version: 66.08
glider: 168
mission: 2
dive: 403
start: 10 30 110 14 18 4
data:
$ID,168
$MISSION,2
$DIVE,403
$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,-3706.009
$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,42
$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
$GPS1,301010,140837,2334.284,12654.380,24,1.1,24,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-76.6
$GPS2,301010,141738,2334.284,12654.349,13,2.0,13,-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,194.8,262272,-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,15,-0.68,-185.1,0.0,0.0,0,52,0.00,0.00,-34.95,0.000,2,0.000,0.000,104,1539,2156,0,0,0,0,0,0
$GC,55,-0.68,-185.1,3.1,-1.3,6,126,10.20,2.25,-54.05,0.000,4,0.181,0.054,3015,2951,3825,0,0,0,0,0,0
$GC,272,-0.66,-185.1,41.7,-25.2,43,279,0.10,2.17,0.00,0.000,6,0.134,0.043,3048,1553,3826,0,0,0,0,0,0
$GC,616,-0.64,-185.1,126.7,-20.4,104,623,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1553,3827,0,0,0,0,0,0
$GC,959,-0.63,-185.1,187.5,-17.2,165,965,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1552,3828,0,0,0,0,0,0
$GC,1301,-0.63,-185.1,240.4,-13.6,226,1308,0.00,2.15,0.00,0.000,4,0.000,0.043,3039,2949,3828,0,0,0,0,0,0
$GC,1326,-0.64,-185.1,243.7,-14.0,230,1333,0.00,2.12,0.00,0.000,6,0.000,0.043,3039,1553,3828,0,0,0,0,0,0
$GC,1670,-0.65,-185.1,290.1,-13.7,291,1676,0.00,2.12,0.00,0.000,4,0.000,0.051,3038,163,3828,0,0,0,0,0,0
$GC,1700,-0.67,-185.1,294.6,-14.2,296,1708,0.00,2.10,0.00,0.000,6,0.000,0.037,3037,1553,3828,0,0,0,0,0,0
$GC,2030,-0.68,-185.1,340.3,-13.3,330,2034,0.00,2.17,0.00,0.000,4,0.000,0.045,3028,2966,3828,0,0,0,0,0,0
$GC,2137,-0.73,-185.1,353.1,-10.7,339,2141,0.00,2.12,0.00,0.000,6,0.000,0.042,3028,1567,3828,0,0,0,0,0,0
$GC,2463,-0.74,-185.1,396.0,-13.5,369,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1566,3826,0,0,0,0,0,0
$GC,2783,-0.75,-185.1,437.2,-12.3,399,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1566,3825,0,0,0,0,0,0
$GC,3104,-0.77,-185.1,478.5,-13.3,429,3109,0.08,2.17,0.00,0.000,4,0.123,0.046,2908,2956,3823,0,0,0,0,0,0
$GC,3125,-0.76,-185.1,482.6,-14.6,430,3133,0.30,2.12,0.00,0.000,6,0.112,0.044,3007,1574,3823,0,0,0,0,0,0
$GC,3452,-0.77,-185.1,528.2,-13.4,461,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1574,3821,0,0,0,0,0,0
$GC,3773,-0.79,-185.1,566.9,-12.3,491,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1574,3820,0,0,0,0,0,0
$GC,4108,-0.80,-185.1,612.0,-13.6,519,4112,0.00,2.20,0.00,0.000,4,0.000,0.057,3007,163,3817,0,0,0,0,0,0
$GC,4125,-0.82,-185.1,614.7,-13.8,520,4129,0.00,2.17,0.00,0.000,6,0.000,0.039,2999,1588,3817,0,0,0,0,0,0
$GC,4453,-0.83,-185.1,660.1,-13.3,536,4457,0.00,2.12,0.00,0.000,4,0.000,0.047,2991,2962,3813,0,0,0,0,0,0
$GC,4494,-0.86,-185.1,665.4,-12.0,538,4498,0.00,2.12,0.00,0.000,6,0.000,0.045,2991,1582,3813,0,0,0,0,0,0
$GC,4823,-0.87,-185.1,706.2,-12.4,554,4827,0.08,2.15,0.00,0.000,4,0.119,0.047,2876,2961,3811,0,0,0,0,0,0
