version: 66.08
glider: 168
mission: 2
dive: 458
start: 11 8 110 17 46 28
data:
$ID,168
$MISSION,2
$DIVE,458
$N_DIVES,468
$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,-3808.5754
$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,33
$R_STBD_OVSHOOT,41
$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
$GPS1,081110,174000,2136.291,12604.140,37,1.1,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-72.4
$GPS2,081110,174602,2136.232,12604.194,43,2.0,43,-2.9
$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,207.4,27585,-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,-7.07,0.000,2,0.000,0.000,104,1529,635,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.9,-0.0,1,170,9.65,2.17,-120.20,0.000,4,0.161,0.063,3032,174,3824,0,0,0,0,0,0
$GC,276,-0.66,-185.1,32.2,-24.4,43,285,0.08,2.10,0.00,0.000,6,0.172,0.037,3044,1552,3825,0,0,0,0,0,0
$GC,623,-0.64,-185.1,119.7,-19.4,104,630,0.00,2.17,0.00,0.000,4,0.000,0.043,3034,2967,3825,0,0,0,0,0,0
$GC,717,-0.66,-185.1,135.1,-13.7,120,724,0.00,2.15,0.00,0.000,6,0.000,0.042,3034,1557,3825,0,0,0,0,0,0
$GC,1058,-0.66,-185.1,195.1,-16.9,181,1065,0.00,2.15,0.00,0.000,4,0.000,0.053,3034,163,3826,0,0,0,0,0,0
$GC,1146,-0.70,-185.1,208.3,-12.7,196,1153,0.00,2.12,0.00,0.000,6,0.000,0.039,3033,1562,3826,0,0,0,0,0,0
$GC,1492,-0.71,-185.1,257.0,-13.6,257,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1564,3826,0,0,0,0,0,0
$GC,1835,-0.72,-185.1,303.6,-13.6,316,1839,0.00,2.15,0.00,0.000,4,0.000,0.044,3025,2959,3826,0,0,0,0,0,0
$GC,1879,-0.76,-185.1,309.7,-11.5,319,1888,0.08,2.17,0.00,0.000,6,0.115,0.044,2919,1552,3826,0,0,0,0,0,0
$GC,2204,-0.70,-185.1,385.8,-24.1,350,2209,0.30,2.15,0.00,0.000,4,0.125,0.052,3027,165,3824,0,0,0,0,0,0
$GC,2222,-0.65,-185.1,389.7,-22.2,351,2226,0.10,2.10,0.00,0.000,6,0.142,0.039,3053,1547,3824,0,0,0,0,0,0
$GC,2549,-0.69,-185.1,419.9,-9.0,381,2554,0.10,2.17,0.00,0.000,4,0.093,0.047,2921,2959,3823,0,0,0,0,0,0
$GC,2611,-0.67,-185.1,429.6,-16.5,386,2616,0.35,2.17,0.00,0.000,6,0.103,0.044,3043,1540,3822,0,0,0,0,0,0
$GC,2937,-0.71,-185.1,463.4,-10.9,416,2939,0.08,0.00,0.00,0.000,6,0.120,0.000,2941,1540,3819,0,0,0,0,0,0
$GC,3255,-0.67,-185.1,526.4,-19.9,446,3260,0.28,2.22,0.00,0.000,4,0.112,0.043,3028,2958,3818,0,0,0,0,0,0
$GC,3299,-0.73,-185.1,532.4,-10.0,449,3305,0.00,2.17,0.00,0.000,6,0.000,0.046,3028,1552,3818,0,0,0,0,0,0
$GC,3625,-0.76,-185.1,563.5,-9.4,480,3630,0.08,2.22,0.00,0.000,4,0.119,0.047,2908,2963,3814,0,0,0,0,0,0
$GC,3669,-0.73,-185.1,570.2,-16.1,483,3677,0.32,2.17,0.00,0.000,6,0.103,0.047,3019,1555,3814,0,0,0,0,0,0
$GC,4006,-0.77,-185.1,607.0,-10.9,512,4010,0.00,2.17,0.00,0.000,4,0.000,0.047,3010,2964,3810,0,0,0,0,0,0
$GC,4039,-0.81,-185.1,611.0,-10.2,513,4046,0.08,2.17,0.00,0.000,6,0.113,0.047,2914,1558,3810,0,0,0,0,0,0
$GC,4355,-0.76,-185.1,673.1,-20.6,529,4357,0.30,0.00,0.00,0.000,6,0.115,0.000,3014,1558,3808,0,0,0,0,0,0
