version: 66.08
glider: 168
mission: 2
dive: 408
start: 10 31 110 10 11 29
data:
$ID,168
$MISSION,2
$DIVE,408
$N_DIVES,415
$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,-3718.1335
$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,41
$R_STBD_OVSHOOT,51
$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
$GPS1,311010,100537,2325.340,12649.340,38,1.2,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-74.5
$GPS2,311010,101102,2325.367,12649.279,10,1.4,10,-3.4
$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,186.4,243756,-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,-185.1,0.0,0.0,0,54,0.00,0.00,-36.60,0.000,2,0.000,0.000,104,1532,2106,0,0,0,0,0,0
$GC,56,-0.68,-185.1,3.2,-1.5,6,127,9.93,2.20,-54.75,0.000,4,0.170,0.065,3031,180,3824,0,0,0,0,0,0
$GC,229,-0.63,-185.1,34.2,-28.2,35,236,0.10,2.05,0.00,0.000,6,0.160,0.037,3050,1535,3825,0,0,0,0,0,0
$GC,573,-0.61,-185.1,120.6,-18.8,96,581,0.00,2.12,0.00,0.000,4,0.000,0.050,3050,168,3827,0,0,0,0,0,0
$GC,621,-0.61,-185.1,130.0,-18.6,104,630,0.05,2.05,0.00,0.000,6,0.216,0.036,3056,1539,3827,0,0,0,0,0,0
$GC,967,-0.61,-185.1,189.0,-15.4,165,974,0.00,2.15,0.00,0.000,4,0.000,0.044,3047,2955,3829,0,0,0,0,0,0
$GC,1037,-0.66,-185.1,198.6,-11.4,177,1045,0.00,2.15,0.00,0.000,6,0.000,0.042,3047,1554,3829,0,0,0,0,0,0
$GC,1382,-0.66,-185.1,253.5,-16.3,238,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1554,3829,0,0,0,0,0,0
$GC,1731,-0.68,-185.1,303.3,-14.1,298,1735,0.00,2.20,0.00,0.000,4,0.000,0.047,3039,2963,3829,0,0,0,0,0,0
$GC,1762,-0.71,-185.1,307.3,-13.0,300,1766,0.00,2.15,0.00,0.000,6,0.000,0.044,3039,1557,3829,0,0,0,0,0,0
$GC,2087,-0.72,-185.1,352.2,-12.6,330,2089,0.08,0.00,0.00,0.000,6,0.121,0.000,2937,1557,3829,0,0,0,0,0,0
$GC,2405,-0.66,-185.1,425.4,-22.6,360,2410,0.30,2.20,0.00,0.000,4,0.121,0.045,3029,2958,3827,0,0,0,0,0,0
$GC,2449,-0.71,-185.1,433.0,-12.9,363,2456,0.00,2.20,0.00,0.000,6,0.000,0.045,3030,1549,3827,0,0,0,0,0,0
$GC,2775,-0.73,-185.1,473.9,-12.2,394,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1549,3827,0,0,0,0,0,0
$GC,3097,-0.76,-185.1,511.3,-11.3,424,3105,0.08,0.00,0.00,0.000,6,0.119,0.000,2915,1549,3824,0,0,0,0,0,0
$GC,3422,-0.70,-185.1,579.5,-21.1,455,3427,0.32,2.20,0.00,0.000,4,0.123,0.044,3020,2962,3823,0,0,0,0,0,0
$GC,3467,-0.75,-185.1,585.6,-9.6,458,3474,0.00,2.20,0.00,0.000,6,0.000,0.044,3019,1552,3823,0,0,0,0,0,0
$GC,3789,-0.78,-185.1,617.8,-10.5,481,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1551,3819,0,0,0,0,0,0
$GC,4098,-0.81,-185.1,652.5,-11.9,496,4102,0.10,2.20,0.00,0.000,4,0.091,0.047,2896,2956,3818,0,0,0,0,0,0
