version: 66.08
glider: 168
mission: 2
dive: 457
start: 11 8 110 13 42 6
data:
$ID,168
$MISSION,2
$DIVE,457
$N_DIVES,468
$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,-3807.3186
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,081110,133631,2138.491,12603.582,39,1.1,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-75.1
$GPS2,081110,134138,2138.445,12603.624,15,1.1,15,-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,179.9,31476,-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,16,-0.68,-185.1,0.0,0.0,0,25,0.00,0.00,-6.85,0.000,2,0.000,0.000,104,1532,630,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.9,-0.0,1,162,9.77,2.20,-113.75,0.000,4,0.164,0.066,3031,162,3824,0,0,1,0,0,0
$GC,253,-0.65,-185.1,28.5,-23.0,39,260,0.08,2.10,0.00,0.000,6,0.177,0.040,3044,1542,3825,0,0,0,0,0,0
$GC,598,-0.62,-185.1,118.5,-20.0,100,606,0.00,2.17,0.00,0.000,4,0.000,0.042,3034,2962,3825,0,0,0,0,0,0
$GC,680,-0.64,-185.1,132.0,-14.2,114,687,0.00,2.15,0.00,0.000,6,0.000,0.041,3034,1556,3825,0,0,0,0,0,0
$GC,1022,-0.63,-185.1,193.6,-18.7,175,1030,0.08,2.17,0.00,0.000,4,0.194,0.054,3055,163,3826,0,0,0,0,0,0
$GC,1128,-0.69,-185.1,208.8,-11.0,193,1136,0.08,2.10,0.00,0.000,6,0.115,0.037,2953,1556,3826,0,0,0,0,0,0
$GC,1472,-0.63,-185.1,289.0,-23.9,254,1480,0.28,2.15,0.00,0.000,4,0.113,0.041,3044,2964,3826,0,0,0,0,0,0
$GC,1548,-0.69,-185.1,299.5,-10.3,267,1555,0.00,2.17,0.00,0.000,6,0.000,0.041,3044,1551,3826,0,0,0,0,0,0
$GC,1874,-0.71,-185.1,339.8,-11.1,298,1875,0.08,0.00,0.00,0.000,6,0.119,0.000,2933,1550,3826,0,0,0,0,0,0
$GC,2192,-0.65,-185.1,410.9,-21.7,328,2197,0.32,2.17,0.00,0.000,4,0.114,0.041,3033,2957,3824,0,0,0,0,0,0
$GC,2237,-0.70,-185.1,417.2,-9.5,331,2244,0.00,2.17,0.00,0.000,6,0.000,0.044,3033,1552,3824,0,0,0,0,0,0
$GC,2563,-0.73,-185.1,449.8,-10.0,362,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1551,3823,0,0,0,0,0,0
$GC,2882,-0.77,-185.1,483.0,-10.3,392,2884,0.10,0.00,0.00,0.000,6,0.090,0.000,2913,1551,3820,0,0,0,0,0,0
$GC,3199,-0.71,-185.1,551.2,-21.3,422,3204,0.32,2.17,0.00,0.000,4,0.114,0.043,3015,2957,3818,0,0,0,0,0,0
$GC,3273,-0.76,-185.1,560.2,-8.8,428,3277,0.00,2.17,0.00,0.000,6,0.000,0.046,3015,1553,3818,0,0,0,0,0,0
$GC,3599,-0.79,-185.1,596.9,-11.3,458,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1552,3815,0,0,0,0,0,0
$GC,3919,-0.82,-185.1,633.8,-11.7,475,3924,0.10,2.20,0.00,0.000,4,0.091,0.047,2885,2956,3812,0,0,0,0,0,0
$GC,3961,-0.78,-185.1,640.7,-20.0,477,3965,0.35,2.17,0.00,0.000,6,0.104,0.049,3003,1560,3811,0,0,0,0,0,0
$GC,4290,-0.80,-185.1,682.0,-11.1,493,4294,0.00,2.20,0.00,0.000,4,0.000,0.062,3003,167,3808,0,0,0,0,0,0
$GC,4318,-0.82,-185.1,685.5,-10.9,494,4322,0.00,2.12,0.00,0.000,6,0.000,0.041,2996,1560,3808,0,0,0,0,0,0
$GC,4634,-0.84,-185.1,717.0,-9.8,509,4638,0.00,2.17,0.00,0.000,4,0.000,0.048,2989,2960,3805,0,0,0,0,0,0
$GC,4675,-0.87,-185.1,720.6,-8.4,511,4680,0.08,2.17,0.00,0.000,6,0.114,0.049,2892,1562,3805,0,0,0,0,0,0
