version: 66.08
glider: 168
mission: 2
dive: 436
start: 11 5 110 1 55 47
data:
$ID,168
$MISSION,2
$DIVE,436
$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,-3770.6047
$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,41
$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
$GPS1,051110,014600,2221.906,12620.220,36,1.4,42,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-76.5
$GPS2,051110,015520,2221.853,12620.231,14,1.8,14,-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,205.4,116316,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,25,0.00,0.00,-6.60,0.000,2,0.000,0.000,104,1531,1494,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.7,-0.0,1,132,9.90,2.20,-83.70,0.000,4,0.168,0.065,3035,173,3824,0,0,0,0,0,0
$GC,225,-0.65,-185.1,30.9,-23.3,34,232,0.08,2.08,0.00,0.000,6,0.184,0.034,3046,1541,3825,0,0,0,0,0,0
$GC,570,-0.62,-185.1,112.8,-20.3,95,576,0.00,2.17,0.00,0.000,4,0.000,0.038,3036,2965,3826,0,0,0,0,0,0
$GC,652,-0.65,-185.1,124.4,-13.0,109,660,0.00,2.12,0.00,0.000,6,0.000,0.040,3037,1570,3826,0,0,0,0,0,0
$GC,996,-0.65,-185.1,182.6,-16.9,170,1002,0.00,2.20,0.00,0.000,4,0.000,0.052,3037,158,3828,0,0,0,0,0,0
$GC,1038,-0.65,-185.1,189.9,-16.8,177,1046,0.00,2.12,0.00,0.000,6,0.000,0.038,3036,1562,3828,0,0,0,0,0,0
$GC,1385,-0.65,-185.1,243.7,-14.8,238,1392,0.00,2.15,0.00,0.000,4,0.000,0.042,3027,2966,3828,0,0,0,0,0,0
$GC,1423,-0.68,-185.1,249.1,-14.5,244,1429,0.00,2.15,0.00,0.000,6,0.000,0.041,3027,1561,3828,0,0,0,0,0,0
$GC,1771,-0.68,-185.1,302.2,-14.6,305,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1561,3828,0,0,0,0,0,0
$GC,2091,-0.69,-185.1,348.3,-14.4,335,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1561,3827,0,0,0,0,0,0
$GC,2409,-0.71,-185.1,388.2,-11.5,365,2413,0.00,2.15,0.00,0.000,4,0.000,0.055,3027,170,3826,0,0,0,0,0,0
$GC,2449,-0.73,-185.1,393.1,-11.7,368,2453,0.00,2.12,0.00,0.000,6,0.000,0.039,3026,1568,3826,0,0,0,0,0,0
$GC,2775,-0.76,-185.1,430.5,-11.4,398,2780,0.08,2.15,0.00,0.000,4,0.120,0.044,2900,2964,3824,0,0,0,0,0,0
$GC,2813,-0.72,-185.1,437.2,-18.9,401,2822,0.38,2.15,0.00,0.000,6,0.106,0.042,3027,1568,3825,0,0,0,0,0,0
$GC,3139,-0.74,-185.1,474.5,-11.0,432,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1567,3823,0,0,0,0,0,0
$GC,3460,-0.78,-185.1,510.5,-10.4,462,3467,0.10,0.00,0.00,0.000,6,0.095,0.000,2909,1568,3820,0,0,0,0,0,0
$GC,3786,-0.72,-185.1,577.3,-21.0,493,3791,0.30,2.15,0.00,0.000,4,0.120,0.041,3007,2962,3818,0,0,0,0,0,0
$GC,3838,-0.77,-185.1,584.4,-10.3,497,3842,0.00,2.12,0.00,0.000,6,0.000,0.044,3007,1578,3818,0,0,0,0,0,0
$GC,4170,-0.79,-185.1,622.8,-12.2,519,4174,0.00,2.22,0.00,0.000,4,0.000,0.060,3007,163,3816,0,0,0,0,0,0
$GC,4215,-0.82,-185.1,628.7,-12.3,521,4218,0.00,2.15,0.00,0.000,6,0.000,0.040,3004,1572,3815,0,0,0,0,0,0
$GC,4536,-0.84,-185.1,666.1,-12.0,537,4541,0.08,2.15,0.00,0.000,4,0.119,0.046,2884,2959,3812,0,0,0,0,0,0
$GC,4586,-0.80,-185.1,674.7,-19.1,539,4591,0.32,2.15,0.00,0.000,6,0.108,0.047,2993,1572,3812,0,0,0,0,0,0
