version: 66.08
glider: 168
mission: 2
dive: 449
start: 11 7 110 5 57 22
data:
$ID,168
$MISSION,2
$DIVE,449
$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,-3792.1328
$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,40
$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
$GPS1,071110,054506,2155.914,12608.917,36,1.3,41,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-77.2
$GPS2,071110,055656,2155.942,12608.970,15,1.4,15,-3.0
$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,184.7,64998,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-185.1,0.0,0.0,0,26,0.00,0.00,-6.82,0.000,2,0.000,0.000,104,1518,1000,0,0,0,0,0,0
$GC,28,-0.68,-185.1,3.7,-0.0,1,153,9.88,0.00,-110.28,0.000,6,0.166,0.000,3037,1522,3823,0,0,0,0,0,0
$GC,491,-0.64,-185.1,99.3,-24.1,81,497,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1523,3825,0,0,0,0,0,0
$GC,834,-0.63,-185.1,168.3,-17.8,142,840,0.00,2.08,0.00,0.000,4,0.000,0.053,3037,180,3826,0,0,0,0,0,0
$GC,859,-0.61,-185.1,172.8,-17.8,146,866,0.10,2.05,0.00,0.000,6,0.148,0.038,3060,1544,3826,0,0,0,0,0,0
$GC,1205,-0.63,-185.1,222.9,-14.4,207,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1547,3826,0,0,0,0,0,0
$GC,1548,-0.66,-185.1,266.9,-13.2,268,1556,0.08,2.20,0.00,0.000,4,0.121,0.044,2930,2959,3826,0,0,0,0,0,0
$GC,1591,-0.62,-185.1,275.1,-21.9,275,1599,0.38,2.17,0.00,0.000,6,0.101,0.044,3060,1553,3826,0,0,0,0,0,0
$GC,1935,-0.66,-185.1,315.8,-10.1,323,1937,0.08,0.00,0.00,0.000,6,0.119,0.000,2959,1552,3826,0,0,0,0,0,0
$GC,2253,-0.61,-185.1,381.2,-21.6,353,2258,0.28,2.17,0.00,0.000,4,0.112,0.054,3055,166,3825,0,0,0,0,0,0
$GC,2282,-0.61,-185.1,386.5,-17.3,355,2285,0.00,2.08,0.00,0.000,6,0.000,0.038,3050,1546,3824,0,0,0,0,0,0
$GC,2608,-0.66,-185.1,420.5,-10.1,385,2612,0.00,2.20,0.00,0.000,4,0.000,0.047,3042,2965,3823,0,0,0,0,0,0
$GC,2660,-0.73,-185.1,425.0,-7.9,389,2665,0.08,2.17,0.00,0.000,6,0.252,0.042,2944,1543,3823,0,0,0,0,0,0
$GC,2985,-0.68,-185.1,487.9,-20.6,419,2990,0.25,2.15,0.00,0.000,4,0.120,0.055,3032,166,3820,0,0,0,0,0,0
$GC,3018,-0.69,-185.1,493.7,-15.9,421,3024,0.00,2.08,0.00,0.000,6,0.000,0.038,3023,1552,3820,0,0,0,0,0,0
$GC,3343,-0.72,-185.1,530.9,-10.4,452,3347,0.00,2.15,0.00,0.000,4,0.000,0.047,3015,2958,3818,0,0,0,0,0,0
$GC,3396,-0.78,-185.1,535.9,-9.2,456,3400,0.00,2.15,0.00,0.000,6,0.000,0.045,3015,1557,3818,0,0,0,0,0,0
$GC,3722,-0.80,-185.1,570.2,-10.8,486,3726,0.08,2.22,0.00,0.000,4,0.119,0.047,2888,2963,3815,0,0,0,0,0,0
$GC,3755,-0.77,-185.1,575.7,-18.5,488,3763,0.35,2.17,0.00,0.000,6,0.104,0.047,3006,1557,3815,0,0,0,0,0,0
$GC,4078,-0.79,-185.1,614.8,-11.9,513,4082,0.00,2.20,0.00,0.000,4,0.000,0.060,3007,162,3813,0,0,0,0,0,0
$GC,4096,-0.81,-185.1,617.2,-12.0,514,4101,0.00,2.12,0.00,0.000,6,0.000,0.041,2999,1562,3812,0,0,0,0,0,0
$GC,4425,-0.82,-185.1,655.5,-11.5,530,4429,0.00,2.15,0.00,0.000,4,0.000,0.048,2990,2960,3809,0,0,0,0,0,0
$GC,4474,-0.86,-185.1,660.9,-10.0,532,4478,0.00,2.17,0.00,0.000,6,0.000,0.047,2989,1557,3809,0,0,0,0,0,0
