version: 66.08
glider: 168
mission: 2
dive: 404
start: 10 30 110 18 24 12
data:
$ID,168
$MISSION,2
$DIVE,404
$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,-3708.4717
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,301010,181807,2332.694,12653.471,26,1.1,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-76.3
$GPS2,301010,182344,2332.679,12653.441,13,1.5,13,-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,192.3,258941,-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,12,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,68,0.00,0.00,-51.17,0.000,2,0.000,0.000,104,1542,2297,0,0,0,0,0,0
$GC,71,-0.68,-185.1,3.1,-2.0,9,140,10.07,2.22,-47.45,0.000,4,0.177,0.063,3031,162,3825,0,0,0,0,0,0
$GC,252,-0.62,-185.1,42.5,-35.0,40,259,0.10,2.10,0.00,0.000,6,0.158,0.034,3050,1548,3826,0,0,0,0,0,0
$GC,596,-0.61,-185.1,121.5,-18.8,101,602,0.00,2.15,0.00,0.000,4,0.000,0.041,3041,2957,3827,0,0,0,0,0,0
$GC,688,-0.64,-185.1,136.4,-14.9,117,695,0.00,2.12,0.00,0.000,6,0.000,0.041,3041,1562,3828,0,0,0,0,0,0
$GC,1030,-0.64,-185.1,198.4,-15.9,178,1037,0.00,2.15,0.00,0.000,4,0.000,0.051,3040,158,3828,0,0,0,0,0,0
$GC,1077,-0.64,-185.1,206.1,-16.0,186,1083,0.00,2.10,0.00,0.000,6,0.000,0.036,3032,1564,3829,0,0,0,0,0,0
$GC,1418,-0.64,-185.1,261.7,-15.9,247,1427,0.05,2.15,0.00,0.000,4,0.235,0.043,3037,2957,3829,0,0,0,0,0,0
$GC,1452,-0.67,-185.1,265.9,-13.1,252,1459,0.00,2.15,0.00,0.000,6,0.000,0.042,3036,1558,3829,0,0,0,0,0,0
$GC,1791,-0.68,-185.1,312.8,-14.4,305,1794,0.00,2.17,0.00,0.000,4,0.000,0.045,3028,2962,3829,0,0,0,0,0,0
$GC,1832,-0.71,-185.1,318.4,-13.3,308,1836,0.00,2.12,0.00,0.000,6,0.000,0.043,3027,1567,3828,0,0,0,0,0,0
$GC,2157,-0.72,-185.1,364.8,-13.3,338,2161,0.00,2.17,0.00,0.000,4,0.000,0.052,3027,166,3827,0,0,0,0,0,0
$GC,2198,-0.74,-185.1,370.4,-13.1,341,2202,0.00,2.12,0.00,0.000,6,0.000,0.037,3021,1569,3828,0,0,0,0,0,0
$GC,2524,-0.76,-185.1,414.3,-13.1,371,2527,0.00,2.15,0.00,0.000,4,0.000,0.045,3015,2964,3826,0,0,0,0,0,0
$GC,2598,-0.80,-185.1,422.5,-10.0,377,2602,0.08,2.12,0.00,0.000,6,0.119,0.041,2915,1566,3826,0,0,0,0,0,0
$GC,2924,-0.73,-185.1,496.5,-22.9,407,2929,0.30,2.15,0.00,0.000,4,0.129,0.039,3008,2960,3824,0,0,0,0,0,0
$GC,2953,-0.73,-185.1,501.9,-16.3,409,2957,0.00,2.12,0.00,0.000,6,0.000,0.044,3008,1575,3824,0,0,0,0,0,0
$GC,3284,-0.74,-185.1,546.7,-13.7,440,3288,0.00,2.20,0.00,0.000,4,0.000,0.054,3008,167,3822,0,0,0,0,0,0
$GC,3325,-0.76,-185.1,552.4,-13.8,443,3329,0.00,2.12,0.00,0.000,6,0.000,0.037,3000,1581,3822,0,0,0,0,0,0
$GC,3650,-0.77,-185.1,596.2,-12.9,473,3654,0.00,2.10,0.00,0.000,4,0.000,0.046,2991,2956,3820,0,0,0,0,0,0
$GC,3692,-0.80,-185.1,601.3,-11.7,476,3696,0.00,2.12,0.00,0.000,6,0.000,0.044,2991,1568,3820,0,0,0,0,0,0
$GC,4020,-0.80,-185.1,645.3,-13.8,492,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1568,3817,0,0,0,0,0,0
