version: 66.08
glider: 168
mission: 2
dive: 429
start: 11 3 110 21 59 54
data:
$ID,168
$MISSION,2
$DIVE,429
$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,-3756.9275
$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,22
$R_STBD_OVSHOOT,72
$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
$GPS1,031110,215406,2237.760,12626.059,27,1.0,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-71.4
$GPS2,031110,215926,2237.765,12626.041,10,1.6,10,-3.2
$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,191.1,147421,-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,-185.1,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,104,1545,654,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.5,-0.0,1,165,9.52,2.20,-117.20,0.000,4,0.155,0.063,3032,158,3823,0,0,0,0,0,0
$GC,267,-0.65,-185.1,33.6,-24.3,41,274,0.08,2.08,0.00,0.000,6,0.178,0.037,3044,1520,3824,0,0,0,0,0,0
$GC,611,-0.63,-185.1,117.8,-16.7,102,618,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1523,3824,0,0,0,0,0,0
$GC,956,-0.63,-185.1,177.7,-17.1,163,963,0.00,2.17,0.00,0.000,4,0.000,0.041,3035,2958,3825,0,0,0,0,0,0
$GC,981,-0.65,-185.1,181.8,-16.2,167,988,0.00,2.15,0.00,0.000,6,0.000,0.041,3035,1546,3825,0,0,0,0,0,0
$GC,1323,-0.65,-185.1,234.9,-14.3,228,1330,0.00,2.17,0.00,0.000,4,0.000,0.042,3026,2956,3825,0,0,0,0,0,0
$GC,1348,-0.66,-185.1,238.4,-14.7,232,1355,0.00,2.15,0.00,0.000,6,0.000,0.042,3026,1551,3825,0,0,0,0,0,0
$GC,1690,-0.66,-185.1,294.4,-16.9,293,1697,0.05,2.17,0.00,0.000,4,0.230,0.054,3043,161,3825,0,0,0,0,0,0
$GC,1730,-0.68,-185.1,300.9,-14.9,299,1737,0.00,2.08,0.00,0.000,6,0.000,0.037,3037,1554,3825,0,0,0,0,0,0
$GC,2056,-0.69,-185.1,343.7,-12.2,330,2060,0.00,2.15,0.00,0.000,4,0.000,0.043,3028,2957,3825,0,0,0,0,0,0
$GC,2089,-0.73,-185.1,347.8,-11.2,332,2096,0.00,2.15,0.00,0.000,6,0.000,0.041,3028,1548,3824,0,0,0,0,0,0
$GC,2415,-0.74,-185.1,391.0,-13.1,363,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1548,3823,0,0,0,0,0,0
$GC,2735,-0.76,-185.1,429.1,-11.7,393,2739,0.08,2.17,0.00,0.000,4,0.122,0.055,2908,167,3822,0,0,0,0,0,0
$GC,2752,-0.76,-185.1,431.9,-13.0,394,2757,0.32,2.08,0.00,0.000,6,0.115,0.038,3006,1552,3822,0,0,0,0,0,0
$GC,3079,-0.77,-185.1,478.7,-13.5,424,3083,0.00,2.17,0.00,0.000,4,0.000,0.044,2997,2964,3820,0,0,0,0,0,0
$GC,3109,-0.79,-185.1,482.8,-12.8,426,3113,0.00,2.20,0.00,0.000,6,0.000,0.043,2996,1544,3820,0,0,0,0,0,0
$GC,3439,-0.79,-185.1,525.4,-13.0,457,3443,0.00,2.20,0.00,0.000,4,0.000,0.044,2990,2960,3819,0,0,0,0,0,0
$GC,3491,-0.82,-185.1,531.3,-10.8,461,3495,0.00,2.17,0.00,0.000,6,0.000,0.044,2990,1553,3818,0,0,0,0,0,0
$GC,3822,-0.82,-185.1,574.9,-13.1,492,3825,0.00,2.17,0.00,0.000,4,0.000,0.059,2990,166,3816,0,0,0,0,0,0
$GC,3856,-0.82,-185.1,579.8,-14.2,495,3860,0.00,2.08,0.00,0.000,6,0.000,0.038,2983,1548,3815,0,0,0,0,0,0
$GC,4187,-0.82,-185.1,628.4,-15.7,517,4191,0.00,2.17,0.00,0.000,4,0.000,0.045,2972,2958,3812,0,0,0,0,0,0
