version: 66.08
glider: 168
mission: 2
dive: 431
start: 11 4 110 5 58 26
data:
$ID,168
$MISSION,2
$DIVE,431
$N_DIVES,444
$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,-3760.6523
$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,70
$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
$GPS1,041110,055231,2232.406,12624.062,38,1.3,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-69.9
$GPS2,041110,055758,2232.368,12624.055,12,3.1,31,-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,190.8,136862,-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,-7.10,0.000,2,0.000,0.000,104,1504,1249,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.6,-0.0,1,149,9.68,2.00,-104.28,0.000,4,0.158,0.057,3037,204,3823,0,0,0,0,0,0
$GC,268,-0.65,-185.1,28.4,-26.0,42,276,0.08,2.03,0.00,0.000,6,0.177,0.035,3048,1540,3823,0,0,0,0,0,0
$GC,613,-0.63,-185.1,107.8,-18.2,103,619,0.00,2.17,0.00,0.000,4,0.000,0.040,3038,2966,3824,0,0,0,0,0,0
$GC,699,-0.66,-185.1,121.1,-14.3,118,706,0.00,2.08,0.00,0.000,6,0.000,0.039,3038,1597,3825,0,0,0,0,0,0
$GC,1043,-0.66,-185.1,181.4,-15.7,179,1050,0.00,2.20,0.00,0.000,4,0.000,0.053,3038,167,3826,0,0,0,0,0,0
$GC,1118,-0.67,-185.1,193.7,-15.7,192,1125,0.00,2.08,0.00,0.000,6,0.000,0.038,3029,1553,3826,0,0,0,0,0,0
$GC,1460,-0.67,-185.1,248.1,-15.6,253,1467,0.00,2.15,0.00,0.000,4,0.000,0.042,3020,2960,3826,0,0,0,0,0,0
$GC,1535,-0.71,-185.1,258.1,-12.1,266,1543,0.00,2.15,0.00,0.000,6,0.000,0.041,3020,1548,3826,0,0,0,0,0,0
$GC,1881,-0.71,-185.1,311.2,-14.9,321,1885,0.00,2.15,0.00,0.000,4,0.000,0.054,3020,167,3826,0,0,0,0,0,0
$GC,1932,-0.73,-185.1,318.7,-14.0,325,1936,0.00,2.10,0.00,0.000,6,0.000,0.039,3011,1557,3826,0,0,0,0,0,0
$GC,2262,-0.73,-185.1,367.0,-14.9,356,2266,0.00,2.15,0.00,0.000,4,0.000,0.042,3003,2962,3825,0,0,0,0,0,0
$GC,2303,-0.75,-185.1,372.4,-13.1,359,2307,0.00,2.15,0.00,0.000,6,0.000,0.041,3003,1552,3825,0,0,0,0,0,0
$GC,2628,-0.75,-185.1,418.9,-13.6,389,2632,0.00,2.17,0.00,0.000,4,0.000,0.042,2995,2962,3824,0,0,0,0,0,0
$GC,2658,-0.77,-185.1,422.6,-13.0,391,2662,0.00,2.17,0.00,0.000,6,0.000,0.042,2996,1554,3824,0,0,0,0,0,0
$GC,2984,-0.77,-185.1,467.3,-14.0,421,2987,0.00,2.15,0.00,0.000,4,0.000,0.044,2991,2957,3822,0,0,0,0,0,0
$GC,3024,-0.79,-185.1,472.5,-11.9,424,3028,0.00,2.15,0.00,0.000,6,0.000,0.043,2991,1555,3822,0,0,0,0,0,0
$GC,3349,-0.79,-185.1,517.2,-13.5,454,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1555,3819,0,0,0,0,0,0
$GC,3669,-0.79,-185.1,562.8,-13.9,484,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1555,3818,0,0,0,0,0,0
$GC,3987,-0.80,-185.1,606.3,-13.4,512,3991,0.00,2.20,0.00,0.000,4,0.000,0.045,2983,2960,3815,0,0,0,0,0,0
$GC,4014,-0.82,-185.1,610.4,-13.5,513,4018,0.00,2.17,0.00,0.000,6,0.000,0.045,2983,1558,3815,0,0,0,0,0,0
$GC,4331,-0.82,-185.1,653.3,-13.2,528,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1558,3812,0,0,0,0,0,0
