version: 66.08
glider: 168
mission: 2
dive: 426
start: 11 3 110 9 53 48
data:
$ID,168
$MISSION,2
$DIVE,426
$N_DIVES,437
$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,-3751.8525
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,031110,094755,2244.239,12628.732,41,1.2,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-73.9
$GPS2,031110,095320,2244.172,12628.680,15,1.5,15,-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,184.0,160100,-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,-7.50,0.000,2,0.000,0.000,104,1533,1139,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.5,-0.0,1,143,9.82,2.17,-95.18,0.000,4,0.166,0.063,3035,182,3824,0,0,0,0,0,0
$GC,245,-0.66,-185.1,32.1,-23.6,38,253,0.00,2.03,0.00,0.000,6,0.000,0.036,3025,1532,3825,0,0,0,0,0,0
$GC,590,-0.63,-185.1,122.4,-20.3,99,597,0.10,2.20,0.00,0.000,4,0.180,0.041,3045,2955,3826,0,0,0,0,0,0
$GC,684,-0.67,-185.1,135.7,-12.2,115,691,0.00,2.15,0.00,0.000,6,0.000,0.041,3045,1558,3827,0,0,0,0,0,0
$GC,1029,-0.67,-185.1,190.1,-14.8,176,1037,0.00,2.15,0.00,0.000,4,0.000,0.054,3045,168,3828,0,0,0,0,0,0
$GC,1072,-0.67,-185.1,196.8,-15.4,183,1079,0.00,2.10,0.00,0.000,6,0.000,0.037,3037,1555,3828,0,0,0,0,0,0
$GC,1418,-0.67,-185.1,247.7,-13.6,244,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1558,3828,0,0,0,0,0,0
$GC,1761,-0.68,-185.1,294.7,-13.0,305,1767,0.00,2.15,0.00,0.000,4,0.000,0.043,3029,2965,3828,0,0,0,0,0,0
$GC,1798,-0.71,-185.1,299.4,-12.0,311,1805,0.00,2.15,0.00,0.000,6,0.000,0.041,3029,1553,3828,0,0,0,0,0,0
$GC,2124,-0.72,-185.1,344.3,-13.6,342,2128,0.00,2.17,0.00,0.000,4,0.000,0.055,3029,165,3827,0,0,0,0,0,0
$GC,2153,-0.74,-185.1,348.4,-14.8,344,2157,0.00,2.08,0.00,0.000,6,0.000,0.037,3027,1556,3827,0,0,0,0,0,0
$GC,2479,-0.76,-185.1,390.4,-13.0,374,2483,0.08,2.15,0.00,0.000,4,0.123,0.044,2895,2951,3826,0,0,0,0,0,0
$GC,2581,-0.72,-185.1,411.6,-22.3,383,2586,0.38,2.12,0.00,0.000,6,0.109,0.043,3021,1558,3826,0,0,0,0,0,0
$GC,2909,-0.74,-185.1,453.5,-11.8,413,2913,0.00,2.17,0.00,0.000,4,0.000,0.056,3021,162,3825,0,0,0,0,0,0
$GC,2949,-0.76,-185.1,458.7,-12.0,416,2953,0.00,2.08,0.00,0.000,6,0.000,0.037,3017,1552,3825,0,0,0,0,0,0
$GC,3275,-0.79,-185.1,499.0,-13.1,446,3277,0.08,0.00,0.00,0.000,6,0.120,0.000,2900,1555,3823,0,0,0,0,0,0
$GC,3593,-0.72,-185.1,573.8,-22.3,476,3598,0.38,2.15,0.00,0.000,4,0.114,0.041,3014,2956,3821,0,0,0,0,0,0
$GC,3667,-0.78,-185.1,582.2,-7.8,482,3671,0.00,2.17,0.00,0.000,6,0.000,0.044,3014,1557,3820,0,0,0,0,0,0
$GC,4000,-0.80,-185.1,614.3,-9.9,506,4005,0.08,2.20,0.00,0.000,4,0.118,0.059,2901,168,3818,0,0,0,0,0,0
$GC,4050,-0.75,-185.1,623.5,-20.6,508,4055,0.38,2.10,0.00,0.000,6,0.112,0.040,3017,1557,3818,0,0,0,0,0,0
$GC,4368,-0.78,-185.1,658.8,-10.6,523,4372,0.00,2.17,0.00,0.000,4,0.000,0.046,3009,2961,3815,0,0,0,0,0,0
$GC,4418,-0.84,-185.1,663.9,-9.3,525,4423,0.10,2.15,0.00,0.000,6,0.089,0.044,2903,1567,3815,0,0,0,0,0,0
