version: 66.08
glider: 168
mission: 2
dive: 474
start: 11 11 110 6 26 2
data:
$ID,168
$MISSION,2
$DIVE,474
$N_DIVES,484
$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,-3875.3877
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,111110,062007,2122.154,12600.549,27,1.1,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.35
$_SM_ANGLEo,-72.6
$GPS2,111110,062532,2122.123,12600.517,17,1.6,17,-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,105.9,1526,-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,13,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,-6.70,0.000,2,0.000,0.000,105,1536,622,0,0,0,0,0,0
$GC,27,-0.84,-185.1,4.4,-0.0,1,164,9.50,2.15,-118.20,0.000,4,0.158,0.063,2989,172,3823,0,0,0,0,0,0
$GC,204,-0.83,-185.1,18.5,-28.1,30,211,0.00,2.10,0.00,0.000,6,0.000,0.037,2980,1542,3823,0,0,0,0,0,0
$GC,547,-0.80,-185.1,136.8,-29.3,91,554,0.08,2.20,0.00,0.000,4,0.212,0.040,2988,2964,3824,0,0,0,0,0,0
$GC,588,-0.80,-185.1,149.5,-28.7,98,595,0.00,2.20,0.00,0.000,6,0.000,0.047,2988,1556,3824,0,0,0,0,0,0
$GC,932,-0.81,-185.1,223.3,-21.5,159,939,0.00,2.17,0.00,0.000,4,0.000,0.053,2988,162,3825,0,0,0,0,0,0
$GC,974,-0.82,-185.1,232.6,-22.3,166,980,0.00,2.12,0.00,0.000,6,0.000,0.038,2978,1559,3825,0,0,0,0,0,0
$GC,1321,-0.83,-185.1,304.5,-18.1,226,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1562,3825,0,0,0,0,0,0
$GC,1643,-0.86,-185.1,361.4,-17.1,256,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1562,3825,0,0,0,0,0,0
$GC,1970,-0.89,-185.1,415.5,-16.5,287,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1562,3824,0,0,0,0,0,0
$GC,2290,-0.93,-185.1,465.5,-15.0,317,2294,0.10,2.20,0.00,0.000,4,0.093,0.055,2845,164,3822,0,0,0,0,0,0
$GC,2307,-0.94,-185.1,469.1,-16.4,318,2312,0.35,2.12,0.00,0.000,6,0.132,0.039,2947,1564,3822,0,0,0,0,0,0
$GC,2633,-0.96,-185.1,532.3,-18.2,348,2637,0.00,2.15,0.00,0.000,4,0.000,0.046,2937,2958,3819,0,0,0,0,0,0
$GC,2722,-1.01,-185.1,547.3,-15.6,355,2729,0.00,2.15,0.00,0.000,6,0.000,0.046,2937,1567,3819,0,0,0,0,0,0
$GC,3049,-1.03,-185.1,605.2,-17.8,385,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1567,3817,0,0,0,0,0,0
$GC,3356,-1.05,-185.1,657.9,-16.8,400,3361,0.08,2.20,0.00,0.000,4,0.125,0.048,2823,2958,3813,0,0,0,0,0,0
$GC,3389,-1.02,-185.1,665.3,-23.0,401,3396,0.30,2.17,0.00,0.000,6,0.119,0.048,2923,1562,3813,0,0,0,0,0,0
$GC,3705,-1.04,-185.1,724.9,-18.3,417,3709,0.00,2.17,0.00,0.000,4,0.000,0.049,2913,2958,3809,0,0,0,0,0,0
$GC,3733,-1.07,-185.1,730.3,-18.3,418,3738,0.00,2.17,0.00,0.000,6,0.000,0.050,2913,1570,3809,0,0,0,0,0,0
$GC,4050,-1.08,-185.1,787.5,-17.9,433,4054,0.00,2.17,0.00,0.000,4,0.000,0.048,2903,2957,3806,0,0,0,0,0,0
$GC,4090,-1.11,-185.1,794.7,-17.5,435,4094,0.00,2.17,0.00,0.000,6,0.000,0.050,2903,1571,3806,0,0,0,0,0,0
$GC,4418,-1.12,-185.1,853.7,-17.6,451,4422,0.00,2.25,0.00,0.000,4,0.000,0.061,2902,165,3803,0,0,0,0,0,0
$GC,4435,-1.12,-185.1,857.1,-18.0,452,4439,0.00,2.17,0.00,0.000,6,0.000,0.043,2891,1568,3802,0,0,0,0,0,0
$GC,4768,-1.12,-185.1,918.9,-18.8,468,4772,0.00,2.17,0.00,0.000,4,0.000,0.051,2881,2960,3799,0,0,0,0,0,0
$GC,4783,-1.12,-185.1,922.1,-18.6,468,4791,0.00,2.22,0.00,0.000,6,0.000,0.050,2881,1573,3799,0,0,0,0,0,0
$GC,5099,-1.12,-185.1,984.1,-19.8,484,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1572,3796,0,0,0,0,0,0
$STATE,5179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5180,begin apogee
$GC,5186,0.00,0.0,1000.4,19.6,488,5344,1.05,0.00,151.77,1.213,4,0.102,0.000,3248,1716,3068,0,0,0,0,0,0
$STATE,5345,end apogee,CONTROL_FINISHED_OK
$STATE,5345,begin climb
$GC,5347,0.84,185.1,1007.8,0.0,495,5518,0.73,2.28,161.23,1.139,4,0.027,0.048,3568,3100,2313,0,0,0,0,0,0
