version: 66.08
glider: 168
mission: 2
dive: 464
start: 11 9 110 17 40 6
data:
$ID,168
$MISSION,2
$DIVE,464
$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,-3818.7551
$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,41
$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
$GPS1,091110,173155,2121.786,12601.598,37,1.7,37,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.09
$_SM_ANGLEo,-74.7
$GPS2,091110,173938,2121.730,12601.667,10,1.4,10,-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,265.7,841,-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,16,-0.74,-102.9,0.0,0.0,0,25,0.00,0.00,-7.00,0.000,2,0.000,0.000,104,1544,633,0,0,0,0,0,0
$GC,27,-0.84,-185.1,4.0,-0.0,1,168,9.43,2.30,-118.18,0.000,4,0.156,0.061,2972,2955,3824,0,0,0,0,0,0
$GC,286,-0.86,-185.1,41.1,-23.1,45,293,0.00,2.22,0.00,0.000,6,0.000,0.047,2972,1543,3825,0,0,0,0,0,0
$GC,629,-0.83,-185.1,151.3,-29.1,106,637,0.00,2.12,0.00,0.000,4,0.000,0.054,2972,162,3825,0,0,0,0,0,0
$GC,650,-0.81,-185.1,157.0,-27.2,109,658,0.10,2.12,0.00,0.000,6,0.164,0.041,2990,1553,3825,0,0,0,0,0,0
$GC,994,-0.83,-185.1,231.7,-20.4,170,1002,0.00,2.17,0.00,0.000,4,0.000,0.044,2981,2966,3826,0,0,0,0,0,0
$GC,1019,-0.85,-185.1,236.8,-19.8,174,1027,0.00,2.22,0.00,0.000,6,0.000,0.044,2980,1538,3826,0,0,0,0,0,0
$GC,1364,-0.87,-185.1,304.3,-18.4,233,1368,0.00,2.20,0.00,0.000,4,0.000,0.045,2970,2963,3826,0,0,0,0,0,0
$GC,1407,-0.91,-185.1,312.3,-16.1,236,1414,0.00,2.20,0.00,0.000,6,0.000,0.044,2970,1542,3826,0,0,0,0,0,0
$GC,1734,-0.92,-185.1,371.1,-18.6,267,1738,0.00,2.15,0.00,0.000,4,0.000,0.054,2970,165,3826,0,0,0,0,0,0
$GC,1763,-0.94,-185.1,376.8,-19.0,269,1767,0.00,2.08,0.00,0.000,6,0.000,0.039,2961,1540,3825,0,0,0,0,0,0
$GC,2094,-0.96,-185.1,436.8,-18.2,300,2099,0.08,2.20,0.00,0.000,4,0.126,0.045,2848,2959,3824,0,0,0,0,0,0
$GC,2200,-0.95,-185.1,461.9,-24.5,309,2207,0.30,2.22,0.00,0.000,6,0.112,0.046,2950,1535,3823,0,0,0,0,0,0
$GC,2525,-0.96,-185.1,520.4,-16.9,340,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1534,3821,0,0,0,0,0,0
$GC,2845,-0.99,-185.1,573.1,-16.2,370,2849,0.00,2.22,0.00,0.000,4,0.000,0.048,2940,2958,3818,0,0,0,0,0,0
$GC,2878,-1.03,-185.1,578.7,-15.9,372,2885,0.08,2.22,0.00,0.000,6,0.113,0.047,2828,1540,3818,0,0,0,0,0,0
$GC,3199,-0.98,-185.1,662.9,-27.7,392,3204,0.30,2.20,0.00,0.000,4,0.132,0.044,2923,2959,3815,0,0,0,0,0,0
$GC,3266,-1.02,-185.1,676.6,-15.5,395,3270,0.00,2.22,0.00,0.000,6,0.000,0.049,2922,1548,3814,0,0,0,0,0,0