$GC,4735,-0.79,-185.1,726.2,-20.0,540,4737,0.30,0.00,0.00,0.000,6,0.116,0.000,3001,1566,3812,0,0,0,0,0,0
$GC,5045,-0.81,-185.1,762.7,-11.3,555,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1566,3809,0,0,0,0,0,0
$GC,5353,-0.83,-185.1,796.9,-11.1,570,5357,0.08,2.17,0.00,0.000,4,0.121,0.047,2887,2954,3806,0,0,0,0,0,0
$GC,5373,-0.83,-185.1,800.2,-14.0,571,5378,0.22,2.22,0.00,0.000,6,0.096,0.048,2987,1561,3807,0,0,0,0,0,0
$GC,5703,-0.85,-185.1,840.2,-11.8,587,5707,0.00,2.15,0.00,0.000,4,0.000,0.047,2980,2954,3804,0,0,0,0,0,0
$GC,5725,-0.88,-185.1,843.2,-12.2,588,5729,0.00,2.17,0.00,0.000,6,0.000,0.049,2980,1568,3804,0,0,0,0,0,0
$GC,6047,-0.89,-185.1,884.0,-13.1,604,6051,0.00,2.22,0.00,0.000,4,0.000,0.063,2981,167,3801,0,0,0,0,0,0
$GC,6069,-0.90,-185.1,887.3,-13.5,605,6074,0.00,2.12,0.00,0.000,6,0.000,0.040,2971,1564,3801,0,0,0,0,0,0
$GC,6392,-0.91,-185.1,929.9,-13.0,621,6396,0.00,2.15,0.00,0.000,4,0.000,0.047,2961,2956,3799,0,0,0,0,0,0
$GC,6470,-0.93,-185.1,939.5,-11.8,624,6477,0.00,2.17,0.00,0.000,6,0.000,0.050,2962,1570,3798,0,0,0,0,0,0
$GC,6786,-0.93,-185.1,980.2,-12.6,640,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1570,3796,0,0,0,0,0,0
$STATE,6949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6949,begin apogee
$GC,6955,0.00,0.0,1000.3,12.0,648,7114,0.80,0.00,153.35,1.232,4,0.090,0.000,3253,1708,3067,0,0,0,0,0,0
$STATE,7115,end apogee,CONTROL_FINISHED_OK
$STATE,7115,begin climb
$GC,7118,0.68,185.1,1004.2,0.0,655,7287,0.60,2.45,161.68,1.155,4,0.029,0.061,3524,286,2313,0,0,0,0,0,0
$GC,7322,0.61,185.1,976.0,25.2,665,7327,0.28,2.28,0.00,0.000,6,0.138,0.031,3444,1714,2306,0,0,0,0,0,0
$GC,7651,0.58,185.1,916.1,17.7,681,7654,0.00,2.15,0.00,0.000,4,0.000,0.041,3444,3103,2297,0,0,0,0,0,0
$GC,7697,0.55,185.1,907.2,18.1,683,7702,0.10,2.22,0.00,0.000,6,0.174,0.046,3427,1696,2297,0,0,0,0,0,0
$GC,8032,0.53,185.1,854.7,15.7,699,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1696,2295,0,0,0,0,0,0
$GC,8339,0.52,185.1,809.5,14.2,714,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1697,2294,0,0,0,0,0,0
$GC,8648,0.51,185.1,763.7,15.3,729,8652,0.00,2.17,0.00,0.000,4,0.000,0.043,3427,3107,2293,0,0,0,0,0,0
$GC,8726,0.50,185.1,751.7,15.3,732,8733,0.10,2.22,0.00,0.000,6,0.164,0.049,3408,1703,2292,0,0,0,0,0,0
$GC,9043,0.53,215.3,712.1,12.4,748,9072,0.00,2.35,23.98,1.066,4,0.000,0.062,3418,298,2189,0,0,0,0,0,0
$GC,9101,0.54,215.5,704.0,13.9,750,9109,0.00,2.15,0.00,0.000,6,0.000,0.034,3418,1706,2187,0,0,0,0,0,0
$GC,9417,0.56,226.3,660.6,13.3,766,9430,0.00,0.00,10.57,0.962,6,0.000,0.000,3418,1708,2145,0,0,0,0,0,0
$GC,9728,0.58,235.9,618.8,13.4,781,9740,0.08,0.00,10.02,0.931,6,0.117,0.000,3490,1708,2106,0,0,0,0,0,0
$GC,10042,0.54,235.9,558.0,19.6,806,10047,0.20,2.28,0.00,0.000,4,0.132,0.058,3438,296,2102,0,0,0,0,0,0
