version: 66.08
glider: 168
mission: 2
dive: 465
start: 11 9 110 21 6 55
data:
$ID,168
$MISSION,2
$DIVE,465
$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,-3821.2151
$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,33
$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
$GPS1,091110,210054,2120.889,12600.886,22,1.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.06
$_SM_ANGLEo,-70.6
$GPS2,091110,210626,2120.785,12600.966,11,1.4,11,-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,337.8,1563,-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,12,begin dive
$GC,15,-0.74,-102.9,0.0,0.0,0,24,0.00,0.00,-7.62,0.000,2,0.000,0.000,104,1542,655,0,0,0,0,0,0
$GC,27,-0.84,-185.1,4.1,-0.0,1,162,9.65,2.22,-113.28,0.000,4,0.165,0.052,2976,2956,3825,0,0,0,0,0,0
$GC,259,-0.85,-185.1,33.1,-25.4,40,267,0.00,2.20,0.00,0.000,6,0.000,0.046,2976,1557,3825,0,0,0,0,0,0
$GC,604,-0.82,-185.1,142.1,-29.3,101,611,0.00,2.17,0.00,0.000,4,0.000,0.053,2976,154,3825,0,0,0,0,0,0
$GC,657,-0.80,-185.1,157.6,-27.4,110,665,0.12,2.10,0.00,0.000,6,0.155,0.038,3002,1548,3825,0,0,0,0,0,0
$GC,1002,-0.82,-185.1,229.2,-19.0,171,1009,0.00,2.17,0.00,0.000,4,0.000,0.047,2992,2958,3826,0,0,0,0,0,0
$GC,1021,-0.85,-185.1,232.5,-17.6,174,1027,0.00,2.20,0.00,0.000,6,0.000,0.044,2992,1537,3826,0,0,0,0,0,0
$GC,1364,-0.87,-185.1,296.7,-18.4,235,1370,0.08,0.00,0.00,0.000,6,0.125,0.000,2846,1537,3826,0,0,0,0,0,0
$GC,1690,-0.81,-185.1,395.6,-29.4,267,1695,0.40,2.22,0.00,0.000,4,0.121,0.044,2976,2964,3826,0,0,0,0,0,0
$GC,1746,-0.88,-185.1,406.7,-13.8,271,1753,0.00,2.20,0.00,0.000,6,0.000,0.045,2976,1548,3826,0,0,0,0,0,0
$GC,2071,-0.91,-185.1,458.6,-15.6,302,2075,0.00,2.17,0.00,0.000,4,0.000,0.044,2967,2962,3825,0,0,0,0,0,0
$GC,2112,-0.97,-185.1,464.9,-14.7,305,2117,0.10,2.20,0.00,0.000,6,0.089,0.044,2853,1549,3825,0,0,0,0,0,0
$GC,2437,-0.93,-185.1,552.0,-27.3,335,2442,0.28,2.15,0.00,0.000,4,0.132,0.053,2948,165,3823,0,0,0,0,0,0
$GC,2470,-0.93,-185.1,560.3,-23.4,337,2477,0.00,2.15,0.00,0.000,6,0.000,0.039,2938,1554,3822,0,0,0,0,0,0
$GC,2794,-0.95,-185.1,618.4,-17.4,363,2798,0.00,2.15,0.00,0.000,4,0.000,0.047,2927,2958,3819,0,0,0,0,0,0
$GC,2849,-0.99,-185.1,627.6,-14.9,365,2856,0.00,2.20,0.00,0.000,6,0.000,0.047,2927,1553,3819,0,0,0,0,0,0
$GC,3167,-1.01,-185.1,684.3,-18.5,381,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1552,3816,0,0,0,0,0,0
$GC,3475,-1.03,-185.1,738.6,-17.0,396,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1552,3813,0,0,0,0,0,0
$GC,3784,-1.05,-185.1,790.5,-17.3,411,3788,0.00,2.20,0.00,0.000,4,0.000,0.049,2917,2956,3809,0,0,0,0,0,0
$GC,3834,-1.09,-185.1,798.8,-14.9,413,3838,0.00,2.22,0.00,0.000,6,0.000,0.050,2917,1550,3808,0,0,0,0,0,0
$GC,4157,-1.10,-185.1,856.5,-18.4,429,4159,0.08,0.00,0.00,0.000,6,0.121,0.000,2803,1551,3805,0,0,0,0,0,0
$GC,4466,-1.05,-185.1,939.7,-27.2,444,4471,0.32,2.20,0.00,0.000,4,0.128,0.044,2904,2959,3801,0,0,0,0,0,0
$GC,4515,-1.09,-185.1,950.0,-16.9,446,4519,0.00,2.22,0.00,0.000,6,0.000,0.050,2904,1559,3800,0,0,0,0,0,0
$STATE,4808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4808,begin apogee
$GC,4814,0.00,0.0,1003.1,17.6,460,4973,0.98,0.00,153.45,1.207,4,0.094,0.000,3252,1712,3067,0,0,0,0,0,0
$STATE,4974,end apogee,CONTROL_FINISHED_OK
$STATE,4974,begin climb
$GC,4977,0.84,185.1,1009.4,0.0,467,5147,0.73,2.40,160.02,1.131,4,0.026,0.061,3579,293,2313,0,0,0,0,0,0
$GC,5326,0.78,185.1,936.8,27.3,483,5331,0.28,2.17,0.00,0.000,6,0.156,0.034,3499,1706,2302,0,0,0,0,0,0
