version: 66.08
glider: 168
mission: 2
dive: 410
start: 10 31 110 17 58 21
data:
$ID,168
$MISSION,2
$DIVE,410
$N_DIVES,423
$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,-3720.6506
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,311010,175228,2321.620,12647.058,11,2.1,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.9
$GPS2,311010,175753,2321.638,12647.015,35,2.0,38,-3.4
$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,184.9,235936,-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,15,-0.68,-185.1,0.0,0.0,0,56,0.00,0.00,-38.03,0.000,2,0.000,0.000,105,1492,2183,0,0,0,0,0,0
$GC,58,-0.68,-185.1,3.0,-0.6,6,128,10.27,2.12,-48.95,0.000,4,0.184,0.063,3022,163,3825,0,0,0,0,0,0
$GC,197,-0.63,-185.1,28.6,-26.2,29,204,0.12,2.08,0.00,0.000,6,0.145,0.036,3050,1541,3826,0,0,0,0,0,0
$GC,541,-0.62,-185.1,115.7,-18.6,90,547,0.00,2.17,0.00,0.000,4,0.000,0.042,3039,2961,3826,0,0,0,0,0,0
$GC,603,-0.65,-185.1,126.1,-14.3,101,610,0.00,2.15,0.00,0.000,6,0.000,0.041,3039,1549,3827,0,0,0,0,0,0
$GC,945,-0.65,-185.1,188.0,-17.2,162,951,0.00,2.15,0.00,0.000,4,0.000,0.050,3039,157,3828,0,0,0,0,0,0
$GC,992,-0.66,-185.1,196.1,-16.8,170,999,0.00,2.10,0.00,0.000,6,0.000,0.037,3036,1561,3828,0,0,0,0,0,0
$GC,1336,-0.66,-185.1,252.9,-16.0,231,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1563,3828,0,0,0,0,0,0
$GC,1683,-0.67,-185.1,304.7,-14.2,290,1687,0.00,2.12,0.00,0.000,4,0.000,0.044,3027,2966,3828,0,0,0,0,0,0
$GC,1728,-0.71,-185.1,310.5,-11.6,293,1734,0.00,2.15,0.00,0.000,6,0.000,0.042,3027,1551,3828,0,0,0,0,0,0
$GC,2053,-0.72,-185.1,355.7,-14.4,324,2057,0.00,2.17,0.00,0.000,4,0.000,0.044,3020,2960,3828,0,0,0,0,0,0
$GC,2075,-0.73,-185.1,359.2,-14.5,325,2082,0.00,2.15,0.00,0.000,6,0.000,0.042,3020,1549,3828,0,0,0,0,0,0
$GC,2401,-0.74,-185.1,406.7,-15.8,356,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1549,3827,0,0,0,0,0,0
$GC,2721,-0.75,-185.1,455.1,-14.2,386,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1549,3826,0,0,0,0,0,0
$GC,3041,-0.77,-185.1,497.1,-12.7,416,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1549,3825,0,0,0,0,0,0
$GC,3368,-0.79,-185.1,534.6,-11.1,447,3373,0.08,2.17,0.00,0.000,4,0.121,0.046,2908,2956,3822,0,0,0,0,0,0
$GC,3389,-0.79,-185.1,538.1,-13.8,448,3397,0.28,2.15,0.00,0.000,6,0.112,0.044,2998,1556,3822,0,0,0,0,0,0
$GC,3715,-0.80,-185.1,580.1,-12.6,479,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1556,3821,0,0,0,0,0,0
$GC,4039,-0.81,-185.1,622.6,-12.8,502,4043,0.00,2.17,0.00,0.000,4,0.000,0.058,2998,169,3818,0,0,0,0,0,0
$GC,4056,-0.82,-185.1,625.0,-12.9,502,4063,0.00,2.10,0.00,0.000,6,0.000,0.038,2991,1565,3818,0,0,0,0,0,0
$GC,4372,-0.82,-185.1,666.4,-13.0,518,4376,0.00,2.15,0.00,0.000,4,0.000,0.045,2982,2962,3816,0,0,0,0,0,0
$GC,4413,-0.85,-185.1,671.2,-11.3,520,4417,0.00,2.15,0.00,0.000,6,0.000,0.046,2982,1564,3816,0,0,0,0,0,0
$GC,4740,-0.85,-185.1,714.7,-13.5,536,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1564,3813,0,0,0,0,0,0
