version: 66.08
glider: 168
mission: 2
dive: 417
start: 11 1 110 21 58 54
data:
$ID,168
$MISSION,2
$DIVE,417
$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,-3733.1011
$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,40
$R_STBD_OVSHOOT,49
$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
$GPS1,011110,215336,2306.265,12638.962,39,0.9,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-74.4
$GPS2,011110,215826,2306.278,12638.938,14,0.9,14,-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,184.0,204499,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-7.50,0.000,2,0.000,0.000,104,1532,1436,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.3,-0.0,1,142,10.07,2.20,-94.30,0.000,4,0.174,0.067,3032,177,3825,0,0,0,0,0,0
$GC,256,-0.64,-185.1,34.8,-28.2,40,264,0.10,2.08,0.00,0.000,6,0.155,0.034,3053,1546,3826,0,0,0,0,0,0
$GC,601,-0.62,-185.1,116.4,-20.3,101,608,0.00,2.15,0.00,0.000,4,0.000,0.043,3043,2960,3826,0,0,0,0,0,0
$GC,666,-0.65,-185.1,126.5,-12.6,112,674,0.00,2.12,0.00,0.000,6,0.000,0.041,3043,1565,3827,0,0,0,0,0,0
$GC,1012,-0.65,-185.1,183.6,-17.6,173,1019,0.00,2.15,0.00,0.000,4,0.000,0.050,3043,165,3829,0,0,0,0,0,0
$GC,1087,-0.67,-185.1,196.3,-15.5,186,1094,0.00,2.10,0.00,0.000,6,0.000,0.037,3036,1556,3828,0,0,0,0,0,0
$GC,1429,-0.67,-185.1,253.2,-15.2,247,1435,0.00,2.12,0.00,0.000,4,0.000,0.044,3027,2956,3828,0,0,0,0,0,0
$GC,1454,-0.68,-185.1,256.9,-14.7,251,1461,0.00,2.15,0.00,0.000,6,0.000,0.041,3026,1555,3828,0,0,0,0,0,0
$GC,1798,-0.68,-185.1,308.8,-15.0,308,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1554,3829,0,0,0,0,0,0
$GC,2118,-0.68,-185.1,356.4,-14.1,338,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1554,3828,0,0,0,0,0,0
$GC,2437,-0.69,-185.1,404.3,-14.7,368,2441,0.00,2.15,0.00,0.000,4,0.000,0.044,3018,2955,3827,0,0,0,0,0,0
$GC,2488,-0.74,-185.1,411.3,-12.2,372,2492,0.00,2.15,0.00,0.000,6,0.000,0.043,3018,1552,3828,0,0,0,0,0,0
$GC,2819,-0.75,-185.1,454.5,-12.4,403,2823,0.00,2.12,0.00,0.000,4,0.000,0.053,3018,169,3826,0,0,0,0,0,0
$GC,2841,-0.76,-185.1,457.6,-12.8,404,2848,0.00,2.08,0.00,0.000,6,0.000,0.037,3016,1556,3826,0,0,0,0,0,0
$GC,3166,-0.77,-185.1,498.0,-12.8,435,3170,0.00,2.15,0.00,0.000,4,0.000,0.044,3006,2960,3825,0,0,0,0,0,0
$GC,3229,-0.82,-185.1,505.5,-11.2,440,3233,0.00,2.15,0.00,0.000,6,0.000,0.043,3006,1552,3825,0,0,0,0,0,0
$GC,3555,-0.83,-185.1,549.2,-12.7,470,3557,0.08,0.00,0.00,0.000,6,0.121,0.000,2895,1551,3823,0,0,0,0,0,0
$GC,3871,-0.76,-185.1,619.7,-22.7,496,3876,0.32,2.17,0.00,0.000,4,0.116,0.042,2998,2955,3820,0,0,0,0,0,0
$GC,3899,-0.74,-185.1,625.2,-16.8,497,3903,0.00,2.17,0.00,0.000,6,0.000,0.047,2998,1550,3820,0,0,0,0,0,0
$GC,4215,-0.76,-185.1,663.6,-12.8,512,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1550,3819,0,0,0,0,0,0
$GC,4525,-0.77,-185.1,705.2,-13.6,527,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1550,3816,0,0,0,0,0,0
