version: 66.08
glider: 168
mission: 2
dive: 438
start: 11 5 110 10 8 24
data:
$ID,168
$MISSION,2
$DIVE,438
$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,-3773.218
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,051110,100225,2217.098,12617.240,70,1.3,70,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-73.0
$GPS2,051110,100756,2217.105,12617.183,13,1.3,13,-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,177.4,106427,-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,-6.95,0.000,2,0.000,0.000,104,1540,1004,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.7,-0.0,1,146,9.85,2.25,-98.12,0.000,4,0.168,0.069,3031,166,3824,0,0,0,0,0,0
$GC,231,-0.64,-185.1,35.6,-27.7,35,239,0.10,2.08,0.00,0.000,6,0.155,0.039,3051,1535,3826,0,0,0,0,0,0
$GC,575,-0.62,-185.1,117.9,-18.9,96,582,0.00,2.20,0.00,0.000,4,0.000,0.041,3041,2965,3826,0,0,0,0,0,0
$GC,602,-0.61,-185.1,122.6,-18.5,100,609,0.00,2.15,0.00,0.000,6,0.000,0.041,3041,1558,3826,0,0,0,0,0,0
$GC,944,-0.61,-185.1,181.0,-17.4,161,950,0.00,2.15,0.00,0.000,4,0.000,0.054,3041,166,3827,0,0,0,0,0,0
$GC,995,-0.61,-185.1,190.0,-16.0,170,1004,0.08,2.10,0.00,0.000,6,0.168,0.038,3061,1550,3828,0,0,0,0,0,0
$GC,1342,-0.64,-185.1,236.5,-12.8,231,1348,0.00,2.17,0.00,0.000,4,0.000,0.044,3052,2965,3828,0,0,0,0,0,0
$GC,1406,-0.70,-185.1,243.8,-9.5,242,1414,0.08,2.17,0.00,0.000,6,0.116,0.041,2942,1550,3828,0,0,0,0,0,0
$GC,1744,-0.64,-185.1,326.2,-23.0,293,1749,0.30,2.15,0.00,0.000,4,0.120,0.051,3049,163,3828,0,0,0,0,0,0
$GC,1774,-0.63,-185.1,331.6,-18.0,295,1778,0.00,2.10,0.00,0.000,6,0.000,0.037,3044,1564,3828,0,0,0,0,0,0
$GC,2100,-0.66,-185.1,368.5,-10.8,325,2104,0.00,2.12,0.00,0.000,4,0.000,0.044,3036,2962,3827,0,0,0,0,0,0
$GC,2144,-0.72,-185.1,373.0,-8.6,328,2151,0.00,2.15,0.00,0.000,6,0.000,0.041,3036,1553,3827,0,0,0,0,0,0
$GC,2470,-0.75,-185.1,408.5,-11.6,359,2472,0.10,0.00,0.00,0.000,6,0.093,0.000,2917,1553,3826,0,0,0,0,0,0
$GC,2788,-0.69,-185.1,480.2,-21.7,389,2792,0.32,2.20,0.00,0.000,4,0.118,0.043,3019,2965,3824,0,0,0,0,0,0
$GC,2840,-0.74,-185.1,487.2,-10.1,393,2844,0.00,2.15,0.00,0.000,6,0.000,0.045,3019,1570,3824,0,0,0,0,0,0
$GC,3167,-0.77,-185.1,522.2,-11.5,423,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1570,3822,0,0,0,0,0,0
$GC,3485,-0.80,-185.1,558.9,-11.3,453,3487,0.08,0.00,0.00,0.000,6,0.116,0.000,2909,1570,3819,0,0,0,0,0,0
$GC,3811,-0.74,-185.1,627.8,-21.1,478,3816,0.30,2.17,0.00,0.000,4,0.116,0.043,3002,2957,3817,0,0,0,0,0,0
$GC,3855,-0.79,-185.1,634.4,-10.1,480,3859,0.00,2.15,0.00,0.000,6,0.000,0.046,3002,1570,3816,0,0,0,0,0,0
$GC,4177,-0.81,-185.1,668.4,-10.5,496,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1570,3813,0,0,0,0,0,0
$GC,4486,-0.83,-185.1,700.3,-10.3,511,4491,0.08,2.25,0.00,0.000,4,0.119,0.061,2890,163,3810,0,0,0,0,0,0
$GC,4513,-0.80,-185.1,704.9,-17.3,512,4518,0.35,2.15,0.00,0.000,6,0.119,0.041,2994,1575,3809,0,0,0,0,0,0
