version: 66.08
glider: 168
mission: 2
dive: 421
start: 11 2 110 13 56 47
data:
$ID,168
$MISSION,2
$DIVE,421
$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,-3743.0137
$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,52
$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
$GPS1,021110,135055,2256.429,12633.541,40,2.0,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-76.6
$GPS2,021110,135619,2256.407,12633.431,14,2.0,14,-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,168.0,184172,-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,-185.1,0.0,0.0,0,25,0.00,0.00,-7.35,0.000,2,0.000,0.000,104,1531,1229,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.4,-0.0,1,123,9.90,2.20,-78.93,0.000,4,0.168,0.063,3033,177,3825,0,0,0,0,0,0
$GC,246,-0.65,-185.1,43.9,-26.4,38,254,0.08,2.08,0.00,0.000,6,0.174,0.037,3045,1533,3826,0,0,0,0,0,0
$GC,592,-0.63,-185.1,124.1,-19.6,99,599,0.00,2.10,0.00,0.000,4,0.000,0.050,3045,176,3827,0,0,0,0,0,0
$GC,623,-0.61,-185.1,130.4,-20.1,104,630,0.08,2.08,0.00,0.000,6,0.174,0.035,3059,1557,3827,0,0,0,0,0,0
$GC,967,-0.62,-185.1,182.7,-14.3,165,973,0.00,2.12,0.00,0.000,4,0.000,0.043,3050,2955,3828,0,0,0,0,0,0
$GC,1020,-0.67,-185.1,189.4,-11.4,174,1028,0.00,2.15,0.00,0.000,6,0.000,0.040,3050,1553,3828,0,0,0,0,0,0
$GC,1365,-0.69,-185.1,234.9,-12.4,235,1373,0.08,2.20,0.00,0.000,4,0.122,0.044,2925,2962,3829,0,0,0,0,0,0
$GC,1391,-0.67,-185.1,239.4,-17.1,239,1399,0.35,2.17,0.00,0.000,6,0.108,0.042,3046,1547,3829,0,0,0,0,0,0
$GC,1739,-0.69,-185.1,285.2,-12.5,300,1745,0.00,2.15,0.00,0.000,4,0.000,0.044,3037,2955,3829,0,0,0,0,0,0
$GC,1764,-0.72,-185.1,288.4,-11.6,304,1771,0.00,2.12,0.00,0.000,6,0.000,0.041,3037,1555,3829,0,0,0,0,0,0
$GC,2096,-0.74,-185.1,327.9,-12.0,344,2101,0.08,2.17,0.00,0.000,4,0.119,0.052,2920,167,3829,0,0,0,0,0,0
$GC,2117,-0.71,-185.1,331.8,-17.0,345,2125,0.35,2.08,0.00,0.000,6,0.120,0.036,3026,1560,3828,0,0,0,0,0,0
$GC,2443,-0.73,-185.1,378.3,-12.9,376,2447,0.00,2.12,0.00,0.000,4,0.000,0.044,3015,2955,3828,0,0,0,0,0,0
$GC,2494,-0.77,-185.1,384.6,-11.3,380,2498,0.00,2.12,0.00,0.000,6,0.000,0.042,3016,1558,3828,0,0,0,0,0,0
$GC,2820,-0.78,-185.1,427.1,-12.7,410,2824,0.00,2.17,0.00,0.000,4,0.000,0.054,3015,167,3826,0,0,0,0,0,0
$GC,2842,-0.79,-185.1,430.2,-13.4,411,2848,0.00,2.08,0.00,0.000,6,0.000,0.037,3007,1558,3826,0,0,0,0,0,0
$GC,3167,-0.80,-185.1,472.3,-13.1,442,3171,0.00,2.12,0.00,0.000,4,0.000,0.044,2998,2954,3825,0,0,0,0,0,0
$GC,3208,-0.83,-185.1,477.4,-11.8,445,3212,0.00,2.12,0.00,0.000,6,0.000,0.043,2998,1563,3825,0,0,0,0,0,0
$GC,3534,-0.84,-185.1,525.6,-15.0,475,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1563,3823,0,0,0,0,0,0
$GC,3854,-0.85,-185.1,569.5,-12.5,505,3858,0.08,2.17,0.00,0.000,4,0.120,0.044,2872,2961,3820,0,0,0,0,0,0
$GC,3908,-0.80,-185.1,580.5,-21.5,509,3916,0.38,2.17,0.00,0.000,6,0.109,0.045,2997,1562,3820,0,0,0,0,0,0
$GC,4232,-0.81,-185.1,619.6,-11.4,532,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1562,3819,0,0,0,0,0,0
