version: 66.08
glider: 168
mission: 2
dive: 415
start: 11 1 110 13 58 32
data:
$ID,168
$MISSION,2
$DIVE,415
$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,-3730.5789
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,011110,135225,2310.365,12640.491,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-75.5
$GPS2,011110,135804,2310.392,12640.352,15,2.7,34,-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,168.5,212497,-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,-185.1,0.0,0.0,0,23,0.00,0.00,-6.88,0.000,2,0.000,0.000,104,1535,1125,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.1,-0.0,1,139,9.93,2.20,-95.95,0.000,4,0.170,0.065,3033,176,3824,0,0,0,0,0,0
$GC,225,-0.65,-185.1,29.5,-26.1,34,233,0.08,2.05,0.00,0.000,6,0.178,0.035,3044,1538,3826,0,0,0,0,0,0
$GC,570,-0.62,-185.1,116.5,-22.2,95,577,0.00,2.12,0.00,0.000,4,0.000,0.050,3044,173,3826,0,0,0,0,0,0
$GC,619,-0.60,-185.1,126.4,-21.8,103,626,0.10,2.08,0.00,0.000,6,0.155,0.037,3068,1554,3827,0,0,0,0,0,0
$GC,964,-0.62,-185.1,177.3,-12.8,164,970,0.00,2.15,0.00,0.000,4,0.000,0.044,3059,2960,3828,0,0,0,0,0,0
$GC,1056,-0.67,-185.1,187.3,-10.4,180,1063,0.08,2.12,0.00,0.000,6,0.113,0.041,2947,1567,3828,0,0,0,0,0,0
$GC,1400,-0.60,-185.1,272.8,-26.7,241,1407,0.32,2.15,0.00,0.000,4,0.124,0.050,3060,167,3828,0,0,0,0,0,0
$GC,1460,-0.64,-185.1,283.2,-12.2,251,1467,0.00,2.08,0.00,0.000,6,0.000,0.035,3059,1563,3829,0,0,0,0,0,0
$GC,1801,-0.67,-185.1,320.8,-10.5,295,1806,0.08,2.12,0.00,0.000,4,0.119,0.044,2943,2956,3829,0,0,0,0,0,0
$GC,1888,-0.66,-185.1,335.1,-16.7,302,1897,0.30,2.12,0.00,0.000,6,0.106,0.042,3046,1561,3829,0,0,0,0,0,0
$GC,2215,-0.69,-185.1,370.9,-11.4,333,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1560,3828,0,0,0,0,0,0
$GC,2537,-0.72,-185.1,406.2,-10.5,363,2543,0.10,0.00,0.00,0.000,6,0.094,0.000,2927,1560,3826,0,0,0,0,0,0
$GC,2862,-0.66,-185.1,475.4,-21.6,394,2867,0.32,2.15,0.00,0.000,4,0.119,0.042,3034,2959,3824,0,0,0,0,0,0
$GC,2891,-0.67,-185.1,479.8,-14.2,396,2895,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,1568,3825,0,0,0,0,0,0
$GC,3216,-0.71,-185.1,513.0,-10.6,426,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1568,3824,0,0,0,0,0,0
$GC,3537,-0.74,-185.1,545.3,-9.5,456,3541,0.08,2.15,0.00,0.000,4,0.118,0.047,2918,2953,3822,0,0,0,0,0,0
$GC,3565,-0.73,-185.1,549.4,-14.9,458,3570,0.30,2.12,0.00,0.000,6,0.109,0.047,3018,1572,3820,0,0,0,0,0,0
$GC,3891,-0.76,-185.1,585.7,-11.2,488,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1572,3818,0,0,0,0,0,0
$GC,4214,-0.78,-185.1,621.5,-11.1,510,4219,0.08,2.17,0.00,0.000,4,0.119,0.047,2908,2954,3816,0,0,0,0,0,0
$GC,4247,-0.76,-185.1,626.8,-17.0,511,4252,0.30,2.12,0.00,0.000,6,0.109,0.047,3007,1576,3816,0,0,0,0,0,0
$GC,4564,-0.78,-185.1,663.6,-11.0,526,4568,0.00,2.12,0.00,0.000,4,0.000,0.048,3001,2953,3813,0,0,0,0,0,0
