version: 66.08
glider: 168
mission: 2
dive: 450
start: 11 7 110 10 3 0
data:
$ID,168
$MISSION,2
$DIVE,450
$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,-3794.6301
$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,54
$R_STBD_OVSHOOT,48
$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
$GPS1,071110,095706,2154.017,12608.150,33,1.3,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.78
$_SM_ANGLEo,-77.4
$GPS2,071110,100232,2153.996,12608.146,15,1.7,15,-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,180.4,61182,-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,-6.70,0.000,2,0.000,0.000,104,1517,1352,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.7,-0.0,1,137,9.80,2.12,-91.57,0.000,4,0.164,0.063,3034,189,3824,0,0,0,0,0,0
$GC,251,-0.65,-185.1,35.5,-24.7,39,259,0.08,2.05,0.00,0.000,6,0.173,0.036,3046,1538,3825,0,0,0,0,0,0
$GC,596,-0.63,-185.1,118.0,-18.9,100,603,0.00,2.15,0.00,0.000,4,0.000,0.039,3036,2962,3826,0,0,0,0,0,0
$GC,610,-0.61,-185.1,121.0,-19.5,102,618,0.08,2.15,0.00,0.000,6,0.155,0.040,3062,1551,3826,0,0,0,0,0,0
$GC,955,-0.62,-185.1,173.2,-12.9,163,963,0.00,2.15,0.00,0.000,4,0.000,0.041,3054,2962,3827,0,0,0,0,0,0
$GC,970,-0.63,-185.1,175.3,-13.4,165,977,0.00,2.15,0.00,0.000,6,0.000,0.040,3053,1545,3827,0,0,0,0,0,0
$GC,1311,-0.64,-185.1,221.0,-14.0,226,1318,0.00,2.12,0.00,0.000,4,0.000,0.051,3054,166,3828,0,0,0,0,0,0
$GC,1336,-0.65,-185.1,224.4,-14.3,230,1342,0.00,2.08,0.00,0.000,6,0.000,0.037,3051,1552,3828,0,0,0,0,0,0
$GC,1682,-0.68,-185.1,268.1,-12.9,291,1689,0.00,2.15,0.00,0.000,4,0.000,0.042,3042,2966,3828,0,0,0,0,0,0
$GC,1697,-0.70,-185.1,270.2,-12.7,293,1703,0.00,2.15,0.00,0.000,6,0.000,0.040,3042,1547,3828,0,0,0,0,0,0
$GC,2033,-0.72,-185.1,316.6,-13.9,343,2038,0.08,2.17,0.00,0.000,4,0.117,0.042,2921,2960,3828,0,0,0,0,0,0
$GC,2082,-0.68,-185.1,326.1,-20.0,347,2090,0.35,2.15,0.00,0.000,6,0.106,0.041,3042,1548,3828,0,0,0,0,0,0
$GC,2408,-0.71,-185.1,364.0,-11.1,378,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1548,3827,0,0,0,0,0,0
$GC,2728,-0.74,-185.1,399.6,-11.4,408,2733,0.10,2.17,0.00,0.000,4,0.096,0.055,2915,158,3826,0,0,0,0,0,0
$GC,2746,-0.74,-185.1,402.3,-12.3,409,2751,0.35,2.10,0.00,0.000,6,0.116,0.037,3021,1557,3825,0,0,0,0,0,0
$GC,3074,-0.75,-185.1,445.5,-11.9,439,3078,0.00,2.15,0.00,0.000,4,0.000,0.044,3011,2960,3824,0,0,0,0,0,0
$GC,3114,-0.79,-185.1,450.5,-10.6,442,3118,0.00,2.15,0.00,0.000,6,0.000,0.043,3011,1552,3824,0,0,0,0,0,0
$GC,3441,-0.81,-185.1,492.3,-12.4,472,3446,0.08,2.17,0.00,0.000,4,0.119,0.057,2889,166,3821,0,0,0,0,0,0
$GC,3490,-0.74,-185.1,502.8,-24.4,476,3497,0.43,2.08,0.00,0.000,6,0.116,0.038,3020,1548,3821,0,0,0,0,0,0
$GC,3816,-0.76,-185.1,538.8,-9.4,507,3820,0.00,2.15,0.00,0.000,4,0.000,0.045,3012,2960,3819,0,0,0,0,0,0
$GC,3880,-0.82,-185.1,544.3,-8.2,512,3885,0.08,2.20,0.00,0.000,6,0.112,0.045,2916,1549,3820,0,0,0,0,0,0
$GC,4205,-0.76,-185.1,606.1,-19.9,541,4210,0.25,2.17,0.00,0.000,4,0.126,0.042,2994,2957,3816,0,0,0,0,0,0
