version: 66.08
glider: 168
mission: 2
dive: 420
start: 11 2 110 10 0 50
data:
$ID,168
$MISSION,2
$DIVE,420
$N_DIVES,423
$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,-3740.5403
$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,31
$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
$GPS1,021110,095437,2258.552,12635.014,27,1.5,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-75.6
$GPS2,021110,100022,2258.485,12634.908,14,2.3,33,-3.3
$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,177.5,188614,-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,13,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.75,0.000,2,0.000,0.000,104,1540,1204,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.5,-0.0,1,151,9.93,2.15,-105.72,0.000,4,0.171,0.065,3035,163,3821,0,0,0,0,0,0
$GC,225,-0.66,-185.1,17.8,-25.1,34,232,0.00,2.10,0.00,0.000,6,0.000,0.034,3026,1548,3821,0,0,0,0,0,0
$GC,567,-0.62,-185.1,114.2,-23.9,95,576,0.10,2.17,0.00,0.000,4,0.186,0.048,3053,165,3822,0,0,0,0,0,0
$GC,605,-0.61,-185.1,122.6,-20.5,101,612,0.00,2.05,0.00,0.000,6,0.000,0.034,3046,1538,3822,0,0,0,0,0,0
$GC,949,-0.61,-185.1,186.1,-16.7,162,955,0.00,2.17,0.00,0.000,4,0.000,0.041,3036,2960,3824,0,0,0,0,0,0
$GC,1002,-0.64,-185.1,193.1,-12.2,171,1010,0.00,2.17,0.00,0.000,6,0.000,0.041,3037,1530,3824,0,0,0,0,0,0
$GC,1346,-0.64,-185.1,247.5,-15.4,232,1353,0.00,2.20,0.00,0.000,4,0.000,0.044,3032,2960,3824,0,0,0,0,0,0
$GC,1373,-0.65,-185.1,251.4,-16.1,236,1380,0.00,2.17,0.00,0.000,6,0.000,0.041,3032,1533,3824,0,0,0,0,0,0
$GC,1720,-0.65,-185.1,307.3,-15.6,294,1724,0.00,2.20,0.00,0.000,4,0.000,0.045,3023,2953,3823,0,0,0,0,0,0
$GC,1763,-0.68,-185.1,313.5,-13.3,297,1770,0.00,2.17,0.00,0.000,6,0.000,0.041,3023,1536,3824,0,0,0,0,0,0
$GC,2089,-0.68,-185.1,359.5,-14.3,328,2093,0.00,2.10,0.00,0.000,4,0.000,0.051,3023,168,3823,0,0,0,0,0,0
$GC,2107,-0.68,-185.1,362.1,-14.1,329,2111,0.08,2.08,0.00,0.000,6,0.170,0.037,3041,1551,3823,0,0,0,0,0,0
$GC,2438,-0.71,-185.1,403.2,-12.4,360,2442,0.00,2.15,0.00,0.000,4,0.000,0.046,3035,2960,3822,0,0,0,0,0,0
$GC,2486,-0.77,-185.1,408.4,-10.5,364,2491,0.10,2.12,0.00,0.000,6,0.089,0.041,2923,1555,3822,0,0,0,0,0,0
$GC,2812,-0.71,-185.1,481.4,-21.2,394,2816,0.30,2.17,0.00,0.000,4,0.128,0.041,3014,2960,3821,0,0,0,0,0,0
$GC,2833,-0.68,-185.1,485.5,-17.7,395,2842,0.08,2.12,0.00,0.000,6,0.141,0.043,3042,1570,3821,0,0,0,0,0,0
$GC,3160,-0.73,-185.1,515.6,-9.7,426,3161,0.10,0.00,0.00,0.000,6,0.095,0.000,2930,1569,3819,0,0,0,0,0,0
$GC,3477,-0.68,-185.1,579.5,-20.4,456,3482,0.30,2.15,0.00,0.000,4,0.119,0.041,3027,2957,3817,0,0,0,0,0,0
$GC,3522,-0.74,-185.1,585.6,-10.0,459,3529,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,1572,3817,0,0,0,0,0,0
$GC,3853,-0.78,-185.1,618.2,-9.3,482,3855,0.08,0.00,0.00,0.000,6,0.116,0.000,2921,1572,3814,0,0,0,0,0,0