$GC,4231,-0.84,-185.1,635.3,-14.0,519,4235,0.00,2.17,0.00,0.000,6,0.000,0.045,2973,1548,3812,0,0,0,0,0,0
$GC,4558,-0.84,-185.1,686.9,-15.3,535,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1548,3809,0,0,0,0,0,0
$GC,4868,-0.84,-185.1,729.1,-13.2,550,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1548,3807,0,0,0,0,0,0
$GC,5177,-0.84,-185.1,769.5,-12.9,565,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1548,3804,0,0,0,0,0,0
$GC,5486,-0.84,-185.1,810.5,-13.3,580,5490,0.00,2.20,0.00,0.000,4,0.000,0.045,2965,2960,3802,0,0,0,0,0,0
$GC,5542,-0.87,-185.1,817.7,-11.6,582,5550,0.00,2.25,0.00,0.000,6,0.000,0.048,2964,1539,3802,0,0,0,0,0,0
$GC,5858,-0.87,-185.1,859.7,-13.1,598,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1539,3798,0,0,0,0,0,0
$GC,6167,-0.87,-185.1,899.6,-12.6,613,6171,0.00,2.20,0.00,0.000,4,0.000,0.064,2964,163,3796,0,0,0,0,0,0
$GC,6189,-0.87,-185.1,902.9,-13.9,614,6193,0.08,2.10,0.00,0.000,6,0.175,0.041,2979,1543,3796,0,0,0,0,0,0
$GC,6517,-0.88,-185.1,940.7,-11.8,630,6521,0.00,2.20,0.00,0.000,4,0.000,0.046,2970,2956,3794,0,0,0,0,0,0
$GC,6562,-0.92,-185.1,946.0,-10.9,632,6566,0.00,2.20,0.00,0.000,6,0.000,0.048,2970,1551,3794,0,0,0,0,0,0
$GC,6884,-0.92,-185.1,985.9,-12.6,648,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1551,3791,0,0,0,0,0,0
$STATE,7005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7011,0.00,0.0,1001.4,12.6,654,7167,0.77,0.00,150.73,1.243,4,0.088,0.000,3254,1712,3068,0,0,0,0,0,0
$STATE,7168,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7170,0.68,185.1,1007.9,0.0,661,7340,0.60,2.28,161.12,1.164,4,0.030,0.043,3523,3098,2312,0,0,0,0,0,0
$GC,7435,0.61,185.1,968.2,23.3,673,7442,0.30,2.25,0.00,0.000,6,0.147,0.046,3446,1699,2304,0,0,0,0,0,0
$GC,7751,0.58,185.1,914.0,16.8,689,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1698,2299,0,0,0,0,0,0
$GC,8061,0.55,185.1,863.6,15.6,704,8066,0.08,2.28,0.00,0.000,4,0.197,0.062,3436,293,2298,0,0,0,0,0,0
$GC,8088,0.53,185.1,859.1,16.1,705,8092,0.00,2.12,0.00,0.000,6,0.000,0.033,3436,1702,2295,0,0,0,0,0,0
$GC,8409,0.51,185.1,812.1,14.3,721,8414,0.08,2.15,0.00,0.000,4,0.187,0.042,3415,3099,2294,0,0,0,0,0,0
$GC,8453,0.52,192.7,805.6,13.5,723,8463,0.00,2.20,4.88,0.817,6,0.000,0.047,3424,1695,2282,0,0,0,0,0,0
$GC,8781,0.51,192.7,761.6,13.9,739,8785,0.00,2.17,0.00,0.000,4,0.000,0.043,3424,3098,2280,0,0,0,0,0,0
$GC,8835,0.51,192.7,753.0,15.4,741,8843,0.05,2.22,0.00,0.000,6,0.145,0.049,3413,1708,2280,0,0,0,0,0,0
$GC,9152,0.54,217.0,712.0,12.7,757,9181,0.00,2.38,22.52,1.073,4,0.000,0.063,3423,295,2182,0,0,0,0,0,0
$GC,9221,0.56,223.7,702.8,13.5,760,9238,0.00,2.15,7.62,0.913,6,0.000,0.034,3423,1694,2155,0,0,0,0,0,0
$GC,9549,0.58,239.4,659.3,13.1,776,9567,0.00,0.00,14.55,1.006,6,0.000,0.000,3423,1695,2091,0,0,0,0,0,0
$GC,9877,0.60,254.8,616.7,13.1,792,9900,0.08,2.33,14.62,0.981,4,0.119,0.063,3505,291,2029,0,0,0,0,0,0
$GC,9917,0.57,254.8,609.4,18.7,793,9924,0.22,2.15,0.00,0.000,6,0.122,0.033,3433,1692,2027,0,0,0,0,0,0
