version: 66.08
glider: 168
mission: 2
dive: 419
start: 11 2 110 5 58 12
data:
$ID,168
$MISSION,2
$DIVE,419
$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,-3738.1084
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,021110,055225,2301.715,12637.318,41,1.6,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-78.4
$GPS2,021110,055744,2301.656,12637.232,14,1.9,14,-3.3
$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,197.3,195446,-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,-185.1,0.0,0.0,0,24,0.00,0.00,-6.50,0.000,2,0.000,0.000,104,1537,1507,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.4,-0.0,1,129,10.10,2.22,-86.40,0.000,4,0.176,0.063,3029,169,3824,0,0,0,0,0,0
$GC,233,-0.64,-185.1,34.2,-27.2,35,240,0.10,2.10,0.00,0.000,6,0.155,0.036,3049,1542,3826,0,0,0,0,0,0
$GC,577,-0.62,-185.1,117.6,-18.8,96,584,0.00,2.17,0.00,0.000,4,0.000,0.043,3039,2968,3827,0,0,0,0,0,0
$GC,602,-0.62,-185.1,122.4,-18.0,100,610,0.00,2.20,0.00,0.000,6,0.000,0.042,3039,1548,3827,0,0,0,0,0,0
$GC,948,-0.62,-185.1,186.7,-17.2,161,955,0.00,2.12,0.00,0.000,4,0.000,0.051,3039,163,3828,0,0,0,0,0,0
$GC,961,-0.62,-185.1,189.1,-17.2,163,968,0.08,2.10,0.00,0.000,6,0.177,0.036,3054,1557,3829,0,0,0,0,0,0
$GC,1308,-0.64,-185.1,236.9,-13.3,224,1315,0.00,2.15,0.00,0.000,4,0.000,0.044,3045,2954,3829,0,0,0,0,0,0
$GC,1334,-0.66,-185.1,240.4,-12.6,228,1342,0.00,2.17,0.00,0.000,6,0.000,0.042,3045,1545,3829,0,0,0,0,0,0
$GC,1682,-0.68,-185.1,285.6,-13.4,289,1689,0.00,2.20,0.00,0.000,4,0.000,0.046,3037,2957,3829,0,0,0,0,0,0
$GC,1696,-0.70,-185.1,287.8,-12.9,291,1703,0.00,2.15,0.00,0.000,6,0.000,0.043,3037,1552,3829,0,0,0,0,0,0
$GC,2032,-0.71,-185.1,334.3,-12.9,330,2036,0.00,2.12,0.00,0.000,4,0.000,0.052,3037,166,3829,0,0,0,0,0,0
$GC,2061,-0.73,-185.1,338.3,-13.6,332,2065,0.08,2.08,0.00,0.000,6,0.118,0.037,2941,1556,3829,0,0,0,0,0,0
$GC,2392,-0.68,-185.1,411.3,-21.2,363,2396,0.25,2.15,0.00,0.000,4,0.119,0.041,3024,2959,3828,0,0,0,0,0,0
$GC,2448,-0.73,-185.1,418.7,-9.6,368,2452,0.00,2.15,0.00,0.000,6,0.000,0.042,3025,1551,3828,0,0,0,0,0,0
$GC,2774,-0.75,-185.1,459.3,-12.3,398,2778,0.00,2.17,0.00,0.000,4,0.000,0.044,3018,2953,3827,0,0,0,0,0,0
$GC,2792,-0.77,-185.1,461.6,-12.5,399,2796,0.00,2.12,0.00,0.000,6,0.000,0.043,3018,1559,3827,0,0,0,0,0,0
$GC,3119,-0.79,-185.1,503.3,-12.5,429,3121,0.08,0.00,0.00,0.000,6,0.121,0.000,2908,1559,3825,0,0,0,0,0,0
$GC,3436,-0.73,-185.1,574.4,-22.5,459,3438,0.35,0.00,0.00,0.000,6,0.113,0.000,3021,1558,3823,0,0,0,0,0,0
$GC,3763,-0.76,-185.1,614.1,-11.2,484,3767,0.00,2.17,0.00,0.000,4,0.000,0.047,3017,2952,3821,0,0,0,0,0,0
$GC,3778,-0.79,-185.1,616.3,-11.4,484,3787,0.08,2.15,0.00,0.000,6,0.115,0.046,2916,1561,3821,0,0,0,0,0,0
$GC,4095,-0.75,-185.1,682.9,-21.9,500,4100,0.28,2.20,0.00,0.000,4,0.125,0.057,3012,165,3819,0,0,0,0,0,0
$GC,4113,-0.72,-185.1,686.4,-20.4,501,4118,0.08,2.10,0.00,0.000,6,0.165,0.038,3031,1549,3818,0,0,0,0,0,0
$GC,4448,-0.76,-185.1,718.4,-8.8,517,4452,0.08,2.20,0.00,0.000,4,0.119,0.047,2921,2958,3815,0,0,0,0,0,0