$GC,4162,-0.73,-185.1,676.1,-19.2,497,4164,0.32,0.00,0.00,0.000,6,0.119,0.000,3024,1571,3812,0,0,0,0,0,0
$GC,4471,-0.77,-185.1,709.0,-10.4,512,4473,0.08,0.00,0.00,0.000,6,0.118,0.000,2924,1572,3809,0,0,0,0,0,0
$GC,4781,-0.74,-185.1,767.7,-19.5,527,4786,0.25,2.15,0.00,0.000,4,0.124,0.044,3002,2954,3806,0,0,0,0,0,0
$GC,4825,-0.79,-185.1,773.9,-10.4,529,4830,0.00,2.15,0.00,0.000,6,0.000,0.047,3002,1573,3806,0,0,0,0,0,0
$GC,5148,-0.81,-185.1,807.5,-10.4,545,5151,0.00,2.15,0.00,0.000,4,0.000,0.048,2996,2956,3803,0,0,0,0,0,0
$GC,5166,-0.84,-185.1,809.3,-9.8,546,5170,0.00,2.15,0.00,0.000,6,0.000,0.047,2996,1576,3803,0,0,0,0,0,0
$GC,5499,-0.87,-185.1,844.5,-10.7,562,5501,0.08,0.00,0.00,0.000,6,0.119,0.000,2897,1575,3801,0,0,0,0,0,0
$GC,5809,-0.82,-185.1,902.2,-18.9,577,5811,0.28,0.00,0.00,0.000,6,0.119,0.000,2988,1575,3797,0,0,0,0,0,0
$GC,6119,-0.84,-185.1,937.4,-10.8,592,6123,0.00,2.17,0.00,0.000,4,0.000,0.049,2982,2951,3796,0,0,0,0,0,0
$GC,6174,-0.88,-185.1,943.3,-9.7,594,6181,0.00,2.15,0.00,0.000,6,0.000,0.050,2982,1581,3795,0,0,0,0,0,0
$GC,6491,-0.90,-185.1,978.1,-11.4,610,6496,0.08,2.28,0.00,0.000,4,0.118,0.063,2881,167,3792,0,0,0,0,0,0
$GC,6546,-0.85,-185.1,988.5,-20.3,612,6554,0.32,2.15,0.00,0.000,6,0.123,0.042,2976,1575,3792,0,0,0,0,0,0
$STATE,6633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6633,begin apogee
$GC,6639,0.00,0.0,1000.7,13.6,617,6797,0.75,0.00,151.55,1.235,4,0.085,0.000,3253,1702,3068,0,0,0,0,0,0
$STATE,6798,end apogee,CONTROL_FINISHED_OK
$STATE,6798,begin climb
$GC,6801,0.68,185.1,1008.3,0.0,624,6971,0.60,2.33,160.98,1.169,4,0.031,0.047,3523,3112,2313,0,0,0,0,0,0
$GC,7066,0.61,185.1,971.0,21.6,636,7075,0.30,2.28,0.00,0.000,6,0.150,0.047,3447,1700,2305,0,0,0,0,0,0
$GC,7382,0.57,185.1,922.0,15.8,652,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1700,2300,0,0,0,0,0,0
$GC,7692,0.54,185.1,871.8,16.5,667,7697,0.08,2.25,0.00,0.000,4,0.197,0.060,3437,294,2298,0,0,0,0,0,0
$GC,7709,0.51,185.1,868.9,16.6,668,7714,0.08,2.15,0.00,0.000,6,0.169,0.034,3416,1720,2296,0,0,0,0,0,0
$GC,8036,0.51,185.1,821.6,14.6,684,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1722,2295,0,0,0,0,0,0
$GC,8345,0.51,185.1,776.4,14.8,699,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1722,2294,0,0,0,0,0,0
$GC,8654,0.51,185.1,732.4,14.0,714,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1722,2293,0,0,0,0,0,0
$GC,8964,0.52,188.9,689.8,13.7,729,8968,0.00,2.28,0.00,0.000,4,0.000,0.059,3426,294,2292,0,0,0,0,0,0
$GC,8997,0.52,188.9,685.0,14.1,730,9004,0.00,2.12,0.00,0.000,6,0.000,0.034,3426,1706,2291,0,0,0,0,0,0
$GC,9314,0.51,188.9,640.2,14.7,746,9317,0.00,2.15,0.00,0.000,4,0.000,0.044,3426,3102,2290,0,0,0,0,0,0
$GC,9387,0.51,188.9,629.2,14.3,749,9391,0.10,2.20,0.00,0.000,6,0.165,0.047,3408,1706,2291,0,0,0,0,0,0