$GC,4904,-0.82,-185.1,716.4,-12.7,554,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1571,3810,0,0,0,0,0,0
$GC,5212,-0.84,-185.1,754.6,-12.4,569,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1572,3807,0,0,0,0,0,0
$GC,5521,-0.86,-185.1,791.7,-12.1,584,5525,0.08,2.17,0.00,0.000,4,0.119,0.046,2884,2966,3804,0,0,0,0,0,0
$GC,5542,-0.85,-185.1,795.2,-14.8,585,5547,0.30,2.17,0.00,0.000,6,0.108,0.047,2986,1570,3804,0,0,0,0,0,0
$GC,5865,-0.86,-185.1,835.8,-12.2,601,5869,0.00,2.22,0.00,0.000,4,0.000,0.063,2987,169,3801,0,0,0,0,0,0
$GC,5893,-0.88,-185.1,839.6,-12.4,602,5897,0.00,2.17,0.00,0.000,6,0.000,0.041,2979,1580,3801,0,0,0,0,0,0
$GC,6210,-0.89,-185.1,876.6,-11.4,617,6214,0.00,2.15,0.00,0.000,4,0.000,0.047,2970,2966,3798,0,0,0,0,0,0
$GC,6271,-0.93,-185.1,883.2,-10.1,619,6277,0.00,2.20,0.00,0.000,6,0.000,0.047,2970,1574,3799,0,0,0,0,0,0
$GC,6587,-0.93,-185.1,919.6,-11.7,635,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1574,3796,0,0,0,0,0,0
$GC,6897,-0.94,-185.1,955.7,-11.7,650,6902,0.08,2.20,0.00,0.000,4,0.120,0.048,2862,2961,3794,0,0,0,0,0,0
$GC,6920,-0.91,-185.1,959.2,-14.8,651,6925,0.30,2.20,0.00,0.000,6,0.109,0.050,2964,1577,3793,0,0,0,0,0,0
$GC,7249,-0.91,-185.1,999.9,-12.0,667,7253,0.00,2.15,0.00,0.000,4,0.000,0.048,2955,2958,3792,0,0,0,0,0,0
$STATE,7256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7256,begin apogee
$GC,7263,0.00,0.0,1001.4,11.7,667,7421,0.80,0.00,152.02,1.235,4,0.084,0.000,3251,1694,3068,0,0,0,0,0,0
$STATE,7421,end apogee,CONTROL_FINISHED_OK
$STATE,7421,begin climb
$GC,7423,0.68,185.1,1005.8,0.0,674,7594,0.60,2.35,160.57,1.163,4,0.031,0.046,3520,3113,2312,0,0,0,0,0,0
$GC,7768,0.61,185.1,944.6,24.0,689,7776,0.28,2.28,0.00,0.000,6,0.149,0.047,3450,1701,2303,0,0,0,0,0,0
$GC,8085,0.58,185.1,888.5,17.2,705,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1701,2299,0,0,0,0,0,0
$GC,8394,0.54,185.1,834.6,17.0,720,8398,0.10,2.17,0.00,0.000,4,0.174,0.040,3421,3113,2297,0,0,0,0,0,0
$GC,8431,0.54,185.1,827.9,16.1,721,8439,0.00,2.22,0.00,0.000,6,0.000,0.048,3430,1702,2297,0,0,0,0,0,0
$GC,8748,0.52,185.1,781.7,14.3,737,8752,0.00,2.28,0.00,0.000,4,0.000,0.063,3441,294,2296,0,0,0,0,0,0
$GC,8774,0.50,185.1,777.4,16.0,738,8779,0.10,2.12,0.00,0.000,6,0.159,0.034,3410,1709,2294,0,0,0,0,0,0
$GC,9097,0.54,218.0,737.1,12.2,754,9128,0.00,2.20,26.67,1.092,4,0.000,0.041,3410,3108,2179,0,0,0,0,0,0
$GC,9158,0.56,222.1,729.2,13.7,757,9168,0.00,2.28,5.20,0.737,6,0.000,0.048,3418,1700,2162,0,0,0,0,0,0
$GC,9486,0.59,249.6,687.3,12.5,773,9518,0.08,2.38,25.02,1.001,4,0.119,0.063,3498,295,2049,0,0,0,0,0,0
$GC,9534,0.55,249.6,678.8,18.3,775,9539,0.22,2.15,0.00,0.000,6,0.123,0.034,3428,1698,2046,0,0,0,0,0,0
$GC,9856,0.55,249.6,634.0,14.1,791,9860,0.00,2.28,0.00,0.000,4,0.000,0.063,3438,293,2041,0,0,0,0,0,0
$GC,9882,0.55,249.6,629.8,14.2,792,9887,0.00,2.15,0.00,0.000,6,0.000,0.034,3438,1686,2040,0,0,0,0,0,0