$GC,4520,-0.75,-185.1,729.4,-16.0,520,4525,0.28,2.20,0.00,0.000,6,0.105,0.047,3013,1557,3815,0,0,0,0,0,0
$GC,4843,-0.79,-185.1,763.6,-10.6,536,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1557,3812,0,0,0,0,0,0
$GC,5151,-0.82,-185.1,796.8,-10.8,551,5156,0.10,2.22,0.00,0.000,4,0.093,0.047,2897,2962,3810,0,0,0,0,0,0
$GC,5217,-0.80,-185.1,808.3,-18.6,554,5222,0.30,2.20,0.00,0.000,6,0.106,0.049,2997,1556,3809,0,0,0,0,0,0
$GC,5541,-0.82,-185.1,848.1,-11.4,570,5545,0.00,2.20,0.00,0.000,4,0.000,0.063,2998,168,3807,0,0,0,0,0,0
$GC,5585,-0.86,-185.1,853.5,-11.1,572,5589,0.00,2.12,0.00,0.000,6,0.000,0.039,2991,1560,3806,0,0,0,0,0,0
$GC,5906,-0.88,-185.1,886.5,-10.0,588,5911,0.08,2.17,0.00,0.000,4,0.116,0.047,2879,2961,3804,0,0,0,0,0,0
$GC,5978,-0.85,-185.1,897.8,-16.8,591,5983,0.30,2.20,0.00,0.000,6,0.109,0.049,2979,1553,3803,0,0,0,0,0,0
$GC,6297,-0.86,-185.1,934.0,-11.3,606,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1552,3801,0,0,0,0,0,0
$GC,6605,-0.88,-185.1,970.7,-12.3,621,6609,0.00,2.22,0.00,0.000,4,0.000,0.049,2970,2961,3799,0,0,0,0,0,0
$GC,6655,-0.91,-185.1,976.9,-11.8,623,6659,0.00,2.20,0.00,0.000,6,0.000,0.051,2970,1564,3798,0,0,0,0,0,0
$STATE,6844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6845,begin apogee
$GC,6850,0.00,0.0,1002.5,13.8,632,7009,0.77,0.00,153.18,1.236,4,0.087,0.000,3254,1703,3068,0,0,0,0,0,0
$STATE,7009,end apogee,CONTROL_FINISHED_OK
$STATE,7010,begin climb
$GC,7012,0.68,185.1,1011.6,0.0,639,7182,0.60,2.42,161.27,1.172,4,0.028,0.061,3524,294,2313,0,0,0,0,0,0
$GC,7240,0.60,185.1,983.5,23.3,650,7245,0.28,2.22,0.00,0.000,6,0.140,0.033,3444,1713,2305,0,0,0,0,0,0
$GC,7563,0.57,185.1,927.4,17.6,666,7567,0.00,2.15,0.00,0.000,4,0.000,0.041,3443,3102,2298,0,0,0,0,0,0
$GC,7618,0.55,185.1,917.2,17.1,668,7627,0.10,2.22,0.00,0.000,6,0.174,0.047,3426,1704,2297,0,0,0,0,0,0
$GC,7935,0.54,189.5,872.1,13.7,684,7939,0.00,2.28,0.00,0.000,4,0.000,0.060,3436,289,2295,0,0,0,0,0,0
$GC,7990,0.53,189.5,864.0,14.9,686,7997,0.08,2.12,0.00,0.000,6,0.168,0.034,3415,1698,2294,0,0,0,0,0,0
$GC,8306,0.55,205.7,823.3,13.1,702,8328,0.00,2.28,16.25,1.099,4,0.000,0.059,3424,292,2228,0,0,0,0,0,0
$GC,8352,0.55,205.7,816.8,14.0,704,8356,0.00,2.12,0.00,0.000,6,0.000,0.034,3424,1690,2226,0,0,0,0,0,0
$GC,8679,0.55,205.7,768.8,14.7,720,8683,0.00,2.17,0.00,0.000,4,0.000,0.044,3424,3107,2223,0,0,0,0,0,0
$GC,8718,0.55,205.7,762.8,15.0,722,8722,0.00,2.25,0.00,0.000,6,0.000,0.048,3434,1691,2223,0,0,0,0,0,0
$GC,9046,0.54,205.7,713.2,15.3,738,9050,0.00,2.25,0.00,0.000,4,0.000,0.062,3445,290,2221,0,0,0,0,0,0
$GC,9067,0.52,205.7,709.6,15.3,739,9072,0.10,2.12,0.00,0.000,6,0.157,0.034,3414,1692,2221,0,0,0,0,0,0
$GC,9394,0.55,232.4,666.5,12.5,755,9420,0.00,0.00,24.10,1.049,6,0.000,0.000,3414,1694,2121,0,0,0,0,0,0
$GC,9725,0.60,257.5,626.6,12.6,771,9755,0.10,2.38,22.98,1.013,4,0.096,0.060,3499,287,2018,0,0,0,0,0,0
$GC,9795,0.56,257.5,613.9,19.4,774,9800,0.22,2.15,0.00,0.000,6,0.122,0.034,3428,1691,2013,0,0,0,0,0,0
$GC,10124,0.57,257.5,566.1,14.6,801,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1693,2008,0,0,0,0,0,0
