version: 66.08
glider: 168
mission: 2
dive: 453
start: 11 7 110 21 56 29
data:
$ID,168
$MISSION,2
$DIVE,453
$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,-3800.9553
$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,26
$R_STBD_OVSHOOT,57
$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
$GPS1,071110,215105,2147.458,12606.719,34,0.8,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-77.4
$GPS2,071110,215601,2147.381,12606.711,10,1.5,15,-3.0
$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,196.9,48683,-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,-185.1,0.0,0.0,0,24,0.00,0.00,-6.53,0.000,2,0.000,0.000,104,1575,1420,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.9,-0.0,1,133,9.90,2.30,-90.95,0.000,4,0.167,0.065,3032,163,3824,0,0,0,0,0,0
$GC,243,-0.65,-185.1,33.7,-24.5,37,251,0.08,2.10,0.00,0.000,6,0.171,0.039,3044,1525,3826,0,0,0,0,0,0
$GC,588,-0.61,-185.1,126.9,-23.7,98,594,0.00,2.22,0.00,0.000,4,0.000,0.044,3034,2963,3826,0,0,0,0,0,0
$GC,647,-0.62,-185.1,137.4,-15.2,108,655,0.08,2.17,0.00,0.000,6,0.148,0.041,3061,1543,3826,0,0,0,0,0,0
$GC,992,-0.63,-185.1,188.3,-15.5,169,999,0.00,2.15,0.00,0.000,4,0.000,0.053,3061,165,3828,0,0,0,0,0,0
$GC,1063,-0.67,-185.1,197.9,-12.5,181,1071,0.08,2.10,0.00,0.000,6,0.117,0.037,2963,1549,3829,0,0,0,0,0,0
$GC,1407,-0.61,-185.1,276.7,-21.3,242,1414,0.25,2.15,0.00,0.000,4,0.113,0.040,3044,2964,3829,0,0,0,0,0,0
$GC,1477,-0.67,-185.1,286.3,-9.4,254,1484,0.00,2.15,0.00,0.000,6,0.000,0.041,3044,1547,3829,0,0,0,0,0,0
$GC,1810,-0.70,-185.1,324.9,-11.6,295,1814,0.00,2.12,0.00,0.000,4,0.000,0.053,3044,163,3829,0,0,0,0,0,0
$GC,1842,-0.72,-185.1,329.1,-12.2,297,1849,0.00,2.10,0.00,0.000,6,0.000,0.040,3037,1540,3829,0,0,0,0,0,0
$GC,2168,-0.74,-185.1,366.1,-11.9,328,2173,0.08,2.20,0.00,0.000,4,0.122,0.044,2905,2968,3829,0,0,0,0,0,0
$GC,2277,-0.70,-185.1,387.1,-20.9,337,2282,0.38,2.20,0.00,0.000,6,0.103,0.045,3035,1546,3829,0,0,0,0,0,0
$GC,2602,-0.74,-185.1,425.6,-10.4,367,2607,0.08,2.15,0.00,0.000,4,0.122,0.054,2921,165,3828,0,0,0,0,0,0
$GC,2632,-0.70,-185.1,430.2,-18.3,369,2637,0.35,2.12,0.00,0.000,6,0.115,0.039,3028,1560,3828,0,0,0,0,0,0
$GC,2957,-0.73,-185.1,467.7,-10.1,399,2961,0.00,2.15,0.00,0.000,4,0.000,0.046,3018,2960,3826,0,0,0,0,0,0
$GC,3037,-0.79,-185.1,474.8,-8.1,405,3045,0.08,2.17,0.00,0.000,6,0.114,0.044,2914,1555,3826,0,0,0,0,0,0
$GC,3364,-0.73,-185.1,539.2,-20.4,436,3366,0.32,0.00,0.00,0.000,6,0.116,0.000,3024,1555,3824,0,0,0,0,0,0
$GC,3682,-0.76,-185.1,573.1,-9.8,466,3686,0.00,2.20,0.00,0.000,4,0.000,0.047,3016,2959,3822,0,0,0,0,0,0
$GC,3703,-0.80,-185.1,575.2,-9.5,467,3710,0.08,2.17,0.00,0.000,6,0.116,0.046,2916,1552,3822,0,0,0,0,0,0
$GC,4025,-0.75,-185.1,636.8,-19.3,489,4030,0.25,2.17,0.00,0.000,4,0.121,0.045,2997,2956,3819,0,0,0,0,0,0
$GC,4058,-0.77,-185.1,642.2,-13.0,490,4065,0.00,2.20,0.00,0.000,6,0.000,0.048,2997,1555,3819,0,0,0,0,0,0