$GC,4540,-0.83,-185.1,653.9,-11.5,547,4543,0.00,2.17,0.00,0.000,4,0.000,0.047,2991,2961,3816,0,0,0,0,0,0
$GC,4556,-0.84,-185.1,656.0,-11.3,547,4562,0.00,2.17,0.00,0.000,6,0.000,0.045,2990,1563,3816,0,0,0,0,0,0
$GC,4873,-0.86,-185.1,694.6,-12.7,563,4877,0.00,2.15,0.00,0.000,4,0.000,0.046,2986,2953,3813,0,0,0,0,0,0
$GC,4897,-0.88,-185.1,697.7,-12.4,564,4902,0.08,2.15,0.00,0.000,6,0.114,0.047,2890,1566,3813,0,0,0,0,0,0
$GC,5220,-0.82,-185.1,765.5,-21.4,580,5225,0.28,2.22,0.00,0.000,4,0.127,0.057,2986,163,3810,0,0,0,0,0,0
$GC,5269,-0.84,-185.1,774.3,-13.7,582,5274,0.00,2.10,0.00,0.000,6,0.000,0.038,2978,1555,3810,0,0,0,0,0,0
$GC,5586,-0.85,-185.1,815.5,-13.5,597,5590,0.00,2.17,0.00,0.000,4,0.000,0.047,2970,2956,3807,0,0,0,0,0,0
$GC,5665,-0.88,-185.1,825.8,-12.7,600,5672,0.00,2.17,0.00,0.000,6,0.000,0.048,2969,1564,3807,0,0,0,0,0,0
$GC,5980,-0.88,-185.1,872.1,-14.5,616,5985,0.00,2.22,0.00,0.000,4,0.000,0.061,2970,160,3805,0,0,0,0,0,0
$GC,5998,-0.88,-185.1,874.7,-14.5,617,6002,0.00,2.15,0.00,0.000,6,0.000,0.041,2960,1571,3805,0,0,0,0,0,0
$GC,6325,-0.88,-185.1,922.2,-13.9,633,6329,0.00,2.17,0.00,0.000,4,0.000,0.049,2950,2962,3802,0,0,0,0,0,0
$GC,6403,-0.90,-185.1,932.2,-12.4,636,6409,0.00,2.20,0.00,0.000,6,0.000,0.048,2950,1558,3801,0,0,0,0,0,0
$GC,6719,-0.90,-185.1,976.0,-13.6,652,6723,0.00,2.17,0.00,0.000,4,0.000,0.049,2942,2956,3799,0,0,0,0,0,0
$GC,6769,-0.92,-185.1,982.6,-12.0,654,6774,0.05,2.17,0.00,0.000,6,0.198,0.050,2959,1572,3797,0,0,0,0,0,0
$STATE,6918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6918,begin apogee
$GC,6924,0.00,0.0,1001.7,13.1,661,7082,0.80,0.00,153.27,1.237,4,0.092,0.000,3250,1711,3067,0,0,0,0,0,0
$STATE,7083,end apogee,CONTROL_FINISHED_OK
$STATE,7083,begin climb
$GC,7086,0.68,185.1,1007.8,0.0,668,7255,0.60,2.42,161.00,1.168,4,0.030,0.060,3521,293,2313,0,0,0,0,0,0
$GC,7317,0.61,185.1,977.8,23.0,679,7322,0.25,2.20,0.00,0.000,6,0.138,0.033,3449,1703,2305,0,0,0,0,0,0
$GC,7645,0.57,185.1,919.9,17.1,695,7649,0.00,2.15,0.00,0.000,4,0.000,0.041,3448,3107,2298,0,0,0,0,0,0
$GC,7725,0.55,185.1,905.7,17.3,698,7734,0.12,2.25,0.00,0.000,6,0.163,0.047,3422,1695,2297,0,0,0,0,0,0
$GC,8041,0.53,185.1,859.3,14.5,714,8045,0.00,2.17,0.00,0.000,4,0.000,0.041,3422,3103,2296,0,0,0,0,0,0
$GC,8075,0.53,185.1,854.1,14.7,715,8082,0.00,2.17,0.00,0.000,6,0.000,0.047,3431,1713,2296,0,0,0,0,0,0
$GC,8392,0.51,185.1,809.2,14.0,731,8396,0.00,2.28,0.00,0.000,4,0.000,0.060,3442,283,2294,0,0,0,0,0,0
$GC,8425,0.49,185.1,803.9,15.6,732,8430,0.12,2.15,0.00,0.000,6,0.145,0.035,3403,1712,2293,0,0,0,0,0,0
$GC,8747,0.51,204.3,763.2,12.9,748,8769,0.00,2.20,14.65,1.068,4,0.000,0.044,3402,3106,2235,0,0,0,0,0,0
$GC,8794,0.55,220.1,756.9,13.1,750,8817,0.00,2.20,15.88,1.060,6,0.000,0.047,3411,1708,2170,0,0,0,0,0,0
$GC,9127,0.57,232.1,711.7,13.3,766,9150,0.08,2.38,11.80,1.009,4,0.122,0.060,3491,285,2119,0,0,0,0,0,0
$GC,9196,0.54,232.1,699.1,19.4,769,9201,0.22,2.17,0.00,0.000,6,0.122,0.034,3418,1708,2117,0,0,0,0,0,0
