version: 66.08
glider: 168
mission: 2
dive: 451
start: 11 7 110 14 7 6
data:
$ID,168
$MISSION,2
$DIVE,451
$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,-3797.1506
$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,26
$R_STBD_OVSHOOT,51
$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
$GPS1,071110,140106,2151.842,12607.731,35,1.1,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.82
$_SM_ANGLEo,-79.0
$GPS2,071110,140638,2151.831,12607.728,15,1.8,15,-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,188.9,57109,-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,-6.68,0.000,2,0.000,0.000,104,1560,1273,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.8,-0.0,1,138,9.90,2.28,-93.72,0.000,4,0.168,0.064,3032,163,3824,0,0,0,0,0,0
$GC,236,-0.63,-185.1,33.1,-27.1,36,244,0.10,2.10,0.00,0.000,6,0.161,0.037,3051,1534,3825,0,0,0,0,0,0
$GC,582,-0.62,-185.1,118.3,-18.3,97,589,0.00,2.17,0.00,0.000,4,0.000,0.042,3042,2959,3825,0,0,0,0,0,0
$GC,598,-0.61,-185.1,120.9,-18.8,99,605,0.00,2.17,0.00,0.000,6,0.000,0.041,3042,1542,3826,0,0,0,0,0,0
$GC,941,-0.60,-185.1,186.3,-19.2,160,948,0.08,2.17,0.00,0.000,4,0.194,0.053,3062,155,3827,0,0,0,0,0,0
$GC,989,-0.64,-185.1,193.8,-13.3,168,996,0.00,2.12,0.00,0.000,6,0.000,0.037,3062,1556,3828,0,0,0,0,0,0
$GC,1333,-0.66,-185.1,236.4,-12.0,229,1340,0.10,2.17,0.00,0.000,4,0.093,0.044,2922,2959,3828,0,0,0,0,0,0
$GC,1384,-0.61,-185.1,245.9,-23.5,237,1392,0.40,2.15,0.00,0.000,6,0.106,0.043,3060,1549,3828,0,0,0,0,0,0
$GC,1729,-0.65,-185.1,289.2,-11.4,298,1737,0.00,2.12,0.00,0.000,4,0.000,0.053,3060,165,3828,0,0,0,0,0,0
$GC,1744,-0.68,-185.1,291.3,-11.9,300,1752,0.08,2.10,0.00,0.000,6,0.114,0.038,2955,1554,3828,0,0,0,0,0,0
$GC,2074,-0.63,-185.1,360.4,-20.9,335,2079,0.25,2.15,0.00,0.000,4,0.113,0.041,3039,2959,3828,0,0,0,0,0,0
$GC,2118,-0.69,-185.1,366.7,-10.3,338,2126,0.00,2.17,0.00,0.000,6,0.000,0.043,3038,1552,3828,0,0,0,0,0,0
$GC,2444,-0.72,-185.1,402.4,-10.6,369,2449,0.08,2.20,0.00,0.000,4,0.118,0.055,2922,162,3827,0,0,0,0,0,0
$GC,2461,-0.72,-185.1,404.9,-12.5,370,2466,0.35,2.10,0.00,0.000,6,0.114,0.039,3029,1553,3827,0,0,0,0,0,0
$GC,2787,-0.75,-185.1,443.9,-11.2,400,2791,0.00,2.15,0.00,0.000,4,0.000,0.047,3020,2956,3825,0,0,0,0,0,0
$GC,2838,-0.80,-185.1,448.9,-9.1,404,2842,0.10,2.17,0.00,0.000,6,0.088,0.044,2929,1549,3825,0,0,0,0,0,0
$GC,3169,-0.73,-185.1,523.4,-24.4,435,3171,0.38,0.00,0.00,0.000,6,0.114,0.000,3025,1548,3823,0,0,0,0,0,0
$GC,3488,-0.76,-185.1,562.6,-11.0,465,3492,0.08,2.22,0.00,0.000,4,0.117,0.047,2911,2956,3820,0,0,0,0,0,0
$GC,3527,-0.73,-185.1,569.1,-18.8,468,3532,0.32,2.17,0.00,0.000,6,0.104,0.047,3022,1554,3820,0,0,0,0,0,0
$GC,3862,-0.77,-185.1,607.6,-11.2,496,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1554,3818,0,0,0,0,0,0