$GC,5048,-0.85,-185.1,755.5,-13.0,551,5052,0.00,2.17,0.00,0.000,4,0.000,0.047,2974,2964,3810,0,0,0,0,0,0
$GC,5121,-0.88,-185.1,764.3,-11.6,554,5125,0.00,2.17,0.00,0.000,6,0.000,0.047,2974,1563,3810,0,0,0,0,0,0
$GC,5437,-0.88,-185.1,805.5,-13.1,569,5441,0.00,2.15,0.00,0.000,4,0.000,0.047,2965,2959,3807,0,0,0,0,0,0
$GC,5457,-0.88,-185.1,807.8,-12.7,570,5461,0.00,2.17,0.00,0.000,6,0.000,0.048,2965,1562,3807,0,0,0,0,0,0
$GC,5784,-0.88,-185.1,851.5,-13.2,586,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1561,3805,0,0,0,0,0,0
$GC,6093,-0.88,-185.1,892.8,-13.4,601,6097,0.00,2.17,0.00,0.000,4,0.000,0.048,2956,2955,3802,0,0,0,0,0,0
$GC,6134,-0.90,-185.1,898.1,-12.7,603,6138,0.00,2.17,0.00,0.000,6,0.000,0.050,2956,1568,3802,0,0,0,0,0,0
$GC,6460,-0.90,-185.1,944.4,-14.3,619,6464,0.00,2.15,0.00,0.000,4,0.000,0.049,2947,2956,3799,0,0,0,0,0,0
$GC,6486,-0.90,-185.1,948.2,-14.0,620,6491,0.03,2.20,0.00,0.000,6,0.138,0.050,2962,1582,3799,0,0,0,0,0,0
$GC,6809,-0.90,-185.1,990.4,-13.2,636,6813,0.00,2.12,0.00,0.000,4,0.000,0.049,2954,2954,3797,0,0,0,0,0,0
$GC,6836,-0.91,-185.1,994.3,-13.7,637,6840,0.00,2.17,0.00,0.000,6,0.000,0.051,2953,1574,3797,0,0,0,0,0,0
$STATE,6883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6883,begin apogee
$GC,6889,0.00,0.0,1000.5,13.2,639,7047,0.82,0.00,152.40,1.233,4,0.093,0.000,3251,1713,3067,0,0,0,0,0,0
$STATE,7048,end apogee,CONTROL_FINISHED_OK
$STATE,7048,begin climb
$GC,7050,0.68,185.1,1007.2,0.0,646,7221,0.60,2.42,160.73,1.170,4,0.030,0.060,3522,290,2312,0,0,0,0,0,0
$GC,7272,0.60,185.1,978.3,24.1,656,7279,0.28,2.22,0.00,0.000,6,0.139,0.033,3441,1705,2304,0,0,0,0,0,0
$GC,7589,0.58,185.1,925.1,15.9,672,7593,0.00,2.15,0.00,0.000,4,0.000,0.041,3441,3101,2298,0,0,0,0,0,0
$GC,7667,0.55,185.1,911.7,16.8,675,7675,0.10,2.20,0.00,0.000,6,0.171,0.047,3424,1698,2296,0,0,0,0,0,0
$GC,7983,0.54,185.1,865.3,14.6,691,7987,0.00,2.22,0.00,0.000,4,0.000,0.060,3434,294,2294,0,0,0,0,0,0
$GC,8010,0.53,185.1,860.9,14.9,692,8014,0.00,2.12,0.00,0.000,6,0.000,0.034,3434,1705,2293,0,0,0,0,0,0
$GC,8333,0.51,185.1,812.6,14.9,708,8338,0.08,2.15,0.00,0.000,4,0.187,0.042,3413,3102,2293,0,0,0,0,0,0
$GC,8351,0.49,185.1,809.8,14.9,709,8355,0.00,2.20,0.00,0.000,6,0.000,0.047,3421,1701,2292,0,0,0,0,0,0
$GC,8677,0.52,205.6,767.0,12.9,725,8697,0.00,0.00,15.70,1.067,6,0.000,0.000,3421,1700,2229,0,0,0,0,0,0
$GC,9007,0.54,220.4,723.9,13.1,741,9029,0.00,2.25,14.15,1.037,4,0.000,0.044,3421,3102,2168,0,0,0,0,0,0
$GC,9040,0.55,228.7,719.1,13.5,742,9055,0.00,2.25,9.25,0.955,6,0.000,0.047,3426,1698,2134,0,0,0,0,0,0
$GC,9384,0.55,229.9,671.4,13.8,759,9388,0.00,2.25,0.00,0.000,4,0.000,0.061,3437,292,2130,0,0,0,0,0,0
$GC,9417,0.55,229.9,666.3,15.0,760,9421,0.00,2.17,0.00,0.000,6,0.000,0.034,3437,1700,2128,0,0,0,0,0,0
$GC,9739,0.55,229.9,620.2,14.5,776,9743,0.00,2.25,0.00,0.000,4,0.000,0.060,3446,290,2128,0,0,0,0,0,0