$GC,4665,-0.80,-185.1,709.5,-11.2,544,4670,0.08,2.25,0.00,0.000,4,0.118,0.049,2901,2964,3805,0,0,0,0,0,0
$GC,4686,-0.80,-185.1,712.9,-13.6,545,4691,0.30,2.20,0.00,0.000,6,0.103,0.049,3002,1561,3804,0,0,0,0,0,0
$GC,5010,-0.82,-185.1,750.7,-11.2,561,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1561,3802,0,0,0,0,0,0
$GC,5318,-0.85,-185.1,784.3,-10.7,576,5322,0.10,2.22,0.00,0.000,4,0.093,0.050,2878,2960,3799,0,0,0,0,0,0
$GC,5373,-0.81,-185.1,793.8,-18.3,578,5378,0.35,2.22,0.00,0.000,6,0.105,0.051,2995,1562,3798,0,0,0,0,0,0
$GC,5691,-0.83,-185.1,827.5,-10.2,593,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1562,3796,0,0,0,0,0,0
$GC,6000,-0.86,-185.1,859.2,-10.3,608,6004,0.08,2.22,0.00,0.000,4,0.121,0.050,2888,2961,3793,0,0,0,0,0,0
$GC,6022,-0.86,-185.1,862.5,-14.1,609,6027,0.28,2.22,0.00,0.000,6,0.107,0.051,2980,1563,3793,0,0,0,0,0,0
$GC,6351,-0.87,-185.1,902.8,-12.1,625,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1562,3791,0,0,0,0,0,0
$GC,6659,-0.89,-185.1,941.1,-12.6,640,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1562,3789,0,0,0,0,0,0
$GC,6968,-0.91,-185.1,981.8,-13.2,655,6973,0.08,2.22,0.00,0.000,4,0.119,0.050,2877,2955,3787,0,0,0,0,0,0
$GC,7030,-0.87,-185.1,992.8,-19.3,658,7035,0.30,2.22,0.00,0.000,6,0.107,0.054,2977,1555,3786,0,0,0,0,0,0
$STATE,7087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7087,begin apogee
$GC,7092,0.00,0.0,1002.2,15.1,661,7247,0.75,0.00,150.15,1.225,4,0.086,0.000,3254,1708,3068,0,0,0,0,0,0
$STATE,7248,end apogee,CONTROL_FINISHED_OK
$STATE,7248,begin climb
$GC,7250,0.68,185.1,1010.6,0.0,668,7420,0.60,2.33,160.07,1.151,4,0.030,0.047,3526,3107,2312,0,0,0,0,0,0
$GC,7593,0.61,185.1,954.5,22.4,684,7598,0.30,2.28,0.00,0.000,6,0.151,0.048,3449,1698,2304,0,0,0,0,0,0
$GC,7916,0.57,185.1,897.2,18.0,700,7920,0.00,2.30,0.00,0.000,4,0.000,0.063,3459,289,2298,0,0,0,0,0,0
$GC,7938,0.53,185.1,892.5,18.6,701,7943,0.12,2.12,0.00,0.000,6,0.151,0.034,3421,1699,2296,0,0,0,0,0,0
$GC,8262,0.52,185.1,843.1,14.8,717,8266,0.00,2.17,0.00,0.000,4,0.000,0.043,3421,3111,2295,0,0,0,0,0,0
$GC,8295,0.51,185.1,837.4,15.0,718,8302,0.00,2.25,0.00,0.000,6,0.000,0.050,3430,1697,2295,0,0,0,0,0,0
$GC,8611,0.49,185.1,791.1,14.3,734,8613,0.08,0.00,0.00,0.000,6,0.197,0.000,3411,1697,2294,0,0,0,0,0,0
$GC,8921,0.52,208.6,752.1,12.7,749,8942,0.00,0.00,18.75,1.060,6,0.000,0.000,3411,1696,2217,0,0,0,0,0,0
$GC,9250,0.56,239.2,710.1,12.3,765,9280,0.08,0.00,28.08,1.043,6,0.119,0.000,3484,1696,2092,0,0,0,0,0,0
$GC,9580,0.52,239.2,649.9,19.0,781,9585,0.22,2.30,0.00,0.000,4,0.129,0.063,3424,294,2084,0,0,0,0,0,0
$GC,9620,0.52,239.2,643.2,14.7,783,9624,0.00,2.15,0.00,0.000,6,0.000,0.036,3424,1703,2082,0,0,0,0,0,0
$GC,9937,0.52,239.2,597.9,15.0,799,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1705,2081,0,0,0,0,0,0
$GC,10257,0.52,239.2,549.5,14.7,829,10261,0.00,2.30,0.00,0.000,4,0.000,0.064,3433,290,2080,0,0,0,0,0,0
