version: 66.08
glider: 168
mission: 2
dive: 437
start: 11 5 110 6 0 50
data:
$ID,168
$MISSION,2
$DIVE,437
$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,-3771.8643
$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,34
$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
$GPS1,051110,055500,2219.194,12618.489,36,1.9,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.60
$_SM_ANGLEo,-75.3
$GPS2,051110,060022,2219.161,12618.439,15,2.1,34,-3.1
$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,185.3,110672,-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,-7.40,0.000,2,0.000,0.000,104,1536,1207,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.6,-0.0,1,143,9.88,2.15,-98.05,0.000,4,0.168,0.059,3031,168,3824,0,0,0,0,0,0
$GC,251,-0.64,-185.1,33.9,-25.3,39,258,0.10,2.08,0.00,0.000,6,0.154,0.036,3051,1537,3825,0,0,0,0,0,0
$GC,593,-0.63,-185.1,110.4,-18.9,100,600,0.00,2.17,0.00,0.000,4,0.000,0.040,3042,2961,3826,0,0,0,0,0,0
$GC,641,-0.67,-185.1,118.5,-13.5,108,649,0.00,2.15,0.00,0.000,6,0.000,0.041,3042,1551,3827,0,0,0,0,0,0
$GC,987,-0.67,-185.1,175.1,-15.3,169,993,0.00,2.17,0.00,0.000,4,0.000,0.041,3035,2959,3828,0,0,0,0,0,0
$GC,1012,-0.67,-185.1,179.0,-15.8,173,1018,0.00,2.15,0.00,0.000,6,0.000,0.041,3035,1557,3827,0,0,0,0,0,0
$GC,1355,-0.67,-185.1,233.1,-14.9,234,1361,0.00,2.15,0.00,0.000,4,0.000,0.054,3035,167,3827,0,0,0,0,0,0
$GC,1396,-0.67,-185.1,239.6,-16.2,241,1403,0.00,2.12,0.00,0.000,6,0.000,0.038,3027,1565,3828,0,0,0,0,0,0
$GC,1740,-0.67,-185.1,291.8,-15.6,302,1746,0.00,2.12,0.00,0.000,4,0.000,0.041,3018,2961,3828,0,0,0,0,0,0
$GC,1799,-0.71,-185.1,299.5,-11.9,312,1807,0.00,2.15,0.00,0.000,6,0.000,0.041,3018,1566,3828,0,0,0,0,0,0
$GC,2124,-0.71,-185.1,347.3,-15.1,343,2128,0.00,2.17,0.00,0.000,4,0.000,0.054,3018,163,3827,0,0,0,0,0,0
$GC,2142,-0.71,-185.1,349.9,-14.7,344,2147,0.05,2.15,0.00,0.000,6,0.213,0.037,3026,1580,3827,0,0,0,0,0,0
$GC,2469,-0.73,-185.1,393.9,-12.4,374,2473,0.00,2.10,0.00,0.000,4,0.000,0.044,3017,2959,3826,0,0,0,0,0,0
$GC,2496,-0.75,-185.1,397.5,-11.8,376,2504,0.00,2.12,0.00,0.000,6,0.000,0.042,3017,1568,3826,0,0,0,0,0,0
$GC,2822,-0.77,-185.1,436.0,-11.6,407,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1569,3825,0,0,0,0,0,0
$GC,3144,-0.79,-185.1,473.0,-11.6,437,3149,0.08,2.17,0.00,0.000,4,0.120,0.044,2894,2958,3823,0,0,0,0,0,0
$GC,3188,-0.75,-185.1,481.1,-19.2,440,3197,0.35,2.15,0.00,0.000,6,0.106,0.045,3012,1577,3823,0,0,0,0,0,0
$GC,3515,-0.76,-185.1,522.0,-11.4,471,3520,0.00,2.22,0.00,0.000,4,0.000,0.059,3012,158,3821,0,0,0,0,0,0
$GC,3582,-0.80,-185.1,530.3,-11.1,476,3590,0.00,2.15,0.00,0.000,6,0.000,0.039,3009,1569,3820,0,0,0,0,0,0
$GC,3908,-0.82,-185.1,566.8,-10.9,507,3913,0.08,2.15,0.00,0.000,4,0.119,0.046,2887,2966,3819,0,0,0,0,0,0
$GC,3963,-0.78,-185.1,576.2,-18.9,511,3970,0.35,2.17,0.00,0.000,6,0.107,0.046,3004,1572,3818,0,0,0,0,0,0
$GC,4286,-0.80,-185.1,614.5,-11.5,536,4290,0.00,2.20,0.00,0.000,4,0.000,0.059,3005,167,3815,0,0,0,0,0,0
$GC,4319,-0.82,-185.1,618.9,-12.5,537,4326,0.00,2.12,0.00,0.000,6,0.000,0.040,2997,1569,3815,0,0,0,0,0,0