$GC,4174,-0.78,-185.1,667.2,-19.9,499,4179,0.32,2.20,0.00,0.000,6,0.109,0.047,3004,1551,3817,0,0,0,0,0,0
$GC,4493,-0.80,-185.1,707.6,-12.1,514,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1551,3814,0,0,0,0,0,0
$GC,4800,-0.82,-185.1,745.0,-11.9,529,4804,0.00,2.20,0.00,0.000,4,0.000,0.047,3000,2956,3811,0,0,0,0,0,0
$GC,4835,-0.86,-185.1,749.2,-11.6,530,4843,0.08,2.20,0.00,0.000,6,0.113,0.047,2907,1556,3811,0,0,0,0,0,0
$GC,5152,-0.82,-185.1,813.0,-19.9,546,5154,0.25,0.00,0.00,0.000,6,0.119,0.000,2990,1555,3808,0,0,0,0,0,0
$GC,5461,-0.83,-185.1,853.4,-12.7,561,5465,0.00,2.17,0.00,0.000,4,0.000,0.047,2982,2953,3806,0,0,0,0,0,0
$GC,5512,-0.88,-185.1,859.8,-11.3,563,5516,0.00,2.17,0.00,0.000,6,0.000,0.050,2982,1560,3806,0,0,0,0,0,0
$GC,5828,-0.89,-185.1,900.2,-12.8,578,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1559,3803,0,0,0,0,0,0
$GC,6138,-0.91,-185.1,938.1,-12.2,593,6142,0.08,2.22,0.00,0.000,4,0.118,0.050,2875,2957,3800,0,0,0,0,0,0
$GC,6178,-0.87,-185.1,944.7,-18.5,595,6183,0.30,2.20,0.00,0.000,6,0.110,0.052,2973,1559,3800,0,0,0,0,0,0
$GC,6507,-0.88,-185.1,986.5,-11.9,611,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1559,3798,0,0,0,0,0,0
$STATE,6627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6627,begin apogee
$GC,6633,0.00,0.0,1000.9,11.6,617,6790,0.75,0.00,152.12,1.235,4,0.089,0.000,3249,1700,3068,0,0,0,0,0,0
$STATE,6791,end apogee,CONTROL_FINISHED_OK
$STATE,6791,begin climb
$GC,6793,0.68,185.1,1006.0,0.0,624,6962,0.60,2.33,160.62,1.168,4,0.031,0.046,3519,3107,2312,0,0,0,0,0,0
$GC,7108,0.61,185.1,952.8,24.0,639,7112,0.28,2.25,0.00,0.000,6,0.149,0.047,3449,1699,2303,0,0,0,0,0,0
$GC,7429,0.57,185.1,898.5,16.7,655,7433,0.00,2.25,0.00,0.000,4,0.000,0.060,3460,293,2298,0,0,0,0,0,0
$GC,7447,0.53,185.1,895.4,17.4,656,7451,0.12,2.12,0.00,0.000,6,0.149,0.032,3421,1709,2297,0,0,0,0,0,0
$GC,7774,0.52,185.1,848.9,14.0,672,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1711,2296,0,0,0,0,0,0
$GC,8083,0.51,185.1,805.3,14.2,687,8087,0.00,2.12,0.00,0.000,4,0.000,0.042,3421,3098,2294,0,0,0,0,0,0
$GC,8098,0.50,185.1,802.7,14.5,687,8106,0.08,2.22,0.00,0.000,6,0.184,0.047,3411,1691,2294,0,0,0,0,0,0
$GC,8414,0.54,215.6,763.9,12.4,703,8441,0.00,0.00,24.58,1.104,6,0.000,0.000,3411,1691,2189,0,0,0,0,0,0
$GC,8744,0.57,237.7,722.1,12.8,719,8767,0.08,0.00,20.60,1.066,6,0.120,0.000,3483,1691,2098,0,0,0,0,0,0
$GC,9073,0.53,237.7,660.6,18.4,735,9075,0.20,0.00,0.00,0.000,6,0.134,0.000,3421,1691,2091,0,0,0,0,0,0
$GC,9383,0.56,252.7,619.4,13.1,750,9403,0.00,0.00,13.25,0.968,6,0.000,0.000,3421,1691,2036,0,0,0,0,0,0
