version: 66.08
glider: 168
mission: 2
dive: 441
start: 11 5 110 22 9 35
data:
$ID,168
$MISSION,2
$DIVE,441
$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,-3777.0896
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,051110,220330,2211.687,12615.310,37,1.4,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-73.2
$GPS2,051110,220907,2211.731,12615.314,10,1.8,10,-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,184.8,95980,-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,14,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,25,0.00,0.00,-6.95,0.000,2,0.000,0.000,104,1519,1349,0,0,0,0,0,0
$GC,28,-0.68,-185.1,3.8,-0.0,1,135,9.85,2.17,-90.32,0.000,4,0.166,0.062,3030,174,3825,0,0,0,0,0,0
$GC,233,-0.65,-185.1,32.9,-24.2,35,241,0.08,2.05,0.00,0.000,6,0.181,0.035,3041,1541,3826,0,0,0,0,0,0
$GC,579,-0.63,-185.1,117.5,-19.5,96,585,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1545,3827,0,0,0,0,0,0
$GC,921,-0.63,-185.1,180.3,-15.9,157,928,0.00,2.17,0.00,0.000,4,0.000,0.041,3032,2962,3829,0,0,0,0,0,0
$GC,986,-0.68,-185.1,189.0,-11.7,168,993,0.00,2.12,0.00,0.000,6,0.000,0.039,3032,1560,3829,0,0,0,0,0,0
$GC,1329,-0.68,-185.1,242.0,-15.0,229,1336,0.00,2.15,0.00,0.000,4,0.000,0.053,3031,169,3829,0,0,0,0,0,0
$GC,1359,-0.68,-185.1,246.7,-15.4,234,1366,0.00,2.08,0.00,0.000,6,0.000,0.038,3023,1552,3829,0,0,0,0,0,0
$GC,1701,-0.68,-185.1,300.1,-15.4,295,1705,0.00,2.12,0.00,0.000,4,0.000,0.043,3014,2958,3829,0,0,0,0,0,0
$GC,1753,-0.71,-185.1,307.4,-13.1,299,1757,0.00,2.15,0.00,0.000,6,0.000,0.042,3014,1552,3829,0,0,0,0,0,0
$GC,2078,-0.71,-185.1,355.6,-13.8,329,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1551,3829,0,0,0,0,0,0
$GC,2400,-0.72,-185.1,401.9,-14.6,359,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1551,3827,0,0,0,0,0,0
$GC,2727,-0.74,-185.1,445.4,-13.0,390,2731,0.00,2.20,0.00,0.000,4,0.000,0.044,3008,2961,3825,0,0,0,0,0,0
$GC,2757,-0.76,-185.1,449.2,-12.1,392,2761,0.00,2.17,0.00,0.000,6,0.000,0.042,3007,1543,3825,0,0,0,0,0,0
$GC,3083,-0.77,-185.1,491.4,-12.7,422,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1542,3824,0,0,0,0,0,0
$GC,3404,-0.79,-185.1,528.9,-11.5,452,3408,0.00,2.15,0.00,0.000,4,0.000,0.057,3008,166,3821,0,0,0,0,0,0
$GC,3425,-0.80,-185.1,532.1,-12.2,453,3432,0.00,2.10,0.00,0.000,6,0.000,0.040,3005,1542,3821,0,0,0,0,0,0
$GC,3751,-0.82,-185.1,570.5,-11.9,484,3755,0.00,2.17,0.00,0.000,4,0.000,0.044,2997,2959,3819,0,0,0,0,0,0
$GC,3804,-0.86,-185.1,576.3,-10.4,488,3809,0.08,2.17,0.00,0.000,6,0.116,0.044,2899,1547,3819,0,0,0,0,0,0
$GC,4136,-0.80,-185.1,647.8,-22.6,509,4141,0.28,2.20,0.00,0.000,4,0.119,0.042,2986,2963,3816,0,0,0,0,0,0
$GC,4176,-0.82,-185.1,654.8,-13.5,511,4180,0.00,2.20,0.00,0.000,6,0.000,0.046,2986,1547,3816,0,0,0,0,0,0
