version: 66.08
glider: 168
mission: 2
dive: 427
start: 11 3 110 13 50 5
data:
$ID,168
$MISSION,2
$DIVE,427
$N_DIVES,437
$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,-3753.1123
$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,37
$R_STBD_OVSHOOT,52
$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
$GPS1,031110,134407,2241.758,12627.456,23,1.9,23,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-75.6
$GPS2,031110,134937,2241.705,12627.394,38,1.2,38,-3.2
$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,179.7,155081,-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,-185.1,0.0,0.0,0,24,0.00,0.00,-7.03,0.000,2,0.000,0.000,105,1535,1395,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.4,-0.0,1,132,9.88,2.22,-90.43,0.000,4,0.168,0.067,3032,177,3824,0,0,0,0,0,0
$GC,236,-0.64,-185.1,32.3,-23.5,36,244,0.08,2.05,0.00,0.000,6,0.177,0.037,3044,1534,3825,0,0,0,0,0,0
$GC,580,-0.63,-185.1,118.4,-19.2,97,586,0.00,2.17,0.00,0.000,4,0.000,0.041,3034,2961,3826,0,0,0,0,0,0
$GC,616,-0.63,-185.1,125.7,-19.2,103,624,0.08,2.17,0.00,0.000,6,0.152,0.041,3061,1555,3827,0,0,0,0,0,0
$GC,961,-0.64,-185.1,178.7,-14.3,164,967,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1555,3828,0,0,0,0,0,0
$GC,1304,-0.66,-185.1,220.6,-12.6,225,1311,0.08,0.00,0.00,0.000,6,0.119,0.000,2952,1555,3829,0,0,0,0,0,0
$GC,1647,-0.61,-185.1,301.0,-22.5,286,1652,0.30,2.17,0.00,0.000,4,0.151,0.053,3055,159,3829,0,0,0,0,0,0
$GC,1679,-0.61,-185.1,307.6,-16.2,288,1686,0.00,2.12,0.00,0.000,6,0.000,0.036,3050,1549,3829,0,0,0,0,0,0
$GC,2006,-0.64,-185.1,344.3,-10.8,319,2010,0.00,2.15,0.00,0.000,4,0.000,0.044,3044,2960,3829,0,0,0,0,0,0
$GC,2050,-0.70,-185.1,348.8,-9.6,322,2056,0.00,2.12,0.00,0.000,6,0.000,0.040,3044,1554,3829,0,0,0,0,0,0
$GC,2375,-0.73,-185.1,387.3,-11.6,353,2380,0.10,2.17,0.00,0.000,4,0.091,0.044,2920,2956,3827,0,0,0,0,0,0
$GC,2393,-0.74,-185.1,389.8,-13.0,354,2398,0.28,2.15,0.00,0.000,6,0.109,0.042,3011,1554,3827,0,0,0,0,0,0
$GC,2724,-0.75,-185.1,437.9,-12.7,385,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1553,3826,0,0,0,0,0,0
$GC,3044,-0.77,-185.1,476.0,-11.6,415,3048,0.00,2.17,0.00,0.000,4,0.000,0.057,3011,170,3825,0,0,0,0,0,0
$GC,3074,-0.78,-185.1,479.7,-12.3,417,3078,0.00,2.10,0.00,0.000,6,0.000,0.038,3004,1567,3825,0,0,0,0,0,0
$GC,3400,-0.80,-185.1,518.6,-13.4,447,3404,0.00,2.15,0.00,0.000,4,0.000,0.044,2995,2964,3823,0,0,0,0,0,0
$GC,3479,-0.84,-185.1,528.3,-11.9,453,3486,0.00,2.17,0.00,0.000,6,0.000,0.043,2996,1562,3823,0,0,0,0,0,0
$GC,3805,-0.85,-185.1,572.9,-13.5,484,3809,0.00,2.20,0.00,0.000,4,0.000,0.058,2995,170,3820,0,0,0,0,0,0
$GC,3849,-0.87,-185.1,579.5,-13.8,487,3856,0.00,2.12,0.00,0.000,6,0.000,0.038,2987,1567,3819,0,0,0,0,0,0
$GC,4169,-0.87,-185.1,625.9,-15.2,510,4173,0.00,2.15,0.00,0.000,4,0.000,0.045,2978,2963,3818,0,0,0,0,0,0
$GC,4213,-0.90,-185.1,632.3,-13.3,512,4217,0.00,2.15,0.00,0.000,6,0.000,0.044,2978,1569,3817,0,0,0,0,0,0
