version: 66.08
glider: 168
mission: 2
dive: 445
start: 11 6 110 13 57 59
data:
$ID,168
$MISSION,2
$DIVE,445
$N_DIVES,456
$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,-3785.8196
$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,21
$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
$GPS1,061110,135200,2203.500,12611.847,37,1.1,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.59
$_SM_ANGLEo,-77.5
$GPS2,061110,135732,2203.540,12611.818,13,1.2,13,-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,182.3,79802,-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,-6.70,0.000,2,0.000,0.000,104,1549,959,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.7,-0.0,1,152,9.90,2.30,-106.43,0.000,4,0.167,0.070,3033,159,3824,0,0,0,0,0,0
$GC,220,-0.66,-185.1,26.6,-29.0,33,227,0.08,2.12,0.00,0.000,6,0.173,0.041,3045,1537,3825,0,0,0,0,0,0
$GC,565,-0.64,-185.1,111.4,-17.7,94,571,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1541,3826,0,0,0,0,0,0
$GC,910,-0.63,-185.1,173.1,-17.4,155,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1540,3828,0,0,0,0,0,0
$GC,1255,-0.64,-185.1,225.6,-14.6,216,1262,0.00,2.20,0.00,0.000,4,0.000,0.043,3036,2964,3829,0,0,0,0,0,0
$GC,1276,-0.65,-185.1,228.4,-13.8,219,1284,0.00,2.20,0.00,0.000,6,0.000,0.041,3036,1540,3829,0,0,0,0,0,0
$GC,1621,-0.66,-185.1,280.5,-14.7,280,1627,0.00,2.15,0.00,0.000,4,0.000,0.055,3036,165,3829,0,0,0,0,0,0
$GC,1651,-0.67,-185.1,285.2,-14.7,285,1658,0.00,2.12,0.00,0.000,6,0.000,0.038,3029,1563,3829,0,0,0,0,0,0
$GC,1983,-0.68,-185.1,331.5,-14.3,325,1987,0.00,2.15,0.00,0.000,4,0.000,0.044,3021,2958,3829,0,0,0,0,0,0
$GC,2039,-0.73,-185.1,338.6,-10.9,329,2046,0.00,2.15,0.00,0.000,6,0.000,0.042,3021,1553,3829,0,0,0,0,0,0
$GC,2365,-0.74,-185.1,382.8,-13.6,360,2369,0.00,2.17,0.00,0.000,4,0.000,0.056,3021,166,3828,0,0,0,0,0,0
$GC,2421,-0.77,-185.1,390.4,-12.5,364,2428,0.00,2.10,0.00,0.000,6,0.000,0.040,3017,1546,3828,0,0,0,0,0,0
$GC,2747,-0.78,-185.1,430.7,-12.2,395,2751,0.00,2.17,0.00,0.000,4,0.000,0.045,3008,2964,3827,0,0,0,0,0,0
$GC,2821,-0.83,-185.1,438.8,-10.5,401,2826,0.08,2.15,0.00,0.000,6,0.114,0.043,2914,1555,3827,0,0,0,0,0,0
$GC,3148,-0.78,-185.1,507.1,-21.8,431,3153,0.25,2.17,0.00,0.000,4,0.129,0.043,2991,2959,3824,0,0,0,0,0,0
$GC,3203,-0.82,-185.1,516.1,-11.7,435,3211,0.00,2.17,0.00,0.000,6,0.000,0.045,2991,1565,3825,0,0,0,0,0,0
$GC,3529,-0.82,-185.1,561.2,-13.9,466,3533,0.00,2.20,0.00,0.000,4,0.000,0.058,2992,162,3822,0,0,0,0,0,0
$GC,3569,-0.84,-185.1,566.7,-13.9,469,3573,0.00,2.12,0.00,0.000,6,0.000,0.041,2984,1564,3822,0,0,0,0,0,0
$GC,3893,-0.84,-185.1,612.5,-13.8,495,3897,0.00,2.15,0.00,0.000,4,0.000,0.046,2974,2957,3820,0,0,0,0,0,0
$GC,3957,-0.87,-185.1,620.6,-11.7,498,3961,0.00,2.17,0.00,0.000,6,0.000,0.047,2974,1567,3819,0,0,0,0,0,0
$GC,4290,-0.87,-185.1,667.4,-13.8,514,4294,0.00,2.15,0.00,0.000,4,0.000,0.046,2966,2956,3816,0,0,0,0,0,0
