version: 66.08
glider: 168
mission: 2
dive: 443
start: 11 6 110 6 3 30
data:
$ID,168
$MISSION,2
$DIVE,443
$N_DIVES,456
$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,-3780.8503
$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,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
$GPS1,061110,055736,2207.465,12613.710,30,1.3,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-75.1
$GPS2,061110,060302,2207.454,12613.662,15,1.7,15,-3.1
$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,185.4,87598,-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,-7.72,0.000,2,0.000,0.000,104,1533,1319,0,0,0,0,0,0
$GC,27,-0.68,-185.1,3.7,-0.0,1,144,9.77,2.15,-97.57,0.000,4,0.164,0.061,3033,166,3819,0,0,0,0,0,0
$GC,224,-0.66,-185.1,26.3,-23.5,34,232,0.08,2.10,0.00,0.000,6,0.174,0.038,3045,1545,3821,0,0,0,0,0,0
$GC,567,-0.64,-185.1,110.2,-17.1,95,574,0.00,2.20,0.00,0.000,4,0.000,0.044,3037,2961,3822,0,0,0,0,0,0
$GC,627,-0.67,-185.1,119.6,-13.5,105,634,0.00,2.15,0.00,0.000,6,0.000,0.041,3037,1558,3823,0,0,0,0,0,0
$GC,969,-0.67,-185.1,180.1,-18.1,166,975,0.00,2.17,0.00,0.000,4,0.000,0.054,3037,166,3824,0,0,0,0,0,0
$GC,1038,-0.69,-185.1,192.4,-15.9,178,1045,0.00,2.10,0.00,0.000,6,0.000,0.038,3028,1563,3824,0,0,0,0,0,0
$GC,1381,-0.69,-185.1,248.0,-14.2,239,1387,0.00,2.15,0.00,0.000,4,0.000,0.043,3019,2961,3825,0,0,0,0,0,0
$GC,1407,-0.70,-185.1,251.3,-13.4,243,1413,0.00,2.15,0.00,0.000,6,0.000,0.042,3019,1552,3825,0,0,0,0,0,0
$GC,1750,-0.70,-185.1,300.5,-13.6,304,1754,0.00,2.15,0.00,0.000,4,0.000,0.054,3019,166,3825,0,0,0,0,0,0
$GC,1783,-0.70,-185.1,305.7,-15.1,306,1790,0.00,2.12,0.00,0.000,6,0.000,0.039,3010,1544,3825,0,0,0,0,0,0
$GC,2110,-0.70,-185.1,354.2,-15.0,337,2114,0.08,2.20,0.00,0.000,4,0.187,0.044,3026,2961,3824,0,0,0,0,0,0
$GC,2139,-0.73,-185.1,357.9,-12.0,339,2143,0.00,2.17,0.00,0.000,6,0.000,0.042,3026,1550,3825,0,0,0,0,0,0
$GC,2471,-0.75,-185.1,401.3,-12.7,370,2475,0.00,2.20,0.00,0.000,4,0.000,0.045,3018,2964,3823,0,0,0,0,0,0
$GC,2512,-0.79,-185.1,405.9,-10.8,373,2517,0.08,2.17,0.00,0.000,6,0.116,0.044,2914,1562,3823,0,0,0,0,0,0
$GC,2838,-0.73,-185.1,475.1,-21.9,403,2843,0.30,2.20,0.00,0.000,4,0.122,0.056,3017,162,3823,0,0,0,0,0,0
$GC,2890,-0.75,-185.1,482.9,-11.6,407,2894,0.00,2.12,0.00,0.000,6,0.000,0.039,3010,1570,3822,0,0,0,0,0,0
$GC,3216,-0.77,-185.1,519.0,-11.5,437,3220,0.00,2.12,0.00,0.000,4,0.000,0.045,3001,2964,3820,0,0,0,0,0,0
$GC,3268,-0.81,-185.1,524.8,-10.3,441,3272,0.00,2.17,0.00,0.000,6,0.000,0.044,3002,1563,3820,0,0,0,0,0,0
$GC,3600,-0.82,-185.1,565.6,-11.8,472,3604,0.00,2.15,0.00,0.000,4,0.000,0.044,2993,2957,3818,0,0,0,0,0,0
$GC,3634,-0.85,-185.1,569.7,-11.5,475,3638,0.00,2.17,0.00,0.000,6,0.000,0.046,2992,1568,3818,0,0,0,0,0,0
$GC,3961,-0.86,-185.1,608.3,-12.0,502,3963,0.08,0.00,0.00,0.000,6,0.119,0.000,2879,1568,3815,0,0,0,0,0,0
$GC,4268,-0.79,-185.1,677.7,-23.7,517,4273,0.35,2.15,0.00,0.000,4,0.114,0.043,2990,2956,3812,0,0,0,0,0,0