$GC,10285,0.52,239.2,545.0,14.7,831,10289,0.00,2.15,0.00,0.000,6,0.000,0.035,3433,1701,2079,0,0,0,0,0,0
$GC,10610,0.52,239.2,497.2,14.6,861,10614,0.00,2.30,0.00,0.000,4,0.000,0.063,3442,285,2079,0,0,0,0,0,0
$GC,10650,0.52,239.2,491.5,15.0,864,10655,0.10,2.12,0.00,0.000,6,0.144,0.036,3410,1695,2078,0,0,0,0,0,0
$GC,10977,0.62,302.9,456.1,10.7,894,11037,0.12,2.35,53.33,0.890,4,0.078,0.063,3521,290,1833,0,0,0,0,0,0
$GC,11071,0.58,302.9,437.6,22.2,902,11078,0.28,2.17,0.00,0.000,6,0.123,0.034,3435,1687,1827,0,0,0,0,0,0
$GC,11397,0.61,307.3,390.7,13.7,933,11401,0.00,2.28,0.00,0.000,4,0.000,0.063,3444,290,1823,0,0,0,0,0,0
$GC,11430,0.64,313.1,386.1,13.6,935,11449,0.00,2.10,8.48,0.741,6,0.000,0.034,3444,1680,1791,0,0,0,0,0,0
$GC,11766,0.66,320.8,340.5,13.5,967,11780,0.08,2.33,7.85,0.698,4,0.120,0.060,3535,285,1760,0,0,0,0,0,0
$GC,11808,0.62,320.8,332.7,20.8,970,11815,0.28,2.12,0.00,0.000,6,0.122,0.034,3447,1678,1758,0,0,0,0,0,0
$GC,12139,0.66,336.5,286.5,13.1,1009,12165,0.05,2.30,14.55,0.724,4,0.168,0.060,3526,293,1695,0,0,0,0,0,0
$GC,12235,0.65,336.5,269.0,17.3,1025,12243,0.22,2.05,0.00,0.000,6,0.124,0.032,3454,1664,1692,0,0,0,0,0,0
$GC,12582,0.71,360.5,222.4,12.7,1086,12609,0.08,2.28,21.15,0.689,4,0.119,0.058,3559,291,1598,0,0,0,0,0,0
$GC,12623,0.67,360.5,214.9,19.8,1092,12631,0.30,2.08,0.00,0.000,6,0.116,0.031,3460,1670,1595,0,0,0,0,0,0
$GC,12970,0.79,423.7,171.4,10.7,1153,13032,0.15,2.30,51.62,0.659,4,0.066,0.057,3592,294,1339,0,0,0,0,0,0
$GC,13094,0.78,423.7,144.4,20.6,1174,13101,0.28,2.05,0.00,0.000,6,0.104,0.032,3499,1648,1335,0,0,0,0,0,0
$GC,13438,0.97,529.4,106.5,8.6,1235,13524,0.17,0.00,81.68,0.591,6,0.057,0.000,3617,1649,909,0,0,0,0,0,0
$GC,13861,0.95,529.4,12.5,25.3,1309,13868,0.20,2.20,0.00,0.000,4,0.130,0.056,3563,285,904,0,0,0,0,0,0
$GC,13983,1.43,801.7,3.1,0.2,1330,14014,0.40,2.08,25.92,0.489,2,0.053,0.036,3733,1644,691,0,0,0,0,0,0
$STATE,14015,end climb,SURFACE_DEPTH_REACHED
$STATE,14015,begin surface coast
$FINISH,3.0,1.022606
$STATE,14049,end surface coast,NO_VERTICAL_VELOCITY
$STATE,14049,begin surface
$SM_CCo,14052,34.72,0.490,0,0,415,650.78
$SM_GC,3.83,8.85,0.00,0.00,0.020,0.000,0.000,103,1529,409,-9.68,-0.57,652.01
$IRIDIUM_FIX,2129.53,12606.76,081110,131323
$TT8_MAMPS,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,23.1,63.898
$10V_AH,10.1,45.676
$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,27.025,114.575,621.625,34.725,0.000,22.435,39.826,139.577,0.750,0.000,44.344,3277.879,7943.382,760.995,2416.110,266.635,0.000,1957.466,0.000,2157.349,0.000,0.540,0.000
$DEVICE_MAMPS,196.605,80.325,1224.765,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76961,1341
$CAP_FILE_SIZE,164351,0
$CFSIZE,260165632,225562624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,11
$CURRENT,0.162,136.4,1
$GPS,081110,214606,2133.443,12603.923,34,2.0,34,-2.9