version: 66.08
glider: 168
mission: 2
dive: 412
start: 11 1 110 1 51 53
data:
$ID,168
$MISSION,2
$DIVE,412
$N_DIVES,423
$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,-3724.4153
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,011110,014601,2317.628,12646.063,44,1.1,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-72.8
$GPS2,011110,015125,2317.615,12646.037,17,1.3,17,-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,206.4,228354,-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,-185.1,0.0,0.0,0,47,0.00,0.00,-30.42,0.000,2,0.000,0.000,104,1530,1907,0,0,0,0,0,0
$GC,50,-0.68,-185.1,3.0,-0.7,5,133,10.15,2.20,-66.35,0.000,4,0.180,0.063,3029,176,3823,0,0,0,0,0,0
$GC,279,-0.63,-185.1,44.6,-27.0,44,287,0.10,2.08,0.00,0.000,6,0.164,0.036,3048,1538,3825,0,0,0,0,0,0
$GC,623,-0.61,-185.1,128.4,-19.4,105,629,0.00,2.17,0.00,0.000,4,0.000,0.043,3038,2957,3826,0,0,0,0,0,0
$GC,709,-0.65,-185.1,141.7,-13.1,120,717,0.00,2.12,0.00,0.000,6,0.000,0.041,3038,1575,3827,0,0,0,0,0,0
$GC,1054,-0.64,-185.1,201.1,-16.6,181,1061,0.00,2.15,0.00,0.000,4,0.000,0.051,3038,166,3827,0,0,0,0,0,0
$GC,1096,-0.64,-185.1,208.4,-17.3,188,1105,0.08,2.12,0.00,0.000,6,0.172,0.038,3053,1571,3827,0,0,0,0,0,0
$GC,1444,-0.65,-185.1,256.3,-13.4,249,1451,0.00,2.10,0.00,0.000,4,0.000,0.045,3044,2958,3828,0,0,0,0,0,0
$GC,1475,-0.68,-185.1,260.4,-11.9,254,1481,0.00,2.12,0.00,0.000,6,0.000,0.041,3044,1569,3828,0,0,0,0,0,0
$GC,1821,-0.70,-185.1,305.9,-13.2,312,1825,0.00,2.15,0.00,0.000,4,0.000,0.050,3044,168,3828,0,0,0,0,0,0
$GC,1871,-0.73,-185.1,313.2,-13.1,316,1880,0.08,2.10,0.00,0.000,6,0.118,0.037,2938,1563,3827,0,0,0,0,0,0
$GC,2197,-0.67,-185.1,391.7,-23.7,347,2201,0.28,2.15,0.00,0.000,4,0.119,0.041,3028,2964,3827,0,0,0,0,0,0
$GC,2271,-0.71,-185.1,401.2,-10.1,353,2275,0.00,2.12,0.00,0.000,6,0.000,0.042,3028,1566,3827,0,0,0,0,0,0
$GC,2603,-0.73,-185.1,441.3,-12.4,384,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1566,3826,0,0,0,0,0,0
$GC,2923,-0.75,-185.1,481.4,-12.4,414,2928,0.08,2.15,0.00,0.000,4,0.119,0.045,2903,2956,3824,0,0,0,0,0,0
$GC,2951,-0.73,-185.1,486.3,-17.5,416,2956,0.35,2.15,0.00,0.000,6,0.108,0.044,3021,1565,3824,0,0,0,0,0,0
$GC,3278,-0.75,-185.1,527.6,-11.8,446,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1564,3822,0,0,0,0,0,0
$GC,3596,-0.77,-185.1,562.5,-10.5,476,3601,0.08,2.17,0.00,0.000,4,0.121,0.045,2904,2957,3820,0,0,0,0,0,0
$GC,3628,-0.74,-185.1,567.9,-17.8,478,3636,0.32,2.15,0.00,0.000,6,0.108,0.045,3012,1560,3819,0,0,0,0,0,0
$GC,3963,-0.76,-185.1,608.1,-11.8,507,3967,0.00,2.17,0.00,0.000,4,0.000,0.046,3004,2957,3818,0,0,0,0,0,0
$GC,4004,-0.80,-185.1,612.6,-10.4,509,4008,0.00,2.15,0.00,0.000,6,0.000,0.046,3004,1563,3817,0,0,0,0,0,0
$GC,4332,-0.82,-185.1,650.7,-11.6,525,4336,0.00,2.17,0.00,0.000,4,0.000,0.058,3004,168,3814,0,0,0,0,0,0
$GC,4356,-0.84,-185.1,653.7,-12.2,526,4360,0.00,2.15,0.00,0.000,6,0.000,0.039,2997,1577,3815,0,0,0,0,0,0