$GC,4301,-0.80,-185.1,684.0,-15.2,518,4308,0.00,2.15,0.00,0.000,6,0.000,0.047,2990,1577,3812,0,0,0,0,0,0
$GC,4617,-0.81,-185.1,723.1,-12.1,534,4621,0.00,2.25,0.00,0.000,4,0.000,0.062,2990,158,3809,0,0,0,0,0,0
$GC,4681,-0.84,-185.1,731.2,-12.2,537,4685,0.00,2.15,0.00,0.000,6,0.000,0.040,2983,1570,3808,0,0,0,0,0,0
$GC,5015,-0.85,-185.1,773.1,-12.5,553,5019,0.00,2.12,0.00,0.000,4,0.000,0.047,2973,2957,3806,0,0,0,0,0,0
$GC,5065,-0.88,-185.1,779.4,-11.0,555,5069,0.00,2.17,0.00,0.000,6,0.000,0.049,2973,1567,3806,0,0,0,0,0,0
$GC,5387,-0.88,-185.1,820.9,-12.9,571,5391,0.00,2.22,0.00,0.000,4,0.000,0.063,2973,165,3803,0,0,0,0,0,0
$GC,5404,-0.88,-185.1,823.3,-12.9,572,5408,0.00,2.15,0.00,0.000,6,0.000,0.042,2965,1572,3803,0,0,0,0,0,0
$GC,5731,-0.88,-185.1,868.9,-14.2,588,5735,0.00,2.15,0.00,0.000,4,0.000,0.048,2955,2960,3800,0,0,0,0,0,0
$GC,5759,-0.89,-185.1,872.6,-13.0,589,5763,0.00,2.20,0.00,0.000,6,0.000,0.049,2955,1572,3800,0,0,0,0,0,0
$GC,6075,-0.89,-185.1,915.4,-12.8,604,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1571,3798,0,0,0,0,0,0
$GC,6384,-0.89,-185.1,953.8,-12.4,619,6388,0.00,2.15,0.00,0.000,4,0.000,0.047,2946,2956,3796,0,0,0,0,0,0
$GC,6423,-0.90,-185.1,958.7,-11.5,620,6431,0.05,2.17,0.00,0.000,6,0.193,0.051,2963,1574,3795,0,0,0,0,0,0
$GC,6739,-0.90,-185.1,996.5,-12.5,636,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1574,3793,0,0,0,0,0,0
$STATE,6778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6778,begin apogee
$GC,6784,0.00,0.0,1001.5,12.3,638,6941,0.80,0.00,152.02,1.224,4,0.090,0.000,3255,1711,3068,0,0,0,0,0,0
$STATE,6942,end apogee,CONTROL_FINISHED_OK
$STATE,6942,begin climb
$GC,6944,0.68,185.1,1007.6,0.0,645,7113,0.57,2.42,161.65,1.154,4,0.029,0.063,3526,293,2313,0,0,0,0,0,0
$GC,7174,0.60,185.1,976.1,24.8,656,7179,0.28,2.20,0.00,0.000,6,0.139,0.033,3445,1704,2304,0,0,0,0,0,0
$GC,7503,0.57,185.1,917.3,17.4,672,7507,0.00,2.17,0.00,0.000,4,0.000,0.041,3445,3111,2297,0,0,0,0,0,0
$GC,7552,0.55,185.1,907.7,17.5,674,7557,0.10,2.22,0.00,0.000,6,0.173,0.047,3428,1695,2296,0,0,0,0,0,0
$GC,7874,0.53,185.1,858.0,15.4,690,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1695,2295,0,0,0,0,0,0
$GC,8184,0.51,185.1,811.9,15.0,705,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1695,2293,0,0,0,0,0,0
$GC,8493,0.50,186.4,767.7,13.8,720,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1695,2292,0,0,0,0,0,0
$GC,8802,0.48,186.4,724.0,14.1,735,8806,0.08,2.20,0.00,0.000,4,0.196,0.041,3406,3105,2291,0,0,0,0,0,0
$GC,8845,0.52,210.8,717.9,12.7,737,8870,0.00,2.22,20.15,1.060,6,0.000,0.047,3412,1698,2208,0,0,0,0,0,0
$GC,9194,0.53,219.4,671.6,13.5,754,9208,0.00,2.33,8.35,0.920,4,0.000,0.064,3423,298,2174,0,0,0,0,0,0
$GC,9237,0.53,219.4,665.5,14.4,756,9241,0.00,2.15,0.00,0.000,6,0.000,0.035,3423,1707,2172,0,0,0,0,0,0
$GC,9564,0.56,237.4,621.8,13.0,772,9588,0.00,2.25,17.27,0.992,4,0.000,0.044,3423,3104,2099,0,0,0,0,0,0
$GC,9616,0.57,242.3,614.5,13.6,774,9626,0.00,2.22,5.65,0.779,6,0.000,0.047,3430,1703,2081,0,0,0,0,0,0