$GC,9525,0.59,263.6,657.2,12.3,785,9560,0.08,2.28,27.95,1.026,4,0.119,0.043,3487,3108,1992,0,0,0,0,0,0
$GC,9582,0.56,263.6,647.0,19.2,787,9590,0.22,2.28,0.00,0.000,6,0.138,0.047,3429,1702,1988,0,0,0,0,0,0
$GC,9900,0.57,263.6,602.4,13.9,803,9904,0.00,2.25,0.00,0.000,4,0.000,0.060,3440,294,1984,0,0,0,0,0,0
$GC,9944,0.58,267.1,595.7,13.7,806,9952,0.00,2.15,0.00,0.000,6,0.000,0.034,3440,1702,1982,0,0,0,0,0,0
$GC,10270,0.61,287.3,551.2,12.9,837,10292,0.00,0.00,20.40,0.968,6,0.000,0.000,3440,1704,1896,0,0,0,0,0,0
$GC,10608,0.62,290.1,505.9,13.7,869,10612,0.00,2.30,0.00,0.000,4,0.000,0.060,3448,285,1890,0,0,0,0,0,0
$GC,10648,0.63,290.1,500.2,14.4,872,10652,0.00,2.17,0.00,0.000,6,0.000,0.034,3449,1704,1889,0,0,0,0,0,0
$GC,10974,0.64,290.1,449.8,16.1,902,10977,0.00,2.17,0.00,0.000,4,0.000,0.042,3448,3110,1888,0,0,0,0,0,0
$GC,10996,0.65,290.1,445.9,16.6,903,11002,0.00,2.22,0.00,0.000,6,0.000,0.047,3455,1690,1888,0,0,0,0,0,0
$GC,11321,0.66,294.9,397.1,13.6,934,11334,0.00,2.22,6.32,0.708,4,0.000,0.058,3466,294,1867,0,0,0,0,0,0
$GC,11396,0.68,296.4,386.4,13.8,940,11402,0.00,2.12,0.00,0.000,6,0.000,0.033,3466,1695,1865,0,0,0,0,0,0
$GC,11721,0.68,296.4,337.9,14.8,971,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1697,1865,0,0,0,0,0,0
$GC,12042,0.68,296.4,290.1,14.2,1007,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1697,1865,0,0,0,0,0,0
$GC,12385,0.69,296.4,244.9,14.4,1068,12391,0.00,2.22,0.00,0.000,4,0.000,0.056,3474,294,1865,0,0,0,0,0,0
$GC,12427,0.70,296.4,239.2,14.1,1075,12434,0.00,2.08,0.00,0.000,6,0.000,0.031,3474,1691,1865,0,0,0,0,0,0
$GC,12772,0.71,296.4,194.2,14.0,1136,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,1693,1865,0,0,0,0,0,0
$GC,13116,0.81,361.3,153.4,10.6,1197,13179,0.12,0.00,55.88,0.661,6,0.080,0.000,3582,1693,1594,0,0,0,0,0,0
$GC,13517,0.79,361.3,67.9,20.6,1267,13524,0.25,2.25,0.00,0.000,4,0.123,0.053,3502,290,1588,0,0,0,0,0,0
$GC,13588,0.94,439.1,58.4,10.0,1279,13656,0.15,2.08,61.30,0.585,6,0.063,0.030,3620,1692,1277,0,0,0,0,0,0
$STATE,13832,end climb,SURFACE_DEPTH_REACHED
$STATE,13833,begin surface coast
$FINISH,2.5,1.022612
$STATE,13846,end surface coast,CONTROL_FINISHED_OK
$STATE,13846,begin surface
$SM_CCo,13923,0.00,0.000,0,0,1266,442.03
$SM_GC,3.30,8.55,0.00,0.00,0.018,0.000,0.000,102,1547,1266,-9.70,-0.11,442.03
$IRIDIUM_FIX,2251.04,12634.87,021110,090930
$TT8_MAMPS,0.026964
$HUMID,49.44
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,23.0,57.461
$10V_AH,10.2,42.764
$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,23.325,131.125,528.450,0.000,0.000,29.157,41.890,129.190,0.750,0.000,16.149,3283.494,7663.279,638.833,2391.954,266.631,0.000,1837.071,0.000,2172.332,0.000,0.538,0.000
$DEVICE_MAMPS,198.135,71.145,1237.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,76855,1324
$CAP_FILE_SIZE,162954,0
$CFSIZE,260165632,228413440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,277.3,1
$GPS,021110,175006,2254.348,12632.977,35,1.0,41,-3.3