version: 66.08
glider: 168
mission: 2
dive: 423
start: 11 2 110 21 53 30
data:
$ID,168
$MISSION,2
$DIVE,423
$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,-3745.6233
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,021110,214801,2251.929,12632.170,42,1.1,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-74.7
$GPS2,021110,215302,2251.944,12632.168,9,1.3,9,-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,187.8,175636,-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,-6.93,0.000,2,0.000,0.000,104,1517,1209,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.5,-0.0,1,147,9.77,2.08,-99.50,0.000,4,0.164,0.063,3032,189,3823,0,0,0,0,0,0
$GC,262,-0.65,-185.1,33.7,-22.5,40,269,0.08,2.05,0.00,0.000,6,0.179,0.037,3044,1538,3824,0,0,0,0,0,0
$GC,605,-0.63,-185.1,112.7,-21.1,101,612,0.00,2.15,0.00,0.000,4,0.000,0.041,3033,2959,3825,0,0,0,0,0,0
$GC,625,-0.61,-185.1,116.8,-20.4,104,633,0.08,2.12,0.00,0.000,6,0.155,0.041,3060,1569,3825,0,0,0,0,0,0
$GC,967,-0.62,-185.1,170.0,-15.5,165,974,0.00,2.17,0.00,0.000,4,0.000,0.050,3060,167,3826,0,0,0,0,0,0
$GC,1033,-0.66,-185.1,179.9,-13.8,176,1041,0.08,2.08,0.00,0.000,6,0.116,0.035,2967,1549,3827,0,0,0,0,0,0
$GC,1380,-0.61,-185.1,260.9,-22.4,237,1387,0.25,2.17,0.00,0.000,4,0.115,0.039,3048,2964,3827,0,0,0,0,0,0
$GC,1473,-0.67,-185.1,272.3,-9.1,253,1480,0.00,2.17,0.00,0.000,6,0.000,0.040,3048,1545,3827,0,0,0,0,0,0
$GC,1816,-0.69,-185.1,315.7,-13.2,304,1821,0.08,2.12,0.00,0.000,4,0.119,0.051,2927,172,3827,0,0,0,0,0,0
$GC,1851,-0.64,-185.1,322.1,-20.9,307,1855,0.40,2.05,0.00,0.000,6,0.120,0.035,3049,1549,3827,0,0,0,0,0,0
$GC,2176,-0.67,-185.1,361.3,-10.5,337,2180,0.00,2.15,0.00,0.000,4,0.000,0.044,3040,2960,3826,0,0,0,0,0,0
$GC,2262,-0.73,-185.1,369.2,-9.1,344,2267,0.08,2.12,0.00,0.000,6,0.116,0.040,2931,1555,3826,0,0,0,0,0,0
$GC,2589,-0.66,-185.1,443.6,-23.6,374,2594,0.32,2.15,0.00,0.000,4,0.122,0.051,3041,170,3825,0,0,0,0,0,0
$GC,2618,-0.65,-185.1,449.4,-17.3,376,2622,0.00,2.08,0.00,0.000,6,0.000,0.034,3036,1560,3825,0,0,0,0,0,0
$GC,2950,-0.68,-185.1,483.5,-10.6,407,2954,0.00,2.15,0.00,0.000,4,0.000,0.044,3028,2961,3823,0,0,0,0,0,0
$GC,3005,-0.75,-185.1,489.3,-9.4,411,3013,0.00,2.12,0.00,0.000,6,0.000,0.041,3029,1567,3823,0,0,0,0,0,0
$GC,3331,-0.78,-185.1,527.7,-11.0,442,3332,0.10,0.00,0.00,0.000,6,0.093,0.000,2906,1567,3821,0,0,0,0,0,0
$GC,3649,-0.71,-185.1,595.8,-21.5,472,3654,0.35,2.12,0.00,0.000,4,0.116,0.041,3016,2952,3819,0,0,0,0,0,0
$GC,3667,-0.67,-185.1,599.2,-20.2,473,3671,0.08,2.12,0.00,0.000,6,0.142,0.047,3045,1571,3819,0,0,0,0,0,0
$GC,3995,-0.72,-185.1,626.2,-8.0,489,4000,0.10,2.15,0.00,0.000,4,0.093,0.045,2932,2952,3817,0,0,0,0,0,0
$GC,4028,-0.71,-185.1,630.7,-14.2,490,4036,0.28,2.15,0.00,0.000,6,0.107,0.046,3025,1560,3817,0,0,0,0,0,0
$GC,4346,-0.75,-185.1,662.7,-9.5,506,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1559,3813,0,0,0,0,0,0
