version: 66.08
glider: 168
mission: 2
dive: 432
start: 11 4 110 10 2 12
data:
$ID,168
$MISSION,2
$DIVE,432
$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,-3763.1301
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,041110,095631,2230.059,12622.604,34,1.7,34,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-75.3
$GPS2,041110,100144,2230.015,12622.552,10,1.4,10,-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,179.0,131948,-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,-6.88,0.000,2,0.000,0.000,104,1524,1257,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.5,-0.0,1,134,9.85,2.20,-91.25,0.000,4,0.168,0.065,3023,176,3824,0,0,0,0,0,0
$GC,222,-0.63,-185.1,33.6,-32.7,33,229,0.12,2.08,0.00,0.000,6,0.145,0.035,3051,1539,3825,0,0,0,0,0,0
$GC,565,-0.62,-185.1,108.4,-18.2,94,570,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1544,3827,0,0,0,0,0,0
$GC,909,-0.62,-185.1,167.1,-16.7,155,916,0.00,2.15,0.00,0.000,4,0.000,0.042,3041,2958,3828,0,0,0,0,0,0
$GC,951,-0.64,-185.1,173.2,-13.9,162,958,0.00,2.12,0.00,0.000,6,0.000,0.041,3041,1566,3828,0,0,0,0,0,0
$GC,1293,-0.65,-185.1,223.1,-14.2,223,1300,0.00,2.15,0.00,0.000,4,0.000,0.053,3041,166,3828,0,0,0,0,0,0
$GC,1340,-0.67,-185.1,230.1,-14.5,231,1347,0.00,2.08,0.00,0.000,6,0.000,0.038,3036,1552,3828,0,0,0,0,0,0
$GC,1682,-0.68,-185.1,280.4,-14.5,292,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1556,3828,0,0,0,0,0,0
$GC,2021,-0.70,-185.1,325.7,-12.7,336,2025,0.00,2.15,0.00,0.000,4,0.000,0.044,3028,2963,3827,0,0,0,0,0,0
$GC,2050,-0.73,-185.1,329.1,-11.4,338,2054,0.00,2.17,0.00,0.000,6,0.000,0.041,3028,1548,3827,0,0,0,0,0,0
$GC,2381,-0.74,-185.1,369.7,-12.6,369,2385,0.00,2.15,0.00,0.000,4,0.000,0.044,3023,2956,3827,0,0,0,0,0,0
$GC,2403,-0.77,-185.1,372.5,-12.2,370,2411,0.08,2.17,0.00,0.000,6,0.114,0.043,2917,1552,3826,0,0,0,0,0,0
$GC,2729,-0.71,-185.1,448.1,-22.8,401,2734,0.30,2.17,0.00,0.000,4,0.129,0.054,3022,162,3825,0,0,0,0,0,0
$GC,2781,-0.73,-185.1,457.0,-13.8,405,2785,0.00,2.10,0.00,0.000,6,0.000,0.038,3017,1549,3825,0,0,0,0,0,0
$GC,3107,-0.75,-185.1,499.6,-13.9,435,3111,0.00,2.17,0.00,0.000,4,0.000,0.044,3008,2964,3824,0,0,0,0,0,0
$GC,3181,-0.80,-185.1,508.5,-11.1,441,3185,0.00,2.17,0.00,0.000,6,0.000,0.043,3008,1547,3823,0,0,0,0,0,0
$GC,3507,-0.82,-185.1,548.6,-11.4,471,3511,0.08,2.20,0.00,0.000,4,0.120,0.057,2887,157,3821,0,0,0,0,0,0
$GC,3531,-0.79,-185.1,552.3,-15.9,473,3536,0.38,2.10,0.00,0.000,6,0.121,0.039,2999,1552,3820,0,0,0,0,0,0
$GC,3857,-0.81,-185.1,594.6,-12.5,503,3861,0.00,2.17,0.00,0.000,4,0.000,0.046,2990,2957,3819,0,0,0,0,0,0
$GC,3901,-0.84,-185.1,600.0,-10.9,506,3908,0.00,2.17,0.00,0.000,6,0.000,0.045,2990,1552,3818,0,0,0,0,0,0
$GC,4217,-0.85,-185.1,639.3,-12.7,522,4221,0.00,2.15,0.00,0.000,4,0.000,0.045,2982,2956,3815,0,0,0,0,0,0