$GC,4172,-0.80,-185.1,641.1,-10.6,511,4174,0.10,0.00,0.00,0.000,6,0.093,0.000,2909,1554,3815,0,0,0,0,0,0
$GC,4480,-0.75,-185.1,702.7,-20.4,526,4485,0.30,2.20,0.00,0.000,4,0.116,0.045,3002,2959,3812,0,0,0,0,0,0
$GC,4530,-0.80,-185.1,709.5,-10.1,528,4534,0.00,2.20,0.00,0.000,6,0.000,0.049,3003,1552,3812,0,0,0,0,0,0
$GC,4847,-0.83,-185.1,744.3,-11.4,543,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1552,3809,0,0,0,0,0,0
$GC,5156,-0.85,-185.1,779.2,-11.2,558,5161,0.10,2.22,0.00,0.000,4,0.090,0.064,2884,167,3806,0,0,0,0,0,0
$GC,5177,-0.84,-185.1,782.7,-14.5,559,5182,0.28,2.15,0.00,0.000,6,0.106,0.044,2984,1541,3805,0,0,0,0,0,0
$GC,5507,-0.85,-185.1,824.0,-12.1,575,5511,0.00,2.20,0.00,0.000,4,0.000,0.049,2975,2961,3804,0,0,0,0,0,0
$GC,5557,-0.89,-185.1,830.2,-10.7,577,5561,0.00,2.20,0.00,0.000,6,0.000,0.050,2975,1556,3803,0,0,0,0,0,0
$GC,5879,-0.90,-185.1,869.9,-12.7,593,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1557,3801,0,0,0,0,0,0
$GC,6188,-0.91,-185.1,909.7,-12.7,608,6192,0.00,2.20,0.00,0.000,4,0.000,0.049,2967,2967,3798,0,0,0,0,0,0
$GC,6232,-0.94,-185.1,915.3,-10.8,610,6236,0.00,2.25,0.00,0.000,6,0.000,0.052,2967,1555,3797,0,0,0,0,0,0
$GC,6554,-0.94,-185.1,956.0,-12.6,626,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1555,3796,0,0,0,0,0,0
$GC,6863,-0.94,-185.1,995.3,-12.9,641,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1554,3794,0,0,0,0,0,0
$STATE,6902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6902,begin apogee
$GC,6908,0.00,0.0,1000.6,12.8,643,7066,0.77,0.00,152.48,1.216,4,0.088,0.000,3252,1710,3067,0,0,0,0,0,0
$STATE,7066,end apogee,CONTROL_FINISHED_OK
$STATE,7066,begin climb
$GC,7069,0.68,185.1,1007.6,0.0,650,7238,0.60,2.45,161.38,1.148,4,0.031,0.064,3516,293,2312,0,0,0,0,0,0
$GC,7306,0.61,185.1,977.4,21.3,661,7311,0.25,2.20,0.00,0.000,6,0.140,0.034,3443,1702,2304,0,0,0,0,0,0
$GC,7624,0.57,185.1,926.2,16.1,676,7627,0.00,2.15,0.00,0.000,4,0.000,0.041,3443,3107,2296,0,0,0,0,0,0
$GC,7668,0.55,185.1,918.3,17.0,678,7673,0.10,2.22,0.00,0.000,6,0.171,0.048,3425,1699,2295,0,0,0,0,0,0
$GC,7991,0.53,185.1,871.7,14.5,694,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1698,2294,0,0,0,0,0,0
$GC,8298,0.51,185.1,826.3,14.6,709,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1699,2293,0,0,0,0,0,0
$GC,8608,0.50,185.1,782.5,14.2,724,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1699,2292,0,0,0,0,0,0
$GC,8918,0.50,197.5,740.7,13.3,739,8933,0.00,2.33,8.40,0.962,4,0.000,0.064,3436,300,2261,0,0,0,0,0,0
$GC,8967,0.51,207.9,733.6,13.4,741,8985,0.08,2.15,10.88,1.000,6,0.168,0.036,3413,1715,2220,0,0,0,0,0,0
$GC,9295,0.55,240.9,694.4,12.2,757,9330,0.00,2.20,30.17,1.034,4,0.000,0.043,3413,3105,2085,0,0,0,0,0,0
$GC,9358,0.56,241.5,685.6,13.9,759,9362,0.00,2.25,0.00,0.000,6,0.000,0.048,3421,1706,2082,0,0,0,0,0,0
