version: 66.08
glider: 168
mission: 2
dive: 407
start: 10 31 110 6 11 26
data:
$ID,168
$MISSION,2
$DIVE,407
$N_DIVES,415
$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,-3715.7427
$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,57
$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
$GPS1,311010,060507,2327.340,12651.122,31,1.3,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-69.6
$GPS2,311010,061058,2327.325,12651.038,15,3.2,34,-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,199.9,248203,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,58,0.00,0.00,-40.17,0.000,2,0.000,0.000,104,1509,2071,0,0,0,0,0,0
$GC,61,-0.68,-185.1,3.0,-1.2,6,143,10.00,2.25,-63.62,0.000,4,0.173,0.060,3022,2942,3824,0,0,0,0,0,0
$GC,297,-0.66,-185.1,44.7,-22.8,46,304,0.08,2.10,0.00,0.000,6,0.158,0.044,3046,1579,3825,0,0,0,0,0,0
$GC,641,-0.64,-185.1,121.4,-17.2,107,648,0.00,2.22,0.00,0.000,4,0.000,0.051,3046,155,3826,0,0,0,0,0,0
$GC,721,-0.67,-185.1,134.2,-14.1,121,729,0.00,2.08,0.00,0.000,6,0.000,0.036,3039,1530,3827,0,0,0,0,0,0
$GC,1067,-0.65,-185.1,194.9,-17.7,182,1073,0.00,2.20,0.00,0.000,4,0.000,0.044,3030,2963,3828,0,0,0,0,0,0
$GC,1153,-0.69,-185.1,207.0,-12.8,197,1160,0.00,2.17,0.00,0.000,6,0.000,0.042,3029,1548,3828,0,0,0,0,0,0
$GC,1497,-0.68,-185.1,263.8,-16.3,258,1503,0.00,2.12,0.00,0.000,4,0.000,0.050,3029,156,3828,0,0,0,0,0,0
$GC,1517,-0.67,-185.1,267.2,-16.6,261,1526,0.08,2.12,0.00,0.000,6,0.171,0.037,3044,1561,3828,0,0,0,0,0,0
$GC,1863,-0.69,-185.1,316.1,-13.4,312,1867,0.00,2.12,0.00,0.000,4,0.000,0.045,3036,2956,3828,0,0,0,0,0,0
$GC,1940,-0.74,-185.1,325.7,-10.9,318,1948,0.08,2.15,0.00,0.000,6,0.116,0.042,2929,1557,3828,0,0,0,0,0,0
$GC,2265,-0.68,-185.1,403.0,-21.6,349,2270,0.30,2.15,0.00,0.000,4,0.127,0.052,3034,168,3828,0,0,0,0,0,0
$GC,2305,-0.69,-185.1,409.7,-14.1,352,2309,0.00,2.12,0.00,0.000,6,0.000,0.037,3027,1572,3828,0,0,0,0,0,0
$GC,2631,-0.71,-185.1,451.2,-12.9,382,2635,0.00,2.10,0.00,0.000,4,0.000,0.045,3019,2959,3826,0,0,0,0,0,0
$GC,2729,-0.76,-185.1,461.8,-10.0,390,2733,0.00,2.12,0.00,0.000,6,0.000,0.042,3019,1563,3826,0,0,0,0,0,0
$GC,3055,-0.77,-185.1,501.7,-11.7,420,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1563,3824,0,0,0,0,0,0
$GC,3377,-0.79,-185.1,538.2,-11.3,450,3384,0.08,0.00,0.00,0.000,6,0.119,0.000,2899,1563,3822,0,0,0,0,0,0
$GC,3702,-0.73,-185.1,609.1,-21.9,479,3707,0.32,2.15,0.00,0.000,4,0.118,0.041,3007,2958,3820,0,0,0,0,0,0
$GC,3768,-0.78,-185.1,617.3,-9.4,482,3772,0.00,2.15,0.00,0.000,6,0.000,0.044,3006,1577,3819,0,0,0,0,0,0
$GC,4095,-0.80,-185.1,651.8,-10.5,498,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1576,3817,0,0,0,0,0,0
$GC,4405,-0.82,-185.1,685.2,-11.2,513,4410,0.08,2.25,0.00,0.000,4,0.119,0.060,2897,166,3814,0,0,0,0,0,0
$GC,4452,-0.77,-185.1,693.1,-19.0,515,4457,0.38,2.15,0.00,0.000,6,0.118,0.041,3010,1568,3813,0,0,0,0,0,0