$GC,4313,-0.87,-185.1,670.6,-13.7,515,4317,0.00,2.17,0.00,0.000,6,0.000,0.048,2965,1575,3816,0,0,0,0,0,0
$GC,4640,-0.87,-185.1,715.4,-13.5,531,4644,0.00,2.25,0.00,0.000,4,0.000,0.062,2965,156,3813,0,0,0,0,0,0
$GC,4672,-0.86,-185.1,720.4,-14.0,532,4680,0.08,2.17,0.00,0.000,6,0.176,0.042,2979,1577,3813,0,0,0,0,0,0
$GC,4992,-0.87,-185.1,759.8,-12.8,548,4995,0.00,2.15,0.00,0.000,4,0.000,0.048,2970,2959,3809,0,0,0,0,0,0
$GC,5019,-0.88,-185.1,763.6,-12.3,549,5023,0.00,2.17,0.00,0.000,6,0.000,0.049,2970,1571,3809,0,0,0,0,0,0
$GC,5335,-0.88,-185.1,807.6,-14.0,564,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1570,3807,0,0,0,0,0,0
$GC,5645,-0.88,-185.1,851.0,-13.8,579,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1570,3805,0,0,0,0,0,0
$GC,5954,-0.89,-185.1,891.9,-13.3,594,5958,0.00,2.17,0.00,0.000,4,0.000,0.048,2961,2958,3802,0,0,0,0,0,0
$GC,5995,-0.92,-185.1,896.9,-13.0,596,5999,0.00,2.17,0.00,0.000,6,0.000,0.050,2962,1576,3802,0,0,0,0,0,0
$GC,6323,-0.92,-185.1,940.9,-13.5,612,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1575,3799,0,0,0,0,0,0
$GC,6631,-0.92,-185.1,983.2,-13.6,627,6635,0.00,2.28,0.00,0.000,4,0.000,0.066,2961,162,3797,0,0,0,0,0,0
$GC,6664,-0.92,-185.1,988.2,-14.4,628,6671,0.00,2.20,0.00,0.000,6,0.000,0.043,2952,1581,3796,0,0,0,0,0,0
$STATE,6751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6751,begin apogee
$GC,6757,0.00,0.0,1000.2,13.8,633,6916,0.82,0.00,153.85,1.218,4,0.093,0.000,3251,1709,3067,0,0,0,0,0,0
$STATE,6917,end apogee,CONTROL_FINISHED_OK
$STATE,6917,begin climb
$GC,6919,0.68,185.1,1006.8,0.0,640,7090,0.60,2.33,161.45,1.152,4,0.031,0.045,3521,3113,2312,0,0,0,0,0,0
$GC,7172,0.61,185.1,970.0,22.4,652,7177,0.30,2.30,0.00,0.000,6,0.149,0.046,3445,1693,2306,0,0,0,0,0,0
$GC,7501,0.58,185.1,914.3,16.5,668,7505,0.00,2.25,0.00,0.000,4,0.000,0.063,3455,293,2299,0,0,0,0,0,0
$GC,7522,0.54,185.1,910.2,17.1,669,7527,0.10,2.12,0.00,0.000,6,0.157,0.032,3426,1707,2297,0,0,0,0,0,0
$GC,7845,0.53,185.1,862.7,15.0,685,7849,0.00,2.15,0.00,0.000,4,0.000,0.041,3426,3107,2296,0,0,0,0,0,0
$GC,7889,0.52,185.1,855.3,15.5,687,7894,0.08,2.22,0.00,0.000,6,0.190,0.048,3417,1694,2296,0,0,0,0,0,0
$GC,8212,0.52,191.1,810.6,13.6,703,8216,0.00,2.28,0.00,0.000,4,0.000,0.065,3427,291,2295,0,0,0,0,0,0
$GC,8255,0.54,200.4,804.1,13.4,705,8273,0.00,2.12,11.55,1.037,6,0.000,0.035,3426,1701,2251,0,0,0,0,0,0
$GC,8583,0.53,200.4,758.0,14.0,721,8587,0.00,2.17,0.00,0.000,4,0.000,0.043,3426,3105,2247,0,0,0,0,0,0
$GC,8623,0.53,200.4,751.8,14.5,723,8628,0.08,2.25,0.00,0.000,6,0.187,0.049,3417,1691,2247,0,0,0,0,0,0
$GC,8952,0.57,231.8,710.4,12.3,739,8989,0.05,2.38,28.98,1.063,4,0.166,0.063,3489,291,2121,0,0,0,0,0,0
$GC,9034,0.53,231.8,696.4,17.1,742,9042,0.22,2.15,0.00,0.000,6,0.122,0.034,3417,1689,2116,0,0,0,0,0,0
$GC,9353,0.56,247.2,654.7,13.1,758,9375,0.00,2.25,13.45,0.951,4,0.000,0.044,3417,3101,2059,0,0,0,0,0,0