$GC,4834,-0.79,-185.1,744.9,-12.7,542,4838,0.00,2.20,0.00,0.000,4,0.000,0.047,2991,2952,3814,0,0,0,0,0,0
$GC,4861,-0.82,-185.1,748.4,-12.0,543,4865,0.00,2.22,0.00,0.000,6,0.000,0.047,2991,1543,3813,0,0,0,0,0,0
$GC,5178,-0.84,-185.1,788.3,-12.8,558,5182,0.00,2.22,0.00,0.000,4,0.000,0.048,2991,2958,3811,0,0,0,0,0,0
$GC,5212,-0.87,-185.1,792.6,-11.9,559,5220,0.05,2.20,0.00,0.000,6,0.164,0.048,2908,1549,3810,0,0,0,0,0,0
$GC,5529,-0.82,-185.1,854.0,-20.0,575,5534,0.25,2.20,0.00,0.000,4,0.123,0.044,2987,2958,3807,0,0,0,0,0,0
$GC,5574,-0.87,-185.1,860.4,-11.0,577,5578,0.00,2.20,0.00,0.000,6,0.000,0.049,2987,1553,3808,0,0,0,0,0,0
$GC,5897,-0.88,-185.1,897.3,-11.5,593,5899,0.08,0.00,0.00,0.000,6,0.116,0.000,2884,1551,3805,0,0,0,0,0,0
$GC,6205,-0.83,-185.1,957.6,-19.8,608,6210,0.28,2.20,0.00,0.000,4,0.119,0.047,2974,2955,3803,0,0,0,0,0,0
$GC,6238,-0.84,-185.1,962.7,-12.6,609,6245,0.00,2.20,0.00,0.000,6,0.000,0.051,2974,1555,3803,0,0,0,0,0,0
$GC,6556,-0.86,-185.1,996.9,-10.6,625,6560,0.00,2.17,0.00,0.000,4,0.000,0.048,2965,2952,3800,0,0,0,0,0,0
$STATE,6581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6581,begin apogee
$GC,6588,0.00,0.0,1000.0,10.4,626,6745,0.77,0.00,152.90,1.232,4,0.082,0.000,3252,1694,3068,0,0,0,0,0,0
$STATE,6746,end apogee,CONTROL_FINISHED_OK
$STATE,6746,begin climb
$GC,6748,0.68,185.1,1003.6,0.0,633,6919,0.60,2.38,160.05,1.164,4,0.032,0.060,3515,295,2312,0,0,0,0,0,0
$GC,6946,0.61,185.1,978.1,23.8,642,6951,0.22,2.22,0.00,0.000,6,0.142,0.032,3450,1710,2306,0,0,0,0,0,0
$GC,7269,0.57,185.1,920.7,17.6,658,7273,0.00,2.15,0.00,0.000,4,0.000,0.041,3450,3103,2298,0,0,0,0,0,0
$GC,7341,0.55,185.1,907.4,17.3,661,7346,0.12,2.20,0.00,0.000,6,0.161,0.047,3424,1701,2297,0,0,0,0,0,0
$GC,7664,0.54,185.1,860.8,14.7,677,7668,0.00,2.25,0.00,0.000,4,0.000,0.060,3434,286,2295,0,0,0,0,0,0
$GC,7691,0.52,185.1,856.2,15.3,678,7695,0.05,2.17,0.00,0.000,6,0.124,0.034,3413,1699,2294,0,0,0,0,0,0
$GC,8012,0.53,193.2,811.7,13.5,694,8021,0.00,2.20,4.90,0.812,4,0.000,0.044,3413,3107,2280,0,0,0,0,0,0
$GC,8066,0.53,193.2,803.8,14.5,696,8070,0.00,2.22,0.00,0.000,6,0.000,0.047,3422,1702,2280,0,0,0,0,0,0
$GC,8388,0.54,206.1,760.5,13.2,712,8408,0.00,0.00,13.10,1.042,6,0.000,0.000,3422,1702,2227,0,0,0,0,0,0
$GC,8717,0.55,208.7,716.3,13.8,728,8721,0.00,2.25,0.00,0.000,4,0.000,0.060,3433,293,2223,0,0,0,0,0,0
$GC,8735,0.55,208.7,713.6,14.7,729,8739,0.00,2.15,0.00,0.000,6,0.000,0.034,3433,1716,2223,0,0,0,0,0,0
$GC,9063,0.55,208.7,664.2,15.4,745,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1717,2222,0,0,0,0,0,0
$GC,9372,0.56,220.8,620.7,13.3,760,9392,0.00,0.00,13.93,0.974,6,0.000,0.000,3433,1717,2166,0,0,0,0,0,0
$GC,9707,0.58,235.8,576.8,13.1,784,9731,0.00,2.20,14.35,0.947,4,0.000,0.044,3433,3097,2105,0,0,0,0,0,0