$GC,9719,0.59,268.8,574.9,13.1,775,9743,0.08,2.30,14.88,0.954,4,0.116,0.061,3506,287,1971,0,0,0,0,0,0
$GC,9768,0.55,268.8,566.0,20.2,779,9773,0.25,2.17,0.00,0.000,6,0.119,0.034,3426,1701,1969,0,0,0,0,0,0
$GC,10094,0.60,299.7,523.0,12.3,809,10124,0.08,0.00,27.67,0.952,6,0.115,0.000,3499,1703,1846,0,0,0,0,0,0
$GC,10442,0.58,299.7,456.7,19.0,842,10447,0.20,2.28,0.00,0.000,4,0.128,0.057,3447,289,1839,0,0,0,0,0,0
$GC,10463,0.56,299.7,452.7,17.6,843,10470,0.00,2.15,0.00,0.000,6,0.000,0.033,3447,1699,1839,0,0,0,0,0,0
$GC,10789,0.59,309.8,408.4,13.4,874,10800,0.00,0.00,8.73,0.778,6,0.000,0.000,3447,1702,1805,0,0,0,0,0,0
$GC,11118,0.62,323.8,366.5,13.2,905,11141,0.00,2.33,13.40,0.797,4,0.000,0.059,3455,293,1746,0,0,0,0,0,0
$GC,11199,0.67,338.1,355.6,13.2,912,11217,0.00,2.12,13.30,0.783,6,0.000,0.033,3455,1702,1689,0,0,0,0,0,0
$GC,11536,0.69,338.1,305.9,14.0,943,11538,0.05,0.00,0.00,0.000,6,0.165,0.000,3535,1703,1685,0,0,0,0,0,0
$GC,11869,0.66,338.1,237.3,21.4,999,11876,0.25,0.00,0.00,0.000,6,0.136,0.000,3449,1704,1685,0,0,0,0,0,0
$GC,12213,0.76,395.2,194.5,11.0,1060,12270,0.15,2.28,47.83,0.703,4,0.068,0.054,3584,293,1453,0,0,0,0,0,0
$GC,12333,0.74,395.2,167.9,22.6,1080,12342,0.30,2.15,0.00,0.000,6,0.105,0.031,3482,1700,1450,0,0,0,0,0,0
$GC,12680,0.77,395.2,116.6,13.9,1141,12687,0.00,2.25,0.00,0.000,4,0.000,0.055,3486,291,1448,0,0,0,0,0,0
$GC,12716,0.86,437.4,111.6,11.8,1147,12756,0.12,2.08,33.45,0.629,6,0.078,0.030,3594,1696,1284,0,0,0,0,0,0
$GC,13092,0.84,437.4,36.5,21.0,1213,13099,0.22,2.25,0.00,0.000,4,0.121,0.052,3530,283,1279,0,0,0,0,0,0
$GC,13147,0.93,461.7,28.1,12.7,1222,13173,0.08,2.08,20.12,0.552,6,0.112,0.029,3612,1689,1184,0,0,0,0,0,0
$STATE,13279,end climb,SURFACE_DEPTH_REACHED
$STATE,13279,begin surface coast
$FINISH,1.8,1.022243
$STATE,13296,end surface coast,CONTROL_FINISHED_OK
$STATE,13296,begin surface
$SM_CCo,13374,0.00,0.000,0,0,1177,463.62
$SM_GC,2.68,8.60,0.00,0.00,0.022,0.000,0.000,103,1538,1177,-9.70,-0.34,463.62
$IRIDIUM_FIX,2316.83,12653.60,311010,060657
$TT8_MAMPS,0.026964
$HUMID,48.74
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.1,55.249
$10V_AH,10.2,41.744
$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,24.450,83.600,550.550,0.000,0.000,22.541,43.158,139.403,0.250,0.000,14.427,3062.840,7573.959,628.436,2188.654,240.480,0.000,1705.807,0.000,1976.503,0.000,0.538,0.000
$DEVICE_MAMPS,215.730,70.380,1234.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,70351,1248
$CAP_FILE_SIZE,144247,0
$CFSIZE,260165632,229429248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,278.7,1
$GPS,311010,135528,2323.383,12648.011,11,3.6,30,-3.4