version: 66.08
glider: 168
mission: 2
dive: 461
start: 11 9 110 5 54 30
data:
$ID,168
$MISSION,2
$DIVE,461
$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,-3813.6414
$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,43
$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
$GPS1,091110,054801,2128.431,12601.029,40,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.94
$_SM_ANGLEo,-71.8
$GPS2,091110,055402,2128.384,12600.950,15,1.3,15,-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,160.0,12571,-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,13,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,23,0.00,0.00,-6.53,0.000,2,0.000,0.000,105,1539,616,0,0,0,0,0,0
$GC,26,-0.68,-185.1,4.1,-0.0,1,162,9.88,2.25,-118.32,0.000,4,0.168,0.068,3034,166,3824,0,0,0,0,0,0
$GC,275,-0.65,-185.1,36.0,-24.9,43,283,0.08,2.08,0.00,0.000,6,0.179,0.037,3045,1541,3825,0,0,0,0,0,0
$GC,620,-0.61,-185.1,125.7,-25.2,104,626,0.00,2.15,0.00,0.000,4,0.000,0.051,3045,163,3825,0,0,0,0,0,0
$GC,667,-0.58,-185.1,136.8,-22.1,112,675,0.10,2.08,0.00,0.000,6,0.155,0.037,3068,1550,3825,0,0,0,0,0,0
$GC,1012,-0.60,-185.1,184.0,-12.3,173,1019,0.00,2.17,0.00,0.000,4,0.000,0.044,3059,2963,3827,0,0,0,0,0,0
$GC,1088,-0.66,-185.1,192.0,-9.0,186,1096,0.08,2.17,0.00,0.000,6,0.113,0.041,2942,1549,3827,0,0,0,0,0,0
$GC,1436,-0.60,-185.1,277.1,-25.4,247,1444,0.32,2.12,0.00,0.000,4,0.119,0.050,3058,166,3827,0,0,0,0,0,0
$GC,1501,-0.65,-185.1,287.8,-10.5,258,1509,0.00,2.08,0.00,0.000,6,0.000,0.037,3058,1553,3827,0,0,0,0,0,0
$GC,1840,-0.69,-185.1,324.9,-10.7,299,1845,0.10,2.17,0.00,0.000,4,0.090,0.045,2927,2964,3826,0,0,0,0,0,0
$GC,1902,-0.67,-185.1,335.3,-17.8,304,1907,0.32,2.17,0.00,0.000,6,0.104,0.043,3040,1556,3826,0,0,0,0,0,0
$GC,2230,-0.70,-185.1,373.8,-11.4,334,2234,0.00,2.15,0.00,0.000,4,0.000,0.054,3041,163,3825,0,0,0,0,0,0
$GC,2264,-0.74,-185.1,377.7,-10.8,336,2272,0.10,2.10,0.00,0.000,6,0.090,0.038,2930,1558,3824,0,0,0,0,0,0
$GC,2590,-0.69,-185.1,442.2,-19.4,367,2595,0.28,2.15,0.00,0.000,4,0.114,0.042,3022,2962,3823,0,0,0,0,0,0
$GC,2674,-0.75,-185.1,451.8,-8.5,374,2682,0.00,2.15,0.00,0.000,6,0.000,0.043,3022,1570,3822,0,0,0,0,0,0
$GC,3000,-0.77,-185.1,487.3,-11.1,405,3001,0.08,0.00,0.00,0.000,6,0.118,0.000,2907,1570,3820,0,0,0,0,0,0
$GC,3318,-0.71,-185.1,555.2,-21.8,435,3320,0.38,0.00,0.00,0.000,6,0.109,0.000,3029,1569,3817,0,0,0,0,0,0
$GC,3636,-0.75,-185.1,590.5,-10.6,465,3638,0.08,0.00,0.00,0.000,6,0.116,0.000,2925,1569,3814,0,0,0,0,0,0
$GC,3948,-0.71,-185.1,649.4,-19.0,483,3953,0.28,2.15,0.00,0.000,4,0.114,0.044,3013,2957,3812,0,0,0,0,0,0
$GC,4022,-0.78,-185.1,657.7,-9.1,486,4026,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,1575,3811,0,0,0,0,0,0
$GC,4339,-0.81,-185.1,687.8,-9.5,501,4343,0.08,2.25,0.00,0.000,4,0.116,0.060,2899,162,3807,0,0,0,0,0,0
