version: 66.08
glider: 168
mission: 2
dive: 401
start: 10 30 110 6 1 42
data:
$ID,168
$MISSION,2
$DIVE,401
$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,-3676.6719
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,301010,055530,2337.980,12657.038,35,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-74.4
$GPS2,301010,060116,2337.989,12656.979,14,2.1,33,-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,206.5,270292,-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,15,begin dive
$GC,17,-0.68,-185.1,0.0,0.0,0,69,0.00,0.00,-49.92,0.000,2,0.000,0.000,104,1524,2371,0,0,0,0,0,0
$GC,72,-0.68,-185.1,3.0,-1.4,8,128,10.02,2.17,-39.10,0.000,4,0.175,0.064,3029,171,3825,0,0,1,0,0,0
$GC,268,-0.64,-185.1,52.6,-30.6,42,275,0.10,2.08,0.00,0.000,6,0.155,0.037,3049,1537,3826,0,0,0,0,0,0
$GC,613,-0.62,-185.1,133.0,-18.3,103,621,0.00,2.12,0.00,0.000,4,0.000,0.050,3049,174,3827,0,0,0,0,0,0
$GC,646,-0.61,-185.1,139.0,-18.3,108,653,0.00,2.08,0.00,0.000,6,0.000,0.037,3042,1550,3827,0,0,0,0,0,0
$GC,988,-0.59,-185.1,201.4,-17.4,169,995,0.08,2.17,0.00,0.000,4,0.197,0.044,3054,2958,3828,0,0,0,0,0,0
$GC,1081,-0.64,-185.1,212.5,-10.1,185,1088,0.00,2.12,0.00,0.000,6,0.000,0.041,3054,1558,3828,0,0,0,0,0,0
$GC,1424,-0.65,-185.1,262.9,-15.1,246,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1558,3828,0,0,0,0,0,0
$GC,1771,-0.66,-185.1,312.4,-13.7,300,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1558,3828,0,0,0,0,0,0
$GC,2098,-0.69,-185.1,353.3,-12.1,331,2103,0.08,2.17,0.00,0.000,4,0.119,0.046,2941,2955,3828,0,0,0,0,0,0
$GC,2161,-0.67,-185.1,364.9,-19.5,336,2166,0.30,2.15,0.00,0.000,6,0.108,0.045,3042,1555,3827,0,0,0,0,0,0
$GC,2488,-0.69,-185.1,403.7,-11.8,366,2492,0.00,2.15,0.00,0.000,4,0.000,0.046,3036,2955,3825,0,0,0,0,0,0
$GC,2511,-0.72,-185.1,406.4,-10.6,367,2519,0.00,2.12,0.00,0.000,6,0.000,0.043,3036,1562,3825,0,0,0,0,0,0
$GC,2836,-0.75,-185.1,441.5,-10.9,398,2838,0.08,0.00,0.00,0.000,6,0.116,0.000,2929,1561,3825,0,0,0,0,0,0
$GC,3155,-0.69,-185.1,508.1,-21.0,428,3157,0.32,0.00,0.00,0.000,6,0.120,0.000,3034,1561,3823,0,0,0,0,0,0
$GC,3473,-0.72,-185.1,542.1,-10.2,458,3477,0.00,2.20,0.00,0.000,4,0.000,0.047,3025,2961,3821,0,0,0,0,0,0
$GC,3535,-0.79,-185.1,548.1,-8.8,463,3540,0.10,2.15,0.00,0.000,6,0.089,0.044,2931,1562,3820,0,0,0,0,0,0
$GC,3874,-0.73,-185.1,619.7,-22.3,491,3879,0.30,2.20,0.00,0.000,4,0.124,0.056,3019,159,3818,0,0,0,0,0,0
$GC,3907,-0.74,-185.1,625.6,-15.1,492,3914,0.00,2.12,0.00,0.000,6,0.000,0.038,3011,1563,3818,0,0,0,0,0,0
$GC,4224,-0.76,-185.1,661.4,-11.3,508,4228,0.00,2.15,0.00,0.000,4,0.000,0.047,3002,2961,3816,0,0,0,0,0,0
$GC,4296,-0.81,-185.1,668.8,-9.7,511,4300,0.00,2.15,0.00,0.000,6,0.000,0.044,3002,1565,3815,0,0,0,0,0,0
$GC,4618,-0.83,-185.1,705.3,-11.4,527,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1566,3812,0,0,0,0,0,0