$GC,4791,-0.87,-185.1,697.2,-11.8,547,4796,0.08,2.22,0.00,0.000,4,0.120,0.063,2873,165,3806,0,0,0,0,0,0
$GC,4813,-0.84,-185.1,701.0,-16.0,548,4817,0.38,2.15,0.00,0.000,6,0.122,0.042,2984,1571,3805,0,0,0,0,0,0
$GC,5136,-0.85,-185.1,742.7,-12.7,564,5140,0.00,2.22,0.00,0.000,4,0.000,0.062,2984,168,3803,0,0,0,0,0,0
$GC,5157,-0.86,-185.1,746.2,-14.0,565,5161,0.00,2.17,0.00,0.000,6,0.000,0.042,2977,1560,3803,0,0,0,0,0,0
$GC,5485,-0.86,-185.1,790.2,-13.7,581,5489,0.00,2.17,0.00,0.000,4,0.000,0.048,2967,2967,3800,0,0,0,0,0,0
$GC,5542,-0.89,-185.1,797.7,-11.8,583,5546,0.00,2.20,0.00,0.000,6,0.000,0.049,2967,1562,3799,0,0,0,0,0,0
$GC,5858,-0.89,-185.1,840.8,-13.3,598,5862,0.00,2.17,0.00,0.000,4,0.000,0.049,2958,2959,3797,0,0,0,0,0,0
$GC,5880,-0.90,-185.1,843.8,-12.9,599,5884,0.00,2.20,0.00,0.000,6,0.000,0.051,2959,1561,3797,0,0,0,0,0,0
$GC,6202,-0.90,-185.1,888.5,-13.9,615,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1560,3795,0,0,0,0,0,0
$GC,6511,-0.90,-185.1,930.5,-13.5,630,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1560,3791,0,0,0,0,0,0
$GC,6822,-0.90,-185.1,971.9,-13.3,645,6825,0.00,2.20,0.00,0.000,4,0.000,0.050,2950,2962,3790,0,0,0,0,0,0
$GC,6860,-0.92,-185.1,977.1,-12.2,646,6867,0.00,2.20,0.00,0.000,6,0.000,0.052,2950,1568,3790,0,0,0,0,0,0
$STATE,7029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7030,begin apogee
$GC,7036,0.00,0.0,1000.4,14.1,655,7194,0.82,0.00,151.82,1.219,4,0.091,0.000,3249,1708,3068,0,0,0,0,0,0
$STATE,7195,end apogee,CONTROL_FINISHED_OK
$STATE,7195,begin climb
$GC,7197,0.68,185.1,1006.3,0.0,662,7367,0.60,2.30,162.07,1.146,4,0.031,0.051,3519,3106,2313,0,0,0,0,0,0
$GC,7492,0.61,185.1,959.1,23.9,676,7498,0.28,2.25,0.00,0.000,6,0.150,0.047,3449,1698,2304,0,0,0,0,0,0
$GC,7821,0.58,185.1,903.0,16.6,692,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1698,2299,0,0,0,0,0,0
$GC,8129,0.54,185.1,851.9,16.4,707,8131,0.10,0.00,0.00,0.000,6,0.175,0.000,3420,1698,2298,0,0,0,0,0,0
$GC,8438,0.53,185.1,807.3,14.0,722,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1698,2296,0,0,0,0,0,0
$GC,8748,0.52,185.1,764.2,13.9,737,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1698,2294,0,0,0,0,0,0
$GC,9058,0.55,214.8,724.4,12.4,752,9088,0.00,2.38,23.95,1.073,4,0.000,0.064,3431,293,2191,0,0,0,0,0,0
$GC,9151,0.55,219.4,711.9,13.7,756,9161,0.00,2.17,5.15,0.786,6,0.000,0.035,3431,1700,2173,0,0,0,0,0,0
$GC,9474,0.56,226.6,668.6,13.5,771,9484,0.00,0.00,7.72,0.900,6,0.000,0.000,3431,1703,2144,0,0,0,0,0,0
$GC,9781,0.57,230.3,625.9,13.7,786,9791,0.00,2.17,4.60,0.721,4,0.000,0.043,3431,3107,2129,0,0,0,0,0,0
$GC,9813,0.57,230.3,621.1,14.0,787,9817,0.00,2.28,0.00,0.000,6,0.000,0.047,3440,1693,2128,0,0,0,0,0,0
$GC,10142,0.57,230.3,573.3,15.1,811,10147,0.00,2.25,0.00,0.000,4,0.000,0.064,3451,293,2127,0,0,0,0,0,0
$GC,10174,0.57,230.3,567.9,15.4,813,10182,0.05,2.17,0.00,0.000,6,0.126,0.035,3430,1698,2126,0,0,0,0,0,0
