version: 66.08
glider: 168
mission: 2
dive: 459
start: 11 8 110 21 51 36
data:
$ID,168
$MISSION,2
$DIVE,459
$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,-3809.8325
$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,42
$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
$GPS1,081110,214606,2133.443,12603.923,34,2.0,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-69.1
$GPS2,081110,215108,2133.300,12603.938,10,1.6,10,-2.9
$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,219.8,22176,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.70,0.000,2,0.000,0.000,104,1526,621,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.9,-0.0,1,161,9.70,2.20,-116.75,0.000,4,0.161,0.067,3031,182,3824,0,0,0,0,0,0
$GC,295,-0.64,-185.1,40.0,-26.3,47,304,0.10,2.10,0.00,0.000,6,0.156,0.041,3052,1544,3825,0,0,0,0,0,0
$GC,642,-0.61,-185.1,130.8,-21.1,108,648,0.00,2.20,0.00,0.000,4,0.000,0.044,3042,2968,3825,0,0,0,0,0,0
$GC,744,-0.64,-185.1,147.7,-15.4,126,751,0.00,2.15,0.00,0.000,6,0.000,0.043,3042,1565,3825,0,0,0,0,0,0
$GC,1088,-0.64,-185.1,200.5,-14.5,187,1096,0.00,2.17,0.00,0.000,4,0.000,0.051,3042,165,3827,0,0,0,0,0,0
$GC,1136,-0.64,-185.1,207.8,-15.1,195,1144,0.00,2.12,0.00,0.000,6,0.000,0.039,3035,1560,3827,0,0,0,0,0,0
$GC,1479,-0.64,-185.1,261.4,-15.4,256,1486,0.00,2.15,0.00,0.000,4,0.000,0.044,3024,2970,3827,0,0,0,0,0,0
$GC,1543,-0.68,-185.1,270.1,-12.2,267,1551,0.00,2.20,0.00,0.000,6,0.000,0.043,3024,1548,3827,0,0,0,0,0,0
$GC,1881,-0.68,-185.1,319.2,-14.9,316,1885,0.00,2.12,0.00,0.000,4,0.000,0.053,3024,163,3826,0,0,0,0,0,0
$GC,1914,-0.70,-185.1,324.2,-14.0,318,1920,0.00,2.10,0.00,0.000,6,0.000,0.040,3023,1549,3826,0,0,0,0,0,0
$GC,2240,-0.71,-185.1,365.2,-11.9,349,2243,0.00,2.15,0.00,0.000,4,0.000,0.046,3017,2962,3825,0,0,0,0,0,0
$GC,2295,-0.75,-185.1,371.5,-9.9,353,2302,0.00,2.17,0.00,0.000,6,0.000,0.043,3017,1547,3825,0,0,0,0,0,0
$GC,2622,-0.77,-185.1,413.1,-12.7,384,2626,0.00,2.20,0.00,0.000,4,0.000,0.045,3008,2960,3823,0,0,0,0,0,0
$GC,2651,-0.79,-185.1,416.8,-12.1,386,2655,0.00,2.17,0.00,0.000,6,0.000,0.043,3008,1552,3823,0,0,0,0,0,0
$GC,2977,-0.80,-185.1,458.2,-12.7,416,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1550,3821,0,0,0,0,0,0
$GC,3297,-0.81,-185.1,497.6,-12.8,446,3301,0.08,2.22,0.00,0.000,4,0.123,0.046,2879,2964,3819,0,0,0,0,0,0
$GC,3330,-0.77,-185.1,503.8,-19.8,448,3337,0.38,2.20,0.00,0.000,6,0.104,0.047,3006,1554,3819,0,0,0,0,0,0
$GC,3656,-0.79,-185.1,545.3,-12.5,479,3660,0.00,2.20,0.00,0.000,4,0.000,0.047,3000,2962,3816,0,0,0,0,0,0
$GC,3701,-0.83,-185.1,550.7,-10.8,482,3707,0.00,2.20,0.00,0.000,6,0.000,0.046,3000,1555,3816,0,0,0,0,0,0
$GC,4026,-0.84,-185.1,592.3,-12.8,513,4028,0.08,0.00,0.00,0.000,6,0.119,0.000,2887,1555,3813,0,0,0,0,0,0
$GC,4337,-0.77,-185.1,662.1,-22.6,530,4342,0.32,2.17,0.00,0.000,4,0.112,0.044,2992,2961,3810,0,0,0,0,0,0
$GC,4393,-0.82,-185.1,670.5,-10.6,532,4399,0.00,2.20,0.00,0.000,6,0.000,0.048,2992,1563,3809,0,0,0,0,0,0
