version: 66.08
glider: 168
mission: 2
dive: 414
start: 11 1 110 9 59 2
data:
$ID,168
$MISSION,2
$DIVE,414
$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,-3728.2007
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,011110,095306,2312.397,12641.833,41,1.6,46,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-73.5
$GPS2,011110,095834,2312.385,12641.724,11,3.1,30,-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,172.7,216751,-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,-7.03,0.000,2,0.000,0.000,104,1531,1346,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.0,-0.0,1,138,10.02,2.10,-94.35,0.000,4,0.173,0.057,3035,169,3823,0,0,0,0,0,0
$GC,243,-0.64,-185.1,36.7,-31.6,37,251,0.08,2.10,0.00,0.000,6,0.174,0.036,3046,1547,3824,0,0,0,0,0,0
$GC,588,-0.62,-185.1,121.2,-18.8,98,595,0.00,2.15,0.00,0.000,4,0.000,0.050,3046,172,3825,0,0,0,0,0,0
$GC,647,-0.62,-185.1,132.7,-18.1,108,654,0.00,2.08,0.00,0.000,6,0.000,0.036,3040,1556,3825,0,0,0,0,0,0
$GC,991,-0.61,-185.1,190.9,-16.6,169,998,0.00,2.12,0.00,0.000,4,0.000,0.043,3030,2959,3827,0,0,0,0,0,0
$GC,1044,-0.64,-185.1,198.8,-13.7,178,1052,0.05,2.15,0.00,0.000,6,0.196,0.042,3051,1558,3827,0,0,0,0,0,0
$GC,1388,-0.66,-185.1,250.2,-14.9,239,1395,0.00,2.15,0.00,0.000,4,0.000,0.051,3051,168,3826,0,0,0,0,0,0
$GC,1429,-0.68,-185.1,256.3,-14.5,246,1436,0.00,2.10,0.00,0.000,6,0.000,0.037,3049,1557,3827,0,0,0,0,0,0
$GC,1779,-0.70,-185.1,302.7,-11.7,306,1783,0.08,2.15,0.00,0.000,4,0.122,0.044,2918,2959,3827,0,0,0,0,0,0
$GC,1880,-0.66,-185.1,322.3,-20.0,315,1885,0.38,2.17,0.00,0.000,6,0.110,0.044,3046,1549,3827,0,0,0,0,0,0
$GC,2206,-0.69,-185.1,360.9,-12.1,345,2210,0.00,2.12,0.00,0.000,4,0.000,0.052,3046,166,3826,0,0,0,0,0,0
$GC,2247,-0.73,-185.1,366.1,-12.3,348,2252,0.10,2.10,0.00,0.000,6,0.091,0.037,2942,1559,3826,0,0,0,0,0,0
$GC,2574,-0.68,-185.1,440.0,-22.9,378,2578,0.25,2.12,0.00,0.000,4,0.121,0.041,3023,2955,3824,0,0,0,0,0,0
$GC,2636,-0.74,-185.1,448.8,-10.4,383,2640,0.00,2.12,0.00,0.000,6,0.000,0.042,3023,1553,3825,0,0,0,0,0,0
$GC,2962,-0.76,-185.1,487.3,-11.0,413,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1553,3823,0,0,0,0,0,0
$GC,3282,-0.78,-185.1,520.9,-10.8,443,3286,0.08,2.20,0.00,0.000,4,0.117,0.047,2900,2957,3821,0,0,0,0,0,0
$GC,3315,-0.75,-185.1,526.4,-17.9,446,3320,0.35,2.15,0.00,0.000,6,0.108,0.045,3017,1557,3821,0,0,0,0,0,0
$GC,3641,-0.77,-185.1,564.2,-11.2,476,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1557,3819,0,0,0,0,0,0
$GC,3970,-0.79,-185.1,602.9,-12.3,506,3972,0.08,0.00,0.00,0.000,6,0.122,0.000,2912,1557,3815,0,0,0,0,0,0
$GC,4280,-0.74,-185.1,670.7,-21.7,521,4284,0.30,2.17,0.00,0.000,4,0.122,0.044,3006,2955,3813,0,0,0,0,0,0
$GC,4312,-0.76,-185.1,676.2,-12.7,522,4319,0.00,2.15,0.00,0.000,6,0.000,0.047,3006,1568,3813,0,0,0,0,0,0
$GC,4629,-0.79,-185.1,708.8,-9.8,538,4633,0.00,2.20,0.00,0.000,4,0.000,0.059,3006,165,3811,0,0,0,0,0,0