$GC,5004,-0.82,-185.1,782.4,-19.6,527,5009,0.28,2.17,0.00,0.000,4,0.119,0.046,2978,2960,3801,0,0,0,0,0,0
$GC,5025,-0.80,-185.1,786.6,-16.9,528,5030,0.08,2.20,0.00,0.000,6,0.141,0.050,3004,1562,3801,0,0,0,0,0,0
$GC,5349,-0.83,-185.1,819.3,-10.6,544,5353,0.08,2.25,0.00,0.000,4,0.119,0.064,2901,163,3798,0,0,0,0,0,0
$GC,5381,-0.79,-185.1,825.0,-18.0,545,5389,0.35,2.15,0.00,0.000,6,0.112,0.044,3005,1560,3798,0,0,0,0,0,0
$GC,5700,-0.82,-185.1,859.5,-10.5,561,5705,0.08,2.22,0.00,0.000,4,0.117,0.050,2896,2967,3796,0,0,0,0,0,0
$GC,5772,-0.80,-185.1,871.2,-16.1,564,5777,0.30,2.20,0.00,0.000,6,0.102,0.051,2998,1567,3795,0,0,0,0,0,0
$GC,6090,-0.83,-185.1,904.7,-10.1,579,6094,0.00,2.17,0.00,0.000,4,0.000,0.050,2990,2965,3792,0,0,0,0,0,0
$GC,6112,-0.86,-185.1,907.3,-9.8,580,6116,0.00,2.20,0.00,0.000,6,0.000,0.051,2990,1564,3792,0,0,0,0,0,0
$GC,6434,-0.89,-185.1,939.8,-10.0,596,6439,0.08,2.20,0.00,0.000,4,0.116,0.050,2880,2961,3790,0,0,0,0,0,0
$GC,6461,-0.87,-185.1,943.6,-14.8,597,6466,0.30,2.20,0.00,0.000,6,0.109,0.052,2980,1567,3790,0,0,0,0,0,0
$GC,6779,-0.88,-185.1,978.1,-10.6,612,6783,0.00,2.17,0.00,0.000,4,0.000,0.050,2972,2958,3788,0,0,0,0,0,0
$GC,6807,-0.91,-185.1,981.4,-10.9,613,6811,0.00,2.22,0.00,0.000,6,0.000,0.053,2972,1571,3788,0,0,0,0,0,0
$STATE,6981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6982,begin apogee
$GC,6987,0.00,0.0,1001.4,11.6,622,7146,0.75,0.00,151.90,1.221,4,0.086,0.000,3249,1713,3068,0,0,0,0,0,0
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7147,begin climb
$GC,7149,0.68,185.1,1007.3,0.0,629,7318,0.60,2.45,161.70,1.146,4,0.029,0.064,3522,292,2313,0,0,0,0,0,0
$GC,7377,0.60,185.1,976.8,23.1,640,7382,0.25,2.20,0.00,0.000,6,0.143,0.034,3450,1696,2305,0,0,0,0,0,0
$GC,7706,0.57,185.1,918.2,16.7,656,7710,0.00,2.17,0.00,0.000,4,0.000,0.041,3449,3108,2297,0,0,0,0,0,0
$GC,7792,0.54,185.1,903.5,17.3,660,7796,0.12,2.25,0.00,0.000,6,0.157,0.050,3424,1702,2295,0,0,0,0,0,0
$GC,8120,0.53,185.1,855.9,14.4,676,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1702,2294,0,0,0,0,0,0
$GC,8428,0.51,185.1,811.6,13.9,691,8432,0.00,2.17,0.00,0.000,4,0.000,0.042,3423,3115,2293,0,0,0,0,0,0
$GC,8455,0.50,185.8,807.4,13.9,692,8460,0.08,2.22,0.00,0.000,6,0.191,0.050,3412,1705,2293,0,0,0,0,0,0
$GC,8777,0.52,204.3,766.4,13.0,708,8800,0.00,2.33,14.55,1.052,4,0.000,0.065,3422,294,2234,0,0,0,0,0,0
$GC,8861,0.54,215.7,754.8,13.3,711,8878,0.00,2.17,11.65,1.009,6,0.000,0.036,3422,1710,2188,0,0,0,0,0,0
$GC,9196,0.54,215.7,707.5,14.5,728,9200,0.00,2.17,0.00,0.000,4,0.000,0.044,3422,3109,2183,0,0,0,0,0,0
$GC,9228,0.54,215.7,702.0,16.0,729,9235,0.00,2.28,0.00,0.000,6,0.000,0.050,3431,1707,2182,0,0,0,0,0,0
$GC,9545,0.53,215.7,654.6,14.7,745,9549,0.00,2.28,0.00,0.000,4,0.000,0.064,3442,293,2182,0,0,0,0,0,0
$GC,9590,0.52,215.7,647.8,14.5,747,9595,0.10,2.15,0.00,0.000,6,0.155,0.035,3411,1701,2180,0,0,0,0,0,0