$GC,4534,-0.90,-185.1,679.0,-14.3,528,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1569,3814,0,0,0,0,0,0
$GC,4844,-0.90,-185.1,718.6,-12.1,543,4848,0.00,2.22,0.00,0.000,4,0.000,0.060,2978,164,3812,0,0,0,0,0,0
$GC,4884,-0.91,-185.1,723.6,-12.6,545,4888,0.00,2.12,0.00,0.000,6,0.000,0.039,2970,1567,3811,0,0,0,0,0,0
$GC,5211,-0.91,-185.1,764.0,-12.6,561,5215,0.00,2.15,0.00,0.000,4,0.000,0.047,2960,2956,3808,0,0,0,0,0,0
$GC,5267,-0.93,-185.1,771.0,-11.6,563,5275,0.00,2.20,0.00,0.000,6,0.000,0.047,2960,1564,3808,0,0,0,0,0,0
$GC,5583,-0.93,-185.1,814.4,-14.0,579,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1563,3806,0,0,0,0,0,0
$GC,5893,-0.93,-185.1,855.6,-13.0,594,5897,0.00,2.17,0.00,0.000,4,0.000,0.047,2951,2955,3803,0,0,0,0,0,0
$GC,5914,-0.93,-185.1,858.7,-13.0,595,5918,0.00,2.15,0.00,0.000,6,0.000,0.049,2951,1576,3803,0,0,0,0,0,0
$GC,6243,-0.92,-185.1,902.7,-13.6,611,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1576,3800,0,0,0,0,0,0
$GC,6551,-0.92,-185.1,945.6,-14.0,626,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1576,3798,0,0,0,0,0,0
$GC,6860,-0.92,-185.1,988.6,-14.0,641,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1576,3796,0,0,0,0,0,0
$STATE,6941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6941,begin apogee
$GC,6946,0.00,0.0,1000.2,14.1,645,7105,0.82,0.00,153.43,1.232,4,0.094,0.000,3250,1701,3068,0,0,0,0,0,0
$STATE,7106,end apogee,CONTROL_FINISHED_OK
$STATE,7106,begin climb
$GC,7108,0.68,185.1,1006.9,0.0,652,7278,0.60,2.42,162.02,1.161,4,0.030,0.062,3522,290,2312,0,0,0,0,0,0
$GC,7341,0.61,185.1,974.7,23.0,663,7346,0.25,2.22,0.00,0.000,6,0.139,0.031,3449,1714,2304,0,0,0,0,0,0
$GC,7664,0.57,185.1,916.4,17.3,679,7668,0.00,2.15,0.00,0.000,4,0.000,0.041,3449,3102,2296,0,0,0,0,0,0
$GC,7697,0.54,185.1,909.8,18.3,680,7705,0.12,2.22,0.00,0.000,6,0.161,0.048,3423,1696,2296,0,0,0,0,0,0
$GC,8014,0.53,185.1,862.8,14.5,696,8018,0.00,2.28,0.00,0.000,4,0.000,0.062,3434,293,2295,0,0,0,0,0,0
$GC,8041,0.51,185.1,858.2,15.6,697,8046,0.08,2.15,0.00,0.000,6,0.173,0.033,3412,1708,2293,0,0,0,0,0,0
$GC,8369,0.53,205.0,814.8,12.9,713,8391,0.00,2.17,15.45,1.090,4,0.000,0.042,3412,3107,2231,0,0,0,0,0,0
$GC,8441,0.55,214.2,804.9,13.4,716,8458,0.00,2.22,9.77,1.009,6,0.000,0.048,3421,1707,2194,0,0,0,0,0,0
$GC,8769,0.57,231.0,762.2,13.0,732,8792,0.00,2.33,16.33,1.066,4,0.000,0.062,3431,297,2124,0,0,0,0,0,0
$GC,8830,0.57,231.0,753.4,14.0,734,8838,0.00,2.20,0.00,0.000,6,0.000,0.034,3431,1702,2121,0,0,0,0,0,0
$GC,9147,0.57,231.0,707.5,14.9,750,9151,0.00,2.15,0.00,0.000,4,0.000,0.044,3431,3102,2119,0,0,0,0,0,0
$GC,9169,0.57,231.0,703.9,15.7,751,9173,0.00,2.20,0.00,0.000,6,0.000,0.047,3440,1704,2118,0,0,0,0,0,0
$GC,9490,0.57,231.0,654.6,15.6,767,9494,0.00,2.28,0.00,0.000,4,0.000,0.062,3450,296,2117,0,0,0,0,0,0
$GC,9529,0.57,231.0,648.1,16.4,769,9534,0.08,2.12,0.00,0.000,6,0.171,0.034,3429,1708,2115,0,0,0,0,0,0
$GC,9856,0.57,231.0,600.5,14.4,785,9860,0.00,2.28,0.00,0.000,4,0.000,0.062,3440,291,2114,0,0,0,0,0,0