$GC,4592,-0.81,-185.1,666.8,-10.6,527,4597,0.00,2.15,0.00,0.000,6,0.000,0.048,3001,1581,3813,0,0,0,0,0,0
$GC,4909,-0.83,-185.1,702.0,-11.5,542,4913,0.00,2.25,0.00,0.000,4,0.000,0.060,3001,165,3810,0,0,0,0,0,0
$GC,4930,-0.85,-185.1,704.8,-12.1,543,4934,0.00,2.15,0.00,0.000,6,0.000,0.040,2993,1575,3810,0,0,0,0,0,0
$GC,5259,-0.86,-185.1,742.5,-11.4,559,5264,0.08,2.15,0.00,0.000,4,0.119,0.048,2876,2957,3807,0,0,0,0,0,0
$GC,5286,-0.84,-185.1,747.1,-17.0,560,5290,0.32,2.15,0.00,0.000,6,0.110,0.048,2985,1577,3807,0,0,0,0,0,0
$GC,5609,-0.85,-185.1,787.6,-12.6,576,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1576,3805,0,0,0,0,0,0
$GC,5917,-0.86,-185.1,826.8,-12.9,591,5921,0.00,2.17,0.00,0.000,4,0.000,0.049,2976,2958,3803,0,0,0,0,0,0
$GC,5958,-0.89,-185.1,831.9,-12.0,593,5962,0.00,2.15,0.00,0.000,6,0.000,0.050,2977,1583,3802,0,0,0,0,0,0
$GC,6285,-0.90,-185.1,878.1,-14.5,609,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1583,3800,0,0,0,0,0,0
$GC,6595,-0.91,-185.1,921.4,-13.6,624,6596,0.08,0.00,0.00,0.000,6,0.119,0.000,2875,1582,3798,0,0,0,0,0,0
$GC,6905,-0.85,-185.1,988.2,-21.8,639,6907,0.32,0.00,0.00,0.000,6,0.117,0.000,2983,1582,3796,0,0,0,0,0,0
$STATE,7004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7004,begin apogee
$GC,7009,0.00,0.0,1002.1,11.8,644,7167,0.73,0.00,152.27,1.239,4,0.084,0.000,3253,1702,3068,0,0,0,0,0,0
$STATE,7167,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7169,0.68,185.1,1008.0,0.0,651,7339,0.60,2.33,161.07,1.172,4,0.031,0.046,3523,3107,2313,0,0,0,0,0,0
$GC,7451,0.61,185.1,964.4,22.7,664,7456,0.30,2.30,0.00,0.000,6,0.150,0.047,3446,1694,2305,0,0,0,0,0,0
$GC,7768,0.57,185.1,912.0,16.5,679,7772,0.00,2.25,0.00,0.000,4,0.000,0.060,3457,286,2299,0,0,0,0,0,0
$GC,7791,0.54,185.1,908.0,16.9,680,7796,0.12,2.15,0.00,0.000,6,0.146,0.033,3418,1713,2298,0,0,0,0,0,0
$GC,8119,0.52,185.1,861.6,14.0,696,8123,0.00,2.15,0.00,0.000,4,0.000,0.042,3418,3106,2296,0,0,0,0,0,0
$GC,8146,0.51,185.1,856.9,15.3,697,8151,0.00,2.20,0.00,0.000,6,0.000,0.047,3428,1699,2296,0,0,0,0,0,0
$GC,8469,0.50,185.1,809.1,14.7,713,8473,0.08,2.20,0.00,0.000,4,0.197,0.042,3408,3105,2295,0,0,0,0,0,0
$GC,8492,0.49,185.1,805.8,14.4,714,8496,0.00,2.17,0.00,0.000,6,0.000,0.047,3416,1709,2295,0,0,0,0,0,0
$GC,8812,0.50,195.2,763.1,13.4,730,8821,0.00,0.00,6.90,0.928,6,0.000,0.000,3416,1709,2272,0,0,0,0,0,0
$GC,9122,0.52,210.7,721.9,13.1,745,9144,0.00,2.30,15.25,1.046,4,0.000,0.060,3427,295,2208,0,0,0,0,0,0
$GC,9202,0.53,222.0,711.4,13.3,748,9218,0.00,2.15,11.10,0.995,6,0.000,0.034,3427,1705,2163,0,0,0,0,0,0
$GC,9541,0.55,234.8,665.8,13.2,765,9556,0.00,0.00,12.48,0.992,6,0.000,0.000,3427,1705,2110,0,0,0,0,0,0
$GC,9867,0.58,259.2,623.6,12.7,780,9896,0.00,2.28,22.17,1.017,4,0.000,0.044,3427,3104,2009,0,0,0,0,0,0
