version: 66.08
glider: 168
mission: 2
dive: 460
start: 11 9 110 1 55 36
data:
$ID,168
$MISSION,2
$DIVE,460
$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,-3811.0854
$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,25
$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
$GPS1,091110,014931,2130.849,12601.507,42,1.4,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-69.0
$GPS2,091110,015508,2130.743,12601.413,9,1.5,9,-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,168.3,16936,-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,-7.38,0.000,2,0.000,0.000,104,1547,645,0,0,0,0,0,0
$GC,27,-0.68,-185.1,4.0,-0.0,1,161,9.57,2.17,-115.30,0.000,4,0.155,0.062,3036,159,3823,0,0,0,0,0,0
$GC,273,-0.65,-185.1,30.6,-23.4,43,280,0.08,2.10,0.00,0.000,6,0.171,0.041,3049,1540,3825,0,0,0,0,0,0
$GC,619,-0.62,-185.1,121.0,-22.6,104,626,0.00,2.12,0.00,0.000,4,0.000,0.051,3048,161,3824,0,0,0,0,0,0
$GC,689,-0.62,-185.1,136.0,-20.5,116,695,0.00,2.08,0.00,0.000,6,0.000,0.039,3041,1542,3825,0,0,0,0,0,0
$GC,1030,-0.62,-185.1,199.3,-15.6,177,1037,0.00,2.17,0.00,0.000,4,0.000,0.044,3031,2961,3825,0,0,0,0,0,0
$GC,1079,-0.65,-185.1,206.4,-13.7,185,1087,0.00,2.20,0.00,0.000,6,0.000,0.042,3031,1537,3825,0,0,0,0,0,0
$GC,1424,-0.65,-185.1,260.1,-16.0,246,1431,0.00,2.12,0.00,0.000,4,0.000,0.052,3031,165,3825,0,0,0,0,0,0
$GC,1500,-0.67,-185.1,270.2,-12.4,259,1506,0.00,2.08,0.00,0.000,6,0.000,0.039,3023,1547,3825,0,0,0,0,0,0
$GC,1842,-0.67,-185.1,319.8,-14.8,309,1846,0.00,2.20,0.00,0.000,4,0.000,0.047,3016,2966,3825,0,0,0,0,0,0
$GC,1890,-0.71,-185.1,325.9,-11.8,313,1894,0.00,2.20,0.00,0.000,6,0.000,0.043,3016,1544,3825,0,0,0,0,0,0
$GC,2214,-0.71,-185.1,372.1,-14.6,343,2218,0.00,2.12,0.00,0.000,4,0.000,0.054,3016,165,3823,0,0,0,0,0,0
$GC,2288,-0.73,-185.1,382.5,-12.7,349,2292,0.00,2.10,0.00,0.000,6,0.000,0.039,3009,1558,3823,0,0,0,0,0,0
$GC,2614,-0.74,-185.1,426.4,-13.1,379,2618,0.00,2.15,0.00,0.000,4,0.000,0.044,3003,2965,3821,0,0,0,0,0,0
$GC,2688,-0.77,-185.1,434.9,-10.7,385,2692,0.00,2.17,0.00,0.000,6,0.000,0.044,3002,1558,3821,0,0,0,0,0,0
$GC,3019,-0.78,-185.1,476.6,-12.5,416,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1558,3819,0,0,0,0,0,0
$GC,3339,-0.80,-185.1,517.7,-13.2,446,3343,0.00,2.17,0.00,0.000,4,0.000,0.058,3002,169,3816,0,0,0,0,0,0
$GC,3361,-0.81,-185.1,521.2,-13.9,447,3368,0.00,2.12,0.00,0.000,6,0.000,0.041,2995,1566,3816,0,0,0,0,0,0
$GC,3687,-0.82,-185.1,563.9,-12.8,478,3691,0.00,2.15,0.00,0.000,4,0.000,0.047,2987,2964,3813,0,0,0,0,0,0
$GC,3705,-0.83,-185.1,566.3,-13.2,479,3709,0.00,2.17,0.00,0.000,6,0.000,0.046,2987,1560,3813,0,0,0,0,0,0
$GC,4029,-0.83,-185.1,608.2,-12.2,506,4033,0.00,2.20,0.00,0.000,4,0.000,0.047,2979,2968,3810,0,0,0,0,0,0