$GC,5688,0.79,185.1,941.4,26.3,511,5693,0.25,2.25,0.00,0.000,6,0.163,0.047,3508,1690,2303,0,0,0,0,0,0
$GC,6016,0.77,185.1,867.6,22.4,527,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1690,2298,0,0,0,0,0,0
$GC,6324,0.75,185.1,798.9,21.7,542,6328,0.00,2.17,0.00,0.000,4,0.000,0.041,3508,3102,2297,0,0,0,0,0,0
$GC,6341,0.73,185.1,795.0,21.7,542,6348,0.12,2.20,0.00,0.000,6,0.169,0.047,3484,1699,2297,0,0,0,0,0,0
$GC,6657,0.73,185.1,734.3,19.1,558,6660,0.00,2.17,0.00,0.000,4,0.000,0.042,3484,3105,2294,0,0,0,0,0,0
$GC,6723,0.73,185.1,721.6,18.1,561,6727,0.00,2.22,0.00,0.000,6,0.000,0.049,3493,1704,2294,0,0,0,0,0,0
$GC,7045,0.73,185.1,663.3,17.8,577,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1703,2293,0,0,0,0,0,0
$GC,7354,0.73,185.1,606.9,18.1,592,7358,0.00,2.17,0.00,0.000,4,0.000,0.042,3493,3106,2291,0,0,0,0,0,0
$GC,7439,0.73,185.1,591.5,18.6,598,7443,0.08,2.20,0.00,0.000,6,0.195,0.050,3486,1706,2292,0,0,0,0,0,0
$GC,7765,0.73,185.1,536.6,16.4,628,7768,0.00,2.15,0.00,0.000,4,0.000,0.043,3486,3101,2290,0,0,0,0,0,0
$GC,7844,0.74,185.1,522.9,17.1,635,7848,0.00,2.17,0.00,0.000,6,0.000,0.050,3495,1714,2290,0,0,0,0,0,0
$GC,8170,0.74,185.1,470.7,16.7,665,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1714,2289,0,0,0,0,0,0
$GC,8490,0.74,185.1,416.7,16.4,695,8494,0.00,2.12,0.00,0.000,4,0.000,0.041,3496,3102,2288,0,0,0,0,0,0
$GC,8510,0.74,185.1,412.4,18.6,696,8519,0.05,2.22,0.00,0.000,6,0.151,0.048,3488,1715,2288,0,0,0,0,0,0
$GC,8837,0.75,185.6,364.3,13.9,727,8841,0.00,2.12,0.00,0.000,4,0.000,0.041,3488,3106,2288,0,0,0,0,0,0
$GC,8858,0.77,185.6,360.9,14.2,728,8866,0.00,2.17,0.00,0.000,6,0.000,0.047,3498,1716,2288,0,0,0,0,0,0
$GC,9184,0.78,187.1,314.4,13.8,759,9188,0.00,2.12,0.00,0.000,4,0.000,0.041,3497,3108,2288,0,0,0,0,0,0
$GC,9263,0.79,187.1,303.0,15.4,766,9267,0.00,2.15,0.00,0.000,6,0.000,0.047,3508,1724,2287,0,0,0,0,0,0
$GC,9602,0.79,187.1,255.0,15.4,824,9609,0.00,2.28,0.00,0.000,4,0.000,0.056,3519,292,2288,0,0,0,0,0,0
$GC,9644,0.79,187.1,248.6,15.1,831,9651,0.00,2.15,0.00,0.000,6,0.000,0.032,3519,1719,2287,0,0,0,0,0,0
$GC,9989,0.79,188.8,200.8,13.7,892,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,1720,2287,0,0,0,0,0,0
$GC,10334,0.86,236.5,158.2,9.6,953,10383,0.00,2.30,40.12,0.644,4,0.000,0.055,3529,294,2102,0,0,0,0,0,0
$GC,10415,0.94,273.0,149.4,10.6,966,10453,0.08,2.17,30.45,0.622,6,0.116,0.031,3614,1729,1954,0,0,0,0,0,0
$GC,10789,0.93,273.0,85.0,15.6,1032,10797,0.22,2.28,0.00,0.000,4,0.138,0.051,3554,293,1947,0,0,0,0,0,0
$GC,10838,1.00,303.0,78.7,11.2,1040,10871,0.08,2.15,24.98,0.561,6,0.118,0.031,3645,1726,1831,0,0,0,0,0,0
$GC,11208,1.00,303.0,3.6,19.7,1105,11215,0.22,2.15,0.00,0.000,4,0.074,0.047,3547,3100,1825,0,0,0,0,0,0
$FREEZE,3.65,26.519,-1.899,0,1,0
$STATE,11461,end climb,NO_VERTICAL_VELOCITY
$STATE,11461,begin surface
$SM_CCo,11464,163.88,0.496,0,0,415,650.78
$SM_GC,4.35,8.40,0.00,0.00,0.019,0.000,0.000,104,1547,409,-9.70,-0.08,652.01
$IRIDIUM_FIX,2113.32,12556.20,111110,020248
$TT8_MAMPS,0.026964
$HUMID,47.12
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.70
$XPDR_PINGS,8
$24V_AH,23.1,66.585
$10V_AH,10.1,46.873
$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,21.675,96.575,408.550,163.875,0.000,31.878,40.968,124.150,2.000,0.000,19.303,2803.017,6405.176,696.170,2077.278,237.589,0.000,1714.452,0.000,1860.295,0.000,0.539,0.000
$DEVICE_MAMPS,211.905,65.790,1213.290,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,66889,1150
$CAP_FILE_SIZE,129849,0
$CFSIZE,260165632,224423936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,255.1,1
$GPS,111110,094522,2121.713,12601.917,9,3.7,28,-2.9