$GC,4710,-0.83,-185.1,707.8,-11.6,548,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1563,3807,0,0,0,0,0,0
$GC,5018,-0.85,-185.1,743.7,-11.4,563,5022,0.00,2.17,0.00,0.000,4,0.000,0.048,2985,2957,3803,0,0,0,0,0,0
$GC,5040,-0.87,-185.1,746.3,-11.0,564,5044,0.00,2.20,0.00,0.000,6,0.000,0.050,2985,1567,3803,0,0,0,0,0,0
$GC,5364,-0.88,-185.1,783.3,-11.5,580,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1566,3800,0,0,0,0,0,0
$GC,5672,-0.90,-185.1,817.6,-11.0,595,5676,0.08,2.22,0.00,0.000,4,0.120,0.050,2868,2959,3798,0,0,0,0,0,0
$GC,5705,-0.86,-185.1,823.1,-17.2,596,5712,0.32,2.22,0.00,0.000,6,0.107,0.051,2977,1560,3797,0,0,0,0,0,0
$GC,6023,-0.87,-185.1,861.2,-11.7,612,6027,0.00,2.20,0.00,0.000,4,0.000,0.050,2969,2958,3795,0,0,0,0,0,0
$GC,6041,-0.88,-185.1,863.5,-11.8,613,6045,0.00,2.22,0.00,0.000,6,0.000,0.052,2969,1562,3795,0,0,0,0,0,0
$GC,6368,-0.88,-185.1,904.4,-12.6,629,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1562,3792,0,0,0,0,0,0
$GC,6678,-0.88,-185.1,944.8,-13.5,644,6682,0.00,2.20,0.00,0.000,4,0.000,0.050,2960,2958,3790,0,0,0,0,0,0
$GC,6704,-0.89,-185.1,948.6,-13.3,645,6708,0.00,2.22,0.00,0.000,6,0.000,0.054,2960,1570,3790,0,0,0,0,0,0
$GC,7021,-0.89,-185.1,992.8,-14.1,660,7025,0.00,2.20,0.00,0.000,4,0.000,0.050,2953,2963,3789,0,0,0,0,0,0
$GC,7056,-0.91,-185.1,997.4,-12.6,661,7063,0.00,2.22,0.00,0.000,6,0.000,0.053,2953,1572,3788,0,0,0,0,0,0
$STATE,7081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7081,begin apogee
$GC,7086,0.00,0.0,1001.0,12.7,663,7244,0.82,0.00,150.75,1.222,4,0.092,0.000,3252,1712,3068,0,0,0,0,0,0
$STATE,7244,end apogee,CONTROL_FINISHED_OK
$STATE,7244,begin climb
$GC,7247,0.68,185.1,1007.6,0.0,670,7418,0.60,2.45,160.75,1.146,4,0.029,0.063,3524,290,2313,0,0,0,0,0,0
$GC,7492,0.61,185.1,972.9,23.4,681,7500,0.25,2.22,0.00,0.000,6,0.143,0.034,3450,1702,2304,0,0,0,0,0,0
$GC,7808,0.57,185.1,916.8,17.4,697,7812,0.00,2.15,0.00,0.000,4,0.000,0.041,3450,3110,2297,0,0,0,0,0,0
$GC,7863,0.55,185.1,906.6,17.8,699,7872,0.12,2.25,0.00,0.000,6,0.159,0.050,3424,1699,2296,0,0,0,0,0,0
$GC,8179,0.53,185.1,858.9,14.9,715,8183,0.00,2.28,0.00,0.000,4,0.000,0.065,3435,296,2295,0,0,0,0,0,0
$GC,8200,0.51,185.1,855.4,15.7,716,8204,0.08,2.15,0.00,0.000,6,0.177,0.035,3413,1704,2294,0,0,0,0,0,0
$GC,8528,0.51,187.4,809.5,13.8,732,8532,0.00,2.15,0.00,0.000,4,0.000,0.044,3413,3114,2293,0,0,0,0,0,0
$GC,8567,0.51,187.4,803.5,14.4,734,8571,0.00,2.25,0.00,0.000,6,0.000,0.050,3421,1700,2292,0,0,0,0,0,0
$GC,8895,0.51,194.2,758.3,13.5,750,8906,0.00,2.30,5.62,0.852,4,0.000,0.063,3432,293,2275,0,0,0,0,0,0
$GC,8936,0.50,194.2,752.7,13.9,752,8940,0.08,2.15,0.00,0.000,6,0.174,0.036,3411,1705,2274,0,0,0,0,0,0
$GC,9264,0.54,223.1,711.9,12.4,768,9293,0.00,0.00,27.25,1.064,6,0.000,0.000,3412,1707,2157,0,0,0,0,0,0
$GC,9592,0.58,253.4,670.1,12.4,784,9622,0.10,0.00,27.17,0.978,6,0.096,0.000,3486,1707,2035,0,0,0,0,0,0
$GC,9922,0.55,253.4,607.4,19.9,800,9927,0.20,2.33,0.00,0.000,4,0.132,0.063,3434,293,2028,0,0,0,0,0,0