$GC,4654,-0.79,-185.1,690.5,-8.8,521,4655,0.10,0.00,0.00,0.000,6,0.093,0.000,2916,1560,3812,0,0,0,0,0,0
$GC,4963,-0.75,-185.1,750.8,-19.9,536,4965,0.30,0.00,0.00,0.000,6,0.121,0.000,3013,1559,3808,0,0,0,0,0,0
$GC,5273,-0.78,-185.1,786.6,-11.1,551,5277,0.00,2.17,0.00,0.000,4,0.000,0.047,3005,2948,3806,0,0,0,0,0,0
$GC,5328,-0.84,-185.1,792.2,-9.4,553,5335,0.08,2.15,0.00,0.000,6,0.114,0.048,2910,1572,3806,0,0,0,0,0,0
$GC,5644,-0.80,-185.1,849.0,-17.7,569,5647,0.28,0.00,0.00,0.000,6,0.119,0.000,3000,1571,3803,0,0,0,0,0,0
$GC,5955,-0.83,-185.1,878.1,-8.7,584,5959,0.00,2.17,0.00,0.000,4,0.000,0.047,2991,2957,3801,0,0,0,0,0,0
$GC,5996,-0.87,-185.1,881.6,-8.0,586,6001,0.08,2.17,0.00,0.000,6,0.112,0.049,2897,1565,3801,0,0,0,0,0,0
$GC,6324,-0.83,-185.1,937.3,-17.6,602,6329,0.25,2.17,0.00,0.000,4,0.125,0.046,2977,2952,3798,0,0,0,0,0,0
$GC,6345,-0.81,-185.1,941.0,-15.6,603,6349,0.00,2.15,0.00,0.000,6,0.000,0.051,2977,1582,3798,0,0,0,0,0,0
$GC,6674,-0.83,-185.1,976.0,-11.1,619,6678,0.00,2.12,0.00,0.000,4,0.000,0.048,2970,2949,3796,0,0,0,0,0,0
$GC,6701,-0.85,-185.1,979.4,-12.0,620,6705,0.00,2.15,0.00,0.000,6,0.000,0.052,2969,1586,3796,0,0,0,0,0,0
$STATE,6871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6871,begin apogee
$GC,6877,0.00,0.0,1000.5,12.7,628,7036,0.77,0.00,152.65,1.235,4,0.088,0.000,3254,1709,3068,0,0,0,0,0,0
$STATE,7037,end apogee,CONTROL_FINISHED_OK
$STATE,7037,begin climb
$GC,7039,0.68,185.1,1007.1,0.0,635,7208,0.60,2.42,160.90,1.164,4,0.028,0.060,3523,286,2313,0,0,0,0,0,0
$GC,7260,0.61,185.1,979.3,22.6,645,7267,0.28,2.22,0.00,0.000,6,0.138,0.031,3442,1707,2305,0,0,0,0,0,0
$GC,7576,0.58,185.1,925.3,16.5,661,7580,0.00,2.17,0.00,0.000,4,0.000,0.041,3442,3111,2297,0,0,0,0,0,0
$GC,7654,0.55,185.1,911.6,17.1,664,7663,0.10,2.22,0.00,0.000,6,0.171,0.047,3425,1698,2297,0,0,0,0,0,0
$GC,7971,0.54,185.1,865.6,14.5,680,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1698,2295,0,0,0,0,0,0
$GC,8280,0.53,185.1,821.3,14.6,695,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1698,2293,0,0,0,0,0,0
$GC,8590,0.52,191.2,778.5,13.6,710,8594,0.00,2.25,0.00,0.000,4,0.000,0.060,3435,296,2293,0,0,0,0,0,0
$GC,8616,0.51,191.2,774.3,15.1,711,8621,0.08,2.12,0.00,0.000,6,0.170,0.034,3413,1713,2291,0,0,0,0,0,0
$GC,8938,0.51,194.3,731.6,13.7,727,8949,0.00,2.15,5.85,0.866,4,0.000,0.042,3413,3106,2274,0,0,0,0,0,0
$GC,8982,0.51,194.4,725.2,13.9,729,8986,0.00,2.20,0.00,0.000,6,0.000,0.047,3421,1701,2273,0,0,0,0,0,0
$GC,9310,0.52,201.1,680.4,13.6,745,9324,0.00,2.33,7.25,0.910,4,0.000,0.060,3431,296,2248,0,0,0,0,0,0
$GC,9358,0.53,209.8,673.4,13.5,747,9376,0.00,2.12,9.68,0.958,6,0.000,0.033,3431,1709,2211,0,0,0,0,0,0
$GC,9685,0.55,225.3,629.7,13.1,763,9708,0.00,2.17,15.02,0.993,4,0.000,0.044,3431,3103,2148,0,0,0,0,0,0
$GC,9741,0.55,225.3,621.6,14.5,765,9745,0.00,2.22,0.00,0.000,6,0.000,0.047,3441,1707,2147,0,0,0,0,0,0
$GC,10069,0.55,225.3,575.3,14.7,789,10073,0.00,2.25,0.00,0.000,4,0.000,0.060,3451,294,2144,0,0,0,0,0,0