$GC,4866,-0.82,-185.1,714.4,-19.3,556,4871,0.35,2.12,0.00,0.000,6,0.111,0.047,2992,1587,3810,0,0,0,0,0,0
$GC,5190,-0.84,-185.1,751.9,-11.2,572,5194,0.00,2.15,0.00,0.000,4,0.000,0.047,2985,2961,3807,0,0,0,0,0,0
$GC,5230,-0.87,-185.1,756.5,-10.4,574,5234,0.00,2.12,0.00,0.000,6,0.000,0.047,2985,1591,3807,0,0,0,0,0,0
$GC,5558,-0.88,-185.1,798.5,-13.4,590,5562,0.00,2.25,0.00,0.000,4,0.000,0.060,2985,163,3804,0,0,0,0,0,0
$GC,5602,-0.89,-185.1,804.9,-13.7,592,5606,0.00,2.17,0.00,0.000,6,0.000,0.040,2979,1597,3804,0,0,0,0,0,0
$GC,5923,-0.89,-185.1,848.8,-13.5,608,5927,0.00,2.10,0.00,0.000,4,0.000,0.048,2970,2962,3801,0,0,0,0,0,0
$GC,5964,-0.91,-185.1,853.9,-12.6,610,5968,0.00,2.12,0.00,0.000,6,0.000,0.047,2970,1590,3801,0,0,0,0,0,0
$GC,6291,-0.91,-185.1,896.7,-12.8,626,6295,0.00,2.12,0.00,0.000,4,0.000,0.049,2961,2963,3799,0,0,0,0,0,0
$GC,6313,-0.92,-185.1,899.7,-12.7,627,6317,0.00,2.17,0.00,0.000,6,0.000,0.049,2961,1585,3798,0,0,0,0,0,0
$GC,6634,-0.92,-185.1,941.1,-12.5,643,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1584,3796,0,0,0,0,0,0
$GC,6943,-0.92,-185.1,978.8,-12.2,658,6947,0.00,2.15,0.00,0.000,4,0.000,0.050,2953,2959,3794,0,0,0,0,0,0
$GC,6977,-0.93,-185.1,982.8,-11.9,659,6981,0.00,2.15,0.00,0.000,6,0.000,0.050,2953,1592,3794,0,0,0,0,0,0
$STATE,7125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7126,begin apogee
$GC,7131,0.00,0.0,1002.6,13.6,666,7289,0.82,0.00,151.30,1.236,4,0.095,0.000,3250,1714,3068,0,0,0,0,0,0
$STATE,7290,end apogee,CONTROL_FINISHED_OK
$STATE,7290,begin climb
$GC,7292,0.68,185.1,1008.9,0.0,673,7462,0.60,2.42,160.82,1.174,4,0.031,0.060,3521,291,2313,0,0,0,0,0,0
$GC,7497,0.60,185.1,983.9,22.2,683,7502,0.28,2.25,0.00,0.000,6,0.141,0.031,3441,1710,2306,0,0,0,0,0,0
$GC,7826,0.57,185.1,928.0,16.7,699,7829,0.00,2.15,0.00,0.000,4,0.000,0.041,3441,3103,2298,0,0,0,0,0,0
$GC,7872,0.54,185.1,920.2,17.5,701,7876,0.10,2.22,0.00,0.000,6,0.171,0.046,3424,1698,2297,0,0,0,0,0,0
$GC,8205,0.52,185.1,872.5,14.3,717,8209,0.00,2.25,0.00,0.000,4,0.000,0.060,3434,296,2294,0,0,0,0,0,0
$GC,8271,0.51,185.1,862.2,14.9,720,8276,0.08,2.12,0.00,0.000,6,0.168,0.034,3412,1697,2293,0,0,0,0,0,0
$GC,8592,0.53,199.5,819.6,13.2,736,8605,0.00,0.00,10.52,1.047,6,0.000,0.000,3412,1699,2254,0,0,0,0,0,0
$GC,8901,0.55,216.9,778.9,13.0,751,8924,0.00,2.33,16.77,1.092,4,0.000,0.061,3421,297,2183,0,0,0,0,0,0
$GC,8943,0.55,216.9,772.9,13.9,753,8947,0.00,2.12,0.00,0.000,6,0.000,0.034,3421,1691,2181,0,0,0,0,0,0
$GC,9269,0.55,216.9,725.4,14.8,769,9273,0.00,2.20,0.00,0.000,4,0.000,0.044,3421,3106,2178,0,0,0,0,0,0
$GC,9319,0.56,216.9,717.7,14.8,771,9323,0.00,2.22,0.00,0.000,6,0.000,0.047,3429,1699,2177,0,0,0,0,0,0
$GC,9636,0.56,218.4,672.0,13.8,786,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1699,2176,0,0,0,0,0,0
$GC,9945,0.59,245.4,631.3,12.5,801,9976,0.00,2.35,25.23,1.038,4,0.000,0.062,3440,292,2067,0,0,0,0,0,0
$GC,9992,0.62,265.8,624.8,12.9,803,10018,0.00,2.20,19.00,0.955,6,0.000,0.033,3440,1702,1983,0,0,0,0,0,0