$GC,9913,0.58,261.1,609.5,11.6,763,9960,0.10,2.42,40.03,0.996,4,0.094,0.064,3507,286,2002,0,0,0,0,0,0
$GC,9984,0.54,261.1,596.1,20.9,766,9992,0.28,2.20,0.00,0.000,6,0.127,0.036,3421,1693,1998,0,0,0,0,0,0
$GC,10310,0.57,280.5,551.9,12.9,797,10332,0.00,0.00,16.75,0.916,6,0.000,0.000,3421,1696,1924,0,0,0,0,0,0
$GC,10652,0.59,288.0,507.0,13.5,829,10664,0.08,0.00,7.45,0.797,6,0.118,0.000,3497,1696,1893,0,0,0,0,0,0
$GC,10982,0.56,288.0,442.6,19.2,860,10987,0.22,2.30,0.00,0.000,4,0.129,0.062,3436,291,1889,0,0,0,0,0,0
$GC,11055,0.63,320.1,431.7,12.3,866,11091,0.05,2.12,28.23,0.873,6,0.164,0.034,3497,1694,1762,0,0,0,0,0,0
$GC,11406,0.60,320.1,363.8,19.2,899,11411,0.17,2.28,0.00,0.000,4,0.135,0.063,3453,294,1756,0,0,0,0,0,0
$GC,11428,0.59,320.1,359.4,19.0,900,11436,0.00,2.10,0.00,0.000,6,0.000,0.033,3453,1686,1755,0,0,0,0,0,0
$GC,11754,0.60,320.1,312.2,14.4,931,11758,0.00,2.25,0.00,0.000,4,0.000,0.063,3463,293,1754,0,0,0,0,0,0
$GC,11798,0.62,320.1,305.6,14.0,934,11804,0.00,2.08,0.00,0.000,6,0.000,0.033,3463,1677,1754,0,0,0,0,0,0
$GC,12137,0.64,321.3,255.1,13.8,991,12143,0.00,2.22,0.00,0.000,4,0.000,0.060,3471,293,1753,0,0,0,0,0,0
$GC,12167,0.65,321.3,250.5,14.8,996,12175,0.00,2.05,0.00,0.000,6,0.000,0.031,3471,1669,1753,0,0,0,0,0,0
$GC,12512,0.66,321.3,199.3,15.8,1057,12518,0.00,2.20,0.00,0.000,4,0.000,0.059,3479,292,1753,0,0,0,0,0,0
$GC,12548,0.68,322.9,193.7,13.8,1063,12555,0.00,2.08,0.00,0.000,6,0.000,0.032,3480,1670,1753,0,0,0,0,0,0
$GC,12894,0.73,343.8,148.7,12.8,1124,12920,0.00,2.28,20.02,0.620,4,0.000,0.058,3486,292,1665,0,0,0,0,0,0
$GC,12995,0.85,415.0,136.9,10.3,1141,13063,0.12,2.05,57.70,0.626,6,0.076,0.031,3596,1661,1376,0,0,0,0,0,0
$GC,13400,0.82,415.0,55.2,19.8,1212,13408,0.25,2.22,0.00,0.000,4,0.127,0.034,3508,3108,1370,0,0,0,0,0,0
$GC,13433,0.85,415.0,50.2,14.5,1217,13440,0.05,2.33,0.00,0.000,6,0.158,0.045,3566,1638,1369,0,0,0,0,0,0
$GC,13778,1.25,645.4,3.1,2.3,1278,13804,0.25,0.00,22.65,0.500,2,0.050,0.000,3713,1636,1171,0,0,0,0,0,0
$STATE,13805,end climb,SURFACE_DEPTH_REACHED
$STATE,13805,begin surface coast
$FINISH,3.1,1.022473
$STATE,13905,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13905,begin surface
$SM_CCo,13908,91.00,0.509,0,0,414,650.78
$SM_GC,3.87,8.77,0.00,0.00,0.016,0.000,0.000,104,1533,409,-9.68,-0.42,652.25
$IRIDIUM_FIX,2131.85,12604.88,081110,090956
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,23.0,63.714
$10V_AH,10.1,45.596
$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,25.400,127.725,532.625,91.000,0.000,30.552,22.902,127.699,1.000,0.000,16.395,3229.139,7921.787,740.923,2338.590,276.427,0.000,1928.187,0.000,2133.857,0.000,0.539,0.000
$DEVICE_MAMPS,194.310,86.445,1220.940,509.490,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,73573,1300
$CAP_FILE_SIZE,164888,0
$CFSIZE,260165632,225640448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.077,102.5,1
$GPS,081110,174000,2136.291,12604.140,37,1.1,37,-2.9