$GC,4651,-0.81,-185.1,711.3,-10.8,539,4655,0.00,2.10,0.00,0.000,6,0.000,0.039,2998,1558,3810,0,0,0,0,0,0
$GC,4973,-0.84,-185.1,745.1,-10.8,555,4977,0.00,2.15,0.00,0.000,4,0.000,0.047,2991,2954,3807,0,0,0,0,0,0
$GC,5035,-0.88,-185.1,751.3,-9.6,557,5042,0.08,2.17,0.00,0.000,6,0.115,0.047,2895,1555,3807,0,0,0,0,0,0
$GC,5351,-0.82,-185.1,814.1,-20.3,573,5353,0.28,0.00,0.00,0.000,6,0.122,0.000,2986,1554,3805,0,0,0,0,0,0
$GC,5661,-0.84,-185.1,853.6,-12.3,588,5665,0.00,2.17,0.00,0.000,4,0.000,0.047,2977,2955,3802,0,0,0,0,0,0
$GC,5706,-0.87,-185.1,858.7,-10.7,590,5710,0.00,2.17,0.00,0.000,6,0.000,0.050,2977,1568,3802,0,0,0,0,0,0
$GC,6039,-0.89,-185.1,896.9,-11.3,606,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1568,3799,0,0,0,0,0,0
$GC,6348,-0.90,-185.1,931.3,-11.4,621,6352,0.00,2.22,0.00,0.000,4,0.000,0.063,2977,168,3797,0,0,0,0,0,0
$GC,6376,-0.91,-185.1,935.0,-12.1,622,6380,0.00,2.15,0.00,0.000,6,0.000,0.041,2970,1576,3796,0,0,0,0,0,0
$GC,6693,-0.92,-185.1,972.1,-12.1,637,6697,0.00,2.12,0.00,0.000,4,0.000,0.049,2960,2953,3794,0,0,0,0,0,0
$GC,6757,-0.95,-185.1,979.4,-11.2,640,6761,0.00,2.17,0.00,0.000,6,0.000,0.050,2960,1570,3794,0,0,0,0,0,0
$STATE,6916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6916,begin apogee
$GC,6922,0.00,0.0,1001.0,13.7,648,7079,0.80,0.00,151.70,1.236,4,0.091,0.000,3251,1712,3068,0,0,0,0,0,0
$STATE,7079,end apogee,CONTROL_FINISHED_OK
$STATE,7079,begin climb
$GC,7082,0.68,185.1,1007.7,0.0,655,7252,0.60,2.42,160.90,1.172,4,0.028,0.060,3521,293,2312,0,0,0,0,0,0
$GC,7257,0.61,185.1,989.8,20.7,663,7265,0.28,2.25,0.00,0.000,6,0.135,0.032,3442,1701,2308,0,0,0,0,0,0
$GC,7574,0.58,185.1,937.0,16.2,679,7577,0.00,2.17,0.00,0.000,4,0.000,0.041,3442,3105,2298,0,0,0,0,0,0
$GC,7634,0.55,185.1,926.8,16.2,681,7643,0.10,2.22,0.00,0.000,6,0.171,0.047,3424,1705,2297,0,0,0,0,0,0
$GC,7951,0.54,185.1,880.4,14.8,697,7955,0.00,2.28,0.00,0.000,4,0.000,0.060,3435,284,2294,0,0,0,0,0,0
$GC,7991,0.52,185.1,874.2,16.0,699,7995,0.00,2.15,0.00,0.000,6,0.000,0.034,3435,1709,2293,0,0,0,0,0,0
$GC,8318,0.51,185.1,823.1,15.5,715,8322,0.08,2.15,0.00,0.000,4,0.190,0.043,3413,3102,2293,0,0,0,0,0,0
$GC,8389,0.51,185.1,812.4,14.2,718,8393,0.00,2.22,0.00,0.000,6,0.000,0.048,3421,1712,2292,0,0,0,0,0,0
$GC,8713,0.52,203.9,768.8,12.9,734,8735,0.00,2.30,14.12,1.065,4,0.000,0.061,3432,290,2235,0,0,0,0,0,0
$GC,8759,0.52,208.6,762.4,13.6,736,8769,0.00,2.17,5.65,0.854,6,0.000,0.035,3432,1720,2217,0,0,0,0,0,0
$GC,9087,0.51,208.6,716.1,14.3,752,9088,0.08,0.00,0.00,0.000,6,0.190,0.000,3411,1721,2213,0,0,0,0,0,0
$GC,9395,0.52,215.3,675.4,13.6,767,9404,0.00,0.00,6.75,0.889,6,0.000,0.000,3412,1721,2190,0,0,0,0,0,0
$GC,9705,0.55,235.7,635.1,12.9,782,9731,0.08,2.35,19.95,1.021,4,0.120,0.061,3491,292,2106,0,0,0,0,0,0
$GC,9759,0.52,235.7,625.6,19.9,784,9764,0.25,2.17,0.00,0.000,6,0.116,0.034,3409,1712,2103,0,0,0,0,0,0
$GC,10081,0.57,266.3,585.4,12.3,804,10113,0.10,2.33,26.85,1.000,4,0.092,0.059,3498,294,1982,0,0,0,0,0,0