$GC,10240,0.57,254.8,560.9,14.9,821,10244,0.00,2.15,0.00,0.000,4,0.000,0.043,3433,3099,2021,0,0,0,0,0,0
$GC,10281,0.59,254.8,555.0,14.6,824,10285,0.00,2.22,0.00,0.000,6,0.000,0.048,3441,1688,2021,0,0,0,0,0,0
$GC,10606,0.60,268.9,509.5,13.2,854,10629,0.00,2.33,12.60,0.903,4,0.000,0.063,3452,294,1970,0,0,0,0,0,0
$GC,10657,0.61,268.9,502.2,14.4,858,10664,0.00,2.12,0.00,0.000,6,0.000,0.033,3452,1699,1968,0,0,0,0,0,0
$GC,10982,0.61,268.9,453.3,15.4,889,10986,0.00,2.15,0.00,0.000,4,0.000,0.041,3452,3109,1966,0,0,0,0,0,0
$GC,11037,0.63,268.9,444.9,14.4,893,11044,0.00,2.22,0.00,0.000,6,0.000,0.047,3460,1692,1966,0,0,0,0,0,0
$GC,11363,0.63,268.9,396.5,14.6,924,11367,0.00,2.25,0.00,0.000,4,0.000,0.061,3471,292,1966,0,0,0,0,0,0
$GC,11425,0.63,268.9,387.4,15.2,929,11430,0.08,2.10,0.00,0.000,6,0.163,0.033,3447,1692,1964,0,0,0,0,0,0
$GC,11757,0.66,287.0,345.1,13.0,960,11780,0.05,2.17,16.30,0.796,4,0.169,0.037,3509,3106,1897,0,0,0,0,0,0
$GC,11819,0.65,287.0,334.2,17.6,965,11826,0.20,2.25,0.00,0.000,6,0.136,0.044,3457,1688,1897,0,0,0,0,0,0
$GC,12149,0.66,292.2,288.1,13.6,1003,12163,0.00,2.28,5.95,0.620,4,0.000,0.059,3467,298,1876,0,0,0,0,0,0
$GC,12187,0.68,292.2,282.5,14.6,1009,12194,0.00,2.10,0.00,0.000,6,0.000,0.031,3467,1694,1874,0,0,0,0,0,0
$GC,12531,0.70,304.7,233.4,13.3,1070,12551,0.00,2.28,12.23,0.679,4,0.000,0.058,3475,296,1826,0,0,0,0,0,0
$GC,12587,0.78,341.8,225.8,12.0,1079,12626,0.10,2.08,31.90,0.707,6,0.090,0.031,3586,1690,1674,0,0,0,0,0,0
$GC,12962,0.72,341.8,137.4,23.5,1145,12969,0.30,0.00,0.00,0.000,6,0.130,0.000,3485,1691,1668,0,0,0,0,0,0
$GC,13306,0.83,395.5,92.8,11.2,1206,13357,0.10,2.28,43.30,0.604,4,0.090,0.053,3595,293,1453,0,0,0,0,0,0
$GC,13408,0.81,395.5,74.2,20.6,1223,13416,0.28,2.10,0.00,0.000,6,0.106,0.028,3502,1685,1449,0,0,0,0,0,0
$GC,13755,0.97,485.7,38.6,9.3,1284,13834,0.17,2.33,70.00,0.550,4,0.058,0.057,3637,296,1086,0,0,0,0,0,0
$GC,13877,0.94,485.7,12.3,27.4,1304,13884,0.28,2.08,0.00,0.000,6,0.116,0.027,3547,1677,1082,0,0,0,0,0,0
$STATE,13923,end climb,SURFACE_DEPTH_REACHED
$STATE,13923,begin surface coast
$FINISH,2.7,1.000933
$STATE,13946,end surface coast,CONTROL_FINISHED_OK
$STATE,13948,begin surface
$SM_CCo,14025,0.00,0.000,0,0,1078,488.15
$SM_GC,3.61,8.48,0.00,0.00,0.022,0.000,0.000,103,1544,1078,-9.70,-0.17,488.15
$IRIDIUM_FIX,2230.01,12627.91,031110,171720
$TT8_MAMPS,0.026964
$HUMID,48.34
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.0,58.847
$10V_AH,10.2,43.395
$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,22.325,122.800,568.325,0.000,0.000,30.944,38.632,126.583,0.500,0.000,13.960,3211.072,7834.894,691.175,2351.183,252.050,0.000,1877.499,0.000,2129.158,0.000,0.539,0.000
$DEVICE_MAMPS,229.500,74.970,1243.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73576,1316
$CAP_FILE_SIZE,158296,0
$CFSIZE,260165632,227803136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,200.4,1
$GPS,041110,015454,2235.097,12625.554,40,1.5,40,-3.2