version: 66.08
glider: 168
mission: 2
dive: 433
start: 11 4 110 13 56 0
data:
$ID,168
$MISSION,2
$DIVE,433
$N_DIVES,444
$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,-3764.3884
$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,44
$R_STBD_OVSHOOT,54
$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
$GPS1,041110,135031,2227.756,12622.078,41,1.1,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.63
$_SM_ANGLEo,-73.8
$GPS2,041110,135532,2227.758,12622.004,13,1.2,13,-3.2
$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,187.7,127669,-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,16,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.95,0.000,2,0.000,0.000,104,1528,1180,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.7,-0.0,1,145,9.85,2.15,-96.22,0.000,4,0.167,0.067,3033,181,3825,0,0,0,0,0,0
$GC,237,-0.65,-185.1,33.0,-25.7,36,244,0.08,2.08,0.00,0.000,6,0.175,0.039,3045,1536,3826,0,0,0,0,0,0
$GC,581,-0.63,-185.1,113.0,-19.3,97,588,0.00,2.12,0.00,0.000,4,0.000,0.053,3045,182,3828,0,0,0,0,0,0
$GC,623,-0.63,-185.1,121.2,-19.0,104,630,0.00,2.03,0.00,0.000,6,0.000,0.037,3038,1537,3828,0,0,0,0,0,0
$GC,968,-0.62,-185.1,181.4,-16.7,165,974,0.00,2.15,0.00,0.000,4,0.000,0.041,3028,2959,3829,0,0,0,0,0,0
$GC,1033,-0.66,-185.1,190.6,-12.4,176,1040,0.00,2.15,0.00,0.000,6,0.000,0.041,3028,1551,3829,0,0,0,0,0,0
$GC,1378,-0.66,-185.1,247.6,-16.2,237,1385,0.00,2.17,0.00,0.000,4,0.000,0.053,3028,165,3830,0,0,0,0,0,0
$GC,1425,-0.67,-185.1,255.4,-15.8,245,1432,0.05,2.08,0.00,0.000,6,0.210,0.038,3039,1548,3830,0,0,0,0,0,0
$GC,1769,-0.69,-185.1,304.4,-13.7,303,1772,0.00,2.17,0.00,0.000,4,0.000,0.043,3035,2961,3829,0,0,0,0,0,0
$GC,1813,-0.74,-185.1,310.3,-11.2,306,1820,0.08,2.20,0.00,0.000,6,0.114,0.041,2925,1536,3829,0,0,0,0,0,0
$GC,2138,-0.67,-185.1,386.2,-24.2,337,2143,0.32,2.20,0.00,0.000,4,0.120,0.040,3030,2959,3829,0,0,0,0,0,0
$GC,2171,-0.69,-185.1,391.9,-13.2,339,2179,0.00,2.17,0.00,0.000,6,0.000,0.043,3030,1543,3828,0,0,0,0,0,0
$GC,2497,-0.71,-185.1,430.7,-12.2,370,2501,0.00,2.15,0.00,0.000,4,0.000,0.056,3030,166,3827,0,0,0,0,0,0
$GC,2560,-0.75,-185.1,438.0,-11.5,375,2563,0.00,2.08,0.00,0.000,6,0.000,0.037,3023,1550,3827,0,0,0,0,0,0
$GC,2885,-0.78,-185.1,477.4,-12.1,405,2890,0.08,2.17,0.00,0.000,4,0.119,0.044,2898,2958,3825,0,0,0,0,0,0
$GC,2940,-0.74,-185.1,488.1,-20.5,409,2948,0.35,2.17,0.00,0.000,6,0.106,0.044,3016,1543,3825,0,0,0,0,0,0
$GC,3267,-0.76,-185.1,530.8,-11.4,440,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1543,3824,0,0,0,0,0,0
$GC,3589,-0.78,-185.1,565.1,-10.6,470,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1543,3822,0,0,0,0,0,0
$GC,3916,-0.81,-185.1,602.6,-11.6,500,3918,0.10,0.00,0.00,0.000,6,0.096,0.000,2899,1543,3819,0,0,0,0,0,0
$GC,4224,-0.75,-185.1,668.4,-21.7,515,4228,0.30,2.20,0.00,0.000,4,0.119,0.041,2995,2959,3816,0,0,0,0,0,0