$GC,4781,-0.80,-185.1,730.8,-11.2,531,4785,0.00,2.17,0.00,0.000,4,0.000,0.049,3001,2964,3811,0,0,0,0,0,0
$GC,4844,-0.85,-185.1,737.4,-9.7,534,4849,0.08,2.15,0.00,0.000,6,0.115,0.047,2911,1574,3810,0,0,0,0,0,0
$GC,5173,-0.80,-185.1,798.9,-18.9,550,5178,0.25,2.25,0.00,0.000,4,0.125,0.059,2999,163,3807,0,0,0,0,0,0
$GC,5206,-0.81,-185.1,804.5,-13.3,551,5213,0.00,2.17,0.00,0.000,6,0.000,0.039,2992,1583,3807,0,0,0,0,0,0
$GC,5523,-0.83,-185.1,838.9,-11.3,567,5526,0.00,2.12,0.00,0.000,4,0.000,0.047,2983,2955,3804,0,0,0,0,0,0
$GC,5601,-0.87,-185.1,847.5,-9.9,570,5607,0.00,2.15,0.00,0.000,6,0.000,0.047,2983,1575,3804,0,0,0,0,0,0
$GC,5918,-0.89,-185.1,885.1,-11.8,586,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1575,3802,0,0,0,0,0,0
$GC,6227,-0.90,-185.1,919.3,-10.6,601,6231,0.08,2.17,0.00,0.000,4,0.119,0.049,2875,2955,3798,0,0,0,0,0,0
$GC,6287,-0.87,-185.1,928.9,-16.1,603,6294,0.30,2.15,0.00,0.000,6,0.111,0.050,2974,1581,3798,0,0,0,0,0,0
$GC,6605,-0.88,-185.1,965.4,-11.2,619,6609,0.00,2.15,0.00,0.000,4,0.000,0.049,2966,2962,3796,0,0,0,0,0,0
$GC,6654,-0.91,-185.1,971.2,-10.6,621,6658,0.00,2.15,0.00,0.000,6,0.000,0.050,2966,1583,3796,0,0,0,0,0,0
$STATE,6906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6906,begin apogee
$GC,6912,0.00,0.0,1000.8,11.9,633,7069,0.77,0.00,152.27,1.232,4,0.089,0.000,3250,1703,3068,0,0,0,0,0,0
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7072,0.68,185.1,1006.0,0.0,640,7241,0.60,2.42,161.05,1.169,4,0.028,0.060,3525,288,2313,0,0,0,0,0,0
$GC,7315,0.60,185.1,970.4,24.3,651,7322,0.28,2.20,0.00,0.000,6,0.142,0.032,3444,1708,2304,0,0,0,0,0,0
$GC,7631,0.57,185.1,916.8,16.8,667,7635,0.00,2.15,0.00,0.000,4,0.000,0.041,3444,3108,2298,0,0,0,0,0,0
$GC,7686,0.54,185.1,906.9,17.1,669,7695,0.10,2.25,0.00,0.000,6,0.175,0.047,3427,1693,2296,0,0,0,0,0,0
$GC,8003,0.53,185.1,859.4,15.0,685,8007,0.00,2.17,0.00,0.000,4,0.000,0.042,3427,3101,2295,0,0,0,0,0,0
$GC,8025,0.51,185.1,855.7,15.7,686,8030,0.08,2.20,0.00,0.000,6,0.190,0.048,3416,1705,2295,0,0,0,0,0,0
$GC,8348,0.52,192.9,812.0,13.5,702,8354,0.00,0.00,4.70,0.802,6,0.000,0.000,3416,1705,2281,0,0,0,0,0,0
$GC,8656,0.55,219.4,772.4,12.6,717,8687,0.00,2.35,25.17,1.112,4,0.000,0.061,3426,297,2172,0,0,0,0,0,0
$GC,8722,0.55,219.4,763.5,14.1,720,8726,0.00,2.17,0.00,0.000,6,0.000,0.034,3426,1714,2169,0,0,0,0,0,0
$GC,9049,0.56,222.0,719.2,13.8,736,9053,0.00,2.12,0.00,0.000,4,0.000,0.043,3426,3103,2166,0,0,0,0,0,0
$GC,9098,0.56,222.0,711.7,15.0,738,9102,0.00,2.22,0.00,0.000,6,0.000,0.047,3435,1720,2165,0,0,0,0,0,0
$GC,9421,0.55,224.1,666.1,13.8,754,9431,0.00,2.35,4.38,0.728,4,0.000,0.063,3446,296,2154,0,0,0,0,0,0
$GC,9497,0.55,224.1,654.2,14.2,757,9502,0.05,2.17,0.00,0.000,6,0.129,0.034,3425,1705,2153,0,0,0,0,0,0
$GC,9819,0.56,229.3,610.0,13.6,773,9830,0.00,2.15,6.25,0.838,4,0.000,0.042,3425,3102,2132,0,0,0,0,0,0
$GC,9860,0.57,229.3,604.3,14.6,775,9864,0.00,2.22,0.00,0.000,6,0.000,0.049,3432,1702,2132,0,0,0,0,0,0
