version: 66.08
glider: 168
mission: 2
dive: 422
start: 11 2 110 17 56 0
data:
$ID,168
$MISSION,2
$DIVE,422
$N_DIVES,423
$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,-3744.3674
$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,28
$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
$GPS1,021110,175006,2254.348,12632.977,35,1.0,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-76.2
$GPS2,021110,175532,2254.387,12632.909,18,1.4,18,-3.3
$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,180.9,180334,-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,-6.72,0.000,2,0.000,0.000,104,1544,1456,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.5,-0.0,1,135,10.12,2.20,-89.32,0.000,4,0.177,0.063,3032,174,3823,0,0,0,0,0,0
$GC,228,-0.65,-185.1,30.2,-25.9,35,235,0.08,2.08,0.00,0.000,6,0.180,0.034,3044,1539,3824,0,0,0,0,0,0
$GC,572,-0.63,-185.1,107.3,-20.9,96,580,0.00,2.12,0.00,0.000,4,0.000,0.051,3044,165,3826,0,0,0,0,0,0
$GC,605,-0.61,-185.1,113.9,-19.5,101,612,0.08,2.08,0.00,0.000,6,0.176,0.035,3059,1550,3826,0,0,0,0,0,0
$GC,948,-0.63,-185.1,174.6,-15.5,162,955,0.00,2.17,0.00,0.000,4,0.000,0.044,3050,2962,3827,0,0,0,0,0,0
$GC,1014,-0.67,-185.1,183.0,-12.1,173,1021,0.00,2.17,0.00,0.000,6,0.000,0.041,3050,1537,3828,0,0,0,0,0,0
$GC,1361,-0.69,-185.1,232.4,-12.3,234,1367,0.08,0.00,0.00,0.000,6,0.122,0.000,2934,1536,3829,0,0,0,0,0,0
$GC,1700,-0.62,-185.1,315.2,-23.0,289,1703,0.38,0.00,0.00,0.000,6,0.117,0.000,3059,1536,3829,0,0,0,0,0,0
$GC,2019,-0.66,-185.1,353.5,-11.9,319,2024,0.08,2.22,0.00,0.000,4,0.120,0.045,2952,2955,3828,0,0,0,0,0,0
$GC,2075,-0.65,-185.1,363.3,-18.4,324,2080,0.28,2.17,0.00,0.000,6,0.105,0.043,3046,1551,3829,0,0,0,0,0,0
$GC,2401,-0.68,-185.1,404.3,-11.4,354,2405,0.00,2.15,0.00,0.000,4,0.000,0.053,3046,166,3828,0,0,0,0,0,0
$GC,2424,-0.72,-185.1,407.2,-12.3,355,2432,0.10,2.08,0.00,0.000,6,0.090,0.036,2941,1554,3828,0,0,0,0,0,0
$GC,2749,-0.67,-185.1,474.0,-20.5,386,2754,0.25,2.15,0.00,0.000,4,0.117,0.042,3025,2957,3826,0,0,0,0,0,0
$GC,2782,-0.70,-185.1,479.1,-13.1,388,2790,0.00,2.15,0.00,0.000,6,0.000,0.043,3025,1552,3826,0,0,0,0,0,0
$GC,3108,-0.72,-185.1,516.7,-12.6,419,3112,0.00,2.17,0.00,0.000,4,0.000,0.044,3018,2955,3825,0,0,0,0,0,0
$GC,3148,-0.77,-185.1,521.5,-11.7,422,3152,0.00,2.17,0.00,0.000,6,0.000,0.044,3018,1555,3825,0,0,0,0,0,0
$GC,3474,-0.80,-185.1,561.2,-11.9,452,3478,0.08,2.17,0.00,0.000,4,0.119,0.056,2901,168,3823,0,0,0,0,0,0
$GC,3503,-0.77,-185.1,566.1,-19.1,454,3508,0.35,2.12,0.00,0.000,6,0.117,0.038,3006,1562,3823,0,0,0,0,0,0
$GC,3827,-0.78,-185.1,607.8,-12.0,481,3831,0.00,2.15,0.00,0.000,4,0.000,0.046,2997,2957,3821,0,0,0,0,0,0
$GC,3869,-0.82,-185.1,612.7,-11.2,483,3873,0.00,2.17,0.00,0.000,6,0.000,0.045,2997,1562,3820,0,0,0,0,0,0
$GC,4196,-0.84,-185.1,653.1,-12.1,499,4200,0.00,2.22,0.00,0.000,4,0.000,0.058,2997,161,3818,0,0,0,0,0,0