$GC,4636,-0.84,-185.1,657.0,-12.3,553,4640,0.00,2.15,0.00,0.000,4,0.000,0.046,2988,2959,3813,0,0,0,0,0,0
$GC,4680,-0.87,-185.1,662.3,-10.2,555,4684,0.00,2.15,0.00,0.000,6,0.000,0.045,2988,1570,3811,0,0,0,0,0,0
$GC,5002,-0.89,-185.1,702.0,-12.5,571,5007,0.08,2.25,0.00,0.000,4,0.119,0.062,2872,162,3809,0,0,0,0,0,0
$GC,5024,-0.86,-185.1,705.9,-16.6,572,5029,0.35,2.17,0.00,0.000,6,0.123,0.041,2975,1577,3808,0,0,0,0,0,0
$GC,5346,-0.86,-185.1,750.8,-13.4,588,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1579,3806,0,0,0,0,0,0
$GC,5654,-0.86,-185.1,791.2,-13.4,603,5658,0.00,2.15,0.00,0.000,4,0.000,0.047,2966,2962,3804,0,0,0,0,0,0
$GC,5705,-0.88,-185.1,797.8,-12.4,605,5709,0.00,2.15,0.00,0.000,6,0.000,0.048,2966,1581,3803,0,0,0,0,0,0
$GC,6027,-0.88,-185.1,844.2,-14.6,621,6031,0.00,2.28,0.00,0.000,4,0.000,0.065,2966,161,3801,0,0,0,0,0,0
$GC,6053,-0.88,-185.1,848.5,-15.7,622,6058,0.00,2.22,0.00,0.000,6,0.000,0.043,2958,1578,3800,0,0,0,0,0,0
$GC,6375,-0.88,-185.1,893.2,-14.0,638,6379,0.00,2.12,0.00,0.000,4,0.000,0.048,2948,2959,3798,0,0,0,0,0,0
$GC,6431,-0.90,-185.1,900.5,-12.2,640,6439,0.00,2.15,0.00,0.000,6,0.000,0.049,2948,1583,3798,0,0,0,0,0,0
$GC,6747,-0.89,-185.1,944.8,-14.2,656,6749,0.08,0.00,0.00,0.000,6,0.187,0.000,2968,1582,3796,0,0,0,0,0,0
$GC,7057,-0.90,-185.1,982.9,-12.1,671,7061,0.00,2.15,0.00,0.000,4,0.000,0.048,2960,2966,3794,0,0,0,0,0,0
$GC,7085,-0.92,-185.1,986.3,-12.1,672,7089,0.00,2.17,0.00,0.000,6,0.000,0.050,2959,1587,3793,0,0,0,0,0,0
$STATE,7213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7213,begin apogee
$GC,7219,0.00,0.0,1001.8,12.5,678,7375,0.80,0.00,151.27,1.238,4,0.090,0.000,3251,1708,3068,0,0,0,0,0,0
$STATE,7376,end apogee,CONTROL_FINISHED_OK
$STATE,7376,begin climb
$GC,7378,0.68,185.1,1006.6,0.0,685,7548,0.60,2.30,161.50,1.160,4,0.031,0.045,3519,3105,2313,0,0,0,0,0,0
$GC,7707,0.61,185.1,950.0,22.9,700,7715,0.28,2.28,0.00,0.000,6,0.148,0.047,3448,1697,2303,0,0,0,0,0,0
$GC,8023,0.58,185.1,893.9,17.3,716,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1697,2299,0,0,0,0,0,0
$GC,8333,0.55,185.1,842.6,16.2,731,8337,0.08,2.17,0.00,0.000,4,0.202,0.041,3428,3112,2298,0,0,0,0,0,0
$GC,8365,0.53,185.1,837.1,16.4,732,8373,0.00,2.22,0.00,0.000,6,0.000,0.048,3438,1698,2298,0,0,0,0,0,0
$GC,8681,0.51,185.1,791.1,14.9,748,8686,0.10,2.25,0.00,0.000,4,0.178,0.063,3421,296,2296,0,0,0,0,0,0
$GC,8702,0.49,185.1,787.8,14.8,749,8706,0.00,2.12,0.00,0.000,6,0.000,0.034,3421,1707,2294,0,0,0,0,0,0
$GC,9025,0.50,196.0,746.1,13.3,765,9035,0.00,0.00,7.97,0.957,6,0.000,0.000,3421,1709,2268,0,0,0,0,0,0
$GC,9334,0.51,202.1,704.7,13.6,780,9345,0.00,2.30,6.47,0.886,4,0.000,0.061,3431,296,2245,0,0,0,0,0,0
$GC,9378,0.51,202.1,698.2,14.5,782,9382,0.03,2.15,0.00,0.000,6,0.156,0.034,3418,1693,2243,0,0,0,0,0,0
$GC,9706,0.52,214.2,654.5,13.3,798,9728,0.00,2.25,12.25,0.988,4,0.000,0.044,3418,3101,2194,0,0,0,0,0,0
$GC,9744,0.53,220.6,649.0,13.6,799,9757,0.00,2.25,7.57,0.887,6,0.000,0.048,3424,1697,2168,0,0,0,0,0,0
$GC,10080,0.56,243.0,605.4,12.8,816,10106,0.00,2.35,20.58,0.995,4,0.000,0.065,3434,304,2076,0,0,0,0,0,0