$GC,4232,-0.76,-185.1,611.0,-15.6,542,4236,0.00,2.17,0.00,0.000,6,0.000,0.047,2994,1554,3816,0,0,0,0,0,0
$GC,4554,-0.77,-185.1,650.5,-12.4,558,4558,0.00,2.17,0.00,0.000,4,0.000,0.048,2990,2956,3814,0,0,0,0,0,0
$GC,4582,-0.79,-185.1,654.3,-12.2,559,4586,0.00,2.20,0.00,0.000,6,0.000,0.048,2991,1551,3814,0,0,0,0,0,0
$GC,4904,-0.81,-185.1,694.4,-12.2,575,4908,0.00,2.17,0.00,0.000,4,0.000,0.047,2985,2956,3811,0,0,0,0,0,0
$GC,4927,-0.82,-185.1,697.1,-11.9,576,4931,0.00,2.17,0.00,0.000,6,0.000,0.047,2984,1557,3811,0,0,0,0,0,0
$GC,5249,-0.83,-185.1,736.2,-12.0,592,5253,0.00,2.20,0.00,0.000,4,0.000,0.063,2984,166,3808,0,0,0,0,0,0
$GC,5272,-0.84,-185.1,739.1,-12.2,593,5276,0.00,2.12,0.00,0.000,6,0.000,0.042,2976,1558,3808,0,0,0,0,0,0
$GC,5594,-0.84,-185.1,779.3,-12.6,609,5598,0.00,2.15,0.00,0.000,4,0.000,0.047,2966,2959,3805,0,0,0,0,0,0
$GC,5629,-0.86,-185.1,783.7,-12.4,610,5635,0.00,2.22,0.00,0.000,6,0.000,0.049,2967,1552,3805,0,0,0,0,0,0
$GC,5945,-0.86,-185.1,825.2,-13.2,626,5949,0.00,2.20,0.00,0.000,4,0.000,0.049,2958,2959,3802,0,0,0,0,0,0
$GC,5978,-0.88,-185.1,829.8,-12.7,627,5982,0.00,2.20,0.00,0.000,6,0.000,0.050,2958,1559,3802,0,0,0,0,0,0
$GC,6294,-0.88,-185.1,872.6,-14.1,642,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1558,3800,0,0,0,0,0,0
$GC,6604,-0.88,-185.1,915.6,-13.7,657,6608,0.00,2.20,0.00,0.000,4,0.000,0.049,2949,2959,3797,0,0,0,0,0,0
$GC,6645,-0.89,-185.1,920.9,-12.4,659,6650,0.05,2.20,0.00,0.000,6,0.197,0.051,2968,1563,3797,0,0,0,0,0,0
$GC,6974,-0.89,-185.1,960.8,-12.2,675,6978,0.00,2.17,0.00,0.000,4,0.000,0.049,2959,2962,3795,0,0,0,0,0,0
$GC,7023,-0.92,-185.1,967.0,-10.7,677,7027,0.00,2.22,0.00,0.000,6,0.000,0.052,2959,1565,3795,0,0,0,0,0,0
$STATE,7296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7296,begin apogee
$GC,7302,0.00,0.0,1001.7,12.7,690,7461,0.80,0.00,152.65,1.222,4,0.090,0.000,3250,1708,3068,0,0,0,0,0,0
$STATE,7462,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7464,0.68,185.1,1007.6,0.0,697,7634,0.60,2.33,161.20,1.150,4,0.030,0.047,3520,3103,2312,0,0,0,0,0,0
$GC,7695,0.60,185.1,975.8,24.1,708,7700,0.30,2.28,0.00,0.000,6,0.148,0.047,3443,1700,2306,0,0,0,0,0,0
$GC,8025,0.57,185.1,917.4,17.2,724,8029,0.00,2.17,0.00,0.000,4,0.000,0.041,3443,3107,2300,0,0,0,0,0,0
$GC,8058,0.54,185.1,910.6,18.4,725,8066,0.10,2.22,0.00,0.000,6,0.170,0.048,3426,1698,2299,0,0,0,0,0,0
$GC,8375,0.52,185.1,861.8,15.3,741,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1698,2297,0,0,0,0,0,0
$GC,8684,0.50,185.1,814.5,15.2,756,8688,0.00,2.25,0.00,0.000,4,0.000,0.064,3436,293,2296,0,0,0,0,0,0
$GC,8716,0.48,185.1,809.2,16.5,757,8724,0.12,2.12,0.00,0.000,6,0.140,0.035,3397,1712,2294,0,0,0,0,0,0
$GC,9033,0.52,216.1,769.0,12.3,773,9061,0.08,0.00,25.38,1.090,6,0.119,0.000,3472,1714,2187,0,0,0,0,0,0
$GC,9362,0.48,216.1,709.5,18.2,789,9367,0.22,2.30,0.00,0.000,4,0.135,0.062,3412,294,2180,0,0,0,0,0,0
$GC,9402,0.48,216.1,703.3,14.2,791,9406,0.00,2.15,0.00,0.000,6,0.000,0.036,3412,1708,2179,0,0,0,0,0,0
$GC,9729,0.50,231.7,661.0,13.1,807,9752,0.00,2.22,14.00,0.991,4,0.000,0.044,3413,3103,2123,0,0,0,0,0,0