$GC,4505,-0.83,-185.1,696.9,-12.6,527,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1546,3813,0,0,0,0,0,0
$GC,4812,-0.84,-185.1,734.7,-12.2,542,4816,0.00,2.22,0.00,0.000,4,0.000,0.046,2977,2962,3810,0,0,0,0,0,0
$GC,4848,-0.87,-185.1,738.9,-11.9,543,4856,0.00,2.22,0.00,0.000,6,0.000,0.047,2978,1552,3810,0,0,0,0,0,0
$GC,5164,-0.88,-185.1,779.7,-13.0,559,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1551,3807,0,0,0,0,0,0
$GC,5474,-0.89,-185.1,818.5,-12.4,574,5478,0.00,2.17,0.00,0.000,4,0.000,0.047,2970,2957,3805,0,0,0,0,0,0
$GC,5501,-0.91,-185.1,822.1,-12.1,575,5505,0.00,2.20,0.00,0.000,6,0.000,0.050,2969,1557,3804,0,0,0,0,0,0
$GC,5822,-0.91,-185.1,862.0,-12.2,591,5826,0.00,2.22,0.00,0.000,4,0.000,0.065,2970,165,3801,0,0,0,0,0,0
$GC,5840,-0.91,-185.1,864.3,-12.3,592,5844,0.00,2.17,0.00,0.000,6,0.000,0.043,2960,1569,3801,0,0,0,0,0,0
$GC,6168,-0.91,-185.1,906.0,-12.8,608,6172,0.00,2.15,0.00,0.000,4,0.000,0.049,2951,2958,3798,0,0,0,0,0,0
$GC,6212,-0.92,-185.1,911.7,-12.4,610,6216,0.00,2.20,0.00,0.000,6,0.000,0.050,2951,1567,3798,0,0,0,0,0,0
$GC,6533,-0.92,-185.1,955.3,-13.6,626,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1567,3796,0,0,0,0,0,0
$GC,6842,-0.92,-185.1,996.2,-13.0,641,6846,0.00,2.17,0.00,0.000,4,0.000,0.049,2941,2955,3794,0,0,0,0,0,0
$STATE,6874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6874,begin apogee
$GC,6881,0.00,0.0,1000.4,12.4,642,7040,0.85,0.00,152.40,1.225,4,0.090,0.000,3251,1699,3069,0,0,0,0,0,0
$STATE,7041,end apogee,CONTROL_FINISHED_OK
$STATE,7041,begin climb
$GC,7043,0.68,185.1,1005.4,0.0,650,7212,0.60,2.40,161.73,1.151,4,0.029,0.063,3521,293,2313,0,0,0,0,0,0
$GC,7299,0.61,185.1,966.9,23.3,662,7304,0.25,2.20,0.00,0.000,6,0.141,0.033,3447,1713,2303,0,0,0,0,0,0
$GC,7627,0.57,185.1,910.4,16.7,678,7631,0.00,2.12,0.00,0.000,4,0.000,0.041,3447,3106,2297,0,0,0,0,0,0
$GC,7665,0.54,185.1,903.1,18.0,679,7674,0.12,2.22,0.00,0.000,6,0.161,0.047,3421,1693,2296,0,0,0,0,0,0
$GC,7982,0.53,185.1,856.9,14.5,695,7986,0.00,2.25,0.00,0.000,4,0.000,0.063,3431,288,2294,0,0,0,0,0,0
$GC,8003,0.51,185.1,853.4,15.2,696,8008,0.08,2.12,0.00,0.000,6,0.174,0.034,3410,1701,2294,0,0,0,0,0,0
$GC,8332,0.53,201.9,810.1,13.0,712,8351,0.00,0.00,12.82,1.057,6,0.000,0.000,3410,1703,2243,0,0,0,0,0,0
$GC,8660,0.56,225.9,767.5,12.7,728,8686,0.08,0.00,22.88,1.077,6,0.122,0.000,3477,1703,2146,0,0,0,0,0,0
$GC,8990,0.53,225.9,707.2,18.5,744,8992,0.20,0.00,0.00,0.000,6,0.135,0.000,3416,1704,2138,0,0,0,0,0,0
$GC,9298,0.53,228.4,664.2,13.8,759,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1704,2137,0,0,0,0,0,0
$GC,9608,0.55,241.5,622.5,13.2,774,9628,0.00,0.00,13.70,0.977,6,0.000,0.000,3415,1704,2081,0,0,0,0,0,0
$GC,9944,0.60,267.6,579.0,12.6,797,9979,0.10,2.38,23.52,0.968,4,0.093,0.061,3507,296,1975,0,0,0,0,0,0