$GC,10151,0.59,257.6,595.6,13.2,820,10171,0.00,2.17,14.25,0.936,6,0.000,0.035,3434,1708,2016,0,0,0,0,0,0
$GC,10489,0.59,257.6,546.3,15.0,852,10493,0.00,2.30,0.00,0.000,4,0.000,0.063,3444,293,2009,0,0,0,0,0,0
$GC,10509,0.59,257.6,542.8,14.8,853,10516,0.00,2.15,0.00,0.000,6,0.000,0.034,3444,1688,2008,0,0,0,0,0,0
$GC,10835,0.59,257.6,495.0,14.7,884,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1690,2007,0,0,0,0,0,0
$GC,11154,0.59,257.6,449.1,14.3,914,11159,0.00,2.22,0.00,0.000,4,0.000,0.063,3454,296,2006,0,0,0,0,0,0
$GC,11172,0.59,257.6,446.4,14.1,915,11176,0.00,2.10,0.00,0.000,6,0.000,0.034,3454,1694,2005,0,0,0,0,0,0
$GC,11497,0.59,257.6,397.2,15.2,945,11501,0.00,2.25,0.00,0.000,4,0.000,0.062,3464,289,2005,0,0,0,0,0,0
$GC,11518,0.59,257.6,393.5,15.3,946,11527,0.05,2.15,0.00,0.000,6,0.129,0.034,3442,1691,2004,0,0,0,0,0,0
$GC,11846,0.63,280.7,349.1,12.7,977,11871,0.00,2.25,19.15,0.812,4,0.000,0.041,3441,3102,1922,0,0,0,0,0,0
$GC,11901,0.66,280.7,341.6,14.0,982,11905,0.00,2.25,0.00,0.000,6,0.000,0.047,3449,1687,1921,0,0,0,0,0,0
$GC,12227,0.71,314.6,300.4,12.2,1012,12265,0.10,2.28,29.60,0.778,4,0.097,0.057,3556,287,1785,0,0,0,0,0,0
$GC,12350,0.67,314.6,276.5,21.0,1032,12359,0.28,2.12,0.00,0.000,6,0.112,0.032,3466,1678,1780,0,0,0,0,0,0
$GC,12697,0.72,345.4,227.7,12.3,1093,12730,0.08,2.33,26.20,0.708,4,0.122,0.057,3565,287,1658,0,0,0,0,0,0
$GC,12749,0.67,345.4,217.9,21.1,1101,12756,0.30,2.12,0.00,0.000,6,0.109,0.031,3466,1679,1655,0,0,0,0,0,0
$GC,13095,0.74,379.6,174.1,12.2,1162,13132,0.08,2.30,28.48,0.659,4,0.124,0.057,3566,293,1519,0,0,0,0,0,0
$GC,13151,0.70,379.6,164.1,20.0,1171,13158,0.28,2.08,0.00,0.000,6,0.105,0.031,3474,1671,1517,0,0,0,0,0,0
$GC,13496,0.79,417.0,119.4,12.0,1232,13535,0.10,2.22,31.20,0.614,4,0.096,0.055,3590,294,1367,0,0,0,0,0,0
$GC,13609,0.77,417.0,96.3,20.2,1251,13616,0.28,2.03,0.00,0.000,6,0.097,0.031,3496,1651,1362,0,0,0,0,0,0
$GC,13953,1.01,555.6,62.8,6.9,1312,14070,0.22,2.25,106.82,0.568,4,0.050,0.057,3642,294,799,0,0,0,0,0,0
$GC,14116,0.98,555.6,27.8,24.3,1339,14124,0.25,2.05,0.00,0.000,6,0.109,0.032,3559,1645,795,0,0,0,0,0,0
$STATE,14278,end climb,SURFACE_DEPTH_REACHED
$STATE,14278,begin surface coast
$FINISH,2.8,1.022288
$STATE,14312,end surface coast,CONTROL_FINISHED_OK
$STATE,14312,begin surface
$SM_CCo,14390,0.00,0.000,0,0,792,558.55
$SM_GC,3.64,8.38,0.00,0.00,0.015,0.000,0.000,104,1543,792,-9.70,-0.20,558.55
$IRIDIUM_FIX,2211.35,12619.11,051110,010144
$TT8_MAMPS,0.026964
$HUMID,48.34
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.0,60.222
$10V_AH,10.2,44.032
$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,23.625,140.050,623.325,0.000,0.000,29.843,15.410,131.710,0.500,0.000,36.367,3351.125,7914.051,736.857,2440.624,265.650,0.000,1975.636,0.000,2221.802,0.000,0.539,0.000
$DEVICE_MAMPS,212.670,91.800,1237.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76908,1374
$CAP_FILE_SIZE,168161,0
$CFSIZE,260165632,227172352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,279.3,1
$GPS,051110,100225,2217.098,12617.240,70,1.3,70,-3.1