version: 66.08
glider: 168
mission: 2
dive: 400
start: 10 30 110 2 8 23
data:
$ID,168
$MISSION,2
$DIVE,400
$N_DIVES,400
$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,-3675.4133
$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,27
$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
$GPS1,301010,020230,2339.570,12658.461,39,1.2,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-73.5
$GPS2,301010,020756,2339.570,12658.469,11,1.6,11,-3.5
$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,218.5,273948,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-185.1,0.0,0.0,0,61,0.00,0.00,-42.42,0.000,2,0.000,0.000,104,1567,2322,0,0,0,0,0,0
$GC,63,-0.68,-185.1,3.1,-1.8,7,126,10.15,2.22,-43.20,0.000,4,0.179,0.064,3031,155,3825,0,0,0,0,0,0
$GC,240,-0.63,-185.1,45.7,-34.3,37,248,0.10,2.10,0.00,0.000,6,0.158,0.034,3050,1535,3826,0,0,0,0,0,0
$GC,585,-0.61,-185.1,134.6,-17.4,98,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1539,3827,0,0,0,0,0,0
$GC,929,-0.60,-185.1,197.2,-17.4,159,936,0.00,2.15,0.00,0.000,4,0.000,0.042,3040,2958,3829,0,0,0,0,0,0
$GC,970,-0.62,-185.1,203.6,-14.0,166,977,0.00,2.17,0.00,0.000,6,0.000,0.041,3040,1546,3829,0,0,0,0,0,0
$GC,1312,-0.62,-185.1,262.3,-16.5,227,1319,0.00,2.12,0.00,0.000,4,0.000,0.050,3040,157,3829,0,0,0,0,0,0
$GC,1359,-0.63,-185.1,270.2,-16.5,235,1366,0.00,2.10,0.00,0.000,6,0.000,0.037,3040,1542,3829,0,0,0,0,0,0
$GC,1701,-0.63,-185.1,323.1,-15.3,283,1705,0.00,2.15,0.00,0.000,4,0.000,0.044,3031,2958,3829,0,0,0,0,0,0
$GC,1814,-0.67,-185.1,337.8,-12.1,292,1822,0.00,2.17,0.00,0.000,6,0.000,0.042,3031,1540,3829,0,0,0,0,0,0
$GC,2140,-0.68,-185.1,384.6,-14.3,323,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1540,3829,0,0,0,0,0,0
$GC,2462,-0.69,-185.1,429.1,-13.2,353,2466,0.00,2.20,0.00,0.000,4,0.000,0.045,3023,2962,3827,0,0,0,0,0,0
$GC,2507,-0.73,-185.1,435.1,-11.3,356,2515,0.00,2.20,0.00,0.000,6,0.000,0.043,3023,1540,3827,0,0,0,0,0,0
$GC,2832,-0.75,-185.1,475.9,-13.0,387,2836,0.00,2.20,0.00,0.000,4,0.000,0.046,3017,2956,3826,0,0,0,0,0,0
$GC,2872,-0.78,-185.1,480.8,-11.5,390,2876,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,1551,3826,0,0,0,0,0,0
$GC,3198,-0.80,-185.1,522.6,-12.8,420,3200,0.08,0.00,0.00,0.000,6,0.120,0.000,2908,1549,3824,0,0,0,0,0,0
$GC,3517,-0.73,-185.1,594.1,-23.9,450,3522,0.32,2.20,0.00,0.000,4,0.119,0.041,3009,2959,3823,0,0,0,0,0,0
$GC,3538,-0.70,-185.1,598.7,-19.6,451,3546,0.08,2.20,0.00,0.000,6,0.143,0.045,3035,1547,3823,0,0,0,0,0,0
$GC,3866,-0.74,-185.1,629.0,-9.1,468,3871,0.08,2.20,0.00,0.000,4,0.121,0.056,2935,158,3820,0,0,0,0,0,0
$GC,3885,-0.75,-185.1,631.1,-9.9,469,3890,0.28,2.12,0.00,0.000,6,0.117,0.039,3016,1553,3819,0,0,0,0,0,0
$GC,4214,-0.78,-185.1,667.5,-10.4,485,4218,0.00,2.17,0.00,0.000,4,0.000,0.048,3007,2963,3818,0,0,0,0,0,0