$GC,9707,0.58,240.2,591.3,11.3,767,9763,0.10,2.40,45.25,1.008,4,0.093,0.060,3495,293,2086,0,0,0,0,0,0
$GC,9824,0.55,240.2,571.3,17.6,777,9831,0.22,2.15,0.00,0.000,6,0.119,0.034,3424,1697,2081,0,0,0,0,0,0
$GC,10150,0.58,255.2,530.9,13.1,808,10168,0.00,2.20,12.88,0.913,4,0.000,0.042,3424,3102,2027,0,0,0,0,0,0
$GC,10207,0.62,268.6,523.3,13.2,812,10227,0.08,2.25,12.88,0.880,6,0.115,0.047,3502,1700,1972,0,0,0,0,0,0
$GC,10545,0.59,268.6,458.0,20.1,844,10550,0.20,2.28,0.00,0.000,4,0.138,0.057,3451,294,1966,0,0,0,0,0,0
$GC,10589,0.60,268.6,450.5,15.0,847,10596,0.00,2.12,0.00,0.000,6,0.000,0.034,3451,1700,1964,0,0,0,0,0,0
$GC,10914,0.60,268.6,403.8,14.3,878,10918,0.00,2.25,0.00,0.000,4,0.000,0.058,3458,293,1963,0,0,0,0,0,0
$GC,10943,0.60,268.6,399.5,15.3,880,10947,0.00,2.12,0.00,0.000,6,0.000,0.033,3458,1700,1962,0,0,0,0,0,0
$GC,11268,0.60,268.6,351.1,14.4,910,11272,0.00,2.25,0.00,0.000,4,0.000,0.058,3467,294,1962,0,0,0,0,0,0
$GC,11295,0.60,268.6,346.8,14.7,912,11304,0.05,2.12,0.00,0.000,6,0.125,0.032,3444,1689,1962,0,0,0,0,0,0
$GC,11621,0.67,312.2,307.3,11.7,943,11662,0.08,0.00,36.75,0.798,6,0.117,0.000,3518,1690,1794,0,0,0,0,0,0
$GC,11998,0.64,312.2,237.9,19.2,1006,12005,0.20,0.00,0.00,0.000,6,0.131,0.000,3454,1692,1789,0,0,0,0,0,0
$GC,12343,0.72,354.7,193.0,11.7,1067,12388,0.10,2.30,35.25,0.694,4,0.094,0.055,3565,294,1621,0,0,0,0,0,0
$GC,12424,0.68,354.7,177.5,21.4,1080,12432,0.30,2.12,0.00,0.000,6,0.103,0.031,3463,1700,1617,0,0,0,0,0,0
$GC,12772,0.82,438.2,136.5,9.7,1141,12847,0.15,2.38,66.72,0.645,4,0.069,0.054,3595,290,1280,0,0,0,0,0,0
$GC,12882,0.78,438.2,112.1,24.8,1159,12890,0.30,2.15,0.00,0.000,6,0.106,0.029,3495,1698,1277,0,0,0,0,0,0
$GC,13228,0.93,501.4,68.3,10.7,1220,13285,0.15,2.33,49.22,0.586,4,0.068,0.052,3605,293,1022,0,0,0,0,0,0
$GC,13359,0.93,501.4,44.2,18.3,1242,13366,0.17,2.05,0.00,0.000,6,0.116,0.028,3546,1671,1019,0,0,0,0,0,0
$STATE,13628,end climb,SURFACE_DEPTH_REACHED
$STATE,13628,begin surface coast
$FINISH,2.5,1.008802
$STATE,13654,end surface coast,CONTROL_FINISHED_OK
$STATE,13654,begin surface
$SM_CCo,13731,0.00,0.000,0,0,1014,503.85
$SM_GC,3.29,8.38,0.00,0.00,0.018,0.000,0.000,103,1531,1014,-9.71,-0.57,503.85
$IRIDIUM_FIX,2253.38,12640.02,021110,050516
$TT8_MAMPS,0.027713
$HUMID,49.09
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,23.1,57.296
$10V_AH,10.2,42.684
$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,24.825,109.550,571.475,0.000,0.000,30.082,42.701,128.019,1.000,0.000,36.519,3154.592,7676.777,677.645,2313.306,249.317,0.000,1825.098,0.000,2073.613,0.000,0.538,0.000
$DEVICE_MAMPS,197.370,72.675,1235.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,73677,1294
$CAP_FILE_SIZE,153558,0
$CFSIZE,260165632,228503552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,275.5,1
$GPS,021110,135055,2256.429,12633.541,40,2.0,40,-3.3