version: 66.08
glider: 168
mission: 2
dive: 439
start: 11 5 110 14 8 56
data:
$ID,168
$MISSION,2
$DIVE,439
$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,-3774.4771
$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,40
$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
$GPS1,051110,140306,2214.961,12616.589,32,1.1,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-72.4
$GPS2,051110,140828,2214.934,12616.538,13,2.2,32,-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,183.0,102255,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,25,0.00,0.00,-7.28,0.000,2,0.000,0.000,105,1529,1112,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.7,-0.0,1,149,9.93,2.17,-103.07,0.000,4,0.171,0.065,3033,177,3825,0,0,1,0,0,0
$GC,240,-0.63,-185.1,28.5,-31.9,36,247,0.10,2.08,0.00,0.000,6,0.163,0.038,3053,1546,3826,0,0,0,0,0,0
$GC,584,-0.62,-185.1,113.4,-17.2,97,591,0.00,2.15,0.00,0.000,4,0.000,0.054,3053,180,3826,0,0,0,0,0,0
$GC,654,-0.64,-185.1,125.4,-15.3,109,661,0.00,2.05,0.00,0.000,6,0.000,0.039,3046,1539,3827,0,0,0,0,0,0
$GC,997,-0.64,-185.1,181.3,-17.6,170,1004,0.00,2.15,0.00,0.000,4,0.000,0.043,3035,2959,3828,0,0,0,0,0,0
$GC,1089,-0.68,-185.1,193.8,-12.4,186,1096,0.00,2.15,0.00,0.000,6,0.000,0.040,3035,1555,3828,0,0,0,0,0,0
$GC,1431,-0.68,-185.1,248.6,-14.5,247,1439,0.00,2.17,0.00,0.000,4,0.000,0.054,3035,159,3829,0,0,0,0,0,0
$GC,1480,-0.69,-185.1,255.6,-14.1,255,1488,0.00,2.08,0.00,0.000,6,0.000,0.038,3026,1542,3829,0,0,0,0,0,0
$GC,1828,-0.69,-185.1,306.1,-14.2,313,1832,0.00,2.15,0.00,0.000,4,0.000,0.043,3017,2960,3829,0,0,0,0,0,0
$GC,1849,-0.71,-185.1,309.4,-14.1,314,1856,0.00,2.15,0.00,0.000,6,0.000,0.041,3017,1544,3829,0,0,0,0,0,0
$GC,2174,-0.71,-185.1,356.9,-14.6,345,2178,0.00,2.12,0.00,0.000,4,0.000,0.055,3017,169,3828,0,0,0,0,0,0
$GC,2200,-0.71,-185.1,361.1,-14.9,347,2208,0.00,2.10,0.00,0.000,6,0.000,0.039,3009,1536,3828,0,0,0,0,0,0
$GC,2526,-0.71,-185.1,408.7,-15.1,378,2530,0.05,2.22,0.00,0.000,4,0.230,0.044,3018,2970,3826,0,0,0,0,0,0
$GC,2601,-0.76,-185.1,417.4,-10.8,384,2605,0.00,2.17,0.00,0.000,6,0.000,0.043,3018,1548,3827,0,0,0,0,0,0
$GC,2927,-0.77,-185.1,456.4,-10.9,414,2931,0.00,2.17,0.00,0.000,4,0.000,0.056,3018,156,3825,0,0,0,0,0,0
$GC,2953,-0.79,-185.1,460.0,-12.5,416,2961,0.08,2.12,0.00,0.000,6,0.116,0.040,2918,1553,3825,0,0,0,0,0,0
$GC,3279,-0.74,-185.1,529.8,-20.8,447,3284,0.28,2.17,0.00,0.000,4,0.121,0.042,3008,2960,3823,0,0,0,0,0,0
$GC,3344,-0.79,-185.1,538.4,-10.3,452,3348,0.00,2.17,0.00,0.000,6,0.000,0.043,3008,1548,3822,0,0,0,0,0,0
$GC,3670,-0.80,-185.1,578.2,-12.1,482,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1547,3821,0,0,0,0,0,0
$GC,3986,-0.83,-185.1,615.1,-11.4,506,3991,0.08,2.22,0.00,0.000,4,0.117,0.045,2886,2959,3818,0,0,0,0,0,0
$GC,4030,-0.78,-185.1,623.0,-18.9,508,4035,0.35,2.17,0.00,0.000,6,0.104,0.046,3004,1554,3817,0,0,0,0,0,0