$GC,4245,-0.87,-185.1,643.0,-12.9,523,4249,0.00,2.17,0.00,0.000,6,0.000,0.047,2983,1555,3815,0,0,0,0,0,0
$GC,4561,-0.87,-185.1,685.2,-14.4,538,4565,0.00,2.22,0.00,0.000,4,0.000,0.061,2983,162,3813,0,0,0,0,0,0
$GC,4624,-0.88,-185.1,694.6,-15.0,541,4628,0.00,2.12,0.00,0.000,6,0.000,0.040,2974,1563,3812,0,0,0,0,0,0
$GC,4952,-0.88,-185.1,745.2,-15.7,557,4956,0.00,2.12,0.00,0.000,4,0.000,0.046,2965,2955,3808,0,0,0,0,0,0
$GC,5016,-0.91,-185.1,754.4,-13.2,560,5020,0.00,2.17,0.00,0.000,6,0.000,0.047,2965,1559,3808,0,0,0,0,0,0
$GC,5344,-0.91,-185.1,801.6,-13.7,576,5348,0.00,2.22,0.00,0.000,4,0.000,0.063,2965,162,3805,0,0,0,0,0,0
$GC,5366,-0.91,-185.1,804.8,-13.8,577,5370,0.00,2.15,0.00,0.000,6,0.000,0.041,2957,1557,3805,0,0,0,0,0,0
$GC,5694,-0.90,-185.1,849.1,-13.3,593,5698,0.00,2.15,0.00,0.000,4,0.000,0.047,2946,2957,3803,0,0,0,0,0,0
$GC,5718,-0.90,-185.1,852.3,-13.3,594,5722,0.08,2.17,0.00,0.000,6,0.159,0.049,2970,1563,3803,0,0,0,0,0,0
$GC,6045,-0.90,-185.1,892.4,-12.4,610,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1563,3800,0,0,0,0,0,0
$GC,6354,-0.90,-185.1,930.0,-12.2,625,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1563,3798,0,0,0,0,0,0
$GC,6664,-0.91,-185.1,966.0,-11.4,640,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1563,3796,0,0,0,0,0,0
$STATE,6970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6970,begin apogee
$GC,6976,0.00,0.0,1001.4,11.6,655,7134,0.77,0.00,153.10,1.234,4,0.090,0.000,3254,1703,3068,0,0,0,0,0,0
$STATE,7135,end apogee,CONTROL_FINISHED_OK
$STATE,7135,begin climb
$GC,7137,0.68,185.1,1006.8,0.0,662,7307,0.60,2.42,161.62,1.161,4,0.029,0.063,3522,294,2312,0,0,0,0,0,0
$GC,7369,0.61,185.1,974.6,23.1,673,7374,0.25,2.20,0.00,0.000,6,0.138,0.033,3449,1705,2304,0,0,0,0,0,0
$GC,7693,0.57,185.1,917.7,17.0,689,7697,0.00,2.17,0.00,0.000,4,0.000,0.041,3449,3105,2296,0,0,0,0,0,0
$GC,7759,0.54,185.1,905.3,17.5,692,7764,0.12,2.22,0.00,0.000,6,0.159,0.047,3423,1691,2296,0,0,0,0,0,0
$GC,8082,0.53,185.1,857.7,14.7,708,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1691,2294,0,0,0,0,0,0
$GC,8390,0.52,187.2,813.5,13.8,723,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1691,2293,0,0,0,0,0,0
$GC,8699,0.52,189.5,771.2,13.8,738,8703,0.00,2.17,0.00,0.000,4,0.000,0.041,3423,3102,2292,0,0,0,0,0,0
$GC,8722,0.51,189.5,767.8,14.4,739,8727,0.08,2.20,0.00,0.000,6,0.187,0.048,3411,1697,2291,0,0,0,0,0,0
$GC,9050,0.55,223.0,727.8,12.2,755,9082,0.00,0.00,30.58,1.087,6,0.000,0.000,3411,1697,2159,0,0,0,0,0,0
$GC,9378,0.57,235.2,685.5,13.3,771,9398,0.10,0.00,11.57,0.965,6,0.091,0.000,3487,1697,2109,0,0,0,0,0,0
$GC,9706,0.53,235.2,623.4,19.3,787,9711,0.20,2.28,0.00,0.000,4,0.133,0.062,3435,290,2105,0,0,0,0,0,0
$GC,9733,0.52,235.2,618.4,17.3,788,9738,0.08,2.15,0.00,0.000,6,0.164,0.035,3413,1709,2105,0,0,0,0,0,0