$GC,4245,-0.73,-185.1,672.8,-18.2,516,4250,0.08,2.20,0.00,0.000,6,0.141,0.047,3023,1548,3816,0,0,0,0,0,0
$GC,4568,-0.77,-185.1,704.2,-9.5,532,4570,0.08,0.00,0.00,0.000,6,0.120,0.000,2926,1547,3813,0,0,0,0,0,0
$GC,4876,-0.74,-185.1,758.9,-18.2,547,4881,0.25,2.20,0.00,0.000,4,0.119,0.044,3005,2957,3811,0,0,0,0,0,0
$GC,4897,-0.74,-185.1,762.4,-14.9,548,4901,0.00,2.25,0.00,0.000,6,0.000,0.048,3005,1552,3811,0,0,0,0,0,0
$GC,5226,-0.77,-185.1,794.2,-9.7,564,5230,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,165,3808,0,0,0,0,0,0
$GC,5248,-0.80,-185.1,796.6,-10.0,565,5252,0.00,2.10,0.00,0.000,6,0.000,0.040,2998,1547,3808,0,0,0,0,0,0
$GC,5570,-0.83,-185.1,830.3,-10.6,581,5574,0.00,2.22,0.00,0.000,4,0.000,0.048,2991,2958,3805,0,0,0,0,0,0
$GC,5615,-0.88,-185.1,835.0,-10.0,583,5620,0.08,2.22,0.00,0.000,6,0.112,0.047,2898,1541,3805,0,0,0,0,0,0
$GC,5938,-0.83,-185.1,898.2,-20.3,599,5943,0.28,2.22,0.00,0.000,4,0.115,0.046,2983,2962,3802,0,0,0,0,0,0
$GC,5983,-0.87,-185.1,904.9,-11.4,601,5987,0.00,2.25,0.00,0.000,6,0.000,0.050,2983,1549,3802,0,0,0,0,0,0
$GC,6305,-0.89,-185.1,939.7,-10.5,617,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1549,3799,0,0,0,0,0,0
$GC,6615,-0.91,-185.1,971.1,-10.3,632,6620,0.08,2.22,0.00,0.000,4,0.118,0.048,2876,2958,3797,0,0,0,0,0,0
$GC,6636,-0.90,-185.1,974.3,-12.9,633,6642,0.28,2.22,0.00,0.000,6,0.109,0.050,2968,1555,3796,0,0,0,0,0,0
$STATE,6853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6853,begin apogee
$GC,6859,0.00,0.0,1001.8,12.5,644,7019,0.77,0.00,153.10,1.234,4,0.090,0.000,3252,1711,3067,0,0,0,0,0,0
$STATE,7020,end apogee,CONTROL_FINISHED_OK
$STATE,7020,begin climb
$GC,7022,0.68,185.1,1008.3,0.0,651,7193,0.60,2.42,161.70,1.162,4,0.029,0.063,3524,294,2312,0,0,0,0,0,0
$GC,7229,0.61,185.1,982.7,23.1,661,7234,0.28,2.22,0.00,0.000,6,0.138,0.032,3443,1702,2305,0,0,0,0,0,0
$GC,7558,0.58,185.1,926.2,16.7,677,7562,0.00,2.15,0.00,0.000,4,0.000,0.041,3443,3105,2297,0,0,0,0,0,0
$GC,7619,0.55,185.1,915.4,16.5,679,7626,0.10,2.20,0.00,0.000,6,0.172,0.047,3426,1704,2296,0,0,0,0,0,0
$GC,7935,0.54,185.1,868.9,14.8,695,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1704,2294,0,0,0,0,0,0
$GC,8244,0.52,185.1,824.3,14.5,710,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1704,2293,0,0,0,0,0,0
$GC,8555,0.51,186.6,781.5,13.8,725,8559,0.00,2.25,0.00,0.000,4,0.000,0.063,3436,294,2292,0,0,0,0,0,0
$GC,8594,0.50,186.6,775.4,15.2,727,8599,0.10,2.12,0.00,0.000,6,0.150,0.034,3405,1710,2291,0,0,0,0,0,0
$GC,8921,0.52,203.7,732.7,13.0,743,8941,0.00,0.00,13.93,1.050,6,0.000,0.000,3405,1712,2237,0,0,0,0,0,0
$GC,9251,0.57,236.6,690.7,12.2,759,9284,0.10,0.00,30.35,1.053,6,0.093,0.000,3487,1712,2103,0,0,0,0,0,0
$GC,9580,0.53,236.6,629.5,18.7,775,9585,0.20,2.33,0.00,0.000,4,0.133,0.060,3435,294,2095,0,0,0,0,0,0
$GC,9621,0.53,236.6,623.2,14.1,777,9625,0.00,2.15,0.00,0.000,6,0.000,0.034,3435,1707,2093,0,0,0,0,0,0