$GC,4329,-0.80,-185.1,687.0,-13.0,507,4332,0.00,2.15,0.00,0.000,4,0.000,0.046,2985,2959,3814,0,0,0,0,0,0
$GC,4356,-0.82,-185.1,690.8,-12.8,508,4360,0.00,2.17,0.00,0.000,6,0.000,0.046,2985,1566,3814,0,0,0,0,0,0
$GC,4678,-0.82,-185.1,733.6,-13.7,524,4682,0.00,2.15,0.00,0.000,4,0.000,0.046,2977,2956,3811,0,0,0,0,0,0
$GC,4718,-0.85,-185.1,738.9,-12.0,526,4722,0.00,2.15,0.00,0.000,6,0.000,0.047,2977,1572,3811,0,0,0,0,0,0
$GC,5045,-0.85,-185.1,783.7,-13.1,542,5049,0.00,2.17,0.00,0.000,4,0.000,0.047,2970,2957,3808,0,0,0,0,0,0
$GC,5086,-0.87,-185.1,788.7,-11.4,544,5090,0.00,2.15,0.00,0.000,6,0.000,0.048,2970,1577,3807,0,0,0,0,0,0
$GC,5415,-0.87,-185.1,832.8,-13.6,560,5419,0.00,2.25,0.00,0.000,4,0.000,0.060,2970,163,3806,0,0,0,0,0,0
$GC,5437,-0.87,-185.1,836.4,-14.7,561,5441,0.00,2.15,0.00,0.000,6,0.000,0.040,2960,1579,3805,0,0,0,0,0,0
$GC,5763,-0.87,-185.1,883.4,-14.6,577,5767,0.00,2.15,0.00,0.000,4,0.000,0.047,2950,2961,3803,0,0,0,0,0,0
$GC,5831,-0.88,-185.1,892.5,-13.2,580,5836,0.08,2.17,0.00,0.000,6,0.159,0.047,2973,1580,3802,0,0,0,0,0,0
$GC,6152,-0.88,-185.1,934.4,-13.2,596,6157,0.00,2.25,0.00,0.000,4,0.000,0.063,2973,166,3800,0,0,0,0,0,0
$GC,6170,-0.88,-185.1,936.9,-13.6,597,6174,0.00,2.17,0.00,0.000,6,0.000,0.041,2965,1593,3799,0,0,0,0,0,0
$GC,6497,-0.88,-185.1,982.6,-14.1,613,6501,0.00,2.10,0.00,0.000,4,0.000,0.050,2955,2955,3797,0,0,0,0,0,0
$GC,6562,-0.90,-185.1,990.7,-12.6,616,6566,0.00,2.15,0.00,0.000,6,0.000,0.050,2955,1595,3796,0,0,0,0,0,0
$STATE,6640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6640,begin apogee
$GC,6646,0.00,0.0,1002.1,14.0,620,6803,0.82,0.00,152.12,1.232,4,0.094,0.000,3253,1709,3068,0,0,0,0,0,0
$STATE,6803,end apogee,CONTROL_FINISHED_OK
$STATE,6804,begin climb
$GC,6806,0.68,185.1,1009.1,0.0,627,6976,0.60,2.40,160.68,1.169,4,0.029,0.060,3521,293,2313,0,0,0,0,0,0
$GC,7078,0.60,185.1,968.6,23.7,640,7083,0.25,2.17,0.00,0.000,6,0.142,0.032,3447,1699,2303,0,0,0,0,0,0
$GC,7407,0.57,185.1,910.9,17.5,656,7410,0.00,2.15,0.00,0.000,4,0.000,0.041,3447,3102,2298,0,0,0,0,0,0
$GC,7430,0.54,185.1,906.2,18.7,657,7435,0.12,2.22,0.00,0.000,6,0.161,0.047,3421,1698,2297,0,0,0,0,0,0
$GC,7758,0.52,185.1,856.1,14.9,673,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1698,2296,0,0,0,0,0,0
$GC,8067,0.52,188.3,812.0,13.7,688,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1698,2294,0,0,0,0,0,0
$GC,8377,0.51,193.0,769.9,13.7,703,8383,0.00,0.00,4.47,0.767,6,0.000,0.000,3422,1698,2281,0,0,0,0,0,0
$GC,8685,0.53,213.2,729.8,12.9,718,8707,0.00,0.00,19.90,1.072,6,0.000,0.000,3421,1698,2198,0,0,0,0,0,0
$GC,9015,0.55,228.1,686.3,13.1,734,9034,0.00,0.00,14.27,1.016,6,0.000,0.000,3422,1698,2137,0,0,0,0,0,0
$GC,9344,0.56,235.8,641.3,13.5,750,9353,0.00,0.00,7.68,0.892,6,0.000,0.000,3421,1698,2107,0,0,0,0,0,0