$GC,4354,-0.80,-185.1,664.1,-12.5,524,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1554,3815,0,0,0,0,0,0
$GC,4662,-0.83,-185.1,701.7,-12.0,539,4666,0.00,2.17,0.00,0.000,4,0.000,0.047,2996,2957,3811,0,0,0,0,0,0
$GC,4685,-0.86,-185.1,704.6,-11.7,540,4690,0.08,2.20,0.00,0.000,6,0.115,0.047,2904,1550,3811,0,0,0,0,0,0
$GC,5008,-0.80,-185.1,769.7,-20.2,556,5010,0.28,0.00,0.00,0.000,6,0.122,0.000,2993,1549,3808,0,0,0,0,0,0
$GC,5316,-0.82,-185.1,807.0,-11.5,571,5320,0.00,2.20,0.00,0.000,4,0.000,0.046,2985,2963,3806,0,0,0,0,0,0
$GC,5333,-0.84,-185.1,809.1,-11.3,571,5340,0.00,2.20,0.00,0.000,6,0.000,0.048,2984,1555,3806,0,0,0,0,0,0
$GC,5650,-0.86,-185.1,846.2,-12.2,587,5654,0.00,2.25,0.00,0.000,4,0.000,0.064,2984,158,3803,0,0,0,0,0,0
$GC,5683,-0.87,-185.1,850.9,-13.8,588,5691,0.00,2.12,0.00,0.000,6,0.000,0.041,2976,1560,3803,0,0,0,0,0,0
$GC,6000,-0.88,-185.1,893.4,-13.5,604,6004,0.00,2.15,0.00,0.000,4,0.000,0.047,2967,2958,3801,0,0,0,0,0,0
$GC,6050,-0.92,-185.1,900.2,-12.3,606,6054,0.00,2.20,0.00,0.000,6,0.000,0.048,2967,1557,3800,0,0,0,0,0,0
$GC,6366,-0.92,-185.1,943.9,-13.9,621,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1556,3798,0,0,0,0,0,0
$GC,6676,-0.92,-185.1,984.6,-12.9,636,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1555,3796,0,0,0,0,0,0
$STATE,6796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6797,begin apogee
$GC,6802,0.00,0.0,1000.1,12.5,642,6961,0.77,0.00,152.85,1.226,4,0.088,0.000,3252,1714,3068,0,0,0,0,0,0
$STATE,6962,end apogee,CONTROL_FINISHED_OK
$STATE,6962,begin climb
$GC,6965,0.68,185.1,1005.9,0.0,649,7134,0.60,2.28,161.52,1.154,4,0.031,0.044,3520,3099,2313,0,0,0,0,0,0
$GC,7276,0.61,185.1,954.3,23.5,664,7281,0.28,2.25,0.00,0.000,6,0.149,0.046,3450,1696,2304,0,0,0,0,0,0
$GC,7606,0.58,185.1,895.7,17.2,680,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1695,2299,0,0,0,0,0,0
$GC,7913,0.54,185.1,844.4,16.6,695,7914,0.10,0.00,0.00,0.000,6,0.175,0.000,3421,1695,2297,0,0,0,0,0,0
$GC,8222,0.55,199.2,801.5,13.2,710,8238,0.00,2.30,11.02,1.028,4,0.000,0.061,3431,291,2254,0,0,0,0,0,0
$GC,8272,0.54,199.2,794.4,14.4,711,8276,0.00,2.15,0.00,0.000,6,0.000,0.034,3431,1697,2252,0,0,0,0,0,0
$GC,8588,0.53,199.2,748.9,14.9,726,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1699,2250,0,0,0,0,0,0
$GC,8898,0.52,199.2,703.9,14.5,741,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1699,2249,0,0,0,0,0,0
$GC,9207,0.51,200.2,660.2,13.8,756,9212,0.08,2.20,0.00,0.000,4,0.187,0.043,3410,3109,2248,0,0,0,0,0,0
$GC,9247,0.56,234.0,655.1,12.2,758,9283,0.00,2.22,30.52,1.042,6,0.000,0.047,3417,1691,2114,0,0,0,0,0,0
$GC,9594,0.60,258.5,611.5,12.7,774,9621,0.10,2.30,21.65,0.979,4,0.093,0.061,3509,294,2014,0,0,0,0,0,0
$GC,9643,0.55,258.5,602.0,21.3,776,9648,0.28,2.15,0.00,0.000,6,0.126,0.034,3423,1702,2011,0,0,0,0,0,0
