version: 66.08
glider: 168
mission: 2
dive: 402
start: 10 30 110 10 9 29
data:
$ID,168
$MISSION,2
$DIVE,402
$N_DIVES,415
$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,-3704.751
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,301010,100413,2336.047,12655.718,10,1.0,10,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-76.4
$GPS2,301010,100903,2336.061,12655.698,33,1.1,33,-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,200.7,266172,-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,17,-0.68,-185.1,0.0,0.0,0,53,0.00,0.00,-34.67,0.000,2,0.000,0.000,119,1534,2194,0,0,0,0,0,0
$GC,56,-0.68,-185.1,3.0,-0.8,6,128,10.07,2.17,-52.45,0.000,4,0.180,0.061,3031,169,3824,0,0,0,0,0,0
$GC,235,-0.64,-185.1,40.7,-30.3,36,243,0.10,2.08,0.00,0.000,6,0.155,0.037,3051,1537,3826,0,0,0,0,0,0
$GC,578,-0.62,-185.1,123.5,-19.3,97,584,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1541,3826,0,0,0,0,0,0
$GC,920,-0.62,-185.1,185.3,-18.1,158,927,0.00,2.15,0.00,0.000,4,0.000,0.042,3041,2959,3827,0,0,0,0,0,0
$GC,996,-0.65,-185.1,196.2,-12.6,171,1003,0.00,2.17,0.00,0.000,6,0.000,0.042,3041,1548,3827,0,0,0,0,0,0
$GC,1339,-0.65,-185.1,248.7,-15.8,232,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1548,3826,0,0,0,0,0,0
$GC,1682,-0.67,-185.1,299.0,-14.0,293,1688,0.00,2.12,0.00,0.000,4,0.000,0.051,3041,165,3826,0,0,0,0,0,0
$GC,1722,-0.69,-185.1,304.3,-13.0,297,1729,0.00,2.10,0.00,0.000,6,0.000,0.038,3036,1553,3827,0,0,0,0,0,0
$GC,2047,-0.70,-185.1,346.7,-12.8,328,2051,0.00,2.15,0.00,0.000,4,0.000,0.046,3029,2963,3825,0,0,0,0,0,0
$GC,2148,-0.75,-185.1,359.3,-11.9,336,2155,0.00,2.15,0.00,0.000,6,0.000,0.042,3029,1563,3825,0,0,0,0,0,0
$GC,2474,-0.76,-185.1,402.3,-12.2,367,2476,0.08,0.00,0.00,0.000,6,0.121,0.000,2918,1563,3824,0,0,0,0,0,0
$GC,2791,-0.69,-185.1,475.1,-23.0,397,2796,0.32,2.15,0.00,0.000,4,0.126,0.040,3018,2962,3822,0,0,0,0,0,0
$GC,2806,-0.65,-185.1,478.9,-22.8,398,2815,0.10,2.12,0.00,0.000,6,0.128,0.042,3054,1569,3822,0,0,0,0,0,0
$GC,3133,-0.69,-185.1,511.7,-10.3,429,3137,0.10,2.17,0.00,0.000,4,0.093,0.045,2943,2957,3820,0,0,0,0,0,0
$GC,3165,-0.68,-185.1,516.9,-16.9,431,3172,0.28,2.12,0.00,0.000,6,0.108,0.043,3035,1566,3820,0,0,0,0,0,0
$GC,3491,-0.72,-185.1,553.3,-9.5,462,3495,0.00,2.17,0.00,0.000,4,0.000,0.046,3028,2961,3818,0,0,0,0,0,0
$GC,3535,-0.78,-185.1,557.1,-7.8,465,3542,0.10,2.12,0.00,0.000,6,0.092,0.044,2919,1572,3817,0,0,0,0,0,0
$GC,3867,-0.73,-185.1,624.2,-21.3,492,3869,0.30,0.00,0.00,0.000,6,0.125,0.000,3017,1572,3814,0,0,0,0,0,0
$GC,4178,-0.76,-185.1,662.6,-11.5,507,4182,0.00,2.15,0.00,0.000,4,0.000,0.047,3009,2955,3812,0,0,0,0,0,0
$GC,4200,-0.79,-185.1,665.4,-11.1,508,4204,0.00,2.15,0.00,0.000,6,0.000,0.046,3009,1577,3812,0,0,0,0,0,0
$GC,4521,-0.82,-185.1,701.6,-11.0,524,4526,0.08,2.17,0.00,0.000,4,0.119,0.048,2891,2963,3808,0,0,0,0,0,0
$GC,4556,-0.78,-185.1,706.7,-17.0,525,4563,0.32,2.15,0.00,0.000,6,0.109,0.047,3000,1577,3808,0,0,0,0,0,0