$GC,9943,0.57,242.3,569.0,14.6,799,9947,0.00,2.30,0.00,0.000,4,0.000,0.063,3441,289,2077,0,0,0,0,0,0
$GC,9982,0.58,242.3,563.4,14.0,802,9986,0.00,2.15,0.00,0.000,6,0.000,0.035,3441,1707,2075,0,0,0,0,0,0
$GC,10307,0.58,242.3,516.6,14.4,832,10311,0.00,2.15,0.00,0.000,4,0.000,0.043,3441,3109,2074,0,0,0,0,0,0
$GC,10325,0.58,242.3,514.0,14.8,833,10329,0.00,2.20,0.00,0.000,6,0.000,0.046,3449,1706,2073,0,0,0,0,0,0
$GC,10656,0.58,242.3,465.9,14.4,864,10660,0.00,2.25,0.00,0.000,4,0.000,0.062,3460,296,2073,0,0,0,0,0,0
$GC,10695,0.58,242.3,459.9,14.3,867,10700,0.08,2.12,0.00,0.000,6,0.171,0.034,3437,1709,2072,0,0,0,0,0,0
$GC,11021,0.60,254.2,416.0,13.3,897,11037,0.00,2.30,11.25,0.819,4,0.000,0.060,3448,290,2030,0,0,0,0,0,0
$GC,11135,0.64,273.1,401.0,12.9,906,11157,0.00,2.12,17.15,0.837,6,0.000,0.034,3447,1700,1954,0,0,0,0,0,0
$GC,11477,0.64,277.0,353.1,13.7,938,11487,0.00,0.00,4.30,0.571,6,0.000,0.000,3447,1700,1937,0,0,0,0,0,0
$GC,11806,0.67,291.1,309.1,13.2,969,11830,0.08,2.33,13.73,0.749,4,0.125,0.060,3532,294,1880,0,0,0,0,0,0
$GC,11894,0.63,291.1,292.9,19.6,979,11901,0.25,2.12,0.00,0.000,6,0.126,0.033,3452,1691,1878,0,0,0,0,0,0
$GC,12239,0.67,310.9,245.2,12.9,1040,12264,0.00,2.20,17.98,0.710,4,0.000,0.037,3452,3105,1799,0,0,0,0,0,0
$GC,12311,0.77,357.2,236.0,11.6,1052,12361,0.15,2.25,39.45,0.714,6,0.068,0.045,3573,1691,1610,0,0,0,0,0,0
$GC,12697,0.72,357.2,145.1,21.9,1120,12705,0.25,2.22,0.00,0.000,4,0.134,0.055,3496,294,1603,0,0,0,0,0,0
$GC,12775,0.79,373.7,132.6,13.1,1133,12794,0.00,2.10,13.30,0.601,6,0.000,0.033,3497,1694,1544,0,0,0,0,0,0
$GC,13131,0.88,417.3,88.2,11.7,1196,13176,0.12,2.30,36.17,0.593,4,0.076,0.056,3616,286,1366,0,0,0,0,0,0
$GC,13201,0.86,417.3,76.1,19.4,1207,13208,0.28,2.10,0.00,0.000,6,0.106,0.032,3523,1681,1363,0,0,0,0,0,0
$GC,13546,0.99,498.6,36.6,9.8,1268,13620,0.15,2.30,63.35,0.547,4,0.065,0.053,3658,290,1033,0,0,0,0,0,0
$GC,13638,0.93,498.6,12.8,30.1,1283,13646,0.35,2.10,0.00,0.000,6,0.126,0.027,3548,1682,1032,0,0,0,0,0,0
$STATE,13689,end climb,SURFACE_DEPTH_REACHED
$STATE,13689,begin surface coast
$FINISH,2.7,1.022449
$STATE,13715,end surface coast,CONTROL_FINISHED_OK
$STATE,13715,begin surface
$SM_CCo,13793,0.00,0.000,0,0,1025,500.90
$SM_GC,3.70,8.38,0.00,0.00,0.015,0.000,0.000,103,1538,1025,-9.68,-0.31,500.90
$IRIDIUM_FIX,2159.71,12613.10,061110,020238
$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,23.0,61.245
$10V_AH,10.1,44.501
$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,22.675,131.650,581.775,0.000,0.000,25.202,41.806,129.123,0.500,0.000,17.337,3195.491,7646.789,663.401,2340.311,269.361,0.000,1850.198,0.000,2120.001,0.000,0.538,0.000
$DEVICE_MAMPS,195.840,70.380,1224.000,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,73587,1296
$CAP_FILE_SIZE,160964,0
$CFSIZE,260165632,226721792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,276.1,1
$GPS,061110,095436,2205.427,12612.477,38,1.4,38,-3.1