$GC,9761,0.54,229.9,616.7,14.9,777,9766,0.08,2.15,0.00,0.000,6,0.172,0.034,3425,1705,2127,0,0,0,0,0,0
$GC,10088,0.56,247.5,573.3,13.0,802,10110,0.00,2.22,16.58,0.971,4,0.000,0.043,3424,3099,2059,0,0,0,0,0,0
$GC,10127,0.59,262.4,567.8,13.1,805,10148,0.00,2.22,14.80,0.940,6,0.000,0.047,3431,1698,1996,0,0,0,0,0,0
$GC,10474,0.61,267.3,521.5,13.6,838,10487,0.05,2.28,4.32,0.654,4,0.168,0.060,3494,289,1978,0,0,0,0,0,0
$GC,10569,0.59,267.3,504.5,18.7,846,10574,0.17,2.12,0.00,0.000,6,0.122,0.034,3438,1699,1976,0,0,0,0,0,0
$GC,10895,0.60,267.3,456.9,14.4,876,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1701,1976,0,0,0,0,0,0
$GC,11214,0.63,278.7,414.1,13.3,906,11230,0.00,2.25,11.25,0.820,4,0.000,0.057,3448,293,1932,0,0,0,0,0,0
$GC,11258,0.64,278.7,407.7,14.1,909,11265,0.00,2.10,0.00,0.000,6,0.000,0.033,3448,1690,1929,0,0,0,0,0,0
$GC,11585,0.67,290.4,363.6,13.3,940,11601,0.08,2.17,11.50,0.780,4,0.119,0.038,3535,3108,1884,0,0,0,0,0,0
$GC,11648,0.63,290.4,351.7,19.4,945,11653,0.30,2.22,0.00,0.000,6,0.132,0.044,3451,1688,1883,0,0,0,0,0,0
$GC,11974,0.66,308.4,307.8,13.0,975,11998,0.00,2.25,16.98,0.766,4,0.000,0.057,3462,293,1810,0,0,0,0,0,0
$GC,12045,0.73,338.7,298.7,12.4,981,12077,0.08,2.12,26.27,0.770,6,0.119,0.032,3555,1692,1687,0,0,0,0,0,0
$GC,12412,0.68,338.7,215.4,23.3,1046,12419,0.25,0.00,0.00,0.000,6,0.133,0.000,3467,1692,1681,0,0,0,0,0,0
$GC,12755,0.77,386.3,169.7,11.5,1107,12800,0.10,2.33,38.92,0.675,4,0.093,0.054,3585,287,1492,0,0,0,0,0,0
$GC,12884,0.74,386.3,143.1,20.3,1129,12892,0.30,2.10,0.00,0.000,6,0.106,0.030,3483,1690,1487,0,0,0,0,0,0
$GC,13231,0.85,440.3,99.2,11.2,1190,13282,0.12,2.20,43.28,0.613,4,0.078,0.036,3593,3098,1270,0,0,0,0,0,0
$GC,13324,0.86,440.3,83.0,18.2,1205,13332,0.25,2.25,0.00,0.000,6,0.113,0.044,3519,1671,1269,0,0,0,0,0,0
$GC,13668,0.98,502.9,40.0,10.7,1266,13725,0.15,2.28,49.15,0.562,4,0.066,0.051,3633,286,1015,0,0,0,0,0,0
$GC,13803,0.96,502.9,11.5,25.4,1289,13810,0.22,2.08,0.00,0.000,6,0.116,0.028,3559,1684,1012,0,0,0,0,0,0
$STATE,13848,end climb,SURFACE_DEPTH_REACHED
$STATE,13848,begin surface coast
$FINISH,2.0,1.022270
$STATE,13872,end surface coast,CONTROL_FINISHED_OK
$STATE,13873,begin surface
$SM_CCo,13950,0.00,0.000,0,0,1007,505.81
$SM_GC,2.68,8.45,0.00,0.00,0.020,0.000,0.000,103,1532,1007,-9.68,-0.57,505.81
$IRIDIUM_FIX,2316.83,12645.15,311010,131306
$TT8_MAMPS,0.026964
$HUMID,47.16
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,23.1,55.593
$10V_AH,10.2,41.898
$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,23.250,122.600,585.275,0.000,0.000,30.356,15.897,133.149,0.500,0.000,39.175,3203.285,7816.441,666.400,2332.475,254.031,0.000,1839.039,0.000,2108.822,0.000,0.539,0.000
$DEVICE_MAMPS,186.660,67.320,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334012
$DATA_FILE_SIZE,73599,1301
$CAP_FILE_SIZE,158547,0
$CFSIZE,260165632,229265408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,324.7,1
$GPS,311010,215207,2319.753,12646.480,41,1.4,41,-3.4