$GC,4873,-0.80,-185.1,742.8,-11.0,541,4877,0.00,2.12,0.00,0.000,4,0.000,0.048,2993,2955,3806,0,0,0,0,0,0
$GC,4900,-0.83,-185.1,746.1,-10.9,542,4904,0.00,2.15,0.00,0.000,6,0.000,0.048,2992,1578,3806,0,0,0,0,0,0
$GC,5222,-0.85,-185.1,783.4,-11.8,558,5226,0.00,2.22,0.00,0.000,4,0.000,0.061,2993,168,3803,0,0,0,0,0,0
$GC,5254,-0.86,-185.1,787.8,-13.0,559,5261,0.00,2.17,0.00,0.000,6,0.000,0.040,2985,1587,3802,0,0,0,0,0,0
$GC,5572,-0.87,-185.1,828.8,-13.7,575,5576,0.00,2.12,0.00,0.000,4,0.000,0.047,2975,2959,3799,0,0,0,0,0,0
$GC,5644,-0.91,-185.1,838.7,-11.8,578,5648,0.00,2.12,0.00,0.000,6,0.000,0.047,2975,1589,3799,0,0,0,0,0,0
$GC,5960,-0.91,-185.1,883.3,-14.1,593,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1588,3797,0,0,0,0,0,0
$GC,6269,-0.92,-185.1,923.3,-12.0,608,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1588,3794,0,0,0,0,0,0
$GC,6579,-0.92,-185.1,958.2,-10.9,623,6584,0.08,2.17,0.00,0.000,4,0.117,0.048,2875,2957,3792,0,0,0,0,0,0
$GC,6619,-0.88,-185.1,964.2,-17.3,625,6624,0.30,2.17,0.00,0.000,6,0.113,0.051,2973,1587,3792,0,0,0,0,0,0
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6929,0.00,0.0,1000.9,11.9,640,7084,0.77,0.00,150.55,1.235,4,0.090,0.000,3256,1709,3068,0,0,0,0,0,0
$STATE,7085,end apogee,CONTROL_FINISHED_OK
$STATE,7085,begin climb
$GC,7087,0.68,185.1,1006.2,0.0,647,7257,0.57,2.42,160.82,1.171,4,0.031,0.061,3518,293,2311,0,0,0,0,0,0
$GC,7340,0.60,185.1,969.5,23.3,659,7345,0.25,2.17,0.00,0.000,6,0.143,0.032,3445,1704,2302,0,0,0,0,0,0
$GC,7670,0.57,185.1,913.8,16.1,675,7673,0.00,2.15,0.00,0.000,4,0.000,0.042,3445,3101,2296,0,0,0,0,0,0
$GC,7710,0.55,185.1,906.8,17.0,677,7714,0.10,2.22,0.00,0.000,6,0.174,0.047,3428,1701,2296,0,0,0,0,0,0
$GC,8038,0.53,185.1,859.6,14.3,693,8042,0.00,2.25,0.00,0.000,4,0.000,0.061,3438,294,2294,0,0,0,0,0,0
$GC,8087,0.51,185.1,851.7,15.3,695,8092,0.08,2.10,0.00,0.000,6,0.171,0.033,3416,1699,2293,0,0,0,0,0,0
$GC,8409,0.53,195.2,809.0,13.4,711,8417,0.00,0.00,6.55,0.927,6,0.000,0.000,3416,1700,2272,0,0,0,0,0,0
$GC,8718,0.54,203.4,767.1,13.5,726,8733,0.00,2.22,8.88,0.991,4,0.000,0.044,3416,3098,2238,0,0,0,0,0,0
$GC,8762,0.54,203.4,760.5,15.1,728,8766,0.00,2.22,0.00,0.000,6,0.000,0.047,3424,1698,2238,0,0,0,0,0,0
$GC,9088,0.54,203.4,713.9,14.5,744,9093,0.00,2.25,0.00,0.000,4,0.000,0.062,3435,290,2235,0,0,0,0,0,0
$GC,9116,0.53,203.4,709.6,15.4,745,9120,0.00,2.12,0.00,0.000,6,0.000,0.034,3435,1699,2233,0,0,0,0,0,0
$GC,9438,0.52,203.4,663.2,14.1,761,9442,0.08,2.20,0.00,0.000,4,0.194,0.044,3414,3107,2233,0,0,0,0,0,0
$GC,9523,0.55,223.2,651.8,12.9,765,9548,0.00,2.22,18.62,1.027,6,0.000,0.048,3421,1700,2156,0,0,0,0,0,0
$GC,9877,0.58,248.6,607.3,12.6,782,9908,0.05,2.35,23.25,1.010,4,0.170,0.060,3494,294,2052,0,0,0,0,0,0
$GC,9967,0.55,248.6,591.3,19.7,788,9972,0.22,2.15,0.00,0.000,6,0.122,0.033,3422,1705,2048,0,0,0,0,0,0
$GC,10295,0.57,253.6,546.2,13.6,818,10308,0.00,2.30,4.25,0.660,4,0.000,0.060,3431,294,2034,0,0,0,0,0,0