$GC,10003,0.56,267.6,568.1,19.9,802,10008,0.25,2.17,0.00,0.000,6,0.125,0.034,3429,1698,1973,0,0,0,0,0,0
$GC,10329,0.57,267.6,522.0,14.0,832,10333,0.00,2.28,0.00,0.000,4,0.000,0.063,3440,289,1969,0,0,0,0,0,0
$GC,10350,0.58,267.6,518.7,14.4,833,10357,0.00,2.12,0.00,0.000,6,0.000,0.034,3439,1690,1968,0,0,0,0,0,0
$GC,10676,0.59,279.2,473.8,13.3,864,10688,0.00,0.00,10.20,0.847,6,0.000,0.000,3440,1693,1929,0,0,0,0,0,0
$GC,11004,0.61,285.6,430.0,13.6,895,11017,0.00,2.33,7.03,0.754,4,0.000,0.061,3450,296,1902,0,0,0,0,0,0
$GC,11041,0.61,289.6,424.7,13.7,898,11053,0.00,2.12,5.05,0.660,6,0.000,0.034,3450,1689,1886,0,0,0,0,0,0
$GC,11371,0.61,289.6,376.3,15.6,929,11375,0.00,2.25,0.00,0.000,4,0.000,0.061,3459,295,1885,0,0,0,0,0,0
$GC,11411,0.62,289.6,370.2,14.6,932,11415,0.00,2.08,0.00,0.000,6,0.000,0.033,3458,1678,1884,0,0,0,0,0,0
$GC,11736,0.62,289.6,322.9,14.2,962,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1681,1883,0,0,0,0,0,0
$GC,12062,0.63,289.6,277.6,15.0,1006,12069,0.00,2.20,0.00,0.000,4,0.000,0.060,3467,294,1884,0,0,0,0,0,0
$GC,12099,0.64,289.6,272.5,14.6,1012,12106,0.00,2.08,0.00,0.000,6,0.000,0.033,3467,1683,1884,0,0,0,0,0,0
$GC,12442,0.67,310.6,225.3,12.8,1073,12467,0.00,0.00,19.50,0.699,6,0.000,0.000,3467,1685,1800,0,0,0,0,0,0
$GC,12805,0.71,331.2,176.3,12.9,1137,12830,0.00,2.25,18.17,0.653,4,0.000,0.057,3472,294,1716,0,0,0,0,0,0
$GC,12887,0.82,391.4,165.7,10.9,1151,12944,0.12,2.08,49.80,0.658,6,0.075,0.032,3588,1684,1471,0,0,0,0,0,0
$GC,13281,0.79,391.4,75.7,19.9,1220,13288,0.25,2.22,0.00,0.000,4,0.129,0.054,3511,292,1465,0,0,0,0,0,0
$GC,13318,0.85,419.6,70.5,12.5,1226,13349,0.00,2.08,22.88,0.568,6,0.000,0.032,3510,1684,1355,0,0,0,0,0,0
$GC,13686,1.01,508.2,34.2,9.4,1291,13760,0.17,0.00,68.88,0.538,6,0.058,0.000,3632,1684,994,0,0,0,0,0,0
$STATE,13833,end climb,SURFACE_DEPTH_REACHED
$STATE,13833,begin surface coast
$FINISH,2.8,1.008787
$STATE,13844,end surface coast,CONTROL_FINISHED_OK
$STATE,13844,begin surface
$SM_CCo,13922,0.00,0.000,0,0,987,510.22
$SM_GC,3.70,8.68,0.00,0.00,0.020,0.000,0.000,103,1529,987,-9.71,-0.59,510.22
$IRIDIUM_FIX,2204.37,12614.48,051110,181828
$TT8_MAMPS,0.026964
$HUMID,48.46
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,23.0,60.906
$10V_AH,10.2,44.347
$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,22.025,100.350,588.550,0.000,0.000,27.533,37.667,140.167,0.500,0.000,13.044,3203.268,7816.171,669.851,2304.763,260.448,0.000,1811.126,0.000,2079.371,0.000,0.538,0.000
$DEVICE_MAMPS,180.540,65.025,1224.765,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73530,1318
$CAP_FILE_SIZE,150871,0
$CFSIZE,260165632,226885632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,311.8,1
$GPS,061110,020255,2209.686,12614.832,44,1.6,44,-3.1