$GC,5643,0.76,185.1,865.9,22.4,498,5647,0.00,2.25,0.00,0.000,4,0.000,0.060,3510,290,2296,0,0,0,0,0,0
$GC,5818,0.74,185.1,826.9,22.4,506,5822,0.10,2.15,0.00,0.000,6,0.174,0.034,3484,1704,2295,0,0,0,0,0,0
$GC,6144,0.74,185.1,763.8,18.4,522,6148,0.00,2.15,0.00,0.000,4,0.000,0.041,3484,3110,2294,0,0,0,0,0,0
$GC,6171,0.74,185.1,758.4,19.3,523,6175,0.00,2.20,0.00,0.000,6,0.000,0.048,3494,1703,2293,0,0,0,0,0,0
$GC,6487,0.73,185.1,698.7,19.1,538,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,1703,2291,0,0,0,0,0,0
$GC,6798,0.72,185.1,640.4,18.4,553,6801,0.00,2.15,0.00,0.000,4,0.000,0.041,3494,3111,2289,0,0,0,0,0,0
$GC,6830,0.72,185.1,633.4,19.4,554,6835,0.05,2.25,0.00,0.000,6,0.161,0.048,3486,1707,2289,0,0,0,0,0,0
$GC,7156,0.72,185.1,574.8,18.5,576,7160,0.00,2.15,0.00,0.000,4,0.000,0.041,3487,3112,2287,0,0,0,0,0,0
$GC,7234,0.72,185.1,559.7,17.9,582,7241,0.00,2.20,0.00,0.000,6,0.000,0.049,3496,1712,2287,0,0,0,0,0,0
$GC,7559,0.72,185.1,500.3,18.0,613,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1712,2287,0,0,0,0,0,0
$GC,7879,0.72,185.1,447.1,16.8,643,7883,0.00,2.25,0.00,0.000,4,0.000,0.060,3507,293,2286,0,0,0,0,0,0
$GC,7897,0.72,185.1,443.8,17.0,644,7901,0.10,2.17,0.00,0.000,6,0.172,0.034,3480,1726,2285,0,0,0,0,0,0
$GC,8223,0.73,185.1,394.5,15.5,674,8227,0.00,2.12,0.00,0.000,4,0.000,0.042,3480,3111,2285,0,0,0,0,0,0
$GC,8274,0.75,185.1,386.6,15.6,678,8278,0.00,2.17,0.00,0.000,6,0.000,0.047,3490,1716,2285,0,0,0,0,0,0
$GC,8600,0.76,185.1,339.2,14.3,708,8604,0.00,2.25,0.00,0.000,4,0.000,0.060,3501,293,2285,0,0,0,0,0,0
$GC,8628,0.76,185.1,334.7,15.3,710,8632,0.00,2.12,0.00,0.000,6,0.000,0.034,3501,1714,2284,0,0,0,0,0,0
$GC,8957,0.76,185.6,287.7,13.9,748,8965,0.00,2.12,0.00,0.000,4,0.000,0.041,3501,3108,2284,0,0,0,0,0,0
$GC,9090,0.78,185.6,269.4,14.1,771,9097,0.00,2.15,0.00,0.000,6,0.000,0.045,3512,1731,2284,0,0,0,0,0,0
$GC,9434,0.80,195.8,224.8,13.0,832,9448,0.00,2.35,5.45,0.548,4,0.000,0.057,3523,294,2269,0,0,0,0,0,0
$GC,9478,0.80,195.8,218.5,14.9,839,9485,0.08,2.15,0.00,0.000,6,0.190,0.032,3505,1733,2269,0,0,0,0,0,0
$GC,9823,0.84,212.7,175.2,12.4,900,9842,0.00,0.00,16.33,0.636,6,0.000,0.000,3505,1736,2200,0,0,0,0,0,0
$GC,10181,0.94,268.3,132.6,8.9,963,10237,0.15,2.17,46.60,0.622,4,0.068,0.037,3623,3102,1973,0,0,0,0,0,0
$GC,10474,0.93,268.3,85.7,15.4,1014,10482,0.28,2.12,0.00,0.000,6,0.145,0.043,3549,1730,1967,0,0,0,0,0,0
$GC,10821,1.00,294.6,46.9,11.5,1075,10853,0.08,2.33,21.67,0.526,4,0.117,0.053,3650,298,1866,0,0,0,0,0,0
$GC,10923,0.98,294.6,28.1,18.3,1092,10931,0.28,2.15,0.00,0.000,6,0.138,0.030,3565,1729,1863,0,0,0,0,0,0
$FREEZE,3.39,25.705,-0.273,0,1,0
$STATE,11223,end climb,NO_VERTICAL_VELOCITY
$STATE,11223,begin surface
$SM_CCo,11226,169.65,0.495,0,0,415,650.78
$SM_GC,4.08,8.48,0.00,0.00,0.020,0.000,0.000,106,1534,411,-9.71,-0.42,651.76
$IRIDIUM_FIX,2115.63,12602.66,091110,171737
$TT8_MAMPS,0.026964
$HUMID,46.06
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.00
$XPDR_PINGS,10
$24V_AH,23.3,65.099
$10V_AH,10.3,46.206
$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,22.575,92.625,403.525,169.650,0.000,29.903,55.468,125.616,2.500,0.000,15.194,2808.958,6132.906,688.723,2100.236,230.942,0.000,1706.314,0.000,1875.294,0.000,0.539,0.000
$DEVICE_MAMPS,190.485,61.965,1207.170,494.955,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66986,1145
$CAP_FILE_SIZE,129298,0
$CFSIZE,260165632,225079296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,174.9,1
$GPS,101110,002201,2121.018,12600.401,39,0.9,40,-2.9