$GC,10443,0.58,257.5,520.9,14.0,831,10447,0.00,2.25,0.00,0.000,4,0.000,0.060,3437,292,2006,0,0,0,0,0,0
$GC,10495,0.62,274.8,513.7,13.0,835,10519,0.00,2.12,14.93,0.920,6,0.000,0.034,3437,1697,1946,0,0,0,0,0,0
$GC,10836,0.65,291.2,468.0,13.1,867,10860,0.08,0.00,15.02,0.887,6,0.123,0.000,3509,1697,1880,0,0,0,0,0,0
$GC,11178,0.61,291.2,404.4,19.2,899,11182,0.20,2.17,0.00,0.000,4,0.134,0.040,3447,3107,1876,0,0,0,0,0,0
$GC,11199,0.60,291.2,400.5,16.7,900,11207,0.00,2.25,0.00,0.000,6,0.000,0.045,3456,1675,1875,0,0,0,0,0,0
$GC,11524,0.60,291.2,352.1,16.3,931,11528,0.00,2.22,0.00,0.000,4,0.000,0.059,3467,285,1875,0,0,0,0,0,0
$GC,11579,0.62,291.2,343.4,15.1,935,11587,0.08,2.10,0.00,0.000,6,0.159,0.033,3442,1687,1873,0,0,0,0,0,0
$GC,11906,0.71,347.0,304.6,11.1,966,11959,0.12,2.35,47.00,0.799,4,0.076,0.056,3565,288,1652,0,0,0,0,0,0
$GC,11977,0.65,347.0,290.1,24.4,975,11985,0.32,2.12,0.00,0.000,6,0.111,0.031,3459,1679,1650,0,0,0,0,0,0
$GC,12322,0.69,363.4,241.9,13.1,1036,12342,0.00,2.30,14.23,0.697,4,0.000,0.056,3467,293,1585,0,0,0,0,0,0
$GC,12355,0.71,363.4,237.2,14.4,1041,12362,0.00,2.08,0.00,0.000,6,0.000,0.031,3467,1671,1584,0,0,0,0,0,0
$GC,12699,0.76,388.5,191.9,12.6,1102,12730,0.10,2.28,21.67,0.678,4,0.094,0.054,3584,285,1483,0,0,0,0,0,0
$GC,12749,0.71,388.5,181.2,23.4,1110,12756,0.32,2.10,0.00,0.000,6,0.111,0.031,3476,1664,1482,0,0,0,0,0,0
$GC,13093,0.75,399.0,134.6,13.4,1171,13108,0.05,2.25,9.77,0.585,4,0.169,0.054,3570,289,1440,0,0,0,0,0,0
$GC,13149,0.73,399.0,123.3,23.2,1180,13158,0.25,2.03,0.00,0.000,6,0.105,0.030,3484,1652,1439,0,0,0,0,0,0
$GC,13496,0.91,503.1,81.3,8.6,1241,13587,0.17,2.25,82.03,0.600,4,0.060,0.057,3617,294,1015,0,0,0,0,0,0
$GC,13618,0.91,503.1,59.5,15.5,1261,13625,0.22,2.05,0.00,0.000,6,0.109,0.029,3541,1641,1012,0,0,0,0,0,0
$GC,13964,0.94,503.1,8.6,15.4,1322,13971,0.00,2.15,0.00,0.000,4,0.000,0.053,3543,284,1010,0,0,0,0,0,0
$GC,14007,1.04,527.7,3.1,12.6,1329,14016,0.12,2.00,3.47,0.071,2,0.093,0.030,3598,1632,1008,0,0,0,0,0,0
$STATE,14017,end climb,SURFACE_DEPTH_REACHED
$STATE,14017,begin surface coast
$FINISH,2.4,1.011502
$STATE,14045,end surface coast,CONTROL_FINISHED_OK
$STATE,14045,begin surface
$SM_CCo,14122,0.00,0.000,0,0,1006,505.81
$SM_GC,3.40,8.50,0.00,0.00,0.021,0.000,0.000,102,1543,1006,-9.71,-0.20,505.81
$IRIDIUM_FIX,2255.72,12639.54,021110,010112
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$XPDR_PINGS,3
$24V_AH,23.0,57.125
$10V_AH,10.2,42.607
$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,25.375,135.525,585.900,0.000,0.000,24.497,45.760,125.000,0.750,0.000,16.690,3301.268,7788.742,685.752,2394.197,266.834,0.000,1894.989,0.000,2176.270,0.000,0.539,0.000
$DEVICE_MAMPS,177.480,99.450,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,908.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,77016,1335
$CAP_FILE_SIZE,168108,0
$CFSIZE,260165632,228556800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,237.3,1
$GPS,021110,095437,2258.552,12635.014,27,1.5,27,-3.3