$GC,9969,0.57,268.2,556.4,13.4,805,9984,0.00,2.35,8.88,0.871,4,0.000,0.063,3433,296,1974,0,0,0,0,0,0
$GC,10008,0.59,269.8,550.7,13.8,808,10014,0.00,2.12,0.00,0.000,6,0.000,0.034,3433,1697,1972,0,0,0,0,0,0
$GC,10333,0.62,281.8,505.3,13.3,839,10353,0.00,0.00,12.98,0.895,6,0.000,0.000,3434,1699,1919,0,0,0,0,0,0
$GC,10672,0.64,295.3,460.1,13.2,871,10695,0.08,2.30,13.23,0.863,4,0.121,0.060,3518,296,1863,0,0,0,0,0,0
$GC,10723,0.61,295.3,450.1,21.3,875,10732,0.25,2.15,0.00,0.000,6,0.123,0.033,3440,1696,1861,0,0,0,0,0,0
$GC,11049,0.62,295.3,403.7,14.2,906,11053,0.00,2.25,0.00,0.000,4,0.000,0.061,3450,295,1859,0,0,0,0,0,0
$GC,11070,0.63,295.3,400.5,14.3,907,11078,0.00,2.08,0.00,0.000,6,0.000,0.032,3450,1683,1858,0,0,0,0,0,0
$GC,11396,0.64,295.3,351.4,15.4,938,11400,0.00,2.22,0.00,0.000,4,0.000,0.061,3459,292,1858,0,0,0,0,0,0
$GC,11435,0.66,295.3,345.6,14.1,941,11439,0.00,2.08,0.00,0.000,6,0.000,0.033,3458,1679,1856,0,0,0,0,0,0
$GC,11761,0.69,316.7,300.4,12.8,971,11786,0.00,2.30,18.77,0.766,4,0.000,0.060,3467,295,1775,0,0,0,0,0,0
$GC,11815,0.71,316.7,292.9,14.0,979,11823,0.00,2.05,0.00,0.000,6,0.000,0.031,3467,1663,1773,0,0,0,0,0,0
$GC,12161,0.72,316.7,239.5,15.7,1040,12168,0.00,2.20,0.00,0.000,4,0.000,0.060,3476,294,1771,0,0,0,0,0,0
$GC,12193,0.73,316.7,234.4,16.6,1045,12199,0.00,2.03,0.00,0.000,6,0.000,0.031,3476,1655,1770,0,0,0,0,0,0
$GC,12535,0.75,322.2,184.5,13.6,1106,12549,0.00,2.17,5.65,0.539,4,0.000,0.059,3483,294,1754,0,0,0,0,0,0
$GC,12574,0.78,336.6,179.0,13.2,1112,12594,0.08,2.00,13.75,0.642,6,0.125,0.031,3575,1651,1695,0,0,0,0,0,0
$GC,12930,0.74,336.6,103.8,19.1,1175,12938,0.25,2.20,0.00,0.000,4,0.131,0.034,3487,3101,1692,0,0,0,0,0,0
$GC,12963,0.77,336.6,98.6,15.1,1180,12970,0.00,2.28,0.00,0.000,6,0.000,0.044,3487,1640,1692,0,0,0,0,0,0
$GC,13307,0.98,469.9,71.8,7.2,1241,13417,0.22,0.00,104.95,0.573,6,0.050,0.000,3630,1639,1151,0,0,0,0,0,0
$STATE,13615,end climb,SURFACE_DEPTH_REACHED
$STATE,13615,begin surface coast
$FINISH,2.8,1.001326
$STATE,13627,end surface coast,CONTROL_FINISHED_OK
$STATE,13627,begin surface
$SM_CCo,13705,0.00,0.000,0,0,1141,472.69
$SM_GC,3.62,8.52,0.00,0.00,0.013,0.000,0.000,102,1527,1141,-9.71,-0.59,472.69
$IRIDIUM_FIX,2209.02,12615.86,051110,101014
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,23.0,60.566
$10V_AH,10.3,44.188
$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,22.800,113.475,555.775,0.000,0.000,28.042,15.953,134.492,0.500,0.000,33.907,3176.896,7629.313,656.241,2295.996,263.399,0.000,1809.055,0.000,2082.377,0.000,0.538,0.000
$DEVICE_MAMPS,229.500,83.385,1225.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,73673,1296
$CAP_FILE_SIZE,154695,0
$CFSIZE,260165632,227037184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096,301.1,1
$GPS,051110,175837,2213.124,12615.893,40,1.0,40,-3.1