$GC,10208,0.55,249.6,582.4,14.2,813,10212,0.00,2.25,0.00,0.000,4,0.000,0.063,3446,294,2039,0,0,0,0,0,0
$GC,10232,0.55,249.6,578.9,14.8,815,10237,0.08,2.12,0.00,0.000,6,0.171,0.034,3426,1693,2038,0,0,0,0,0,0
$GC,10557,0.56,252.1,536.1,13.8,845,10561,0.00,2.28,0.00,0.000,4,0.000,0.063,3433,292,2037,0,0,0,0,0,0
$GC,10591,0.58,252.1,531.2,14.3,847,10597,0.00,2.10,0.00,0.000,6,0.000,0.034,3433,1687,2037,0,0,0,0,0,0
$GC,10916,0.59,265.4,487.6,13.2,878,10939,0.00,2.28,12.77,0.890,4,0.000,0.043,3434,3108,1985,0,0,0,0,0,0
$GC,10952,0.61,266.6,482.8,13.8,881,10956,0.00,2.28,0.00,0.000,6,0.000,0.047,3442,1677,1984,0,0,0,0,0,0
$GC,11278,0.61,266.6,435.7,14.5,911,11282,0.00,2.25,0.00,0.000,4,0.000,0.062,3452,286,1982,0,0,0,0,0,0
$GC,11351,0.64,268.7,425.2,13.8,917,11358,0.00,2.08,0.00,0.000,6,0.000,0.034,3452,1670,1980,0,0,0,0,0,0
$GC,11676,0.64,268.7,378.9,14.6,948,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1673,1980,0,0,0,0,0,0
$GC,11998,0.65,282.9,337.3,13.2,978,12021,0.00,2.25,16.10,0.792,4,0.000,0.060,3461,290,1913,0,0,0,0,0,0
$GC,12060,0.70,311.4,328.3,12.5,983,12092,0.05,2.08,25.42,0.799,6,0.171,0.033,3525,1675,1798,0,0,0,0,0,0
$GC,12420,0.67,311.4,256.8,19.8,1034,12426,0.20,0.00,0.00,0.000,6,0.137,0.000,3462,1675,1792,0,0,0,0,0,0
$GC,12766,0.72,338.5,209.9,12.5,1095,12798,0.08,2.28,22.80,0.693,4,0.119,0.058,3568,294,1687,0,0,0,0,0,0
$GC,12811,0.68,338.5,201.2,20.3,1102,12818,0.30,2.05,0.00,0.000,6,0.110,0.031,3467,1660,1685,0,0,0,0,0,0
$GC,13156,0.74,373.6,156.4,12.1,1163,13192,0.08,0.00,29.92,0.650,6,0.122,0.000,3563,1663,1543,0,0,0,0,0,0
$GC,13528,0.72,373.6,79.1,17.5,1229,13536,0.25,2.17,0.00,0.000,4,0.126,0.054,3484,293,1538,0,0,0,0,0,0
$GC,13555,0.73,373.6,75.0,15.8,1233,13563,0.00,2.08,0.00,0.000,6,0.000,0.032,3484,1669,1536,0,0,0,0,0,0
$GC,13900,0.96,506.8,46.5,7.2,1294,14011,0.22,2.33,102.80,0.559,4,0.050,0.057,3619,292,1001,0,0,0,0,0,0
$GC,14046,0.95,506.8,17.2,23.1,1318,14054,0.20,2.10,0.00,0.000,6,0.115,0.029,3553,1672,997,0,0,0,0,0,0
$STATE,14153,end climb,SURFACE_DEPTH_REACHED
$STATE,14153,begin surface coast
$FINISH,2.7,1.008986
$STATE,14205,end surface coast,CONTROL_FINISHED_OK
$STATE,14205,begin surface
$SM_CCo,14282,0.00,0.000,0,0,992,509.24
$SM_GC,3.58,8.40,0.00,0.00,0.018,0.000,0.000,103,1534,992,-9.69,-0.40,509.24
$IRIDIUM_FIX,2213.68,12617.23,051110,010127
$TT8_MAMPS,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.0,60.044
$10V_AH,10.2,43.950
$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,24.000,122.400,579.325,0.000,0.000,84.053,95.863,130.511,0.500,0.000,16.741,3310.200,8074.547,664.103,2518.853,270.416,0.000,1871.614,0.000,2183.936,0.000,0.539,0.000
$DEVICE_MAMPS,184.365,72.675,1234.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,76984,1346
$CAP_FILE_SIZE,163436,0
$CFSIZE,260165632,227258368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,231.6,1
$GPS,051110,055500,2219.194,12618.489,36,1.9,36,-3.1