$GC,3588,-1.03,-185.1,731.7,-16.8,411,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1548,3811,0,0,0,0,0,0
$GC,3897,-1.05,-185.1,784.5,-17.2,426,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1547,3808,0,0,0,0,0,0
$GC,4207,-1.07,-185.1,837.4,-16.8,441,4211,0.00,2.22,0.00,0.000,4,0.000,0.048,2912,2956,3804,0,0,0,0,0,0
$GC,4230,-1.09,-185.1,841.4,-17.1,442,4234,0.00,2.25,0.00,0.000,6,0.000,0.052,2912,1546,3804,0,0,0,0,0,0
$GC,4557,-1.11,-185.1,899.5,-18.2,458,4561,0.00,2.20,0.00,0.000,4,0.000,0.049,2901,2958,3800,0,0,0,0,0,0
$GC,4598,-1.14,-185.1,906.6,-16.7,460,4602,0.00,2.25,0.00,0.000,6,0.000,0.052,2902,1550,3799,0,0,0,0,0,0
$GC,4925,-1.14,-185.1,967.0,-18.9,476,4929,0.00,2.22,0.00,0.000,4,0.000,0.049,2891,2964,3796,0,0,0,0,0,0
$GC,4969,-1.17,-185.1,975.1,-16.8,478,4973,0.00,2.25,0.00,0.000,6,0.000,0.053,2891,1553,3796,0,0,0,0,0,0
$STATE,5103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5103,begin apogee
$GC,5108,0.00,0.0,1001.1,19.4,485,5267,1.00,0.00,152.98,1.208,4,0.097,0.000,3246,1706,3068,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5270,0.84,185.1,1008.5,0.0,492,5439,0.75,2.30,160.50,1.133,4,0.027,0.047,3577,3104,2313,0,0,0,0,0,0
$GC,5588,0.79,185.1,947.2,27.8,507,5593,0.30,2.28,0.00,0.000,6,0.161,0.047,3502,1691,2304,0,0,0,0,0,0
$GC,5917,0.77,185.1,876.3,21.2,523,5921,0.00,2.20,0.00,0.000,4,0.000,0.040,3502,3114,2299,0,0,0,0,0,0
$GC,6011,0.76,185.1,855.3,21.8,527,6016,0.03,2.28,0.00,0.000,6,0.134,0.049,3493,1702,2299,0,0,0,0,0,0
$GC,6339,0.75,185.1,791.5,19.1,543,6343,0.00,2.17,0.00,0.000,4,0.000,0.041,3493,3117,2296,0,0,0,0,0,0
$GC,6366,0.74,185.1,785.6,19.7,544,6370,0.00,2.25,0.00,0.000,6,0.000,0.050,3503,1702,2296,0,0,0,0,0,0
$GC,6694,0.73,185.1,724.1,19.1,560,6699,0.08,2.17,0.00,0.000,4,0.223,0.040,3486,3109,2294,0,0,0,0,0,0
$GC,6743,0.73,185.1,714.6,17.6,562,6747,0.00,2.22,0.00,0.000,6,0.000,0.049,3496,1710,2294,0,0,0,0,0,0
$GC,7059,0.73,185.1,657.4,18.1,577,7063,0.00,2.28,0.00,0.000,4,0.000,0.062,3507,291,2292,0,0,0,0,0,0
$GC,7092,0.71,185.1,650.6,19.6,578,7100,0.10,2.17,0.00,0.000,6,0.177,0.034,3480,1720,2290,0,0,0,0,0,0
$GC,7408,0.71,185.1,597.6,16.2,594,7411,0.00,2.12,0.00,0.000,4,0.000,0.042,3480,3107,2290,0,0,0,0,0,0
$GC,7481,0.72,185.1,585.6,16.8,600,7485,0.00,2.20,0.00,0.000,6,0.000,0.049,3490,1709,2290,0,0,0,0,0,0
$GC,7806,0.72,185.1,528.9,17.5,630,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1708,2289,0,0,0,0,0,0
$GC,8126,0.72,185.1,476.2,16.5,660,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1708,2288,0,0,0,0,0,0