$GC,4224,-0.85,-185.1,656.9,-12.6,500,4228,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1569,3818,0,0,0,0,0,0
$GC,4541,-0.86,-185.1,696.1,-12.5,515,4545,0.00,2.17,0.00,0.000,4,0.000,0.047,2980,2964,3815,0,0,0,0,0,0
$GC,4607,-0.90,-185.1,704.3,-11.4,518,4611,0.08,2.17,0.00,0.000,6,0.113,0.047,2879,1565,3815,0,0,0,0,0,0
$GC,4928,-0.83,-185.1,777.3,-24.1,534,4930,0.32,0.00,0.00,0.000,6,0.122,0.000,2983,1564,3812,0,0,0,0,0,0
$GC,5238,-0.85,-185.1,821.9,-13.7,549,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1564,3810,0,0,0,0,0,0
$GC,5547,-0.86,-185.1,864.5,-13.8,564,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1564,3808,0,0,0,0,0,0
$GC,5856,-0.88,-185.1,904.2,-12.2,579,5860,0.00,2.17,0.00,0.000,4,0.000,0.047,2975,2963,3805,0,0,0,0,0,0
$GC,5877,-0.90,-185.1,907.1,-12.5,580,5881,0.00,2.17,0.00,0.000,6,0.000,0.049,2975,1574,3805,0,0,0,0,0,0
$GC,6200,-0.91,-185.1,946.0,-12.0,596,6204,0.00,2.25,0.00,0.000,4,0.000,0.063,2975,162,3802,0,0,0,0,0,0
$GC,6228,-0.92,-185.1,949.7,-13.3,597,6232,0.00,2.15,0.00,0.000,6,0.000,0.039,2970,1572,3802,0,0,0,0,0,0
$GC,6545,-0.93,-185.1,986.0,-11.3,612,6549,0.00,2.15,0.00,0.000,4,0.000,0.049,2959,2955,3800,0,0,0,0,0,0
$GC,6583,-0.96,-185.1,990.5,-10.7,613,6590,0.00,2.17,0.00,0.000,6,0.000,0.050,2960,1571,3799,0,0,0,0,0,0
$STATE,6670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6670,begin apogee
$GC,6675,0.00,0.0,1000.3,11.5,618,6834,0.80,0.00,153.23,1.233,4,0.091,0.000,3251,1712,3069,0,0,0,0,0,0
$STATE,6835,end apogee,CONTROL_FINISHED_OK
$STATE,6835,begin climb
$GC,6837,0.68,185.1,1005.8,0.0,625,7007,0.60,2.30,161.38,1.164,4,0.031,0.046,3522,3102,2312,0,0,0,0,0,0
$GC,7171,0.61,185.1,949.2,23.5,640,7179,0.30,2.28,0.00,0.000,6,0.150,0.046,3444,1693,2303,0,0,0,0,0,0
$GC,7487,0.58,185.1,896.8,16.0,656,7491,0.00,2.22,0.00,0.000,4,0.000,0.058,3455,294,2299,0,0,0,0,0,0
$GC,7514,0.54,185.1,892.3,15.6,657,7519,0.08,2.15,0.00,0.000,6,0.125,0.032,3427,1688,2298,0,0,0,0,0,0
$GC,7838,0.54,190.7,848.3,13.6,673,7842,0.00,2.17,0.00,0.000,4,0.000,0.041,3426,3109,2297,0,0,0,0,0,0
$GC,7905,0.53,190.7,838.1,14.2,676,7910,0.08,2.22,0.00,0.000,6,0.190,0.048,3417,1692,2296,0,0,0,0,0,0
$GC,8233,0.54,198.5,794.3,13.5,692,8248,0.00,2.25,10.32,1.032,4,0.000,0.059,3427,294,2257,0,0,0,0,0,0
$GC,8282,0.54,198.5,787.0,14.6,693,8286,0.00,2.15,0.00,0.000,6,0.000,0.034,3426,1684,2254,0,0,0,0,0,0
$GC,8605,0.53,198.5,741.0,14.6,709,8609,0.00,2.20,0.00,0.000,4,0.000,0.042,3426,3109,2253,0,0,0,0,0,0
$GC,8644,0.53,198.5,734.9,15.5,711,8649,0.08,2.20,0.00,0.000,6,0.189,0.048,3417,1702,2253,0,0,0,0,0,0
$GC,8972,0.55,221.3,692.0,12.7,727,8999,0.00,2.33,20.83,1.058,4,0.000,0.061,3427,302,2164,0,0,0,0,0,0
$GC,9022,0.57,236.8,685.1,13.1,729,9043,0.00,2.15,15.43,1.000,6,0.000,0.034,3427,1710,2101,0,0,0,0,0,0