$GC,9780,0.52,237.3,654.0,13.6,809,9797,0.00,2.22,6.72,0.783,6,0.000,0.049,3413,1702,2099,0,0,0,0,0,0
$GC,10107,0.55,256.2,611.8,12.9,825,10130,0.00,2.38,17.45,0.941,4,0.000,0.064,3425,296,2023,0,0,0,0,0,0
$GC,10164,0.57,260.7,603.7,13.7,827,10177,0.00,2.20,4.55,0.638,6,0.000,0.034,3424,1719,2005,0,0,0,0,0,0
$GC,10494,0.58,260.7,555.9,14.6,857,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1719,2001,0,0,0,0,0,0
$GC,10814,0.59,264.2,510.8,13.7,887,10828,0.05,2.38,3.90,0.608,4,0.174,0.063,3498,293,1991,0,0,0,0,0,0
$GC,10852,0.56,264.2,504.1,18.8,890,10857,0.22,2.15,0.00,0.000,6,0.122,0.035,3426,1713,1990,0,0,0,0,0,0
$GC,11178,0.60,285.1,460.5,12.8,920,11205,0.08,2.38,20.00,0.893,4,0.116,0.063,3511,296,1905,0,0,0,0,0,0
$GC,11262,0.57,285.1,444.4,20.8,927,11270,0.25,2.12,0.00,0.000,6,0.119,0.034,3430,1694,1901,0,0,0,0,0,0
$GC,11588,0.59,287.7,400.0,13.8,958,11592,0.00,2.17,0.00,0.000,4,0.000,0.041,3430,3111,1899,0,0,0,0,0,0
$GC,11618,0.63,301.2,396.1,13.2,960,11642,0.05,2.22,14.82,0.822,6,0.161,0.047,3507,1693,1839,0,0,0,0,0,0
$GC,11960,0.60,301.2,328.8,20.6,992,11965,0.20,2.28,0.00,0.000,4,0.138,0.060,3455,294,1835,0,0,0,0,0,0
$GC,12023,0.65,325.1,319.2,12.7,997,12049,0.00,2.10,20.98,0.780,6,0.000,0.034,3455,1690,1741,0,0,0,0,0,0
$GC,12382,0.67,325.1,268.9,14.3,1048,12389,0.00,2.25,0.00,0.000,4,0.000,0.060,3463,293,1737,0,0,0,0,0,0
$GC,12430,0.70,325.1,262.0,14.1,1056,12437,0.00,2.10,0.00,0.000,6,0.000,0.032,3463,1682,1735,0,0,0,0,0,0
$GC,12774,0.74,343.5,216.5,13.0,1117,12794,0.08,0.00,16.15,0.672,6,0.120,0.000,3561,1684,1666,0,0,0,0,0,0
$GC,13131,0.70,343.5,142.2,19.9,1180,13137,0.25,0.00,0.00,0.000,6,0.134,0.000,3475,1685,1664,0,0,0,0,0,0
$GC,13476,0.84,421.7,103.1,10.0,1241,13549,0.15,2.30,63.10,0.597,4,0.066,0.034,3590,3109,1348,0,0,0,0,0,0
$GC,13634,0.86,421.7,76.2,15.4,1268,13641,0.22,2.28,0.00,0.000,6,0.112,0.046,3523,1670,1345,0,0,0,0,0,0
$GC,13979,0.97,484.7,37.0,10.7,1329,14035,0.12,2.28,49.35,0.532,4,0.073,0.055,3649,293,1090,0,0,0,0,0,0
$STATE,14118,end climb,SURFACE_DEPTH_REACHED
$STATE,14118,begin surface coast
$FINISH,2.9,1.022126
$STATE,14130,end surface coast,CONTROL_FINISHED_OK
$STATE,14130,begin surface
$SM_CCo,14210,0.00,0.000,0,0,1082,487.17
$SM_GC,3.74,8.70,0.00,0.00,0.020,0.000,0.000,103,1562,1082,-9.69,0.37,487.17
$IRIDIUM_FIX,2148.09,12607.11,071110,050512
$TT8_MAMPS,0.026964
$HUMID,48.11
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,23.0,62.476
$10V_AH,10.1,45.057
$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,24.300,135.725,570.250,0.000,0.000,31.052,39.707,126.941,0.500,0.000,17.399,3350.277,7802.021,680.621,2418.599,279.616,0.000,1898.007,0.000,2196.818,0.000,0.538,0.000
$DEVICE_MAMPS,196.605,64.260,1221.705,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334012
$DATA_FILE_SIZE,76854,1355
$CAP_FILE_SIZE,167550,0
$CFSIZE,260165632,226168832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,266.0,1
$GPS,071110,140106,2151.842,12607.731,35,1.1,41,-3.0