$GC,4832,-0.82,-185.1,743.2,-11.9,527,4836,0.00,2.12,0.00,0.000,4,0.000,0.047,2985,2958,3807,0,0,0,0,0,0
$GC,4850,-0.84,-185.1,745.6,-11.8,528,4854,0.00,2.17,0.00,0.000,6,0.000,0.048,2985,1566,3807,0,0,0,0,0,0
$GC,5179,-0.85,-185.1,787.2,-12.8,544,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1565,3803,0,0,0,0,0,0
$GC,5488,-0.87,-185.1,826.2,-12.4,559,5492,0.00,2.22,0.00,0.000,4,0.000,0.064,2985,168,3801,0,0,0,0,0,0
$GC,5528,-0.89,-185.1,831.6,-12.3,561,5532,0.00,2.12,0.00,0.000,6,0.000,0.041,2983,1561,3801,0,0,0,0,0,0
$GC,5856,-0.91,-185.1,872.7,-12.6,577,5860,0.08,2.20,0.00,0.000,4,0.119,0.047,2867,2963,3798,0,0,0,0,0,0
$GC,5922,-0.87,-185.1,885.3,-20.5,580,5926,0.32,2.20,0.00,0.000,6,0.108,0.050,2976,1558,3798,0,0,0,0,0,0
$GC,6245,-0.88,-185.1,927.5,-12.3,596,6249,0.00,2.22,0.00,0.000,4,0.000,0.067,2976,170,3796,0,0,0,0,0,0
$GC,6274,-0.89,-185.1,931.4,-13.7,597,6278,0.00,2.12,0.00,0.000,6,0.000,0.042,2970,1563,3796,0,0,0,0,0,0
$GC,6591,-0.90,-185.1,972.0,-13.0,612,6595,0.00,2.15,0.00,0.000,4,0.000,0.048,2960,2956,3793,0,0,0,0,0,0
$GC,6641,-0.92,-185.1,978.7,-12.1,614,6645,0.00,2.17,0.00,0.000,6,0.000,0.050,2960,1571,3793,0,0,0,0,0,0
$STATE,6816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6816,begin apogee
$GC,6822,0.00,0.0,1002.4,13.7,623,6979,0.80,0.00,151.15,1.236,4,0.090,0.000,3252,1708,3068,0,0,0,0,0,0
$STATE,6980,end apogee,CONTROL_FINISHED_OK
$STATE,6980,begin climb
$GC,6982,0.68,185.1,1009.5,0.0,630,7151,0.60,2.45,160.93,1.163,4,0.029,0.062,3523,288,2312,0,0,0,0,0,0
$GC,7190,0.61,185.1,984.0,21.8,640,7195,0.28,2.22,0.00,0.000,6,0.138,0.032,3442,1703,2304,0,0,0,0,0,0
$GC,7513,0.58,185.1,933.8,15.4,656,7517,0.00,2.17,0.00,0.000,4,0.000,0.041,3443,3106,2296,0,0,0,0,0,0
$GC,7545,0.55,185.1,928.0,16.4,657,7553,0.10,2.25,0.00,0.000,6,0.169,0.047,3425,1695,2295,0,0,0,0,0,0
$GC,7862,0.54,185.1,883.3,14.3,673,7867,0.00,2.25,0.00,0.000,4,0.000,0.064,3435,294,2294,0,0,0,0,0,0
$GC,7880,0.53,185.1,880.6,14.2,674,7884,0.00,2.12,0.00,0.000,6,0.000,0.034,3435,1704,2294,0,0,0,0,0,0
$GC,8208,0.51,185.1,829.6,15.7,690,8209,0.08,0.00,0.00,0.000,6,0.191,0.000,3414,1707,2292,0,0,0,0,0,0
$GC,8517,0.53,205.9,788.4,12.8,705,8537,0.00,0.00,15.77,1.078,6,0.000,0.000,3413,1706,2228,0,0,0,0,0,0
$GC,8846,0.55,220.7,745.7,13.1,721,8868,0.00,2.33,14.15,1.043,4,0.000,0.063,3424,289,2168,0,0,0,0,0,0
$GC,8893,0.55,220.7,739.5,14.0,723,8897,0.00,2.15,0.00,0.000,6,0.000,0.035,3424,1698,2165,0,0,0,0,0,0
$GC,9220,0.56,225.3,694.0,13.7,739,9230,0.00,2.17,5.32,0.812,4,0.000,0.042,3424,3104,2148,0,0,0,0,0,0
$GC,9246,0.56,225.3,690.0,14.0,740,9250,0.00,2.28,0.00,0.000,6,0.000,0.047,3431,1698,2148,0,0,0,0,0,0
$GC,9569,0.56,225.3,643.4,15.0,756,9573,0.00,2.28,0.00,0.000,4,0.000,0.064,3442,297,2146,0,0,0,0,0,0
$GC,9608,0.56,225.3,637.1,15.3,758,9612,0.00,2.12,0.00,0.000,6,0.000,0.034,3442,1702,2144,0,0,0,0,0,0