$GC,9942,0.53,236.6,578.1,14.2,799,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1710,2093,0,0,0,0,0,0
$GC,10264,0.53,236.6,532.4,14.5,829,10268,0.00,2.30,0.00,0.000,4,0.000,0.063,3443,292,2091,0,0,0,0,0,0
$GC,10329,0.54,236.6,522.2,14.4,834,10337,0.08,2.15,0.00,0.000,6,0.171,0.034,3421,1707,2090,0,0,0,0,0,0
$GC,10657,0.59,264.0,480.9,12.5,865,10685,0.08,0.00,23.35,0.926,6,0.116,0.000,3496,1709,1990,0,0,0,0,0,0
$GC,11004,0.56,264.0,417.8,18.1,898,11009,0.20,2.30,0.00,0.000,4,0.129,0.060,3443,294,1982,0,0,0,0,0,0
$GC,11036,0.56,264.0,412.6,14.7,900,11045,0.00,2.17,0.00,0.000,6,0.000,0.034,3443,1699,1981,0,0,0,0,0,0
$GC,11363,0.61,292.4,371.2,12.5,931,11397,0.00,2.35,24.25,0.838,4,0.000,0.060,3452,294,1874,0,0,0,0,0,0
$GC,11436,0.67,320.7,361.4,12.5,937,11468,0.00,2.15,24.98,0.818,6,0.000,0.033,3453,1708,1760,0,0,0,0,0,0
$GC,11794,0.69,320.7,312.1,14.6,971,11799,0.08,2.33,0.00,0.000,4,0.121,0.060,3549,288,1754,0,0,0,0,0,0
$GC,11824,0.67,320.7,306.8,19.4,973,11829,0.28,2.12,0.00,0.000,6,0.115,0.031,3459,1694,1753,0,0,0,0,0,0
$GC,12166,0.68,320.7,256.6,14.2,1030,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1697,1752,0,0,0,0,0,0
$GC,12510,0.72,331.5,210.4,13.3,1091,12526,0.08,2.33,9.62,0.636,4,0.119,0.057,3562,286,1716,0,0,0,0,0,0
$GC,12583,0.69,331.5,196.1,20.7,1103,12590,0.28,2.12,0.00,0.000,6,0.106,0.032,3468,1694,1715,0,0,0,0,0,0
$GC,12928,0.77,378.1,154.1,11.5,1164,12973,0.10,2.35,39.10,0.651,4,0.095,0.056,3585,286,1526,0,0,0,0,0,0
$GC,13020,0.75,378.1,136.5,18.4,1179,13028,0.30,2.10,0.00,0.000,6,0.102,0.031,3484,1681,1522,0,0,0,0,0,0
$GC,13367,0.87,447.2,97.7,10.4,1240,13430,0.15,2.28,54.97,0.603,4,0.067,0.056,3614,286,1245,0,0,0,0,0,0
$GC,13481,0.87,447.2,73.8,19.1,1259,13488,0.25,2.10,0.00,0.000,6,0.106,0.029,3530,1682,1241,0,0,0,0,0,0
$GC,13826,0.95,478.9,30.1,12.3,1320,13860,0.10,2.22,25.50,0.539,4,0.092,0.054,3640,291,1113,0,0,0,0,0,0
$GC,13914,0.92,478.9,11.5,26.9,1334,13922,0.30,2.03,0.00,0.000,6,0.108,0.029,3538,1663,1111,0,0,0,0,0,0
$STATE,13959,end climb,SURFACE_DEPTH_REACHED
$STATE,13959,begin surface coast
$FINISH,2.6,1.022515
$STATE,13983,end surface coast,CONTROL_FINISHED_OK
$STATE,13984,begin surface
$SM_CCo,14061,0.00,0.000,0,0,1107,481.03
$SM_GC,3.39,8.35,0.00,0.00,0.018,0.000,0.000,105,1531,1107,-9.71,-0.54,481.03
$IRIDIUM_FIX,2220.67,12625.14,041110,090921
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,23.0,59.529
$10V_AH,10.2,43.710
$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,25.050,114.425,560.850,0.000,0.000,26.664,22.453,128.508,0.500,0.000,14.282,3304.985,7787.247,667.549,2331.575,268.650,0.000,1841.055,0.000,2138.954,0.000,0.539,0.000
$DEVICE_MAMPS,210.375,74.205,1233.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76943,1346
$CAP_FILE_SIZE,160217,0
$CFSIZE,260165632,227491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,263.9,1
$GPS,041110,175206,2225.460,12620.745,70,1.0,70,-3.2