$GC,10185,0.57,230.8,559.3,13.8,804,10189,0.00,2.28,0.00,0.000,4,0.000,0.061,3444,284,2130,0,0,0,0,0,0
$GC,10235,0.57,230.8,552.4,14.2,808,10239,0.00,2.15,0.00,0.000,6,0.000,0.034,3443,1713,2129,0,0,0,0,0,0
$GC,10560,0.57,230.8,506.7,14.3,838,10564,0.00,2.12,0.00,0.000,4,0.000,0.042,3444,3109,2129,0,0,0,0,0,0
$GC,10604,0.57,230.8,499.8,14.6,841,10613,0.05,2.22,0.00,0.000,6,0.147,0.047,3433,1712,2128,0,0,0,0,0,0
$GC,10930,0.61,263.2,457.7,12.3,872,10966,0.00,2.38,30.35,0.920,4,0.000,0.060,3444,292,1993,0,0,0,0,0,0
$GC,11019,0.67,301.7,446.8,11.9,879,11060,0.08,2.17,33.88,0.884,6,0.115,0.033,3516,1717,1836,0,0,0,0,0,0
$GC,11377,0.64,301.7,374.7,19.7,913,11382,0.20,2.33,0.00,0.000,4,0.132,0.057,3464,288,1828,0,0,0,0,0,0
$GC,11409,0.64,301.7,368.7,16.0,915,11416,0.00,2.17,0.00,0.000,6,0.000,0.033,3464,1693,1827,0,0,0,0,0,0
$GC,11735,0.64,301.7,320.1,15.1,946,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1695,1826,0,0,0,0,0,0
$GC,12064,0.64,301.7,272.1,14.5,993,12071,0.00,2.22,0.00,0.000,4,0.000,0.058,3473,290,1826,0,0,0,0,0,0
$GC,12085,0.64,301.7,269.2,15.1,996,12092,0.08,2.12,0.00,0.000,6,0.156,0.031,3448,1702,1826,0,0,0,0,0,0
$GC,12433,0.71,341.7,227.5,11.9,1057,12472,0.10,2.35,32.45,0.718,4,0.092,0.056,3567,286,1674,0,0,0,0,0,0
$GC,12503,0.65,341.7,213.9,24.2,1068,12510,0.32,2.12,0.00,0.000,6,0.109,0.031,3458,1697,1671,0,0,0,0,0,0
$GC,12847,0.72,373.0,169.8,12.3,1129,12880,0.08,2.33,26.15,0.661,4,0.119,0.055,3568,291,1547,0,0,0,0,0,0
$GC,12905,0.69,373.0,159.0,20.4,1138,12912,0.30,2.12,0.00,0.000,6,0.104,0.030,3466,1690,1544,0,0,0,0,0,0
$GC,13252,0.79,421.5,115.9,11.4,1199,13296,0.12,0.00,39.85,0.623,6,0.079,0.000,3585,1692,1348,0,0,0,0,0,0
$GC,13633,0.78,421.5,44.8,17.3,1266,13640,0.25,2.25,0.00,0.000,4,0.119,0.054,3504,286,1343,0,0,0,0,0,0
$GC,13720,0.96,497.6,34.1,10.1,1281,13788,0.15,2.10,58.97,0.565,6,0.066,0.028,3606,1696,1037,0,0,0,0,0,0
$STATE,13889,end climb,SURFACE_DEPTH_REACHED
$STATE,13889,begin surface coast
$FINISH,1.8,1.010347
$STATE,13900,end surface coast,CONTROL_FINISHED_OK
$STATE,13900,begin surface
$SM_CCo,13978,0.00,0.000,0,0,1029,499.92
$SM_GC,2.76,8.62,0.00,0.00,0.022,0.000,0.000,103,1527,1029,-9.69,-0.59,499.92
$IRIDIUM_FIX,2319.18,12653.60,311010,020249
$TT8_MAMPS,0.026964
$HUMID,48.18
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,23.1,55.078
$10V_AH,10.2,41.670
$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,24.300,127.425,575.475,0.000,0.000,28.913,42.954,135.349,0.500,0.000,37.274,3245.824,7725.924,673.019,2432.357,248.688,0.000,1878.980,0.000,2180.682,0.000,0.539,0.000
$DEVICE_MAMPS,189.720,69.615,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334024
$DATA_FILE_SIZE,73541,1312
$CAP_FILE_SIZE,162245,0
$CFSIZE,260165632,229490688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,262.0,1
$GPS,311010,100537,2325.340,12649.340,38,1.2,38,-3.4