$GC,4928,-0.85,-185.1,741.0,-11.4,542,4933,0.08,2.17,0.00,0.000,4,0.121,0.047,2889,2957,3810,0,0,0,0,0,0
$GC,5016,-0.82,-185.1,756.7,-18.0,546,5021,0.30,2.17,0.00,0.000,6,0.111,0.049,2989,1571,3809,0,0,0,0,0,0
$GC,5340,-0.83,-185.1,795.4,-11.8,562,5344,0.00,2.17,0.00,0.000,4,0.000,0.047,2983,2962,3806,0,0,0,0,0,0
$GC,5367,-0.86,-185.1,799.0,-11.8,563,5371,0.00,2.17,0.00,0.000,6,0.000,0.048,2983,1566,3806,0,0,0,0,0,0
$GC,5684,-0.87,-185.1,836.9,-12.1,578,5688,0.00,2.17,0.00,0.000,4,0.000,0.048,2975,2956,3803,0,0,0,0,0,0
$GC,5706,-0.88,-185.1,839.7,-11.9,579,5710,0.00,2.17,0.00,0.000,6,0.000,0.050,2975,1576,3803,0,0,0,0,0,0
$GC,6027,-0.89,-185.1,881.3,-13.1,595,6031,0.00,2.15,0.00,0.000,4,0.000,0.050,2967,2955,3800,0,0,0,0,0,0
$GC,6050,-0.91,-185.1,884.5,-13.7,596,6054,0.00,2.17,0.00,0.000,6,0.000,0.050,2967,1570,3800,0,0,0,0,0,0
$GC,6372,-0.91,-185.1,927.7,-13.1,612,6376,0.00,2.15,0.00,0.000,4,0.000,0.049,2959,2953,3798,0,0,0,0,0,0
$GC,6395,-0.91,-185.1,930.8,-13.1,613,6399,0.00,2.17,0.00,0.000,6,0.000,0.050,2958,1581,3797,0,0,0,0,0,0
$GC,6716,-0.91,-185.1,974.2,-13.2,629,6720,0.00,2.25,0.00,0.000,4,0.000,0.063,2958,166,3795,0,0,0,0,0,0
$GC,6734,-0.91,-185.1,976.7,-13.2,630,6738,0.00,2.17,0.00,0.000,6,0.000,0.041,2949,1579,3794,0,0,0,0,0,0
$STATE,6914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6914,begin apogee
$GC,6920,0.00,0.0,1002.3,14.2,639,7078,0.85,0.00,151.23,1.239,4,0.096,0.000,3253,1707,3068,0,0,0,0,0,0
$STATE,7079,end apogee,CONTROL_FINISHED_OK
$STATE,7079,begin climb
$GC,7081,0.68,185.1,1008.0,0.0,646,7251,0.60,2.33,160.68,1.175,4,0.032,0.047,3523,3110,2313,0,0,0,0,0,0
$GC,7290,0.60,185.1,978.5,24.7,656,7295,0.30,2.33,0.00,0.000,6,0.152,0.047,3449,1700,2307,0,0,1,0,0,0
$GC,7613,0.57,185.1,920.1,17.7,672,7617,0.00,2.25,0.00,0.000,4,0.000,0.060,3459,293,2300,0,0,0,0,0,0
$GC,7635,0.53,185.1,915.4,19.1,673,7639,0.12,2.12,0.00,0.000,6,0.151,0.031,3420,1707,2298,0,0,0,0,0,0
$GC,7963,0.51,185.1,867.9,14.1,689,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1708,2297,0,0,0,0,0,0
$GC,8272,0.52,195.1,826.4,13.4,704,8281,0.00,0.00,7.30,0.964,6,0.000,0.000,3421,1708,2272,0,0,0,0,0,0
$GC,8581,0.52,202.9,785.1,13.5,719,8591,0.00,0.00,8.23,0.984,6,0.000,0.000,3421,1708,2241,0,0,0,0,0,0
$GC,8890,0.51,202.9,741.8,14.0,734,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1708,2237,0,0,0,0,0,0
$GC,9199,0.50,207.0,699.4,13.7,749,9209,0.00,2.28,4.65,0.771,4,0.000,0.063,3432,293,2224,0,0,0,0,0,0
$GC,9271,0.49,207.0,688.8,14.5,752,9275,0.10,2.10,0.00,0.000,6,0.147,0.033,3401,1693,2222,0,0,0,0,0,0
$GC,9588,0.57,270.9,653.2,10.7,767,9652,0.12,0.00,56.30,1.031,6,0.080,0.000,3489,1696,1961,0,0,0,0,0,0
$GC,9965,0.54,270.9,581.2,19.9,789,9970,0.22,2.28,0.00,0.000,4,0.132,0.060,3429,293,1952,0,0,0,0,0,0