$GC,9653,0.57,249.1,599.8,13.2,765,9676,0.00,2.35,13.10,0.953,4,0.000,0.061,3432,291,2051,0,0,0,0,0,0
$GC,9712,0.60,258.5,591.7,13.4,770,9726,0.00,2.15,9.88,0.901,6,0.000,0.034,3431,1707,2014,0,0,0,0,0,0
$GC,10053,0.60,258.5,542.5,14.3,802,10057,0.00,2.17,0.00,0.000,4,0.000,0.043,3431,3105,2005,0,0,0,0,0,0
$GC,10072,0.61,258.5,539.9,14.5,803,10076,0.00,2.22,0.00,0.000,6,0.000,0.046,3440,1699,2005,0,0,0,0,0,0
$GC,10398,0.61,261.7,493.2,13.7,833,10402,0.00,2.25,0.00,0.000,4,0.000,0.060,3450,296,2004,0,0,0,0,0,0
$GC,10449,0.62,263.1,486.1,13.8,837,10462,0.00,2.10,4.07,0.616,6,0.000,0.033,3451,1699,1994,0,0,0,0,0,0
$GC,10780,0.63,268.8,441.6,13.6,868,10793,0.00,2.22,6.53,0.743,4,0.000,0.042,3451,3100,1971,0,0,0,0,0,0
$GC,10845,0.64,268.8,432.3,14.3,873,10851,0.00,2.20,0.00,0.000,6,0.000,0.046,3458,1698,1972,0,0,0,0,0,0
$GC,11170,0.64,268.8,387.1,14.6,904,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1698,1970,0,0,0,0,0,0
$GC,11489,0.66,286.1,342.9,13.0,934,11513,0.00,2.25,16.12,0.782,4,0.000,0.057,3469,287,1902,0,0,0,0,0,0
$GC,11553,0.70,305.6,334.2,12.9,939,11576,0.00,2.15,18.38,0.776,6,0.000,0.032,3469,1706,1822,0,0,0,0,0,0
$GC,11901,0.70,305.6,283.5,15.6,981,11908,0.00,2.15,0.00,0.000,4,0.000,0.041,3469,3102,1817,0,0,0,0,0,0
$GC,11987,0.75,317.1,271.2,13.3,996,12007,0.08,2.20,10.30,0.685,6,0.118,0.047,3558,1712,1776,0,0,0,0,0,0
$GC,12343,0.70,317.1,193.5,21.0,1059,12351,0.25,2.25,0.00,0.000,4,0.134,0.053,3481,285,1774,0,0,0,0,0,0
$GC,12421,0.79,364.5,182.2,11.5,1072,12471,0.08,2.15,40.03,0.682,6,0.119,0.032,3573,1714,1579,0,0,0,0,0,0
$GC,12808,0.74,364.5,93.2,22.0,1140,12815,0.25,0.00,0.00,0.000,6,0.130,0.000,3487,1714,1574,0,0,0,0,0,0
$GC,13151,1.00,513.8,59.8,6.4,1201,13275,0.22,2.40,115.12,0.591,4,0.050,0.054,3619,288,972,0,0,0,0,0,0
$GC,13320,0.98,513.8,27.0,22.7,1229,13328,0.17,2.17,0.00,0.000,6,0.124,0.028,3564,1716,968,0,0,0,0,0,0
$STATE,13466,end climb,SURFACE_DEPTH_REACHED
$STATE,13466,begin surface coast
$FINISH,2.0,1.022225
$STATE,13489,end surface coast,CONTROL_FINISHED_OK
$STATE,13489,begin surface
$SM_CCo,13567,0.00,0.000,0,0,962,516.60
$SM_GC,2.68,8.45,0.00,0.00,0.018,0.000,0.000,102,1535,962,-9.70,-0.40,516.60
$IRIDIUM_FIX,2326.22,12656.42,301010,141451
$TT8_MAMPS,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,23.1,54.559
$10V_AH,10.2,41.434
$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,21.975,117.975,592.650,0.000,0.000,28.113,37.372,145.682,0.500,0.000,17.544,3096.292,7611.260,664.924,2283.711,243.531,0.000,1808.365,0.000,2050.864,0.000,0.538,0.000
$DEVICE_MAMPS,234.855,74.205,1232.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334024
$DATA_FILE_SIZE,73644,1259
$CAP_FILE_SIZE,153181,0
$CFSIZE,260165632,229724160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 53.5,1
$GPS,301010,221131,2331.058,12653.560,38,1.8,38,-3.5