$GC,10102,0.54,225.3,570.0,15.2,791,10110,0.10,2.12,0.00,0.000,6,0.153,0.034,3421,1704,2143,0,0,0,0,0,0
$GC,10428,0.63,283.9,530.4,10.9,822,10489,0.10,2.30,50.72,0.956,4,0.093,0.041,3506,3109,1907,0,0,0,0,0,0
$GC,10504,0.59,283.9,517.9,18.8,829,10509,0.25,2.28,0.00,0.000,6,0.132,0.047,3440,1699,1906,0,0,0,0,0,0
$GC,10830,0.61,286.7,473.5,13.7,859,10834,0.00,2.28,0.00,0.000,4,0.000,0.060,3450,294,1900,0,0,0,0,0,0
$GC,10885,0.63,286.7,465.4,14.7,863,10891,0.00,2.12,0.00,0.000,6,0.000,0.033,3450,1700,1899,0,0,0,0,0,0
$GC,11210,0.66,307.3,420.2,12.9,894,11236,0.00,2.33,19.48,0.851,4,0.000,0.059,3459,299,1815,0,0,0,0,0,0
$GC,11266,0.68,307.3,412.6,14.0,899,11270,0.00,2.12,0.00,0.000,6,0.000,0.032,3459,1699,1812,0,0,0,0,0,0
$GC,11592,0.68,307.3,365.6,14.9,929,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1702,1810,0,0,0,0,0,0
$GC,11911,0.69,307.3,316.7,15.6,959,11916,0.05,2.25,0.00,0.000,4,0.170,0.057,3541,293,1810,0,0,0,0,0,0
$GC,11945,0.66,307.3,310.1,20.3,962,11950,0.25,2.10,0.00,0.000,6,0.122,0.031,3459,1701,1809,0,0,0,0,0,0
$GC,12286,0.68,308.0,262.4,13.9,1017,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1704,1809,0,0,0,0,0,0
$GC,12628,0.71,320.6,215.8,13.3,1078,12648,0.08,2.25,11.93,0.657,4,0.122,0.054,3561,286,1760,0,0,0,0,0,0
$GC,12684,0.67,320.6,204.5,23.0,1087,12692,0.30,2.10,0.00,0.000,6,0.108,0.030,3460,1685,1758,0,0,0,0,0,0
$GC,13030,0.77,375.7,159.6,11.1,1148,13086,0.12,2.28,46.25,0.659,4,0.080,0.054,3589,293,1534,0,0,0,0,0,0
$GC,13112,0.72,375.7,143.0,23.0,1161,13120,0.32,2.08,0.00,0.000,6,0.107,0.028,3480,1681,1531,0,0,0,0,0,0
$GC,13457,0.83,433.0,100.0,11.0,1222,13513,0.12,2.28,45.92,0.607,4,0.077,0.053,3602,298,1301,0,0,0,0,0,0
$GC,13571,0.83,433.0,75.7,21.2,1241,13578,0.28,2.05,0.00,0.000,6,0.100,0.028,3507,1669,1297,0,0,0,0,0,0
$GC,13916,0.97,506.2,36.3,10.2,1302,13984,0.17,2.25,56.65,0.557,4,0.059,0.031,3625,3103,1002,0,0,0,0,0,0
$GC,13999,0.95,506.2,18.7,26.0,1315,14007,0.25,2.33,0.00,0.000,6,0.117,0.044,3552,1652,1000,0,0,0,0,0,0
$STATE,14101,end climb,SURFACE_DEPTH_REACHED
$STATE,14101,begin surface coast
$FINISH,2.5,1.011702
$STATE,14131,end surface coast,CONTROL_FINISHED_OK
$STATE,14131,begin surface
$SM_CCo,14208,0.00,0.000,0,0,994,508.75
$SM_GC,3.30,8.40,0.00,0.00,0.017,0.000,0.000,104,1517,994,-9.70,-0.96,508.75
$IRIDIUM_FIX,2244.02,12632.08,021110,171749
$TT8_MAMPS,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,23.1,57.805
$10V_AH,10.2,42.921
$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,25.725,126.475,582.300,0.000,0.000,22.369,17.577,134.585,0.750,0.000,11.776,3294.051,7901.908,689.165,2359.523,260.502,0.000,1890.510,0.000,2157.917,0.000,0.539,0.000
$DEVICE_MAMPS,179.010,74.970,1235.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76941,1338
$CAP_FILE_SIZE,165789,0
$CFSIZE,260165632,228253696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,242.0,1
$GPS,031110,015135,2249.703,12631.553,38,1.6,42,-3.3