$GC,10017,0.56,275.3,572.7,13.7,793,10021,0.00,2.12,0.00,0.000,6,0.000,0.033,3430,1697,1951,0,0,0,0,0,0
$GC,10342,0.56,275.3,527.4,14.1,823,10346,0.00,2.25,0.00,0.000,4,0.000,0.062,3438,293,1949,0,0,0,0,0,0
$GC,10406,0.60,292.2,518.7,13.0,828,10430,0.00,2.10,17.65,0.938,6,0.000,0.032,3438,1695,1876,0,0,0,0,0,0
$GC,10748,0.62,300.3,471.5,13.5,860,10758,0.00,0.00,8.07,0.813,6,0.000,0.000,3438,1694,1843,0,0,0,0,0,0
$GC,11076,0.62,300.3,424.6,14.0,891,11080,0.00,2.28,0.00,0.000,4,0.000,0.061,3447,289,1840,0,0,0,0,0,0
$GC,11172,0.65,306.8,411.3,13.6,899,11185,0.00,2.08,6.53,0.732,6,0.000,0.032,3447,1678,1817,0,0,0,0,0,0
$GC,11502,0.66,306.8,364.5,14.0,930,11507,0.08,2.25,0.00,0.000,4,0.121,0.060,3540,290,1815,0,0,0,0,0,0
$GC,11556,0.62,306.8,354.3,19.6,934,11564,0.28,2.05,0.00,0.000,6,0.121,0.031,3451,1671,1815,0,0,0,0,0,0
$GC,11882,0.63,306.8,307.9,14.0,965,11886,0.00,2.17,0.00,0.000,4,0.000,0.041,3451,3099,1814,0,0,0,0,0,0
$GC,11920,0.71,344.6,302.6,12.0,968,11962,0.10,2.28,32.90,0.794,6,0.093,0.047,3552,1660,1662,0,0,0,0,0,0
$GC,12299,0.67,344.6,220.3,22.4,1033,12306,0.25,2.17,0.00,0.000,4,0.137,0.055,3475,291,1657,0,0,0,0,0,0
$GC,12342,0.69,344.6,213.3,14.1,1040,12349,0.00,2.05,0.00,0.000,6,0.000,0.030,3475,1666,1655,0,0,0,0,0,0
$GC,12686,0.74,367.2,167.7,12.7,1101,12712,0.00,2.20,19.15,0.661,4,0.000,0.055,3483,287,1569,0,0,0,0,0,0
$GC,12754,0.85,415.0,159.1,11.5,1112,12804,0.12,2.08,39.78,0.665,6,0.080,0.030,3589,1665,1374,0,0,0,0,0,0
$GC,13142,0.83,415.0,69.3,20.3,1180,13149,0.22,0.00,0.00,0.000,6,0.120,0.000,3516,1666,1369,0,0,0,0,0,0
$GC,13487,0.93,458.7,33.7,11.7,1241,13532,0.10,2.25,34.33,0.559,4,0.090,0.055,3610,289,1196,0,0,0,0,0,0
$GC,13580,0.92,458.7,17.7,17.0,1256,13587,0.20,2.05,0.00,0.000,6,0.116,0.028,3543,1653,1193,0,0,0,0,0,0
$STATE,13696,end climb,SURFACE_DEPTH_REACHED
$STATE,13697,begin surface coast
$FINISH,1.7,1.021945
$STATE,13736,end surface coast,CONTROL_FINISHED_OK
$STATE,13737,begin surface
$SM_CCo,13814,0.00,0.000,0,0,1189,460.67
$SM_GC,2.85,8.40,0.00,0.00,0.023,0.000,0.000,104,1531,1189,-9.68,-0.48,460.67
$IRIDIUM_FIX,2330.93,12701.13,301010,020214
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,23.1,54.017
$10V_AH,10.2,41.190
$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,23.825,108.850,546.775,0.000,0.000,24.634,43.339,138.052,0.500,0.000,35.314,3188.231,7773.590,618.774,2326.374,248.485,0.000,1769.538,0.000,2090.318,0.000,0.539,0.000
$DEVICE_MAMPS,197.370,80.325,1238.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334152
$DATA_FILE_SIZE,73568,1284
$CAP_FILE_SIZE,156391,0
$CFSIZE,260165632,229949440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.020,279.2,1
$GPS,301010,095309,2336.031,12655.762,39,0.9,39,-3.5