$GC,9743,0.58,238.5,571.7,13.8,787,9755,0.00,2.20,4.12,0.640,6,0.000,0.047,3441,1705,2094,0,0,0,0,0,0
$GC,10073,0.58,238.5,525.6,13.9,818,10077,0.00,2.28,0.00,0.000,4,0.000,0.059,3452,294,2090,0,0,0,0,0,0
$GC,10145,0.58,238.5,515.4,15.0,824,10149,0.00,2.12,0.00,0.000,6,0.000,0.034,3452,1702,2089,0,0,0,0,0,0
$GC,10470,0.60,247.3,469.3,13.4,854,10485,0.00,2.22,8.38,0.809,4,0.000,0.042,3452,3101,2058,0,0,0,0,0,0
$GC,10539,0.60,247.3,459.3,14.4,860,10543,0.00,2.20,0.00,0.000,6,0.000,0.047,3460,1697,2058,0,0,0,0,0,0
$GC,10863,0.60,247.3,411.1,15.3,890,10867,0.00,2.25,0.00,0.000,4,0.000,0.058,3470,289,2056,0,0,0,0,0,0
$GC,10913,0.60,247.3,403.2,15.3,894,10921,0.05,2.15,0.00,0.000,6,0.120,0.034,3447,1695,2055,0,0,0,0,0,0
$GC,11239,0.63,270.1,361.0,12.7,925,11265,0.00,2.22,20.38,0.813,4,0.000,0.042,3447,3095,1966,0,0,0,0,0,0
$GC,11342,0.67,284.6,347.7,13.2,934,11364,0.00,2.17,13.62,0.769,6,0.000,0.047,3455,1710,1907,0,0,0,0,0,0
$GC,11683,0.70,293.1,302.1,13.5,966,11699,0.08,2.33,8.30,0.681,4,0.122,0.056,3551,292,1872,0,0,0,0,0,0
$GC,11757,0.66,293.1,287.9,20.8,977,11765,0.28,2.12,0.00,0.000,6,0.115,0.031,3461,1712,1871,0,0,0,0,0,0
$GC,12102,0.71,330.3,240.8,12.0,1038,12140,0.08,2.35,32.10,0.727,4,0.122,0.054,3562,293,1721,0,0,0,0,0,0
$GC,12198,0.68,330.3,223.1,20.2,1054,12206,0.30,2.12,0.00,0.000,6,0.103,0.031,3461,1707,1717,0,0,0,0,0,0
$GC,12544,0.74,357.9,181.9,12.5,1115,12575,0.10,2.30,23.62,0.671,4,0.096,0.054,3575,286,1607,0,0,0,0,0,0
$GC,12605,0.69,357.9,169.4,23.4,1125,12612,0.32,2.15,0.00,0.000,6,0.103,0.031,3466,1714,1604,0,0,0,0,0,0
$GC,12950,0.79,404.8,127.8,11.5,1186,12995,0.12,2.35,38.47,0.639,4,0.080,0.053,3591,293,1416,0,0,0,0,0,0
$GC,13052,0.77,404.8,105.9,20.1,1203,13060,0.30,2.10,0.00,0.000,6,0.103,0.029,3489,1693,1412,0,0,0,0,0,0
$GC,13397,1.04,569.0,71.5,5.6,1264,13532,0.25,2.33,125.05,0.585,4,0.047,0.053,3659,286,746,0,0,0,0,0,0
$GC,13551,0.98,569.0,31.0,30.7,1289,13558,0.30,2.15,0.00,0.000,6,0.123,0.027,3564,1698,744,0,0,0,0,0,0
$STATE,13703,end climb,SURFACE_DEPTH_REACHED
$STATE,13703,begin surface coast
$FINISH,2.4,1.009790
$STATE,13744,end surface coast,CONTROL_FINISHED_OK
$STATE,13744,begin surface
$SM_CCo,13821,0.00,0.000,0,0,738,571.55
$SM_GC,3.17,8.43,0.00,0.00,0.018,0.000,0.000,102,1539,738,-9.71,-0.28,571.55
$IRIDIUM_FIX,2300.41,12642.82,011110,171758
$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.1,56.789
$10V_AH,10.2,42.448
$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,23.600,122.850,633.275,0.000,0.000,24.672,15.143,128.027,0.500,0.000,15.077,3214.635,7614.239,717.271,2309.407,251.811,0.000,1899.275,0.000,2120.542,0.000,0.539,0.000
$DEVICE_MAMPS,174.420,67.320,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,77040,1323
$CAP_FILE_SIZE,157515,0
$CFSIZE,260165632,228728832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,305.2,1
$GPS,021110,015031,2304.350,12638.332,42,1.1,42,-3.3