$GC,9943,0.53,253.4,602.9,18.0,801,9947,0.00,2.17,0.00,0.000,6,0.000,0.035,3434,1709,2027,0,0,0,0,0,0
$GC,10269,0.53,253.4,554.6,14.3,830,10273,0.00,2.30,0.00,0.000,4,0.000,0.064,3444,295,2025,0,0,0,0,0,0
$GC,10296,0.53,253.4,550.4,14.7,832,10303,0.10,2.15,0.00,0.000,6,0.142,0.035,3412,1699,2024,0,0,0,0,0,0
$GC,10622,0.59,289.8,510.5,12.1,863,10659,0.10,2.38,30.77,0.923,4,0.095,0.063,3505,294,1886,0,0,0,0,0,0
$GC,10687,0.56,289.8,498.6,19.8,868,10694,0.25,2.17,0.00,0.000,6,0.120,0.034,3426,1694,1883,0,0,0,0,0,0
$GC,11013,0.59,300.5,453.6,13.4,899,11029,0.00,2.33,9.90,0.820,4,0.000,0.064,3434,301,1842,0,0,0,0,0,0
$GC,11063,0.67,342.8,447.2,11.8,903,11107,0.10,2.12,37.03,0.835,6,0.090,0.034,3521,1686,1670,0,0,0,0,0,0
$GC,11433,0.64,342.8,369.9,20.6,938,11438,0.22,2.28,0.00,0.000,4,0.132,0.062,3460,293,1661,0,0,0,0,0,0
$GC,11476,0.65,342.8,361.8,15.6,941,11483,0.00,2.12,0.00,0.000,6,0.000,0.034,3461,1681,1659,0,0,0,0,0,0
$GC,11802,0.67,342.8,315.4,14.1,972,11806,0.00,2.25,0.00,0.000,4,0.000,0.063,3469,291,1658,0,0,0,0,0,0
$GC,11858,0.72,361.7,307.3,12.9,976,11878,0.00,2.10,15.40,0.753,6,0.000,0.034,3469,1672,1593,0,0,0,0,0,0
$GC,12218,0.77,380.1,257.7,13.0,1035,12244,0.10,2.28,16.40,0.711,4,0.093,0.060,3582,297,1517,0,0,0,0,0,0
$GC,12326,0.73,380.1,233.6,22.4,1053,12334,0.30,2.08,0.00,0.000,6,0.117,0.033,3484,1656,1514,0,0,0,0,0,0
$GC,12672,0.75,384.3,182.2,13.7,1114,12686,0.00,2.25,4.45,0.474,4,0.000,0.059,3492,290,1501,0,0,0,0,0,0
$GC,12739,0.81,405.6,173.4,12.8,1125,12765,0.08,2.05,19.45,0.644,6,0.119,0.032,3580,1644,1414,0,0,0,0,0,0
$GC,13103,0.80,405.6,98.1,16.5,1189,13110,0.22,2.25,0.00,0.000,4,0.126,0.037,3508,3109,1409,0,0,0,0,0,0
$GC,13128,0.82,405.6,94.4,14.9,1193,13134,0.00,2.33,0.00,0.000,6,0.000,0.047,3507,1637,1408,0,0,0,0,0,0
$GC,13474,1.00,516.2,64.0,8.3,1254,13567,0.17,2.25,86.07,0.554,4,0.058,0.055,3647,290,962,0,0,0,0,0,0
$GC,13626,0.97,516.2,29.1,25.4,1279,13635,0.28,2.03,0.00,0.000,6,0.116,0.031,3557,1637,958,0,0,0,0,0,0
$STATE,13825,end climb,SURFACE_DEPTH_REACHED
$STATE,13825,begin surface coast
$FINISH,3.1,1.023037
$STATE,13926,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13926,begin surface
$SM_CCo,13930,68.82,0.497,0,0,414,650.78
$SM_GC,3.96,8.43,0.00,0.00,0.018,0.000,0.000,104,1548,409,-9.69,-0.06,652.25
$IRIDIUM_FIX,2127.21,12603.52,081110,171744
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.80
$XPDR_PINGS,5
$24V_AH,23.1,64.082
$10V_AH,10.1,45.756
$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,23.650,132.425,591.025,68.825,0.000,28.017,20.126,129.839,1.250,0.000,12.614,3270.683,7820.791,784.784,2332.244,283.956,0.000,1981.168,0.000,2148.580,0.000,0.539,0.000
$DEVICE_MAMPS,177.480,98.685,1221.705,497.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76754,1332
$CAP_FILE_SIZE,164096,0
$CFSIZE,260165632,225480704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,216.6,1
$GPS,091110,014931,2130.849,12601.507,42,1.4,42,-2.9