$GC,4376,-0.79,-185.1,677.5,-11.4,506,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1555,3817,0,0,0,0,0,0
$GC,4684,-0.81,-185.1,713.0,-11.4,521,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1555,3814,0,0,0,0,0,0
$GC,4993,-0.83,-185.1,747.1,-10.7,536,4997,0.00,2.22,0.00,0.000,4,0.000,0.049,2991,2962,3811,0,0,0,0,0,0
$GC,5022,-0.87,-185.1,750.3,-10.7,537,5026,0.00,2.20,0.00,0.000,6,0.000,0.049,2991,1563,3811,0,0,0,0,0,0
$GC,5344,-0.88,-185.1,786.7,-11.8,553,5346,0.08,0.00,0.00,0.000,6,0.119,0.000,2884,1561,3808,0,0,0,0,0,0
$GC,5653,-0.82,-185.1,850.6,-20.9,568,5658,0.28,2.17,0.00,0.000,4,0.116,0.046,2974,2955,3806,0,0,0,0,0,0
$GC,5693,-0.85,-185.1,857.0,-12.9,570,5697,0.00,2.20,0.00,0.000,6,0.000,0.053,2974,1561,3805,0,0,0,0,0,0
$GC,6022,-0.86,-185.1,897.7,-12.3,586,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1560,3803,0,0,0,0,0,0
$GC,6330,-0.87,-185.1,935.1,-11.8,601,6334,0.00,2.20,0.00,0.000,4,0.000,0.050,2966,2953,3801,0,0,0,0,0,0
$GC,6357,-0.89,-185.1,938.5,-11.7,602,6361,0.00,2.20,0.00,0.000,6,0.000,0.053,2967,1566,3800,0,0,0,0,0,0
$GC,6675,-0.90,-185.1,976.3,-12.1,617,6679,0.00,2.28,0.00,0.000,4,0.000,0.067,2967,163,3798,0,0,0,0,0,0
$GC,6690,-0.90,-185.1,978.7,-12.7,617,6697,0.00,2.20,0.00,0.000,6,0.000,0.043,2957,1576,3798,0,0,0,0,0,0
$STATE,6860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6860,begin apogee
$GC,6866,0.00,0.0,1000.8,13.0,626,7026,0.82,0.00,153.52,1.214,4,0.091,0.000,3256,1706,3067,0,0,0,0,0,0
$STATE,7026,end apogee,CONTROL_FINISHED_OK
$STATE,7027,begin climb
$GC,7029,0.68,185.1,1005.7,0.0,633,7199,0.60,2.33,161.27,1.146,4,0.030,0.047,3524,3109,2312,0,0,0,0,0,0
$GC,7305,0.61,185.1,960.1,25.1,646,7310,0.30,2.30,0.00,0.000,6,0.153,0.047,3448,1706,2305,0,0,0,0,0,0
$GC,7633,0.57,185.1,900.9,18.1,662,7637,0.00,2.30,0.00,0.000,4,0.000,0.063,3459,292,2299,0,0,0,0,0,0
$GC,7679,0.54,185.1,892.1,18.6,664,7684,0.12,2.15,0.00,0.000,6,0.151,0.034,3421,1705,2297,0,0,0,0,0,0
$GC,8013,0.52,185.1,842.8,14.3,680,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1707,2296,0,0,0,0,0,0
$GC,8321,0.52,194.6,800.5,13.4,695,8334,0.00,2.22,6.65,0.916,4,0.000,0.042,3420,3102,2274,0,0,0,0,0,0
$GC,8368,0.52,194.6,793.6,14.7,697,8372,0.00,2.25,0.00,0.000,6,0.000,0.049,3431,1691,2274,0,0,0,0,0,0
$GC,8695,0.50,194.6,747.8,14.4,713,8700,0.08,2.28,0.00,0.000,4,0.190,0.065,3422,289,2271,0,0,0,0,0,0
$GC,8735,0.50,194.6,742.1,14.6,715,8739,0.00,2.12,0.00,0.000,6,0.000,0.036,3422,1693,2270,0,0,0,0,0,0
$GC,9064,0.49,197.9,697.3,13.7,731,9073,0.00,2.22,3.92,0.679,4,0.000,0.043,3422,3103,2261,0,0,0,0,0,0
$GC,9109,0.49,197.9,690.6,14.1,733,9114,0.08,2.25,0.00,0.000,6,0.193,0.049,3411,1689,2261,0,0,0,0,0,0
$GC,9438,0.53,224.1,648.9,12.6,749,9468,0.00,2.33,24.95,1.034,4,0.000,0.066,3421,292,2154,0,0,0,0,0,0
$GC,9508,0.55,233.8,639.2,13.4,752,9526,0.00,2.17,9.82,0.924,6,0.000,0.036,3421,1694,2113,0,0,0,0,0,0