$GC,10324,0.58,253.6,541.4,14.0,820,10331,0.00,2.10,0.00,0.000,6,0.000,0.033,3431,1693,2034,0,0,0,0,0,0
$GC,10650,0.60,256.0,498.1,13.8,851,10662,0.00,2.22,3.95,0.611,4,0.000,0.044,3431,3101,2024,0,0,0,0,0,0
$GC,10701,0.64,269.4,490.9,13.2,855,10719,0.00,2.22,13.30,0.894,6,0.000,0.048,3440,1693,1969,0,0,0,0,0,0
$GC,11038,0.67,284.8,446.2,13.1,887,11061,0.10,2.30,14.45,0.865,4,0.095,0.060,3541,297,1905,0,0,0,0,0,0
$GC,11114,0.62,284.8,431.2,20.8,893,11122,0.28,2.10,0.00,0.000,6,0.124,0.032,3453,1689,1902,0,0,0,0,0,0
$GC,11440,0.63,284.8,382.6,14.7,924,11444,0.00,2.15,0.00,0.000,4,0.000,0.041,3452,3101,1900,0,0,0,0,0,0
$GC,11474,0.65,284.8,377.3,15.2,926,11482,0.00,2.25,0.00,0.000,6,0.000,0.047,3456,1684,1900,0,0,0,0,0,0
$GC,11799,0.66,290.3,334.2,13.6,957,11809,0.00,0.00,5.30,0.627,6,0.000,0.000,3456,1683,1883,0,0,0,0,0,0
$GC,12132,0.67,290.3,286.3,14.3,996,12139,0.00,2.22,0.00,0.000,4,0.000,0.058,3467,286,1883,0,0,0,0,0,0
$GC,12184,0.69,290.3,278.7,14.5,1005,12191,0.00,2.12,0.00,0.000,6,0.000,0.032,3467,1709,1883,0,0,0,0,0,0
$GC,12528,0.71,299.6,234.4,13.4,1066,12542,0.00,2.20,9.90,0.666,4,0.000,0.041,3467,3099,1846,0,0,0,0,0,0
$GC,12566,0.72,299.6,228.9,14.7,1072,12573,0.00,2.20,0.00,0.000,6,0.000,0.044,3470,1699,1846,0,0,0,0,0,0
$GC,12912,0.75,306.8,183.5,13.5,1133,12927,0.08,2.28,7.80,0.597,4,0.122,0.054,3577,295,1816,0,0,0,0,0,0
$GC,12997,0.71,306.8,166.9,20.7,1147,13005,0.30,2.10,0.00,0.000,6,0.112,0.029,3477,1714,1815,0,0,0,0,0,0
$GC,13342,0.81,380.6,124.8,10.2,1208,13411,0.12,2.22,60.25,0.640,4,0.080,0.037,3589,3102,1515,0,0,0,0,0,0
$GC,13445,0.78,380.6,104.9,23.0,1225,13453,0.30,2.22,0.00,0.000,6,0.119,0.045,3501,1706,1512,0,0,0,0,0,0
$GC,13793,0.94,468.1,63.8,9.5,1286,13868,0.15,2.35,68.12,0.584,4,0.064,0.053,3617,293,1158,0,0,0,0,0,0
$GC,13952,0.94,468.1,35.1,16.5,1313,13960,0.20,2.12,0.00,0.000,6,0.116,0.030,3550,1694,1154,0,0,0,0,0,0
$STATE,14187,end climb,SURFACE_DEPTH_REACHED
$STATE,14187,begin surface coast
$FINISH,1.9,1.022212
$STATE,14210,end surface coast,CONTROL_FINISHED_OK
$STATE,14210,begin surface
$SM_CCo,14287,0.00,0.000,0,0,1148,470.98
$SM_GC,2.62,8.35,0.00,0.00,0.018,0.000,0.000,102,1536,1148,-9.70,-0.37,470.98
$IRIDIUM_FIX,2328.57,12637.61,301010,090909
$TT8_MAMPS,0.026964
$HUMID,47.48
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,23.2,54.198
$10V_AH,10.2,41.276
$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,24.225,127.050,556.000,0.000,0.000,0.000,0.000,0.000,0.500,0.000,35.697,3356.067,7896.269,656.383,2266.992,205.195,0.000,1873.115,0.000,2217.373,0.000,0.541,0.000
$DEVICE_MAMPS,193.545,68.085,1234.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334192
$DATA_FILE_SIZE,76966,1359
$CAP_FILE_SIZE,173776,0
$CFSIZE,260165632,229851136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,300.9,1
$GPS,301010,140837,2334.284,12654.380,24,1.1,24,-3.5