$GC,10500,0.58,243.3,523.0,13.2,844,10518,0.00,2.25,12.93,0.902,4,0.000,0.043,3430,3105,2074,0,0,0,0,0,0
$GC,10546,0.60,243.9,516.6,13.9,847,10553,0.00,2.22,0.00,0.000,6,0.000,0.047,3440,1691,2073,0,0,0,0,0,0
$GC,10871,0.62,260.5,472.9,13.1,878,10894,0.00,2.30,15.85,0.881,4,0.000,0.063,3450,288,2005,0,0,0,0,0,0
$GC,10956,0.63,260.5,460.8,14.5,885,10963,0.00,2.15,0.00,0.000,6,0.000,0.035,3450,1688,2000,0,0,0,0,0,0
$GC,11281,0.63,260.5,413.4,14.8,916,11285,0.00,2.25,0.00,0.000,4,0.000,0.063,3460,289,1998,0,0,0,0,0,0
$GC,11302,0.63,260.5,409.9,16.2,917,11309,0.00,2.15,0.00,0.000,6,0.000,0.034,3459,1687,1997,0,0,0,0,0,0
$GC,11627,0.63,260.5,361.4,14.5,948,11631,0.00,2.25,0.00,0.000,4,0.000,0.061,3470,294,1997,0,0,0,0,0,0
$GC,11648,0.63,260.5,358.2,14.0,949,11656,0.05,2.12,0.00,0.000,6,0.117,0.033,3447,1684,1996,0,0,0,0,0,0
$GC,11974,0.66,277.2,314.0,13.0,980,11998,0.00,2.30,14.77,0.751,4,0.000,0.060,3457,290,1935,0,0,0,0,0,0
$GC,12022,0.67,277.2,307.4,14.2,984,12026,0.00,2.10,0.00,0.000,6,0.000,0.033,3457,1689,1934,0,0,0,0,0,0
$GC,12361,0.68,277.2,259.9,14.1,1039,12368,0.00,2.22,0.00,0.000,4,0.000,0.060,3466,290,1933,0,0,0,0,0,0
$GC,12410,0.72,291.3,253.5,13.2,1047,12430,0.00,2.10,12.95,0.688,6,0.000,0.033,3466,1682,1880,0,0,0,0,0,0
$GC,12766,0.74,303.0,205.9,13.3,1110,12786,0.08,2.17,11.88,0.641,4,0.119,0.034,3560,3112,1831,0,0,0,0,0,0
$GC,12805,0.70,303.0,198.8,19.8,1116,12813,0.30,2.22,0.00,0.000,6,0.125,0.044,3475,1682,1831,0,0,0,0,0,0
$GC,13153,0.75,329.6,152.8,12.5,1177,13185,0.08,2.28,22.85,0.627,4,0.116,0.057,3579,293,1723,0,0,0,0,0,0
$GC,13276,0.72,329.6,129.5,17.4,1198,13283,0.30,2.05,0.00,0.000,6,0.112,0.031,3479,1670,1718,0,0,0,0,0,0
$GC,13622,0.88,425.3,92.3,9.1,1259,13708,0.15,2.30,76.05,0.584,4,0.068,0.057,3612,298,1333,0,0,0,0,0,0
$GC,13841,0.86,425.3,48.9,18.3,1296,13850,0.28,2.03,0.00,0.000,6,0.111,0.030,3521,1655,1327,0,0,0,0,0,0
$GC,14188,0.95,466.1,7.5,11.8,1357,14220,0.12,0.00,29.02,0.506,2,0.074,0.000,3630,1658,1169,0,0,0,0,0,0
$STATE,14220,end climb,SURFACE_DEPTH_REACHED
$STATE,14221,begin surface coast
$FINISH,2.8,1.004235
$STATE,14238,end surface coast,CONTROL_FINISHED_OK
$STATE,14238,begin surface
$SM_CCo,14316,0.00,0.000,0,0,1163,467.30
$SM_GC,3.59,8.62,0.00,0.00,0.018,0.000,0.000,103,1513,1163,-9.71,-0.93,467.30
$IRIDIUM_FIX,2145.77,12607.62,071110,050555
$TT8_MAMPS,0.026964
$HUMID,47.51
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,23.1,62.307
$10V_AH,10.1,44.976
$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,23.800,118.450,551.625,0.000,0.000,80.674,93.008,274.526,1.000,0.000,16.602,3344.350,8053.600,661.424,2672.703,288.677,0.000,1871.502,0.000,2200.115,0.000,0.539,0.000
$DEVICE_MAMPS,252.450,74.205,1218.645,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,76797,1365
$CAP_FILE_SIZE,165270,0
$CFSIZE,260165632,226246656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,290.0,1
$GPS,071110,095706,2154.017,12608.150,33,1.3,33,-3.0