$GC,9877,0.57,231.0,597.0,15.1,786,9884,0.00,2.15,0.00,0.000,6,0.000,0.034,3440,1724,2114,0,0,0,0,0,0
$GC,10203,0.57,231.0,549.1,14.0,817,10207,0.00,2.30,0.00,0.000,4,0.000,0.061,3451,288,2114,0,0,0,0,0,0
$GC,10246,0.57,231.0,542.7,14.0,820,10253,0.00,2.15,0.00,0.000,6,0.000,0.034,3450,1687,2112,0,0,0,0,0,0
$GC,10572,0.57,231.0,497.6,15.1,851,10576,0.00,2.28,0.00,0.000,4,0.000,0.061,3460,286,2113,0,0,0,0,0,0
$GC,10591,0.56,231.0,494.8,14.9,852,10595,0.10,2.10,0.00,0.000,6,0.158,0.033,3429,1692,2112,0,0,0,0,0,0
$GC,10917,0.59,250.7,452.7,12.9,882,10941,0.00,2.17,16.70,0.890,4,0.000,0.041,3430,3099,2044,0,0,0,0,0,0
$GC,11023,0.65,273.6,439.1,12.7,891,11050,0.08,2.22,20.98,0.882,6,0.117,0.047,3510,1689,1951,0,0,0,0,0,0
$GC,11377,0.61,273.6,373.9,18.6,924,11381,0.20,2.28,0.00,0.000,4,0.139,0.059,3458,293,1945,0,0,0,0,0,0
$GC,11420,0.62,273.6,366.8,14.6,927,11428,0.00,2.10,0.00,0.000,6,0.000,0.032,3458,1692,1943,0,0,0,0,0,0
$GC,11746,0.63,282.7,322.8,13.4,958,11756,0.00,0.00,7.90,0.707,6,0.000,0.000,3458,1694,1914,0,0,0,0,0,0
$GC,12082,0.64,282.7,277.2,14.1,1003,12089,0.00,2.25,0.00,0.000,4,0.000,0.059,3468,294,1913,0,0,0,0,0,0
$GC,12125,0.67,285.9,271.2,13.7,1010,12139,0.00,2.08,4.18,0.520,6,0.000,0.031,3468,1689,1902,0,0,0,0,0,0
$GC,12474,0.70,303.1,223.5,13.0,1072,12493,0.00,0.00,16.48,0.695,6,0.000,0.000,3468,1689,1832,0,0,0,0,0,0
$GC,12831,0.75,331.9,175.7,12.4,1135,12864,0.08,2.33,24.95,0.667,4,0.119,0.055,3578,286,1713,0,0,0,0,0,0
$GC,12877,0.70,331.9,167.4,19.9,1142,12884,0.32,2.10,0.00,0.000,6,0.112,0.029,3470,1692,1712,0,0,0,0,0,0
$GC,13224,0.80,386.6,123.6,11.1,1203,13274,0.12,2.35,45.03,0.633,4,0.080,0.055,3594,289,1490,0,0,0,0,0,0
$GC,13318,0.75,386.6,104.7,23.2,1218,13325,0.32,2.08,0.00,0.000,6,0.108,0.028,3485,1681,1486,0,0,0,0,0,0
$GC,13662,0.93,487.4,65.1,8.8,1279,13748,0.17,2.28,78.72,0.584,4,0.059,0.054,3612,287,1079,0,0,0,0,0,0
$GC,13807,0.92,487.4,38.0,18.2,1303,13816,0.22,2.08,0.00,0.000,6,0.114,0.028,3538,1664,1075,0,0,0,0,0,0
$STATE,14065,end climb,SURFACE_DEPTH_REACHED
$STATE,14065,begin surface coast
$FINISH,2.6,1.011214
$STATE,14094,end surface coast,CONTROL_FINISHED_OK
$STATE,14094,begin surface
$SM_CCo,14172,0.00,0.000,0,0,1070,489.86
$SM_GC,3.48,8.27,0.00,0.00,0.013,0.000,0.000,103,1529,1070,-9.70,-0.59,489.86
$IRIDIUM_FIX,2232.34,12622.76,031110,090948
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,23.0,58.492
$10V_AH,10.2,43.234
$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,22.625,122.800,571.925,0.000,0.000,28.650,16.247,135.424,0.750,0.000,39.422,3316.118,7837.439,664.634,2417.548,261.840,0.000,1872.260,0.000,2192.228,0.000,0.539,0.000
$DEVICE_MAMPS,176.715,74.205,1232.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,76859,1354
$CAP_FILE_SIZE,160426,0
$CFSIZE,260165632,227954688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,285.0,1
$GPS,031110,174730,2239.654,12626.646,36,1.7,36,-3.2