROL_FINISHED_OK
$STATE,13389,begin surface
$SM_CCo,13466,0.00,0.000,0,0,1264,442.52
$SM_GC,2.62,8.45,0.00,0.00,0.014,0.000,0.000,104,1533,1264,-9.70,-0.48,442.52
$IRIDIUM_FIX,2333.28,12659.25,291010,181843
$TT8_MAMPS,0.026964
$HUMID,48.77
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,23.2,53.501
$10V_AH,10.2,40.961
$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,25.100,114.000,531.775,0.000,0.000,54.149,77.456,144.251,0.500,0.000,33.372,3131.068,7571.444,629.579,2356.940,249.984,0.000,1756.370,0.000,2048.844,0.000,0.539,0.000
$DEVICE_MAMPS,183.600,70.380,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334144
$DATA_FILE_SIZE,73487,1264
$CAP_FILE_SIZE,156067,0
$CFSIZE,260165632,230174720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 62.4,1
$GPS,291010,221807,2341.106,12659.125,47,1.0,47,-3.5