$GC,4640,-0.82,-185.1,690.3,-11.4,543,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1558,3809,0,0,0,0,0,0
$GC,4948,-0.82,-185.1,729.6,-13.4,558,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1558,3806,0,0,0,0,0,0
$GC,5258,-0.83,-185.1,773.8,-14.5,573,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1558,3804,0,0,0,0,0,0
$GC,5567,-0.84,-185.1,816.3,-13.3,588,5571,0.00,2.22,0.00,0.000,4,0.000,0.065,2982,169,3801,0,0,0,0,0,0
$GC,5600,-0.85,-185.1,821.2,-14.6,589,5604,0.00,2.12,0.00,0.000,6,0.000,0.042,2975,1562,3800,0,0,0,0,0,0
$GC,5923,-0.86,-185.1,863.8,-13.2,605,5927,0.00,2.15,0.00,0.000,4,0.000,0.047,2966,2955,3798,0,0,0,0,0,0
$GC,5990,-0.89,-185.1,872.4,-12.1,608,5994,0.00,2.17,0.00,0.000,6,0.000,0.049,2967,1567,3797,0,0,0,0,0,0
$GC,6311,-0.89,-185.1,915.7,-13.7,624,6315,0.00,2.25,0.00,0.000,4,0.000,0.064,2967,161,3796,0,0,0,0,0,0
$GC,6333,-0.89,-185.1,919.4,-15.0,625,6337,0.00,2.20,0.00,0.000,6,0.000,0.043,2957,1565,3795,0,0,0,0,0,0
$GC,6661,-0.89,-185.1,964.7,-13.6,641,6665,0.00,2.15,0.00,0.000,4,0.000,0.048,2947,2961,3793,0,0,0,0,0,0
$GC,6684,-0.89,-185.1,967.8,-13.8,642,6688,0.08,2.20,0.00,0.000,6,0.158,0.049,2970,1570,3793,0,0,0,0,0,0
$STATE,6967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6967,begin apogee
$GC,6972,0.00,0.0,1002.0,11.8,656,7131,0.77,0.00,151.70,1.239,4,0.090,0.000,3254,1710,3067,0,0,0,0,0,0
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7132,begin climb
$GC,7134,0.68,185.1,1006.8,0.0,663,7303,0.60,2.33,161.25,1.165,4,0.031,0.044,3521,3108,2312,0,0,0,0,0,0
$GC,7428,0.61,185.1,957.6,24.2,677,7433,0.30,2.28,0.00,0.000,6,0.148,0.047,3444,1692,2304,0,0,0,0,0,0
$GC,7757,0.58,185.1,899.1,17.2,693,7761,0.00,2.28,0.00,0.000,4,0.000,0.062,3455,289,2299,0,0,0,0,0,0
$GC,7800,0.55,185.1,890.9,18.2,695,7805,0.10,2.15,0.00,0.000,6,0.157,0.033,3427,1705,2296,0,0,0,0,0,0
$GC,8129,0.53,185.1,840.6,15.1,711,8133,0.00,2.15,0.00,0.000,4,0.000,0.042,3426,3103,2296,0,0,0,0,0,0
$GC,8168,0.52,185.1,833.9,15.8,712,8175,0.08,2.20,0.00,0.000,6,0.190,0.047,3417,1698,2296,0,0,0,0,0,0
$GC,8485,0.55,206.9,791.7,12.8,728,8507,0.00,2.35,17.45,1.096,4,0.000,0.063,3426,294,2223,0,0,0,0,0,0
$GC,8557,0.57,226.5,781.9,12.9,731,8583,0.00,2.17,18.50,1.054,6,0.000,0.034,3427,1699,2145,0,0,0,0,0,0
$GC,8907,0.57,229.0,734.5,13.8,748,8911,0.00,2.28,0.00,0.000,4,0.000,0.063,3436,290,2137,0,0,0,0,0,0
$GC,8945,0.57,229.0,728.6,14.3,749,8952,0.00,2.15,0.00,0.000,6,0.000,0.034,3436,1686,2136,0,0,0,0,0,0
$GC,9261,0.57,229.0,682.1,14.8,765,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1689,2135,0,0,0,0,0,0
$GC,9571,0.58,231.3,638.4,13.8,780,9577,0.00,0.00,4.35,0.716,6,0.000,0.000,3436,1688,2124,0,0,0,0,0,0
$GC,9880,0.59,245.4,597.9,13.2,795,9900,0.00,0.00,14.00,0.977,6,0.000,0.000,3436,1688,2066,0,0,0,0,0,0
$GC,10219,0.59,245.4,552.2,14.0,827,10223,0.00,2.28,0.00,0.000,4,0.000,0.063,3446,288,2062,0,0,0,0,0,0