$GC,10130,0.54,266.3,576.4,19.7,808,10138,0.25,2.17,0.00,0.000,6,0.117,0.034,3417,1709,1978,0,0,0,0,0,0
$GC,10456,0.58,285.9,532.7,12.9,839,10480,0.08,2.38,17.38,0.938,4,0.115,0.060,3498,293,1901,0,0,0,0,0,0
$GC,10497,0.55,285.9,525.4,18.4,842,10504,0.22,2.17,0.00,0.000,6,0.118,0.033,3426,1701,1900,0,0,0,0,0,0
$GC,10823,0.57,285.9,479.3,13.9,873,10827,0.00,2.15,0.00,0.000,4,0.000,0.044,3426,3099,1895,0,0,0,0,0,0
$GC,10841,0.59,285.9,476.7,14.5,874,10845,0.00,2.20,0.00,0.000,6,0.000,0.047,3433,1697,1894,0,0,0,0,0,0
$GC,11167,0.62,300.7,432.4,13.1,904,11191,0.08,2.30,13.38,0.851,4,0.118,0.060,3521,296,1841,0,0,0,0,0,0
$GC,11230,0.60,300.7,420.4,20.2,909,11239,0.25,2.12,0.00,0.000,6,0.118,0.033,3440,1703,1838,0,0,0,0,0,0
$GC,11556,0.63,307.7,377.7,13.5,940,11569,0.00,2.35,7.12,0.727,4,0.000,0.058,3451,285,1812,0,0,0,0,0,0
$GC,11596,0.66,315.8,371.7,13.5,943,11614,0.00,2.15,8.45,0.747,6,0.000,0.033,3451,1698,1780,0,0,0,0,0,0
$GC,11933,0.68,315.8,322.0,14.7,975,11937,0.08,2.28,0.00,0.000,4,0.118,0.058,3543,292,1777,0,0,0,0,0,0
$GC,11961,0.66,315.8,316.7,18.7,977,11966,0.25,2.08,0.00,0.000,6,0.116,0.031,3461,1680,1776,0,0,0,0,0,0
$GC,12299,0.69,336.8,267.4,12.8,1027,12325,0.00,2.20,18.62,0.747,4,0.000,0.039,3461,3105,1695,0,0,0,0,0,0
$GC,12360,0.77,370.3,259.6,12.2,1037,12399,0.10,2.25,29.08,0.748,6,0.093,0.045,3563,1674,1558,0,0,0,0,0,0
$GC,12735,0.73,370.3,171.2,24.2,1103,12742,0.25,2.20,0.00,0.000,4,0.134,0.053,3493,282,1552,0,0,0,0,0,0
$GC,12771,0.73,370.3,163.5,19.5,1109,12779,0.00,2.10,0.00,0.000,6,0.000,0.031,3493,1685,1551,0,0,0,0,0,0
$GC,13118,0.75,370.3,113.9,14.1,1170,13125,0.00,2.20,0.00,0.000,4,0.000,0.056,3499,288,1550,0,0,0,0,0,0
$GC,13155,0.82,397.1,109.0,12.5,1176,13186,0.00,2.05,22.38,0.626,6,0.000,0.031,3499,1675,1448,0,0,0,0,0,0
$GC,13522,1.04,524.7,68.3,7.5,1241,13632,0.22,2.30,99.40,0.597,4,0.050,0.054,3649,295,927,0,0,0,0,0,0
$GC,13713,1.03,524.7,25.2,18.2,1273,13721,0.22,2.05,0.00,0.000,6,0.119,0.029,3575,1647,923,0,0,0,0,0,0
$STATE,13832,end climb,SURFACE_DEPTH_REACHED
$STATE,13833,begin surface coast
$FINISH,2.1,1.022483
$STATE,13850,end surface coast,CONTROL_FINISHED_OK
$STATE,13850,begin surface
$SM_CCo,13929,0.00,0.000,0,0,918,527.15
$SM_GC,2.91,8.60,0.00,0.00,0.027,0.000,0.000,103,1536,918,-9.70,-0.40,527.15
$IRIDIUM_FIX,2307.44,12642.34,011110,050506
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,23.1,56.282
$10V_AH,10.2,42.213
$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,25.050,131.325,601.725,0.000,0.000,23.403,43.217,122.955,0.500,0.000,33.520,3194.702,7764.045,702.138,2342.966,250.185,0.000,1883.335,0.000,2112.333,0.000,0.538,0.000
$DEVICE_MAMPS,195.840,84.150,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73617,1297
$CAP_FILE_SIZE,164541,0
$CFSIZE,260165632,228950016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,278.9,1
$GPS,011110,135225,2310.365,12640.491,39,1.5,39,-3.4