$GC,9366,0.57,236.8,636.7,14.4,746,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1709,2094,0,0,0,0,0,0
$GC,9676,0.58,241.5,592.8,13.7,763,9686,0.00,0.00,4.07,0.661,6,0.000,0.000,3427,1710,2082,0,0,0,0,0,0
$GC,10005,0.64,279.6,551.9,12.0,794,10051,0.10,2.40,34.17,0.966,4,0.101,0.060,3523,294,1926,0,0,0,0,0,0
$GC,10092,0.60,279.6,535.9,19.7,801,10100,0.25,2.17,0.00,0.000,6,0.124,0.034,3444,1710,1923,0,0,0,0,0,0
$GC,10417,0.61,279.6,488.4,14.6,832,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1713,1919,0,0,0,0,0,0
$GC,10737,0.62,279.6,441.8,14.5,862,10741,0.00,2.28,0.00,0.000,4,0.000,0.059,3454,294,1918,0,0,0,0,0,0
$GC,10793,0.64,280.2,433.3,13.9,866,10800,0.00,2.15,0.00,0.000,6,0.000,0.033,3455,1708,1917,0,0,0,0,0,0
$GC,11119,0.65,280.2,384.7,14.6,897,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1711,1916,0,0,0,0,0,0
$GC,11441,0.68,297.4,342.6,13.0,927,11458,0.00,0.00,15.10,0.785,6,0.000,0.000,3455,1710,1855,0,0,0,0,0,0
$GC,11777,0.71,310.7,297.3,13.2,960,11798,0.08,2.28,12.70,0.732,4,0.122,0.054,3553,288,1800,0,0,0,0,0,0
$GC,11850,0.67,310.7,283.6,18.7,972,11858,0.28,2.12,0.00,0.000,6,0.112,0.031,3462,1702,1797,0,0,0,0,0,0
$GC,12194,0.71,325.6,240.0,13.1,1033,12213,0.05,0.00,13.80,0.692,6,0.169,0.000,3540,1705,1739,0,0,0,0,0,0
$GC,12551,0.68,325.6,168.1,20.0,1096,12558,0.22,2.12,0.00,0.000,4,0.129,0.034,3467,3103,1737,0,0,0,0,0,0
$GC,12576,0.68,325.6,163.8,17.1,1100,12582,0.00,2.22,0.00,0.000,6,0.000,0.044,3467,1688,1736,0,0,0,0,0,0
$GC,12922,0.77,368.4,123.5,11.7,1161,12966,0.10,2.22,35.80,0.633,4,0.094,0.054,3582,293,1565,0,0,0,0,0,0
$GC,13050,0.74,368.4,97.5,19.3,1183,13057,0.28,2.08,0.00,0.000,6,0.102,0.029,3488,1683,1561,0,0,0,0,0,0
$GC,13395,0.97,502.9,65.8,7.1,1244,13508,0.20,2.28,104.38,0.581,4,0.054,0.033,3612,3102,1016,0,0,0,0,0,0
$GC,13526,0.95,502.9,39.3,24.0,1265,13534,0.20,2.25,0.00,0.000,6,0.126,0.044,3557,1674,1013,0,0,1,0,0,0
$STATE,13744,end climb,SURFACE_DEPTH_REACHED
$STATE,13744,begin surface coast
$FINISH,2.5,0.998129
$STATE,13767,end surface coast,CONTROL_FINISHED_OK
$STATE,13767,begin surface
$SM_CCo,13845,0.00,0.000,0,0,1006,505.81
$SM_GC,3.50,8.48,0.00,0.00,0.021,0.000,0.000,104,1514,1006,-9.69,-0.99,505.81
$IRIDIUM_FIX,2248.70,12630.20,021110,131341
$TT8_MAMPS,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,23.0,57.634
$10V_AH,10.2,42.842
$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,24.400,114.125,581.200,0.000,0.000,23.946,37.646,130.213,1.000,0.000,19.121,3216.708,7679.926,660.321,2346.865,264.448,0.000,1836.203,0.000,2127.480,0.000,0.539,0.000
$DEVICE_MAMPS,190.485,65.025,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73683,1308
$CAP_FILE_SIZE,158600,0
$CFSIZE,260165632,228347904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2
$CURRENT,0.092,250.5,1
$GPS,021110,214801,2251.929,12632.170,42,1.1,42,-3.3