$GC,9680,0.56,241.5,640.7,13.9,775,9684,0.00,2.30,0.00,0.000,4,0.000,0.064,3432,294,2078,0,0,0,0,0,0
$GC,9735,0.57,241.5,632.5,14.4,777,9742,0.00,2.15,0.00,0.000,6,0.000,0.035,3432,1711,2077,0,0,0,0,0,0
$GC,10056,0.57,241.5,587.2,14.2,797,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1713,2076,0,0,0,0,0,0
$GC,10373,0.58,249.7,542.9,13.5,827,10383,0.00,0.00,7.53,0.839,6,0.000,0.000,3432,1713,2050,0,0,0,0,0,0
$GC,10700,0.59,257.3,498.4,13.5,858,10714,0.00,2.38,8.43,0.835,4,0.000,0.064,3441,294,2017,0,0,0,0,0,0
$GC,10783,0.62,271.5,487.4,13.2,865,10807,0.00,2.15,13.40,0.881,6,0.000,0.035,3441,1711,1960,0,0,0,0,0,0
$GC,11124,0.62,271.5,439.6,14.0,897,11128,0.00,2.15,0.00,0.000,4,0.000,0.042,3441,3109,1956,0,0,0,0,0,0
$GC,11163,0.63,271.5,434.1,14.1,900,11167,0.00,2.22,0.00,0.000,6,0.000,0.048,3449,1698,1955,0,0,0,0,0,0
$GC,11488,0.63,271.5,387.0,15.2,930,11492,0.00,2.28,0.00,0.000,4,0.000,0.063,3460,293,1954,0,0,0,0,0,0
$GC,11539,0.64,271.5,379.4,14.1,934,11543,0.00,2.10,0.00,0.000,6,0.000,0.034,3460,1690,1953,0,0,0,0,0,0
$GC,11864,0.64,271.5,332.2,13.9,964,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1692,1953,0,0,0,0,0,0
$GC,12187,0.68,303.1,289.6,12.3,1001,12224,0.00,2.33,27.48,0.763,4,0.000,0.061,3470,294,1831,0,0,0,0,0,0
$GC,12249,0.69,306.3,281.3,13.7,1011,12262,0.00,2.12,4.15,0.504,6,0.000,0.032,3470,1696,1818,0,0,0,0,0,0
$GC,12599,0.69,306.3,232.7,15.5,1073,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1698,1815,0,0,0,0,0,0
$GC,12942,0.72,319.1,182.9,13.2,1134,12962,0.00,2.25,11.90,0.625,4,0.000,0.058,3479,294,1766,0,0,0,0,0,0
$GC,13032,0.83,376.6,172.0,11.0,1149,13088,0.12,2.08,48.00,0.656,6,0.079,0.031,3594,1685,1531,0,0,0,0,0,0
$GC,13427,0.80,376.6,85.0,16.6,1218,13435,0.25,2.22,0.00,0.000,4,0.126,0.056,3517,293,1525,0,0,0,0,0,0
$GC,13504,0.99,486.7,76.6,8.3,1231,13603,0.15,2.10,85.45,0.571,6,0.064,0.032,3632,1681,1082,0,0,0,0,0,0
$STATE,13814,end climb,SURFACE_DEPTH_REACHED
$STATE,13814,begin surface coast
$FINISH,2.9,1.014681
$STATE,13832,end surface coast,CONTROL_FINISHED_OK
$STATE,13832,begin surface
$SM_CCo,13910,0.00,0.000,0,0,1073,489.37
$SM_GC,3.83,8.60,0.00,0.00,0.018,0.000,0.000,103,1531,1073,-9.70,-0.51,489.37
$IRIDIUM_FIX,2145.77,12605.74,071110,090959
$TT8_MAMPS,0.026964
$HUMID,49.64
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,23.0,62.643
$10V_AH,10.1,45.134
$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,23.900,105.775,569.625,0.000,0.000,28.173,38.722,138.608,0.500,0.000,17.372,3156.515,7891.790,641.139,2284.319,263.471,0.000,1786.824,0.000,2065.156,0.000,0.537,0.000
$DEVICE_MAMPS,194.310,64.260,1215.585,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,73623,1288
$CAP_FILE_SIZE,153555,0
$CFSIZE,260165632,226111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044, 79.3,1
$GPS,071110,180005,2149.807,12607.535,14,2.1,33,-3.0