$GC,4275,-0.83,-185.1,673.5,-8.6,487,4283,0.08,2.20,0.00,0.000,6,0.113,0.045,2915,1550,3818,0,0,0,0,0,0
$GC,4591,-0.78,-185.1,733.6,-19.8,503,4596,0.25,2.17,0.00,0.000,4,0.126,0.057,3002,166,3815,0,0,0,0,0,0
$GC,4623,-0.78,-185.1,739.4,-15.7,504,4631,0.00,2.12,0.00,0.000,6,0.000,0.037,2995,1548,3814,0,0,0,0,0,0
$GC,4941,-0.80,-185.1,777.3,-12.2,520,4945,0.00,2.15,0.00,0.000,4,0.000,0.047,2988,2957,3812,0,0,0,0,0,0
$GC,4996,-0.84,-185.1,783.9,-10.5,522,5003,0.00,2.20,0.00,0.000,6,0.000,0.047,2988,1552,3811,0,0,0,0,0,0
$GC,5313,-0.85,-185.1,822.5,-12.2,538,5317,0.00,2.20,0.00,0.000,4,0.000,0.048,2980,2958,3809,0,0,0,0,0,0
$GC,5362,-0.88,-185.1,828.4,-10.8,540,5366,0.00,2.20,0.00,0.000,6,0.000,0.048,2980,1556,3808,0,0,0,0,0,0
$GC,5679,-0.90,-185.1,866.2,-11.7,555,5683,0.00,2.17,0.00,0.000,4,0.000,0.049,2971,2957,3806,0,0,0,0,0,0
$GC,5743,-0.93,-185.1,873.1,-9.7,558,5747,0.00,2.20,0.00,0.000,6,0.000,0.050,2971,1564,3805,0,0,0,0,0,0
$GC,6070,-0.93,-185.1,910.7,-11.6,574,6074,0.00,2.17,0.00,0.000,4,0.000,0.049,2963,2955,3802,0,0,0,0,0,0
$GC,6136,-0.95,-185.1,917.6,-10.1,577,6140,0.08,2.20,0.00,0.000,6,0.115,0.050,2877,1565,3801,0,0,0,0,0,0
$GC,6464,-0.90,-185.1,981.2,-19.5,593,6466,0.28,0.00,0.00,0.000,6,0.126,0.000,2966,1564,3799,0,0,0,0,0,0
$STATE,6604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6604,begin apogee
$GC,6610,0.00,0.0,1000.2,12.0,600,6767,0.77,0.00,151.93,1.235,4,0.093,0.000,3249,1712,3067,0,0,0,0,0,0
$STATE,6768,end apogee,CONTROL_FINISHED_OK
$STATE,6768,begin climb
$GC,6771,0.68,185.1,1004.8,0.0,607,6941,0.60,2.30,160.48,1.170,4,0.031,0.047,3518,3102,2312,0,0,0,0,0,0
$GC,7110,0.61,185.1,942.7,25.3,623,7115,0.28,2.25,0.00,0.000,6,0.151,0.047,3448,1702,2304,0,0,0,0,0,0
$GC,7438,0.58,185.1,883.1,17.4,639,7442,0.00,2.17,0.00,0.000,4,0.000,0.041,3448,3098,2299,0,0,0,0,0,0
$GC,7466,0.54,185.1,877.5,18.1,640,7471,0.12,2.22,0.00,0.000,6,0.160,0.048,3422,1697,2299,0,0,0,0,0,0
$GC,7782,0.53,185.1,831.1,14.2,655,7786,0.00,2.17,0.00,0.000,4,0.000,0.043,3422,3095,2297,0,0,0,0,0,0
$GC,7805,0.52,185.1,827.8,14.7,656,7809,0.00,2.20,0.00,0.000,6,0.000,0.049,3430,1706,2297,0,0,0,0,0,0
$GC,8132,0.51,185.1,780.7,14.3,672,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1706,2295,0,0,0,0,0,0
$GC,8441,0.49,185.1,735.0,15.1,687,8446,0.08,2.15,0.00,0.000,4,0.199,0.044,3409,3097,2294,0,0,0,0,0,0
$GC,8491,0.50,185.1,727.1,14.5,689,8495,0.00,2.20,0.00,0.000,6,0.000,0.050,3416,1707,2294,0,0,0,0,0,0
$GC,8807,0.50,186.1,683.1,13.8,704,8811,0.00,2.25,0.00,0.000,4,0.000,0.060,3426,290,2292,0,0,0,0,0,0
$GC,8886,0.50,186.1,672.0,14.0,707,8892,0.00,2.12,0.00,0.000,6,0.000,0.034,3427,1699,2290,0,0,0,0,0,0
$GC,9201,0.52,200.2,629.8,13.2,723,9217,0.00,2.17,10.65,0.947,4,0.000,0.044,3427,3105,2250,0,0,0,0,0,0
$GC,9244,0.52,200.2,623.8,14.1,724,9249,0.05,2.22,0.00,0.000,6,0.153,0.047,3416,1712,2250,0,0,0,0,0,0