$GC,4069,-0.86,-185.1,613.0,-11.3,507,4076,0.00,2.17,0.00,0.000,6,0.000,0.048,2979,1569,3809,0,0,0,0,0,0
$GC,4385,-0.86,-185.1,653.0,-12.5,523,4389,0.00,2.25,0.00,0.000,4,0.000,0.060,2979,156,3807,0,0,0,0,0,0
$GC,4412,-0.86,-185.1,656.9,-13.8,524,4416,0.00,2.15,0.00,0.000,6,0.000,0.041,2970,1565,3806,0,0,0,0,0,0
$GC,4734,-0.86,-185.1,701.1,-14.1,540,4738,0.00,2.17,0.00,0.000,4,0.000,0.048,2960,2965,3803,0,0,0,0,0,0
$GC,4789,-0.88,-185.1,708.9,-13.6,542,4795,0.00,2.20,0.00,0.000,6,0.000,0.049,2960,1560,3803,0,0,0,0,0,0
$GC,5105,-0.88,-185.1,756.9,-15.7,558,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1559,3799,0,0,0,0,0,0
$GC,5413,-0.88,-185.1,802.6,-14.5,573,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1559,3797,0,0,0,0,0,0
$GC,5723,-0.88,-185.1,846.0,-13.6,588,5727,0.00,2.25,0.00,0.000,4,0.000,0.064,2960,161,3795,0,0,0,0,0,0
$GC,5746,-0.88,-185.1,849.3,-14.3,589,5751,0.08,2.17,0.00,0.000,6,0.182,0.044,2974,1572,3794,0,0,0,0,0,0
$GC,6074,-0.89,-185.1,889.5,-11.8,605,6078,0.00,2.17,0.00,0.000,4,0.000,0.051,2964,2962,3791,0,0,0,0,0,0
$GC,6130,-0.91,-185.1,896.2,-10.3,607,6134,0.00,2.20,0.00,0.000,6,0.000,0.051,2964,1566,3791,0,0,0,0,0,0
$GC,6447,-0.91,-185.1,934.4,-11.8,622,6451,0.00,2.17,0.00,0.000,4,0.000,0.050,2956,2959,3789,0,0,0,0,0,0
$GC,6463,-0.91,-185.1,936.5,-11.2,622,6470,0.00,2.17,0.00,0.000,6,0.000,0.051,2956,1578,3789,0,0,0,0,0,0
$GC,6781,-0.91,-185.1,973.5,-11.8,638,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1577,3787,0,0,0,0,0,0
$STATE,7025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7025,begin apogee
$GC,7031,0.00,0.0,1002.2,11.7,650,7187,0.82,0.00,150.88,1.216,4,0.090,0.000,3255,1717,3067,0,0,0,0,0,0
$STATE,7188,end apogee,CONTROL_FINISHED_OK
$STATE,7188,begin climb
$GC,7190,0.68,185.1,1005.9,0.0,657,7359,0.60,2.28,160.93,1.143,4,0.030,0.046,3526,3101,2312,0,0,0,0,0,0
$GC,7478,0.61,185.1,957.0,24.9,671,7483,0.30,2.25,0.00,0.000,6,0.151,0.047,3448,1699,2304,0,0,0,0,0,0
$GC,7807,0.58,185.1,898.9,17.6,687,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1698,2298,0,0,0,0,0,0
$GC,8115,0.54,185.1,845.3,16.7,702,8120,0.08,2.20,0.00,0.000,4,0.198,0.041,3428,3110,2296,0,0,0,0,0,0
$GC,8155,0.53,185.1,838.7,16.4,704,8160,0.08,2.22,0.00,0.000,6,0.184,0.050,3418,1700,2296,0,0,0,0,0,0
$GC,8484,0.52,185.1,790.9,14.4,720,8488,0.00,2.25,0.00,0.000,4,0.000,0.064,3427,293,2295,0,0,0,0,0,0
$GC,8533,0.51,185.1,783.2,14.4,722,8537,0.00,2.10,0.00,0.000,6,0.000,0.034,3427,1696,2293,0,0,0,0,0,0
$GC,8856,0.49,185.1,735.9,14.4,738,8858,0.08,0.00,0.00,0.000,6,0.188,0.000,3407,1699,2293,0,0,0,0,0,0
$GC,9165,0.54,218.6,696.7,12.2,753,9195,0.05,0.00,27.35,1.050,6,0.164,0.000,3475,1699,2176,0,0,0,0,0,0
$GC,9494,0.50,218.6,638.7,18.0,769,9499,0.20,2.28,0.00,0.000,4,0.136,0.062,3423,294,2169,0,0,0,0,0,0