$GC,4365,-0.78,-185.1,692.1,-15.9,502,4371,0.35,2.15,0.00,0.000,6,0.116,0.042,3004,1572,3807,0,0,0,0,0,0
$GC,4689,-0.80,-185.1,726.5,-10.6,518,4693,0.00,2.15,0.00,0.000,4,0.000,0.050,2995,2958,3804,0,0,0,0,0,0
$GC,4723,-0.84,-185.1,730.3,-10.1,519,4729,0.00,2.17,0.00,0.000,6,0.000,0.049,2994,1581,3804,0,0,0,0,0,0
$GC,5039,-0.87,-185.1,766.3,-11.7,535,5041,0.08,0.00,0.00,0.000,6,0.119,0.000,2885,1581,3801,0,0,0,0,0,0
$GC,5349,-0.81,-185.1,830.2,-20.7,550,5353,0.30,2.28,0.00,0.000,4,0.111,0.061,2988,163,3798,0,0,0,0,0,0
$GC,5381,-0.81,-185.1,836.0,-14.5,551,5388,0.00,2.17,0.00,0.000,6,0.000,0.041,2980,1579,3798,0,0,0,0,0,0
$GC,5699,-0.82,-185.1,873.5,-12.1,567,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1580,3796,0,0,0,0,0,0
$GC,6007,-0.84,-185.1,910.0,-12.0,582,6011,0.00,2.15,0.00,0.000,4,0.000,0.049,2970,2966,3793,0,0,0,0,0,0
$GC,6074,-0.88,-185.1,917.5,-10.2,585,6078,0.00,2.20,0.00,0.000,6,0.000,0.050,2970,1570,3792,0,0,0,0,0,0
$GC,6396,-0.88,-185.1,956.9,-12.5,601,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1570,3790,0,0,0,0,0,0
$GC,6706,-0.90,-185.1,994.6,-12.2,616,6710,0.00,2.20,0.00,0.000,4,0.000,0.050,2963,2961,3788,0,0,0,0,0,0
$STATE,6753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6753,begin apogee
$GC,6761,0.00,0.0,1000.5,10.8,618,6917,0.77,0.00,151.38,1.216,4,0.080,0.000,3252,1693,3068,0,0,0,0,0,0
$STATE,6918,end apogee,CONTROL_FINISHED_OK
$STATE,6918,begin climb
$GC,6921,0.68,185.1,1006.2,0.0,625,7093,0.60,2.40,161.43,1.142,4,0.029,0.063,3522,287,2312,0,0,0,0,0,0
$GC,7156,0.61,185.1,973.6,22.8,635,7164,0.25,2.25,0.00,0.000,6,0.142,0.034,3449,1710,2304,0,0,0,0,0,0
$GC,7473,0.58,185.1,916.5,18.0,651,7477,0.00,2.15,0.00,0.000,4,0.000,0.041,3449,3109,2296,0,0,0,0,0,0
$GC,7540,0.55,185.1,904.3,17.4,654,7545,0.12,2.25,0.00,0.000,6,0.160,0.049,3423,1699,2296,0,0,0,0,0,0
$GC,7862,0.54,185.1,855.3,15.1,670,7866,0.00,2.17,0.00,0.000,4,0.000,0.042,3423,3107,2294,0,0,0,0,0,0
$GC,7884,0.53,185.1,851.5,15.4,671,7888,0.00,2.22,0.00,0.000,6,0.000,0.050,3432,1695,2294,0,0,0,0,0,0
$GC,8213,0.51,185.1,800.9,15.2,687,8217,0.08,2.25,0.00,0.000,4,0.202,0.064,3422,293,2292,0,0,0,0,0,0
$GC,8261,0.51,185.1,793.4,14.2,689,8266,0.00,2.15,0.00,0.000,6,0.000,0.035,3423,1688,2291,0,0,0,0,0,0
$GC,8585,0.53,206.6,750.2,12.8,705,8604,0.00,0.00,16.45,1.052,6,0.000,0.000,3422,1691,2225,0,0,0,0,0,0
$GC,8913,0.55,227.6,708.1,12.8,721,8938,0.00,2.28,19.62,1.040,4,0.000,0.044,3422,3099,2140,0,0,0,0,0,0
$GC,8958,0.57,241.8,702.3,13.2,723,8980,0.00,2.22,14.15,0.965,6,0.000,0.050,3431,1698,2082,0,0,1,0,0,0
$GC,9290,0.57,241.8,654.4,14.9,739,9294,0.00,2.28,0.00,0.000,4,0.000,0.065,3441,292,2075,0,0,0,0,0,0
$GC,9345,0.57,241.8,645.5,15.3,741,9353,0.00,2.17,0.00,0.000,6,0.000,0.036,3441,1689,2073,0,0,0,0,0,0
$GC,9663,0.57,241.8,596.5,15.5,758,9667,0.00,2.17,0.00,0.000,4,0.000,0.044,3441,3109,2072,0,0,0,0,0,0
