version: 66.08
glider: 168
mission: 2
dive: 468
start: 11 10 110 7 57 2
data:
$ID,168
$MISSION,2
$DIVE,468
$N_DIVES,468
$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,-3824.9944
$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,25
$R_STBD_OVSHOOT,39
$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
$GPS1,101110,075136,2122.087,12601.396,31,0.9,35,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.17
$_SM_ANGLEo,-74.5
$GPS2,101110,075632,2122.023,12601.355,12,1.2,12,-2.9
$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,179.6,828,-27.7,-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,-0.74,-102.9,0.0,0.0,0,24,0.00,0.00,-6.62,0.000,2,0.000,0.000,104,1545,619,0,0,0,0,0,0
$GC,26,-0.84,-185.1,4.2,-0.0,1,169,9.48,2.25,-120.70,0.000,4,0.158,0.065,2981,156,3824,0,0,0,0,0,0
$GC,276,-0.82,-185.1,42.1,-31.4,43,284,0.08,2.10,0.00,0.000,6,0.192,0.039,2990,1544,3825,0,0,0,0,0,0
$GC,621,-0.80,-185.1,149.8,-25.1,104,629,0.00,2.17,0.00,0.000,4,0.000,0.045,2981,2963,3825,0,0,0,0,0,0
$GC,710,-0.84,-185.1,167.6,-17.3,119,717,0.00,2.15,0.00,0.000,6,0.000,0.042,2981,1552,3826,0,0,0,0,0,0
$GC,1054,-0.85,-185.1,241.8,-21.6,180,1062,0.00,2.15,0.00,0.000,4,0.000,0.050,2980,161,3826,0,0,0,0,0,0
$GC,1164,-0.88,-185.1,263.5,-18.9,199,1171,0.00,2.08,0.00,0.000,6,0.000,0.039,2971,1543,3827,0,0,0,0,0,0
$GC,1506,-0.90,-185.1,332.1,-20.1,246,1510,0.00,2.12,0.00,0.000,4,0.000,0.052,2971,165,3826,0,0,0,0,0,0
$GC,1529,-0.91,-185.1,337.0,-20.5,247,1536,0.00,2.08,0.00,0.000,6,0.000,0.037,2962,1548,3826,0,0,0,0,0,0
$GC,1854,-0.93,-185.1,397.6,-18.1,278,1858,0.00,2.20,0.00,0.000,4,0.000,0.045,2951,2960,3825,0,0,0,0,0,0
$GC,1923,-0.98,-185.1,409.1,-15.5,284,1927,0.00,2.17,0.00,0.000,6,0.000,0.044,2951,1544,3825,0,0,0,0,0,0
$GC,2249,-1.00,-185.1,468.9,-18.8,314,2251,0.08,0.00,0.00,0.000,6,0.123,0.000,2844,1543,3824,0,0,0,0,0,0
$GC,2566,-0.95,-185.1,555.5,-28.3,344,2571,0.30,2.20,0.00,0.000,4,0.125,0.043,2934,2958,3820,0,0,0,0,0,0
$GC,2641,-1.00,-185.1,570.0,-16.8,350,2645,0.00,2.17,0.00,0.000,6,0.000,0.048,2934,1554,3820,0,0,0,0,0,0
$GC,2974,-1.01,-185.1,633.0,-18.9,373,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1554,3817,0,0,0,0,0,0
$GC,3282,-1.03,-185.1,688.7,-17.5,388,3286,0.00,2.22,0.00,0.000,4,0.000,0.050,2924,2959,3814,0,0,0,0,0,0
$GC,3359,-1.08,-185.1,701.8,-15.2,391,3366,0.08,2.20,0.00,0.000,6,0.115,0.049,2813,1550,3813,0,0,0,0,0,0
$GC,3675,-1.03,-185.1,785.8,-27.7,407,3680,0.30,2.20,0.00,0.000,4,0.130,0.044,2908,2959,3810,0,0,0,0,0,0
$GC,3717,-1.05,-185.1,794.8,-19.5,409,3721,0.00,2.20,0.00,0.000,6,0.000,0.050,2908,1554,3809,0,0,0,0,0,0
$GC,4050,-1.07,-185.1,859.7,-19.4,425,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1554,3806,0,0,0,0,0,0
$GC,4359,-1.08,-185.1,919.2,-18.7,440,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1554,3803,0,0,0,0,0,0
$GC,4668,-1.10,-185.1,975.0,-17.4,455,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1554,3799,0,0,0,0,0,0
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4836,0.00,0.0,1002.8,16.5,463,4996,0.95,0.00,152.65,1.214,4,0.092,0.000,3250,1709,3068,0,0,0,0,0,0
$STATE,4996,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,4999,0.84,185.1,1007.6,0.0,470,5168,0.73,2.30,159.93,1.134,4,0.028,0.047,3574,3100,2313,0,0,0,0,0,0
$GC,5316,0.79,185.1,944.2,27.2,485,5321,0.28,2.22,0.00,0.000,6,0.160,0.048,3506,1701,2303,0,0,0,0,0,0
$GC,5645,0.77,185.1,872.9,20.9,501,5648,0.00,2.25,0.00,0.000,4,0.000,0.060,3516,293,2299,0,0,0,0,0,0