$GC,9521,0.49,218.6,633.9,15.9,770,9525,0.00,2.15,0.00,0.000,6,0.000,0.036,3423,1698,2168,0,0,0,0,0,0
$GC,9844,0.49,218.6,589.5,14.0,789,9848,0.00,2.17,0.00,0.000,4,0.000,0.044,3423,3108,2167,0,0,0,0,0,0
$GC,9888,0.49,218.6,583.2,13.9,792,9895,0.10,2.22,0.00,0.000,6,0.163,0.048,3404,1702,2167,0,0,0,0,0,0
$GC,10214,0.58,276.5,546.9,11.0,823,10271,0.10,2.38,49.22,0.929,4,0.092,0.063,3497,287,1938,0,0,0,0,0,0
$GC,10320,0.55,276.5,527.8,20.0,832,10328,0.22,2.17,0.00,0.000,6,0.124,0.034,3426,1694,1934,0,0,0,0,0,0
$GC,10647,0.58,288.0,483.5,13.3,863,10662,0.00,2.35,9.82,0.833,4,0.000,0.064,3435,292,1893,0,0,0,0,0,0
$GC,10714,0.63,304.3,474.4,13.1,869,10739,0.05,2.12,15.65,0.846,6,0.164,0.034,3501,1685,1827,0,0,0,0,0,0
$GC,11057,0.60,304.3,405.7,20.1,901,11059,0.20,0.00,0.00,0.000,6,0.130,0.000,3440,1688,1821,0,0,0,0,0,0
$GC,11375,0.64,327.0,361.8,12.7,931,11397,0.08,0.00,19.50,0.810,6,0.113,0.000,3518,1688,1733,0,0,0,0,0,0
$GC,11716,0.61,327.0,292.2,20.3,966,11724,0.22,2.25,0.00,0.000,4,0.130,0.059,3458,293,1729,0,0,0,0,0,0
$GC,11827,0.72,383.7,277.4,11.0,985,11884,0.10,2.12,46.95,0.757,6,0.091,0.034,3561,1689,1502,0,0,0,0,0,0
$GC,12221,0.67,383.7,183.4,24.4,1054,12229,0.28,2.28,0.00,0.000,4,0.142,0.058,3478,288,1496,0,0,0,0,0,0
$GC,12281,0.73,399.6,172.9,13.1,1064,12301,0.00,2.10,13.27,0.630,6,0.000,0.033,3478,1669,1438,0,0,0,0,0,0
$GC,12637,0.82,433.7,128.2,12.2,1127,12675,0.12,2.28,28.40,0.616,4,0.076,0.057,3603,293,1299,0,0,0,0,0,0
$GC,12699,0.78,433.7,116.0,22.9,1137,12707,0.32,2.08,0.00,0.000,6,0.109,0.031,3495,1655,1296,0,0,0,0,0,0
$GC,13046,0.97,536.0,78.5,8.7,1198,13132,0.20,2.30,79.32,0.570,4,0.054,0.058,3631,293,881,0,0,0,0,0,0
$GC,13226,0.95,536.0,38.3,23.1,1228,13233,0.25,2.05,0.00,0.000,6,0.119,0.031,3550,1641,877,0,0,0,0,0,0
$GC,13571,1.44,817.8,3.1,-0.3,1289,13596,0.40,0.00,22.42,0.492,2,0.054,0.000,3726,1646,695,0,0,0,0,0,0
$FREEZE,3.01,26.761,-1.060,0,1,0
$STATE,13598,end climb,NO_VERTICAL_VELOCITY
$STATE,13598,begin surface
$SM_CCo,13602,35.80,0.498,0,0,413,650.78
$SM_GC,3.85,8.77,0.00,0.00,0.015,0.000,0.000,104,1539,409,-9.71,-0.28,652.25
$IRIDIUM_FIX,2127.21,12605.39,081110,212159
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.80
$XPDR_PINGS,6
$24V_AH,23.1,64.266
$10V_AH,10.2,45.834
$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,23.350,113.875,623.725,35.800,0.000,31.064,44.416,131.222,1.500,0.000,12.509,3142.477,7735.764,744.982,2319.870,259.597,0.000,1909.846,0.000,2086.740,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,87.975,1216.350,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,73568,1293
$CAP_FILE_SIZE,154416,0
$CFSIZE,260165632,225423360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,252.4,1
$GPS,091110,054801,2128.431,12601.029,40,1.2,40,-2.9