$GC,9386,0.62,279.5,650.2,12.3,759,9421,0.10,2.22,29.58,0.941,6,0.090,0.049,3499,1693,1928,0,0,0,0,0,0
$GC,9731,0.59,279.5,587.7,18.9,779,9736,0.20,2.28,0.00,0.000,4,0.138,0.064,3448,294,1919,0,0,0,0,0,0
$GC,9809,0.65,303.7,576.7,12.7,785,9838,0.00,2.10,21.02,0.932,6,0.000,0.036,3448,1687,1828,0,0,0,0,0,0
$GC,10156,0.68,317.1,529.3,13.2,818,10173,0.08,2.28,12.02,0.878,4,0.121,0.063,3534,294,1774,0,0,0,0,0,0
$GC,10259,0.66,317.1,511.2,17.2,826,10266,0.22,2.10,0.00,0.000,6,0.123,0.036,3462,1663,1771,0,0,0,0,0,0
$GC,10584,0.66,317.1,462.7,15.2,857,10588,0.00,2.22,0.00,0.000,4,0.000,0.041,3462,3110,1768,0,0,0,0,0,0
$GC,10613,0.68,317.1,458.5,14.8,859,10617,0.00,2.30,0.00,0.000,6,0.000,0.050,3469,1663,1768,0,0,0,0,0,0
$GC,10938,0.68,317.1,407.3,15.1,889,10942,0.00,2.20,0.00,0.000,4,0.000,0.041,3469,3106,1768,0,0,0,0,0,0
$GC,11016,0.77,354.7,396.9,12.0,895,11057,0.10,2.28,32.33,0.853,6,0.092,0.049,3561,1650,1622,0,0,0,0,0,0
$GC,11376,0.73,354.7,320.3,21.7,929,11380,0.25,2.22,0.00,0.000,4,0.133,0.035,3475,3109,1615,0,0,0,0,0,0
$GC,11449,0.85,407.6,310.3,11.2,935,11499,0.12,2.35,44.03,0.764,6,0.075,0.047,3575,1622,1406,0,0,0,0,0,0
$GC,11834,0.80,407.6,208.0,24.9,998,11841,0.22,2.15,0.00,0.000,4,0.137,0.058,3516,286,1399,0,0,0,0,0,0
$GC,11899,0.81,407.6,194.5,17.4,1009,11906,0.00,2.03,0.00,0.000,6,0.000,0.031,3516,1632,1397,0,0,0,0,0,0
$GC,12243,0.81,407.6,135.6,16.4,1070,12250,0.00,2.15,0.00,0.000,4,0.000,0.060,3525,286,1397,0,0,0,0,0,0
$GC,12289,0.82,407.6,128.1,14.4,1078,12296,0.00,1.98,0.00,0.000,6,0.000,0.031,3525,1622,1396,0,0,0,0,0,0
$GC,12634,0.93,469.2,84.5,10.8,1139,12691,0.08,2.28,48.33,0.593,4,0.116,0.032,3608,3112,1154,0,0,0,0,0,0
$GC,12700,0.90,469.2,72.8,20.8,1149,12708,0.25,2.38,0.00,0.000,6,0.124,0.044,3538,1615,1153,0,0,0,0,0,0
$GC,13046,0.98,505.1,29.1,12.1,1210,13085,0.10,2.15,28.98,0.526,4,0.092,0.056,3653,293,1006,0,0,0,0,0,0
$STATE,13156,end climb,SURFACE_DEPTH_REACHED
$STATE,13157,begin surface coast
$FINISH,2.8,0.998630
$STATE,13169,end surface coast,CONTROL_FINISHED_OK
$STATE,13169,begin surface
$SM_CCo,13249,0.00,0.000,0,0,999,507.53
$SM_GC,3.74,8.65,0.00,0.00,0.018,0.000,0.000,102,1582,999,-9.69,0.90,507.53
$IRIDIUM_FIX,2157.39,12611.73,061110,090922
$TT8_MAMPS,0.026215
$HUMID,48.46
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.0,61.604
$10V_AH,10.1,44.655
$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,23.000,131.625,585.550,0.000,0.000,30.832,41.339,134.141,0.500,0.000,15.819,3049.355,7277.385,683.473,2296.194,269.914,0.000,1849.615,0.000,2073.221,0.000,0.537,0.000
$DEVICE_MAMPS,189.720,71.145,1217.880,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70075,1231
$CAP_FILE_SIZE,156425,0
$CFSIZE,260165632,226574336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,306.3,1
$GPS,061110,174006,2201.970,12611.206,43,1.0,43,-3.1