$GC,10063,0.57,267.0,578.0,12.3,812,10099,0.08,2.17,28.33,0.967,4,0.117,0.040,3488,3103,1977,0,0,0,0,0,0
$GC,10115,0.54,267.0,567.8,19.9,816,10124,0.25,2.25,0.00,0.000,6,0.132,0.047,3419,1695,1974,0,0,0,0,0,0
$GC,10441,0.60,298.4,523.5,12.3,847,10477,0.10,2.33,27.33,0.913,4,0.090,0.063,3518,296,1850,0,0,0,0,0,0
$GC,10540,0.57,298.4,504.2,20.7,855,10547,0.28,2.12,0.00,0.000,6,0.119,0.034,3429,1694,1846,0,0,0,0,0,0
$GC,10865,0.59,298.4,458.2,14.1,886,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1697,1843,0,0,0,0,0,0
$GC,11185,0.65,325.2,415.8,12.5,916,11214,0.10,2.28,22.92,0.870,4,0.093,0.060,3533,296,1740,0,0,0,0,0,0
$GC,11276,0.61,325.2,397.9,20.5,923,11284,0.28,2.10,0.00,0.000,6,0.116,0.033,3445,1686,1736,0,0,0,0,0,0
$GC,11602,0.65,336.4,352.3,13.3,954,11617,0.00,2.30,9.90,0.755,4,0.000,0.062,3455,294,1696,0,0,0,0,0,0
$GC,11658,0.69,344.0,344.6,13.5,959,11672,0.08,2.10,8.05,0.711,6,0.115,0.033,3545,1682,1664,0,0,0,0,0,0
$GC,11996,0.65,344.0,266.8,23.4,1002,12003,0.25,2.17,0.00,0.000,4,0.133,0.036,3458,3101,1662,0,0,0,0,0,0
$GC,12060,0.70,344.0,255.8,14.0,1013,12067,0.08,2.25,0.00,0.000,6,0.116,0.048,3537,1678,1661,0,0,0,0,0,0
$GC,12406,0.67,344.0,184.2,18.5,1074,12414,0.22,2.20,0.00,0.000,4,0.129,0.057,3474,292,1661,0,0,0,0,0,0
$GC,12495,0.77,387.6,171.4,11.7,1089,12539,0.10,2.05,36.55,0.675,6,0.090,0.032,3581,1680,1487,0,0,0,0,0,0
$GC,12874,0.74,387.6,85.0,21.1,1156,12882,0.28,2.22,0.00,0.000,4,0.126,0.054,3499,294,1482,0,0,0,0,0,0
$GC,12912,0.79,407.1,79.0,12.9,1162,12938,0.00,2.03,16.58,0.582,6,0.000,0.031,3499,1663,1406,0,0,0,0,0,0
$GC,13272,0.98,511.2,45.8,8.6,1226,13364,0.17,2.28,80.90,0.577,4,0.058,0.056,3620,300,983,0,0,0,0,0,0
$GC,13411,0.98,511.2,19.0,17.7,1249,13419,0.17,2.03,0.00,0.000,6,0.122,0.028,3564,1661,981,0,0,0,0,0,0
$STATE,13517,end climb,SURFACE_DEPTH_REACHED
$STATE,13517,begin surface coast
$FINISH,2.8,0.999439
$STATE,13547,end surface coast,CONTROL_FINISHED_OK
$STATE,13547,begin surface
$SM_CCo,13624,0.00,0.000,0,0,976,512.92
$SM_GC,3.64,8.43,0.00,0.00,0.018,0.000,0.000,104,1529,976,-9.69,-0.57,512.92
$IRIDIUM_FIX,2225.34,12623.26,041110,050523
$TT8_MAMPS,0.026964
$HUMID,49.37
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,23.0,59.360
$10V_AH,10.2,43.631
$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,23.925,113.450,587.425,0.000,0.000,27.985,40.788,123.288,0.500,0.000,14.218,3131.040,7619.551,669.070,2271.081,242.659,0.000,1808.526,0.000,2057.629,0.000,0.538,0.000
$DEVICE_MAMPS,187.425,76.500,1233.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73578,1273
$CAP_FILE_SIZE,154688,0
$CFSIZE,260165632,227577856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,256.1,1
$GPS,041110,135031,2227.756,12622.078,41,1.1,41,-3.2