$GC,9919,0.60,269.6,616.5,13.4,782,9935,0.00,2.22,10.52,0.900,6,0.000,0.047,3435,1707,1968,0,0,0,0,0,0
$GC,10259,0.61,269.6,569.6,14.4,808,10263,0.00,2.28,0.00,0.000,4,0.000,0.060,3447,294,1960,0,0,0,0,0,0
$GC,10331,0.63,269.6,559.0,13.9,814,10339,0.00,2.12,0.00,0.000,6,0.000,0.034,3446,1702,1959,0,0,0,0,0,0
$GC,10656,0.63,269.6,511.9,14.6,845,10660,0.00,2.25,0.00,0.000,4,0.000,0.060,3455,293,1958,0,0,0,0,0,0
$GC,10688,0.63,269.6,507.0,14.6,847,10695,0.00,2.15,0.00,0.000,6,0.000,0.033,3455,1697,1957,0,0,0,0,0,0
$GC,11013,0.63,269.6,457.7,15.1,878,11017,0.00,2.15,0.00,0.000,4,0.000,0.043,3455,3107,1957,0,0,0,0,0,0
$GC,11065,0.64,269.6,449.8,15.0,882,11069,0.00,2.17,0.00,0.000,6,0.000,0.047,3460,1710,1957,0,0,0,0,0,0
$GC,11390,0.64,272.3,403.7,13.8,912,11394,0.00,2.28,0.00,0.000,4,0.000,0.059,3470,285,1957,0,0,0,0,0,0
$GC,11475,0.66,275.5,392.2,13.7,919,11487,0.00,2.15,4.65,0.628,6,0.000,0.033,3470,1711,1944,0,0,0,0,0,0
$GC,11805,0.65,275.5,341.9,16.4,950,11809,0.00,2.12,0.00,0.000,4,0.000,0.041,3471,3101,1944,0,0,0,0,0,0
$GC,11861,0.66,275.5,332.5,14.9,954,11869,0.00,2.17,0.00,0.000,6,0.000,0.046,3476,1704,1943,0,0,0,0,0,0
$GC,12192,0.66,275.5,283.1,14.1,995,12198,0.00,2.22,0.00,0.000,4,0.000,0.057,3486,287,1944,0,0,0,0,0,0
$GC,12228,0.66,275.5,277.9,14.0,1001,12235,0.10,2.12,0.00,0.000,6,0.143,0.032,3452,1705,1943,0,0,0,0,0,0
$GC,12572,0.71,298.6,236.2,12.7,1062,12605,0.10,2.30,21.60,0.725,4,0.094,0.055,3570,297,1849,0,0,0,0,0,0
$GC,12657,0.65,298.6,218.7,23.1,1076,12664,0.35,2.12,0.00,0.000,6,0.115,0.030,3455,1708,1847,0,0,0,0,0,0
$GC,13003,0.72,339.0,173.3,11.9,1137,13041,0.10,0.00,33.97,0.685,6,0.094,0.000,3563,1710,1685,0,0,0,0,0,0
$GC,13378,0.69,339.0,97.6,18.0,1203,13386,0.25,2.25,0.00,0.000,4,0.130,0.052,3486,289,1680,0,0,0,0,0,0
$GC,13443,0.88,455.0,89.5,8.0,1214,13543,0.15,2.12,91.22,0.620,6,0.067,0.031,3606,1703,1212,0,0,0,0,0,0
$STATE,13853,end climb,SURFACE_DEPTH_REACHED
$STATE,13853,begin surface coast
$FINISH,2.1,1.016179
$STATE,13866,end surface coast,CONTROL_FINISHED_OK
$STATE,13866,begin surface
$SM_CCo,13943,0.00,0.000,0,0,1201,457.98
$SM_GC,3.03,8.45,0.00,0.00,0.014,0.000,0.000,103,1546,1201,-9.68,-0.08,457.98
$IRIDIUM_FIX,2305.10,12644.22,011110,090952
$TT8_MAMPS,0.026964
$HUMID,49.72
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.0,56.448
$10V_AH,10.2,42.291
$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,24.175,113.500,543.225,0.000,0.000,23.397,43.399,123.048,0.250,0.000,37.597,3182.553,7885.625,624.794,2328.321,257.170,0.000,1781.886,0.000,2096.487,0.000,0.537,0.000
$DEVICE_MAMPS,196.605,72.675,1238.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73615,1288
$CAP_FILE_SIZE,156345,0
$CFSIZE,260165632,228884480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,275.2,1
$GPS,011110,175207,2308.417,12639.695,38,1.1,38,-3.4