$GC,10335,0.62,265.8,576.2,15.1,827,10339,0.00,2.30,0.00,0.000,4,0.000,0.060,3450,289,1975,0,0,0,0,0,0
$GC,10376,0.62,265.8,569.8,16.1,830,10380,0.00,2.12,0.00,0.000,6,0.000,0.034,3450,1695,1974,0,0,0,0,0,0
$GC,10701,0.62,265.8,517.9,15.5,860,10705,0.00,2.22,0.00,0.000,4,0.000,0.060,3459,296,1973,0,0,0,0,0,0
$GC,10720,0.61,265.8,515.2,15.8,861,10723,0.00,2.12,0.00,0.000,6,0.000,0.033,3459,1698,1972,0,0,0,0,0,0
$GC,11045,0.60,265.8,461.1,16.5,891,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1700,1972,0,0,0,0,0,0
$GC,11364,0.60,265.8,411.0,15.6,921,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1700,1971,0,0,0,0,0,0
$GC,11683,0.60,265.8,363.5,15.4,951,11687,0.00,2.15,0.00,0.000,4,0.000,0.047,3459,3103,1971,0,0,0,0,0,0
$GC,11733,0.61,265.8,355.6,14.2,955,11741,0.08,2.22,0.00,0.000,6,0.184,0.047,3446,1689,1970,0,0,0,0,0,0
$GC,12061,0.66,296.9,314.1,12.3,986,12096,0.05,2.22,26.00,0.793,4,0.165,0.057,3533,293,1856,0,0,0,0,0,0
$GC,12119,0.62,296.9,303.1,20.8,991,12124,0.28,2.12,0.00,0.000,6,0.118,0.031,3444,1692,1853,0,0,0,0,0,0
$GC,12463,0.70,345.7,258.9,11.4,1050,12513,0.10,2.30,40.88,0.749,4,0.094,0.055,3552,283,1657,0,0,0,0,0,0
$GC,12550,0.66,345.7,242.6,20.6,1064,12557,0.28,2.10,0.00,0.000,6,0.109,0.031,3462,1679,1653,0,0,0,0,0,0
$GC,12895,0.69,345.7,196.1,14.3,1125,12903,0.00,2.22,0.00,0.000,4,0.000,0.056,3470,290,1651,0,0,0,0,0,0
$GC,12938,0.72,345.7,189.7,14.0,1132,12944,0.00,2.08,0.00,0.000,6,0.000,0.031,3470,1668,1649,0,0,0,0,0,0
$GC,13281,0.78,372.5,142.2,12.5,1193,13314,0.10,2.25,22.17,0.636,4,0.096,0.054,3588,287,1548,0,0,0,0,0,0
$GC,13321,0.75,372.5,135.0,18.8,1199,13329,0.30,2.08,0.00,0.000,6,0.114,0.028,3489,1677,1547,0,0,0,0,0,0
$GC,13668,0.84,423.7,90.2,11.3,1260,13718,0.10,2.17,41.92,0.604,4,0.093,0.035,3593,3092,1339,0,0,0,0,0,0
$GC,13755,0.83,423.7,73.1,17.3,1274,13763,0.25,2.28,0.00,0.000,6,0.119,0.044,3518,1661,1336,0,0,0,0,0,0
$GC,14101,1.04,558.0,41.2,7.1,1335,14212,0.20,2.30,101.80,0.562,4,0.053,0.054,3663,290,791,0,0,0,0,0,0
$STATE,14250,end climb,SURFACE_DEPTH_REACHED
$STATE,14250,begin surface coast
$FINISH,1.7,1.022212
$STATE,14263,end surface coast,CONTROL_FINISHED_OK
$STATE,14263,begin surface
$SM_CCo,14342,0.00,0.000,0,0,786,560.02
$SM_GC,2.61,8.77,0.00,0.00,0.019,0.000,0.000,102,1541,786,-9.69,-0.23,560.02
$IRIDIUM_FIX,2328.57,12654.54,301010,141420
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,23.2,54.384
$10V_AH,10.2,41.358
$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,23.475,122.175,616.425,0.000,0.000,54.182,78.729,211.640,0.750,0.000,16.444,3338.121,8024.954,680.968,2564.610,267.648,0.000,1895.463,0.000,2197.438,0.000,0.539,0.000
$DEVICE_MAMPS,184.365,69.615,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,76846,1362
$CAP_FILE_SIZE,164522,0
$CFSIZE,260165632,229781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,332.6,1
$GPS,301010,181807,2332.694,12653.471,26,1.1,26,-3.5