$GC,4678,-0.85,-185.1,692.2,-12.5,542,4683,0.08,2.12,0.00,0.000,4,0.122,0.047,2874,2957,3812,0,0,0,0,0,0
$GC,4712,-0.81,-185.1,697.9,-18.5,543,4719,0.35,2.15,0.00,0.000,6,0.110,0.047,2991,1568,3812,0,0,0,0,0,0
$GC,5030,-0.82,-185.1,738.8,-12.1,559,5034,0.00,2.22,0.00,0.000,4,0.000,0.060,2992,166,3809,0,0,0,0,0,0
$GC,5051,-0.83,-185.1,742.0,-12.8,560,5055,0.00,2.12,0.00,0.000,6,0.000,0.039,2984,1568,3809,0,0,0,0,0,0
$GC,5379,-0.84,-185.1,783.8,-12.9,576,5383,0.00,2.15,0.00,0.000,4,0.000,0.047,2974,2956,3806,0,0,0,0,0,0
$GC,5441,-0.87,-185.1,791.5,-11.7,578,5448,0.00,2.15,0.00,0.000,6,0.000,0.047,2973,1570,3806,0,0,0,0,0,0
$GC,5757,-0.87,-185.1,832.8,-13.4,594,5761,0.00,2.12,0.00,0.000,4,0.000,0.047,2965,2956,3804,0,0,0,0,0,0
$GC,5784,-0.88,-185.1,836.4,-12.8,595,5788,0.00,2.17,0.00,0.000,6,0.000,0.049,2965,1571,3803,0,0,0,0,0,0
$GC,6106,-0.88,-185.1,879.3,-13.5,611,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1570,3801,0,0,0,0,0,0
$GC,6416,-0.88,-185.1,920.3,-13.0,626,6420,0.00,2.15,0.00,0.000,4,0.000,0.048,2956,2956,3798,0,0,0,0,0,0
$GC,6456,-0.90,-185.1,925.5,-12.6,628,6460,0.00,2.17,0.00,0.000,6,0.000,0.050,2956,1570,3798,0,0,0,0,0,0
$GC,6783,-0.90,-185.1,969.8,-13.5,644,6787,0.00,2.15,0.00,0.000,4,0.000,0.049,2947,2955,3796,0,0,0,0,0,0
$GC,6817,-0.91,-185.1,974.3,-13.0,645,6825,0.00,2.20,0.00,0.000,6,0.000,0.051,2947,1573,3796,0,0,0,0,0,0
$STATE,7007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7007,begin apogee
$GC,7012,0.00,0.0,1001.1,14.3,655,7169,0.85,0.00,151.93,1.234,4,0.094,0.000,3252,1712,3068,0,0,0,0,0,0
$STATE,7170,end apogee,CONTROL_FINISHED_OK
$STATE,7170,begin climb
$GC,7172,0.68,185.1,1006.4,0.0,662,7342,0.60,2.42,160.88,1.168,4,0.029,0.060,3524,294,2312,0,0,0,0,0,0
$GC,7402,0.60,185.1,975.0,22.7,673,7407,0.28,2.20,0.00,0.000,6,0.139,0.032,3442,1708,2304,0,0,0,0,0,0
$GC,7731,0.57,185.1,920.3,15.9,689,7735,0.00,2.12,0.00,0.000,4,0.000,0.041,3442,3102,2297,0,0,0,0,0,0
$GC,7780,0.55,185.1,911.6,16.4,691,7785,0.10,2.22,0.00,0.000,6,0.171,0.047,3425,1699,2296,0,0,0,0,0,0
$GC,8104,0.54,185.1,866.0,14.1,707,8108,0.00,2.25,0.00,0.000,4,0.000,0.060,3435,295,2294,0,0,0,0,0,0
$GC,8143,0.52,185.1,859.7,15.7,709,8148,0.05,2.12,0.00,0.000,6,0.208,0.034,3419,1708,2293,0,0,0,0,0,0
$GC,8469,0.52,185.1,812.8,14.3,725,8473,0.00,2.12,0.00,0.000,4,0.000,0.043,3418,3099,2293,0,0,0,0,0,0
$GC,8491,0.51,185.1,809.3,15.0,726,8495,0.00,2.22,0.00,0.000,6,0.000,0.048,3428,1692,2292,0,0,0,0,0,0
$GC,8813,0.50,185.1,761.0,14.6,742,8815,0.08,0.00,0.00,0.000,6,0.196,0.000,3408,1692,2291,0,0,0,0,0,0
$GC,9124,0.52,201.3,720.6,13.1,757,9137,0.00,0.00,11.48,1.013,6,0.000,0.000,3408,1692,2247,0,0,0,0,0,0
$GC,9456,0.56,223.0,678.3,12.8,773,9483,0.08,2.33,20.62,1.046,4,0.117,0.060,3491,294,2157,0,0,0,0,0,0
$GC,9505,0.51,223.0,669.7,18.1,775,9509,0.25,2.15,0.00,0.000,6,0.122,0.034,3411,1699,2155,0,0,0,0,0,0
$GC,9834,0.55,246.2,627.0,12.7,791,9860,0.08,2.33,21.05,1.012,4,0.119,0.059,3494,289,2063,0,0,0,0,0,0