$GC,10240,0.59,245.4,549.0,14.6,828,10247,0.00,2.10,0.00,0.000,6,0.000,0.034,3447,1688,2061,0,0,0,0,0,0
$GC,10566,0.59,245.4,502.7,14.2,859,10569,0.00,2.17,0.00,0.000,4,0.000,0.043,3447,3109,2060,0,0,0,0,0,0
$GC,10593,0.59,245.4,498.4,14.5,861,10600,0.00,2.22,0.00,0.000,6,0.000,0.047,3455,1688,2060,0,0,0,0,0,0
$GC,10918,0.59,245.4,452.0,14.3,892,10922,0.00,2.17,0.00,0.000,4,0.000,0.043,3456,3104,2060,0,0,0,0,0,0
$GC,10951,0.59,245.4,446.8,15.6,894,10960,0.10,2.20,0.00,0.000,6,0.165,0.046,3432,1693,2060,0,0,0,0,0,0
$GC,11277,0.63,278.0,405.8,12.2,925,11313,0.08,2.30,28.62,0.877,4,0.119,0.059,3521,290,1932,0,0,0,0,0,0
$GC,11350,0.60,278.0,393.0,19.5,931,11355,0.25,2.12,0.00,0.000,6,0.123,0.033,3441,1690,1928,0,0,0,0,0,0
$GC,11677,0.65,307.6,348.1,12.4,961,11707,0.08,0.00,25.45,0.819,6,0.120,0.000,3518,1693,1813,0,0,0,0,0,0
$GC,12029,0.62,307.6,280.5,18.5,1002,12037,0.22,2.28,0.00,0.000,4,0.126,0.058,3457,291,1808,0,0,0,0,0,0
$GC,12062,0.62,307.6,275.4,16.0,1007,12069,0.00,2.10,0.00,0.000,6,0.000,0.032,3457,1682,1807,0,0,0,0,0,0
$GC,12407,0.64,307.6,227.9,14.8,1068,12414,0.00,2.22,0.00,0.000,4,0.000,0.059,3465,293,1806,0,0,0,0,0,0
$GC,12450,0.69,326.5,222.0,12.9,1075,12475,0.00,2.08,16.02,0.692,6,0.000,0.031,3465,1684,1735,0,0,0,0,0,0
$GC,12812,0.74,348.0,173.3,12.8,1139,12838,0.08,2.30,19.08,0.655,4,0.122,0.056,3574,290,1648,0,0,0,0,0,0
$GC,12857,0.69,348.0,164.4,22.6,1146,12866,0.32,2.05,0.00,0.000,6,0.112,0.029,3466,1670,1647,0,0,0,0,0,0
$GC,13204,0.76,380.4,121.2,12.3,1207,13242,0.10,2.30,27.25,0.618,4,0.098,0.056,3583,285,1516,0,0,0,0,0,0
$GC,13266,0.72,380.4,108.6,23.0,1217,13273,0.30,2.08,0.00,0.000,6,0.101,0.030,3480,1659,1515,0,0,0,0,0,0
$GC,13612,0.87,468.1,69.2,9.5,1278,13692,0.15,2.28,69.25,0.581,4,0.067,0.057,3610,293,1157,0,0,0,0,0,0
$GC,13745,0.87,468.1,44.5,20.2,1300,13752,0.25,2.05,0.00,0.000,6,0.107,0.029,3526,1649,1154,0,0,0,0,0,0
$GC,14091,1.03,546.2,4.1,10.0,1361,14106,0.15,0.00,12.48,0.490,2,0.066,0.000,3631,1652,1061,0,0,0,0,0,0
$STATE,14107,end climb,SURFACE_DEPTH_REACHED
$STATE,14107,begin surface coast
$FINISH,2.6,1.012292
$STATE,14136,end surface coast,CONTROL_FINISHED_OK
$STATE,14136,begin surface
$SM_CCo,14214,0.00,0.000,0,0,1056,493.54
$SM_GC,3.50,8.60,0.00,0.00,0.020,0.000,0.000,103,1526,1056,-9.68,-0.65,493.54
$IRIDIUM_FIX,2223.01,12625.14,041110,010144
$TT8_MAMPS,0.026964
$HUMID,48.58
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,23.0,59.184
$10V_AH,10.2,43.555
$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,22.350,117.900,565.400,0.000,0.000,30.207,19.009,135.373,0.750,0.000,33.271,3330.567,7859.157,672.894,2420.317,254.714,0.000,1875.010,0.000,2189.929,0.000,0.539,0.000
$DEVICE_MAMPS,189.720,79.560,1238.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76987,1368
$CAP_FILE_SIZE,157474,0
$CFSIZE,260165632,227647488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,265.1,1
$GPS,041110,095631,2230.059,12622.604,34,1.7,34,-3.2