$GC,5695,0.74,185.1,861.5,22.5,503,5699,0.10,2.12,0.00,0.000,6,0.178,0.033,3491,1705,2296,0,0,0,0,0,0
$GC,6018,0.73,185.1,796.9,19.9,519,6021,0.00,2.15,0.00,0.000,4,0.000,0.041,3491,3109,2295,0,0,0,0,0,0
$GC,6089,0.73,185.1,781.2,21.3,522,6094,0.00,2.25,0.00,0.000,6,0.000,0.050,3501,1708,2295,0,0,0,0,0,0
$GC,6413,0.72,185.1,714.2,21.1,538,6414,0.08,0.00,0.00,0.000,6,0.217,0.000,3484,1707,2293,0,0,0,0,0,0
$GC,6721,0.72,185.1,656.8,17.8,553,6724,0.00,2.15,0.00,0.000,4,0.000,0.042,3484,3105,2291,0,0,0,0,0,0
$GC,6793,0.73,185.1,643.4,18.7,556,6797,0.00,2.25,0.00,0.000,6,0.000,0.049,3493,1704,2292,0,0,0,0,0,0
$GC,7116,0.73,185.1,588.4,17.2,575,7120,0.00,2.25,0.00,0.000,4,0.000,0.060,3504,293,2290,0,0,0,0,0,0
$GC,7133,0.72,185.1,585.4,17.3,576,7138,0.10,2.12,0.00,0.000,6,0.174,0.034,3478,1705,2289,0,0,0,0,0,0
$GC,7464,0.73,185.1,534.7,15.3,607,7468,0.00,2.12,0.00,0.000,4,0.000,0.043,3478,3105,2288,0,0,0,0,0,0
$GC,7536,0.74,185.1,522.6,15.8,613,7544,0.00,2.17,0.00,0.000,6,0.000,0.049,3488,1714,2288,0,0,0,0,0,0
$GC,7861,0.74,185.1,467.5,18.1,644,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,1714,2287,0,0,0,0,0,0
$GC,8183,0.74,185.1,413.4,16.1,674,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,1714,2287,0,0,0,0,0,0
$GC,8510,0.75,185.1,365.3,14.0,705,8514,0.00,2.12,0.00,0.000,4,0.000,0.041,3489,3108,2287,0,0,0,0,0,0
$GC,8577,0.77,186.5,355.4,13.8,710,8584,0.00,2.22,0.00,0.000,6,0.000,0.048,3499,1701,2287,0,0,0,0,0,0
$GC,8902,0.77,186.5,310.5,14.2,741,8906,0.00,2.22,0.00,0.000,4,0.000,0.058,3510,292,2286,0,0,0,0,0,0
$GC,8923,0.77,186.5,307.3,14.4,742,8930,0.00,2.12,0.00,0.000,6,0.000,0.031,3510,1690,2285,0,0,0,0,0,0
$GC,9262,0.77,186.5,258.6,14.5,798,9269,0.00,2.22,0.00,0.000,4,0.000,0.057,3521,285,2285,0,0,0,0,0,0
$GC,9292,0.77,186.5,254.3,14.1,803,9300,0.10,2.10,0.00,0.000,6,0.163,0.033,3493,1697,2285,0,0,0,0,0,0
$GC,9638,0.83,215.9,211.8,11.2,864,9664,0.08,0.00,22.65,0.681,6,0.119,0.000,3578,1699,2187,0,0,0,0,0,0
$GC,10002,0.83,232.1,151.0,12.4,928,10023,0.20,2.33,14.85,0.610,4,0.146,0.057,3528,291,2120,0,0,0,0,0,0
$GC,10065,0.89,262.4,143.6,11.2,938,10097,0.00,2.10,25.80,0.620,6,0.000,0.032,3528,1689,1997,0,0,0,0,0,0
$GC,10434,0.99,310.9,103.5,9.5,1003,10484,0.12,2.33,39.92,0.587,4,0.076,0.054,3653,282,1799,0,0,0,0,0,0
$GC,10558,0.97,310.9,80.8,20.7,1024,10566,0.30,2.10,0.00,0.000,6,0.139,0.031,3562,1681,1794,0,0,0,0,0,0
$GC,10905,1.00,310.9,24.6,16.6,1085,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1683,1792,0,0,0,0,0,0
$FREEZE,3.47,26.484,-1.875,0,1,0
$STATE,11229,end climb,NO_VERTICAL_VELOCITY
$STATE,11229,begin surface
$SM_CCo,11232,161.60,0.496,0,0,414,650.78
$SM_GC,4.21,8.43,0.00,0.00,0.018,0.000,0.000,105,1537,410,-9.70,-0.37,652.01
$IRIDIUM_FIX,2113.32,12559.43,101110,040427
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.90
$XPDR_PINGS,9
$24V_AH,23.3,65.580
$10V_AH,10.1,46.422
$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,21.750,83.375,415.800,161.600,0.000,28.297,16.694,128.006,2.250,0.000,15.010,2792.778,6168.469,685.805,2042.796,234.633,0.000,1694.936,0.000,1853.528,0.000,0.539,0.000
$DEVICE_MAMPS,217.260,68.850,1214.055,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,66886,1143
$CAP_FILE_SIZE,126851,0
$CFSIZE,260165632,224870400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,234.6,1
$GPS,101110,111201,2120.013,12601.038,35,1.4,36,-2.9