$GC,9877,0.52,246.2,619.2,18.2,793,9881,0.25,2.17,0.00,0.000,6,0.119,0.034,3414,1695,2061,0,0,0,0,0,0
$GC,10200,0.58,282.3,578.7,12.1,816,10238,0.08,2.35,31.40,0.985,4,0.119,0.060,3496,299,1916,0,0,0,0,0,0
$GC,10262,0.55,282.3,567.6,20.7,821,10270,0.22,2.15,0.00,0.000,6,0.115,0.034,3423,1686,1913,0,0,0,0,0,0
$GC,10587,0.57,282.3,521.8,14.0,852,10591,0.00,2.17,0.00,0.000,4,0.000,0.043,3423,3102,1908,0,0,0,0,0,0
$GC,10619,0.59,282.3,517.0,14.0,854,10626,0.00,2.25,0.00,0.000,6,0.000,0.048,3430,1690,1906,0,0,0,0,0,0
$GC,10945,0.63,304.5,473.0,12.8,885,10970,0.10,2.33,19.35,0.897,4,0.093,0.059,3534,293,1825,0,0,0,0,0,0
$GC,11029,0.60,304.5,455.8,21.5,892,11034,0.30,2.10,0.00,0.000,6,0.117,0.033,3437,1683,1822,0,0,0,0,0,0
$GC,11355,0.61,304.5,408.6,14.0,922,11359,0.00,2.22,0.00,0.000,4,0.000,0.060,3447,289,1819,0,0,0,0,0,0
$GC,11385,0.63,304.5,404.1,15.2,924,11389,0.00,2.08,0.00,0.000,6,0.000,0.033,3447,1675,1818,0,0,0,0,0,0
$GC,11716,0.65,304.5,355.8,14.4,955,11720,0.00,2.17,0.00,0.000,4,0.000,0.041,3447,3104,1818,0,0,0,0,0,0
$GC,11738,0.68,314.3,352.7,13.4,956,11757,0.00,2.28,8.52,0.732,6,0.000,0.047,3454,1665,1786,0,0,0,0,0,0
$GC,12075,0.70,321.9,309.4,13.5,988,12088,0.08,2.25,7.97,0.690,4,0.117,0.057,3550,291,1755,0,0,0,0,0,0
$GC,12169,0.67,321.9,290.9,21.7,999,12177,0.28,2.08,0.00,0.000,6,0.112,0.031,3459,1671,1753,0,0,0,0,0,0
$GC,12514,0.70,330.5,240.3,13.5,1060,12530,0.05,2.28,8.80,0.652,4,0.168,0.056,3552,283,1720,0,0,0,0,0,0
$GC,12565,0.67,330.5,230.4,23.1,1068,12572,0.28,2.05,0.00,0.000,6,0.107,0.031,3459,1660,1719,0,0,0,0,0,0
$GC,12911,0.72,348.9,186.2,13.0,1129,12931,0.08,0.00,16.88,0.660,6,0.121,0.000,3554,1663,1645,0,0,0,0,0,0
$GC,13269,0.69,348.9,113.1,17.3,1192,13276,0.25,2.17,0.00,0.000,4,0.129,0.054,3482,290,1642,0,0,0,0,0,0
$GC,13294,0.69,348.9,109.1,15.4,1196,13300,0.00,2.03,0.00,0.000,6,0.000,0.030,3482,1659,1641,0,0,0,0,0,0
$GC,13639,0.94,500.7,75.9,6.2,1257,13769,0.20,2.25,118.70,0.599,4,0.057,0.054,3614,284,1025,0,0,0,0,0,0
$GC,13788,0.92,500.7,48.9,24.0,1281,13796,0.22,2.08,0.00,0.000,6,0.118,0.027,3541,1668,1022,0,0,0,0,0,0
$STATE,14102,end climb,SURFACE_DEPTH_REACHED
$STATE,14102,begin surface coast
$FINISH,2.0,1.022592
$STATE,14125,end surface coast,CONTROL_FINISHED_OK
$STATE,14125,begin surface
$SM_CCo,14202,0.00,0.000,0,0,1016,503.11
$SM_GC,2.79,8.32,0.00,0.00,0.017,0.000,0.000,104,1514,1016,-9.71,-0.90,503.11
$IRIDIUM_FIX,2309.79,12645.62,311010,212156
$TT8_MAMPS,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,23.1,55.935
$10V_AH,10.2,42.055
$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,24.975,135.125,577.575,0.000,0.000,24.985,43.436,125.920,0.750,0.000,21.172,3324.667,7860.054,662.517,2417.527,258.186,0.000,1878.346,0.000,2188.478,0.000,0.539,0.000
$DEVICE_MAMPS,208.080,69.615,1233.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,76912,1341
$CAP_FILE_SIZE,167476,0
$CFSIZE,260165632,229101568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,203.0,1
$GPS,011110,054937,2315.014,12644.446,27,1.3,27,-3.4