$GC,9567,0.55,221.0,582.7,12.8,745,9593,0.00,2.35,19.42,0.978,4,0.000,0.061,3425,296,2165,0,0,0,0,0,0
$GC,9634,0.57,223.3,573.4,13.8,751,9638,0.00,2.12,0.00,0.000,6,0.000,0.033,3425,1699,2162,0,0,0,0,0,0
$GC,9966,0.59,232.9,528.2,13.4,782,9982,0.05,2.17,11.27,0.891,4,0.164,0.042,3485,3101,2117,0,0,0,0,0,0
$GC,10010,0.56,232.9,519.9,19.4,785,10018,0.22,2.22,0.00,0.000,6,0.135,0.047,3426,1702,2117,0,0,0,0,0,0
$GC,10336,0.62,273.5,478.2,11.8,816,10382,0.10,2.35,35.67,0.923,4,0.093,0.057,3518,294,1950,0,0,0,0,0,0
$GC,10431,0.59,273.5,460.1,19.8,824,10440,0.25,2.15,0.00,0.000,6,0.122,0.031,3439,1698,1946,0,0,0,0,0,0
$GC,10759,0.61,273.5,414.0,14.3,855,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1699,1942,0,0,0,0,0,0
$GC,11077,0.65,296.5,371.8,12.7,885,11099,0.08,0.00,19.48,0.820,6,0.118,0.000,3514,1699,1859,0,0,0,0,0,0
$GC,11414,0.62,296.5,305.8,18.9,917,11419,0.20,2.15,0.00,0.000,4,0.129,0.039,3451,3100,1854,0,0,0,0,0,0
$GC,11447,0.64,296.5,300.4,14.1,919,11454,0.00,2.22,0.00,0.000,6,0.000,0.047,3455,1696,1855,0,0,0,0,0,0
$GC,11793,0.67,305.8,254.5,13.4,980,11807,0.00,2.33,8.80,0.663,4,0.000,0.058,3466,285,1821,0,0,0,0,0,0
$GC,11831,0.72,333.4,249.5,12.5,986,11863,0.05,2.15,24.38,0.730,6,0.165,0.031,3542,1708,1707,0,0,0,0,0,0
$GC,12199,0.69,333.4,177.2,19.4,1051,12207,0.22,2.15,0.00,0.000,4,0.125,0.037,3468,3102,1703,0,0,0,0,0,0
$GC,12224,0.69,333.4,173.0,16.1,1055,12230,0.00,2.20,0.00,0.000,6,0.000,0.046,3467,1709,1703,0,0,0,0,0,0
$GC,12567,0.77,376.2,133.2,11.7,1116,12612,0.10,2.30,35.35,0.647,4,0.094,0.054,3576,298,1532,0,0,0,0,0,0
$GC,12693,0.76,376.2,108.4,19.2,1137,12701,0.25,2.12,0.00,0.000,6,0.109,0.029,3491,1708,1528,0,0,0,0,0,0
$GC,13040,1.01,525.7,74.1,6.4,1198,13164,0.22,2.40,115.00,0.595,4,0.051,0.053,3619,283,923,0,0,0,0,0,0
$GC,13243,1.01,525.7,34.2,20.3,1232,13251,0.15,2.10,0.00,0.000,6,0.124,0.028,3570,1683,919,0,0,0,0,0,0
$STATE,13443,end climb,SURFACE_DEPTH_REACHED
$STATE,13444,begin surface coast
$FINISH,1.7,1.022252
$STATE,13473,end surface coast,CONTROL_FINISHED_OK
$STATE,13473,begin surface
$SM_CCo,13550,0.00,0.000,0,0,913,528.62
$SM_GC,2.57,8.48,0.00,0.00,0.021,0.000,0.000,102,1522,913,-9.69,-0.74,528.62
$IRIDIUM_FIX,2333.28,12659.25,291010,222254
$TT8_MAMPS,0.026964
$HUMID,47.63
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.2,53.847
$10V_AH,10.2,41.113
$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,24.025,123.250,592.425,0.000,0.000,28.884,38.090,139.965,0.250,0.000,14.486,3138.385,7473.773,669.863,2338.451,252.566,0.000,1841.875,0.000,2119.318,0.000,0.540,0.000
$DEVICE_MAMPS,198.900,65.790,1235.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334144
$DATA_FILE_SIZE,73523,1273
$CAP_FILE_SIZE,158133,0
$CFSIZE,260165632,230027264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014, 74.4,1
$GPS,301010,055530,2337.980,12657.038,35,1.1,41,-3.5