$GC,9927,0.56,225.3,588.6,14.4,777,9931,0.00,2.17,0.00,0.000,4,0.000,0.043,3443,3109,2144,0,0,0,0,0,0
$GC,9961,0.56,225.3,583.3,15.5,780,9966,0.10,2.22,0.00,0.000,6,0.169,0.047,3423,1691,2144,0,0,0,0,0,0
$GC,10287,0.60,255.0,543.5,12.4,810,10317,0.08,0.00,27.05,0.970,6,0.120,0.000,3485,1689,2027,0,0,0,0,0,0
$GC,10636,0.58,255.0,482.6,17.5,843,10640,0.15,2.28,0.00,0.000,4,0.140,0.062,3450,296,2019,0,0,0,0,0,0
$GC,10668,0.58,255.0,477.0,15.3,845,10675,0.00,2.10,0.00,0.000,6,0.000,0.034,3450,1687,2018,0,0,0,0,0,0
$GC,10994,0.58,256.9,431.2,13.8,876,10998,0.00,2.17,0.00,0.000,4,0.000,0.043,3450,3107,2016,0,0,0,0,0,0
$GC,11027,0.59,256.9,426.2,14.0,878,11035,0.08,2.22,0.00,0.000,6,0.188,0.047,3437,1688,2017,0,0,0,0,0,0
$GC,11353,0.63,281.2,385.1,12.7,909,11380,0.05,2.30,22.10,0.842,4,0.171,0.062,3509,288,1921,0,0,0,0,0,0
$GC,11448,0.62,281.2,368.0,17.9,917,11456,0.20,2.12,0.00,0.000,6,0.121,0.034,3444,1690,1917,0,0,0,0,0,0
$GC,11775,0.67,309.4,323.8,12.5,948,11810,0.08,2.33,24.83,0.794,4,0.119,0.060,3532,298,1804,0,0,0,0,0,0
$GC,11834,0.64,309.4,312.7,20.3,953,11839,0.25,2.08,0.00,0.000,6,0.119,0.033,3452,1670,1802,0,0,0,0,0,0
$GC,12172,0.69,339.8,266.7,12.4,1005,12204,0.08,2.33,25.73,0.744,4,0.121,0.059,3549,286,1681,0,0,0,0,0,0
$GC,12235,0.65,339.8,254.6,21.1,1015,12242,0.28,2.10,0.00,0.000,6,0.111,0.033,3459,1662,1678,0,0,0,0,0,0
$GC,12580,0.75,401.1,208.9,10.8,1076,12637,0.10,2.33,50.50,0.702,4,0.095,0.058,3576,287,1431,0,0,0,0,0,0
$GC,12657,0.70,401.1,192.6,24.5,1088,12664,0.30,2.08,0.00,0.000,6,0.109,0.031,3478,1655,1429,0,0,0,0,0,0
$GC,13003,0.78,431.2,144.5,12.4,1149,13035,0.08,2.22,24.58,0.634,4,0.121,0.057,3582,294,1309,0,0,0,0,0,0
$GC,13094,0.76,431.2,124.4,22.7,1164,13101,0.28,2.03,0.00,0.000,6,0.097,0.031,3487,1646,1305,0,0,0,0,0,0
$GC,13437,0.95,530.3,84.9,8.9,1225,13524,0.20,2.22,77.40,0.587,4,0.053,0.055,3627,287,904,0,0,0,0,0,0
$GC,13595,0.95,530.3,54.0,20.4,1251,13602,0.22,2.05,0.00,0.000,6,0.113,0.029,3553,1639,901,0,0,0,0,0,0
$STATE,13913,end climb,SURFACE_DEPTH_REACHED
$STATE,13913,begin surface coast
$FINISH,2.8,1.009436
$STATE,13937,end surface coast,CONTROL_FINISHED_OK
$STATE,13937,begin surface
$SM_CCo,14015,0.00,0.000,0,0,896,532.55
$SM_GC,3.68,8.38,0.00,0.00,0.018,0.000,0.000,103,1530,896,-9.70,-0.54,532.55
$IRIDIUM_FIX,2209.02,12619.11,051110,050550
$TT8_MAMPS,0.026964
$HUMID,48.50
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,23.0,60.399
$10V_AH,10.1,44.111
$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,24.750,127.100,599.500,0.000,0.000,22.659,37.280,142.141,0.750,0.000,14.226,3226.265,7822.393,685.006,2331.780,276.320,0.000,1863.981,0.000,2113.720,0.000,0.538,0.000
$DEVICE_MAMPS,191.250,84.150,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,73594,1312
$CAP_FILE_SIZE,162725,0
$CFSIZE,260165632,227102720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,284.7,1
$GPS,051110,140306,2214.961,12616.589,32,1.1,32,-3.1