$GC,9837,0.57,248.2,594.7,13.2,769,9852,0.00,0.00,13.32,0.949,6,0.000,0.000,3421,1695,2056,0,0,0,0,0,0
$GC,10167,0.59,268.6,551.1,12.9,800,10192,0.08,2.38,18.70,0.952,4,0.117,0.064,3501,294,1972,0,0,0,0,0,0
$GC,10209,0.55,268.6,543.7,18.4,803,10217,0.25,2.15,0.00,0.000,6,0.127,0.034,3423,1694,1969,0,0,0,0,0,0
$GC,10535,0.59,293.0,499.4,12.7,834,10563,0.08,2.33,21.95,0.920,4,0.119,0.063,3508,294,1871,0,0,0,0,0,0
$GC,10615,0.56,293.0,483.8,21.7,840,10624,0.25,2.12,0.00,0.000,6,0.123,0.034,3429,1683,1867,0,0,0,0,0,0
$GC,10940,0.57,293.0,436.4,14.5,871,10945,0.00,2.28,0.00,0.000,4,0.000,0.063,3440,286,1864,0,0,0,0,0,0
$GC,10962,0.58,293.0,432.9,15.0,872,10970,0.00,2.15,0.00,0.000,6,0.000,0.034,3440,1681,1864,0,0,0,0,0,0
$GC,11288,0.60,300.6,387.5,13.5,903,11301,0.00,2.33,6.78,0.718,4,0.000,0.063,3450,287,1842,0,0,0,0,0,0
$GC,11340,0.62,301.0,380.1,13.9,907,11347,0.00,2.10,0.00,0.000,6,0.000,0.034,3450,1672,1840,0,0,0,0,0,0
$GC,11665,0.63,301.0,333.0,14.1,938,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1674,1839,0,0,0,0,0,0
$GC,11989,0.65,311.3,287.4,13.4,976,12008,0.00,2.28,10.57,0.713,4,0.000,0.062,3460,293,1797,0,0,0,0,0,0
$GC,12055,0.74,358.1,279.3,11.5,987,12105,0.10,2.08,40.35,0.761,6,0.095,0.033,3563,1664,1607,0,0,0,0,0,0
$GC,12443,0.69,358.1,184.4,24.4,1055,12450,0.28,2.25,0.00,0.000,4,0.144,0.059,3482,284,1600,0,0,0,0,0,0
$GC,12469,0.66,358.1,178.6,22.2,1059,12476,0.08,2.08,0.00,0.000,6,0.155,0.031,3456,1654,1599,0,0,0,0,0,0
$GC,12815,0.80,434.9,140.3,10.0,1120,12883,0.15,2.30,61.05,0.636,4,0.066,0.060,3592,294,1294,0,0,0,0,0,0
$GC,13009,0.79,434.9,97.0,17.7,1153,13016,0.28,2.03,0.00,0.000,6,0.106,0.031,3500,1627,1288,0,0,0,0,0,0
$GC,13354,1.01,555.9,65.7,7.8,1214,13458,0.20,2.25,92.97,0.560,4,0.053,0.060,3639,295,800,0,0,0,0,0,0
$GC,13549,1.00,555.9,21.3,22.2,1247,13556,0.22,2.00,0.00,0.000,6,0.122,0.030,3567,1612,795,0,0,0,0,0,0
$STATE,13650,end climb,SURFACE_DEPTH_REACHED
$STATE,13650,begin surface coast
$FINISH,2.9,1.003008
$STATE,13673,end surface coast,CONTROL_FINISHED_OK
$STATE,13673,begin surface
$SM_CCo,13676,52.70,0.515,0,0,414,650.78
$SM_GC,3.70,8.55,0.00,0.00,0.020,0.000,0.000,104,1540,410,-9.69,-0.25,651.76
$IRIDIUM_FIX,2143.45,12607.62,071110,181853
$TT8_MAMPS,0.026215
$HUMID,47.63
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.30
$XPDR_PINGS,4
$24V_AH,23.0,62.993
$10V_AH,10.1,45.286
$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,24.825,123.275,625.850,52.700,0.000,30.954,20.362,122.570,1.000,0.000,16.787,3116.838,7722.847,754.986,2269.297,268.732,0.000,1920.227,0.000,2072.327,0.000,0.538,0.000
$DEVICE_MAMPS,192.780,104.040,1214.055,514.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73568,1269
$CAP_FILE_SIZE,160138,0
$CFSIZE,260165632,225955840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,252.2,1
$GPS,081110,014824,2145.296,12605.166,24,1.0,42,-3.0