$GC,8445,0.72,185.1,429.1,14.4,690,8449,0.00,2.15,0.00,0.000,4,0.000,0.041,3491,3109,2287,0,0,0,0,0,0
$GC,8484,0.72,185.1,422.6,15.9,693,8489,0.08,2.20,0.00,0.000,6,0.193,0.047,3482,1720,2287,0,0,0,0,0,0
$GC,8810,0.73,185.1,378.0,14.0,723,8814,0.00,2.15,0.00,0.000,4,0.000,0.040,3482,3117,2287,0,0,0,0,0,0
$GC,8839,0.75,185.1,373.5,15.2,725,8843,0.00,2.17,0.00,0.000,6,0.000,0.047,3492,1725,2287,0,0,0,0,0,0
$GC,9165,0.76,185.1,325.3,16.2,755,9169,0.00,2.28,0.00,0.000,4,0.000,0.059,3503,292,2287,0,0,0,0,0,0
$GC,9273,0.77,185.1,308.1,15.1,764,9277,0.00,2.15,0.00,0.000,6,0.000,0.034,3503,1722,2286,0,0,0,0,0,0
$GC,9614,0.79,192.5,260.4,13.2,819,9621,0.00,2.12,0.00,0.000,4,0.000,0.039,3503,3118,2285,0,0,0,0,0,0
$GC,9673,0.81,198.4,252.4,13.4,829,9688,0.00,2.20,8.02,0.641,6,0.000,0.046,3513,1703,2259,0,0,0,0,0,0
$GC,10027,0.84,214.1,203.6,12.5,891,10052,0.00,2.30,15.12,0.659,4,0.000,0.056,3524,297,2195,0,0,0,0,0,0
$GC,10088,0.88,232.7,196.2,12.2,901,10113,0.00,2.12,17.48,0.656,6,0.000,0.031,3524,1709,2117,0,0,0,0,0,0
$GC,10451,0.90,235.5,151.9,13.6,965,10459,0.05,2.15,0.00,0.000,4,0.168,0.038,3590,3107,2113,0,0,0,0,0,0
$GC,10635,0.89,235.5,122.4,17.3,997,10642,0.22,2.15,0.00,0.000,6,0.144,0.043,3532,1730,2113,0,0,0,0,0,0
$GC,10981,1.00,301.9,86.6,7.9,1058,11044,0.12,2.22,56.33,0.576,4,0.076,0.035,3640,3113,1836,0,0,0,0,0,0
$GC,11191,0.99,301.9,52.1,17.6,1094,11200,0.28,2.17,0.00,0.000,6,0.141,0.043,3566,1730,1832,0,0,0,0,0,0
$GC,11540,1.19,373.1,3.2,7.5,1155,11578,0.17,2.38,31.02,0.488,4,0.063,0.057,3681,293,1544,0,0,0,0,0,0
$GC,11586,1.56,529.0,3.3,-0.2,1162,11664,0.20,2.22,68.97,0.491,6,0.075,0.035,3771,1743,910,0,0,0,0,0,0
$FREEZE,3.19,26.834,-1.844,0,1,0
$STATE,11671,end climb,NO_VERTICAL_VELOCITY
$STATE,11671,begin surface
$SM_CCo,11674,63.95,0.489,0,0,414,650.78
$SM_GC,3.96,8.90,0.00,0.00,0.016,0.000,0.000,104,1539,409,-9.69,-0.25,652.25
$IRIDIUM_FIX,2115.63,12602.66,091110,171703
$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,23.3,64.946
$10V_AH,10.2,46.136
$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,22.550,110.825,510.425,63.950,0.000,59.281,62.854,152.764,1.750,0.000,13.137,2868.087,6411.408,671.917,2231.210,251.128,0.000,1750.050,0.000,1939.953,0.000,0.540,0.000
$DEVICE_MAMPS,222.615,61.965,1207.935,488.835,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,66988,1176
$CAP_FILE_SIZE,140725,0
$CFSIZE,260165632,225136640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,124.9,1
$GPS,091110,210054,2120.889,12600.886,22,1.9,40,-2.9