$GC,9713,0.58,241.8,588.6,14.9,762,9721,0.00,2.22,0.00,0.000,6,0.000,0.049,3451,1699,2071,0,0,0,0,0,0
$GC,10038,0.57,241.8,539.4,14.9,793,10043,0.08,2.28,0.00,0.000,4,0.194,0.064,3441,289,2070,0,0,0,0,0,0
$GC,10095,0.60,260.6,531.6,12.9,798,10119,0.00,2.15,15.98,0.920,6,0.000,0.035,3441,1700,2004,0,0,0,0,0,0
$GC,10437,0.60,260.6,483.0,14.4,830,10441,0.00,2.28,0.00,0.000,4,0.000,0.063,3451,290,1999,0,0,0,0,0,0
$GC,10469,0.61,266.7,478.3,13.6,832,10480,0.00,2.15,6.20,0.744,6,0.000,0.034,3451,1699,1980,0,0,0,0,0,0
$GC,10800,0.61,266.7,429.4,14.7,863,10804,0.00,2.25,0.00,0.000,4,0.000,0.063,3461,294,1977,0,0,0,0,0,0
$GC,10818,0.61,266.7,426.8,14.8,864,10822,0.00,2.15,0.00,0.000,6,0.000,0.034,3461,1704,1977,0,0,0,0,0,0
$GC,11143,0.61,266.7,378.2,14.5,894,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1705,1976,0,0,0,0,0,0
$GC,11462,0.61,266.7,334.4,14.0,924,11467,0.00,2.28,0.00,0.000,4,0.000,0.060,3471,294,1976,0,0,0,0,0,0
$GC,11560,0.63,281.4,320.9,13.1,932,11583,0.00,2.12,14.05,0.750,6,0.000,0.034,3470,1696,1919,0,0,0,0,0,0
$GC,11912,0.66,303.2,270.2,12.8,982,11938,0.00,2.25,19.70,0.724,4,0.000,0.041,3471,3109,1831,0,0,0,0,0,0
$GC,11967,0.71,328.6,263.0,12.6,991,11998,0.00,2.25,22.45,0.713,6,0.000,0.047,3473,1688,1727,0,0,0,0,0,0
$GC,12335,0.72,328.6,212.4,14.2,1056,12341,0.00,2.25,0.00,0.000,4,0.000,0.059,3482,290,1721,0,0,0,0,0,0
$GC,12411,0.75,338.8,202.0,13.4,1069,12425,0.00,2.12,8.77,0.603,6,0.000,0.031,3482,1692,1686,0,0,0,0,0,0
$GC,12763,0.81,370.7,156.0,12.3,1131,12794,0.10,0.00,27.45,0.632,6,0.099,0.000,3581,1694,1555,0,0,0,0,0,0
$GC,13131,0.79,370.7,84.5,17.6,1196,13138,0.25,2.25,0.00,0.000,4,0.126,0.054,3503,292,1551,0,0,0,0,0,0
$GC,13200,0.99,483.2,77.3,8.2,1208,13299,0.17,2.10,88.05,0.576,6,0.057,0.031,3630,1687,1096,0,0,0,0,0,0
$GC,13638,1.50,759.5,3.3,-0.0,1284,13674,0.25,0.00,33.65,0.506,2,0.086,0.000,3735,1689,805,0,0,0,0,0,0
$STATE,13675,end climb,SURFACE_DEPTH_REACHED
$STATE,13675,begin surface coast
$FINISH,3.1,1.000055
$STATE,13787,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13787,begin surface
$SM_CCo,13790,49.60,0.502,0,0,414,650.78
$SM_GC,3.93,8.82,0.00,0.00,0.018,0.000,0.000,103,1550,409,-9.70,0.06,652.25
$IRIDIUM_FIX,2122.58,12558.92,091110,010137
$TT8_MAMPS,0.026964
$HUMID,47.48
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,23.1,64.446
$10V_AH,10.1,45.913
$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,24.350,118.375,599.325,49.600,0.000,29.048,38.383,165.056,1.000,0.000,19.519,3202.560,7815.845,749.098,2390.067,272.954,0.000,1933.696,0.000,2136.102,0.000,0.539,0.000
$DEVICE_MAMPS,201.960,78.795,1216.350,501.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,76891,1310
$CAP_FILE_SIZE,158972,0
$CFSIZE,260165632,225341440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.091,247.6,1
$GPS,091110,095007,2126.209,12600.855,27,1.1,27,-2.9