$GC,10061,0.51,235.9,554.9,18.8,807,10065,0.08,2.12,0.00,0.000,6,0.159,0.033,3416,1707,2101,0,0,0,0,0,0
$GC,10386,0.58,277.3,516.2,11.8,837,10430,0.08,2.33,36.60,0.958,4,0.117,0.060,3500,297,1935,0,0,0,0,0,0
$GC,10444,0.55,277.3,507.3,17.7,842,10448,0.22,2.15,0.00,0.000,6,0.118,0.032,3428,1700,1933,0,0,0,0,0,0
$GC,10770,0.60,301.8,464.7,12.7,872,10796,0.00,2.30,21.20,0.900,4,0.000,0.061,3438,298,1836,0,0,0,0,0,0
$GC,10835,0.69,347.0,456.6,11.6,877,10880,0.10,2.15,38.97,0.860,6,0.089,0.033,3526,1698,1652,0,0,0,0,0,0
$GC,11200,0.65,347.0,379.1,22.7,911,11205,0.22,2.28,0.00,0.000,4,0.132,0.058,3466,291,1643,0,0,0,0,0,0
$GC,11222,0.64,347.0,374.0,21.6,912,11228,0.00,2.10,0.00,0.000,6,0.000,0.031,3466,1690,1642,0,0,0,0,0,0
$GC,11548,0.65,347.0,323.3,15.2,943,11552,0.00,2.22,0.00,0.000,4,0.000,0.060,3474,297,1641,0,0,0,0,0,0
$GC,11576,0.66,347.0,318.7,15.7,945,11580,0.00,2.08,0.00,0.000,6,0.000,0.031,3474,1690,1640,0,0,0,0,0,0
$GC,11912,0.67,347.0,269.2,14.8,993,11919,0.00,2.25,0.00,0.000,4,0.000,0.060,3483,292,1640,0,0,0,0,0,0
$GC,11977,0.70,350.2,259.7,13.7,1004,11984,0.00,2.05,0.00,0.000,6,0.000,0.030,3483,1679,1640,0,0,0,0,0,0
$GC,12322,0.71,350.2,208.1,14.6,1065,12328,0.00,2.20,0.00,0.000,4,0.000,0.057,3491,290,1639,0,0,0,0,0,0
$GC,12358,0.73,350.2,202.5,14.2,1071,12365,0.00,2.05,0.00,0.000,6,0.000,0.030,3491,1667,1639,0,0,0,0,0,0
$GC,12702,0.74,350.2,151.3,14.6,1132,12709,0.00,2.17,0.00,0.000,4,0.000,0.038,3491,3097,1640,0,0,0,0,0,0
$GC,12749,0.81,373.6,145.0,12.7,1140,12781,0.08,2.25,21.35,0.642,6,0.116,0.046,3580,1662,1544,0,0,0,0,0,0
$GC,13117,0.81,389.4,74.3,13.1,1205,13137,0.22,0.00,13.85,0.571,6,0.121,0.000,3504,1662,1479,0,0,0,0,0,0
$GC,13475,0.94,456.7,39.7,10.5,1268,13536,0.15,2.20,54.15,0.566,4,0.063,0.054,3632,294,1205,0,0,0,0,0,0
$GC,13611,0.92,456.7,11.1,23.3,1291,13619,0.28,2.05,0.00,0.000,6,0.116,0.028,3542,1674,1200,0,0,0,0,0,0
$STATE,13658,end climb,SURFACE_DEPTH_REACHED
$STATE,13658,begin surface coast
$FINISH,2.7,1.022716
$STATE,13681,end surface coast,CONTROL_FINISHED_OK
$STATE,13683,begin surface
$SM_CCo,13760,0.00,0.000,0,0,1196,459.20
$SM_GC,3.34,8.45,0.00,0.00,0.023,0.000,0.000,105,1537,1196,-9.69,-0.37,459.20
$IRIDIUM_FIX,2239.35,12630.69,031110,050519
$TT8_MAMPS,0.026964
$HUMID,48.18
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.40
$XPDR_PINGS,5
$24V_AH,23.0,58.323
$10V_AH,10.2,43.154
$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,24.000,117.850,545.725,0.000,0.000,29.319,44.388,127.051,1.250,0.000,17.900,3221.261,7636.282,637.985,2325.185,261.110,0.000,1800.599,0.000,2107.023,0.000,0.538,0.000
$DEVICE_MAMPS,179.775,71.910,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73583,1303
$CAP_FILE_SIZE,158703,0
$CFSIZE,260165632,228044800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,255.1,1
$GPS,031110,134407,2241.758,12627.456,23,1.9,23,-3.2