version: 66.08
glider: 168
mission: 2
dive: 466
start: 11 10 110 0 27 46
data:
$ID,168
$MISSION,2
$DIVE,466
$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,-3822.4763
$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,32
$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
$GPS1,101110,002201,2121.018,12600.401,39,0.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.08
$_SM_ANGLEo,-71.4
$GPS2,101110,002708,2120.888,12600.398,12,1.1,12,-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,17.7,1911,-21.9,-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,-0.69,-164.2,0.0,0.0,0,24,0.00,0.00,-7.05,0.000,2,0.000,0.000,106,1534,638,0,0,0,0,0,0
$GC,26,-0.71,-185.1,4.2,-0.0,1,166,9.62,2.25,-119.00,0.000,4,0.158,0.057,3021,2947,3823,0,0,0,0,0,0
$GC,247,-0.72,-185.1,22.5,-18.7,38,254,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,1554,3825,0,0,0,0,0,0
$GC,591,-0.68,-185.1,118.5,-21.9,99,598,0.00,2.15,0.00,0.000,4,0.000,0.051,3021,158,3825,0,0,0,0,0,0
$GC,650,-0.66,-185.1,132.3,-21.8,109,659,0.10,2.10,0.00,0.000,6,0.148,0.038,3044,1538,3825,0,0,0,0,0,0
$GC,996,-0.67,-185.1,188.1,-14.4,170,1003,0.00,2.17,0.00,0.000,4,0.000,0.044,3035,2961,3826,0,0,0,0,0,0
$GC,1083,-0.71,-185.1,199.6,-12.0,185,1090,0.00,2.17,0.00,0.000,6,0.000,0.042,3035,1548,3826,0,0,0,0,0,0
$GC,1427,-0.73,-185.1,249.5,-14.2,246,1434,0.08,2.15,0.00,0.000,4,0.121,0.052,2907,163,3826,0,0,0,0,0,0
$GC,1453,-0.70,-185.1,254.6,-19.8,250,1460,0.40,2.12,0.00,0.000,6,0.117,0.038,3030,1562,3826,0,0,0,0,0,0
$GC,1803,-0.71,-185.1,304.9,-13.2,309,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1564,3826,0,0,0,0,0,0
$GC,2132,-0.74,-185.1,347.6,-13.1,340,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1564,3825,0,0,0,0,0,0
$GC,2459,-0.77,-185.1,387.4,-11.4,371,2464,0.10,2.17,0.00,0.000,4,0.093,0.046,2883,2959,3823,0,0,0,0,0,0
$GC,2548,-0.73,-185.1,405.4,-21.8,378,2556,0.40,2.17,0.00,0.000,6,0.106,0.045,3019,1549,3823,0,0,0,0,0,0
$GC,2874,-0.76,-185.1,445.5,-11.6,409,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1549,3820,0,0,0,0,0,0
$GC,3196,-0.79,-185.1,479.8,-10.6,439,3203,0.08,0.00,0.00,0.000,6,0.120,0.000,2902,1549,3819,0,0,0,0,0,0
$GC,3523,-0.74,-185.1,549.3,-21.4,470,3528,0.30,2.20,0.00,0.000,4,0.116,0.044,3001,2960,3815,0,0,0,0,0,0
$GC,3564,-0.79,-185.1,555.9,-12.6,473,3568,0.00,2.17,0.00,0.000,6,0.000,0.047,3001,1559,3815,0,0,0,0,0,0
$GC,3890,-0.82,-185.1,594.9,-12.0,503,3894,0.00,2.20,0.00,0.000,4,0.000,0.050,2993,2965,3812,0,0,0,0,0,0
$GC,3935,-0.87,-185.1,600.4,-10.8,506,3942,0.08,2.20,0.00,0.000,6,0.115,0.048,2891,1554,3812,0,0,0,0,0,0
$GC,4251,-0.82,-185.1,667.7,-21.7,522,4256,0.28,2.20,0.00,0.000,4,0.118,0.058,2990,163,3808,0,0,0,0,0,0
$GC,4279,-0.81,-185.1,673.0,-17.6,523,4283,0.00,2.12,0.00,0.000,6,0.000,0.041,2981,1563,3808,0,0,0,0,0,0
$GC,4596,-0.83,-185.1,712.0,-12.4,538,4600,0.00,2.15,0.00,0.000,4,0.000,0.048,2971,2962,3806,0,0,0,0,0,0
$GC,4623,-0.85,-185.1,715.7,-12.1,539,4627,0.00,2.20,0.00,0.000,6,0.000,0.049,2971,1563,3806,0,0,0,0,0,0
$GC,4946,-0.86,-185.1,756.6,-13.0,555,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1563,3802,0,0,0,0,0,0
$GC,5255,-0.88,-185.1,797.4,-13.3,570,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1563,3799,0,0,0,0,0,0
$GC,5565,-0.89,-185.1,837.7,-12.6,585,5569,0.00,2.17,0.00,0.000,4,0.000,0.049,2963,2957,3796,0,0,0,0,0,0
$GC,5608,-0.93,-185.1,843.3,-11.8,587,5613,0.00,2.22,0.00,0.000,6,0.000,0.052,2963,1563,3796,0,0,0,0,0,0
$GC,5931,-0.94,-185.1,885.2,-13.0,603,5935,0.00,2.17,0.00,0.000,4,0.000,0.050,2955,2956,3793,0,0,0,0,0,0
$GC,5959,-0.96,-185.1,889.0,-13.0,604,5963,0.00,2.20,0.00,0.000,6,0.000,0.053,2954,1566,3793,0,0,0,0,0,0
$GC,6275,-0.96,-185.1,931.6,-14.1,619,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1565,3791,0,0,0,0,0,0
$GC,6586,-0.97,-185.1,974.5,-14.2,634,6590,0.00,2.20,0.00,0.000,4,0.000,0.050,2946,2959,3788,0,0,0,0,0,0
$GC,6619,-0.99,-185.1,979.4,-13.6,635,6625,0.00,2.22,0.00,0.000,6,0.000,0.054,2946,1571,3788,0,0,0,0,0,0
$STATE,6767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6767,begin apogee
$GC,6773,0.00,0.0,1001.1,14.8,643,6932,0.85,0.00,152.43,1.216,4,0.090,0.000,3253,1713,3068,0,0,0,0,0,0
$STATE,6933,end apogee,CONTROL_FINISHED_OK
$STATE,6933,begin climb
$GC,6935,0.71,185.1,1008.3,0.0,650,7106,0.62,2.42,161.68,1.144,4,0.028,0.063,3536,293,2312,0,0,0,0,0,0
$GC,7180,0.64,185.1,972.6,23.3,661,7188,0.28,2.17,0.00,0.000,6,0.138,0.034,3455,1695,2304,0,0,0,0,0,0
$GC,7497,0.61,185.1,916.2,17.8,677,7501,0.00,2.20,0.00,0.000,4,0.000,0.042,3454,3114,2296,0,0,0,0,0,0
$GC,7524,0.59,185.1,910.7,19.1,678,7529,0.10,2.25,0.00,0.000,6,0.172,0.050,3437,1699,2296,0,0,0,0,0,0
$GC,7841,0.57,185.1,857.5,16.8,693,7844,0.00,2.17,0.00,0.000,4,0.000,0.042,3436,3109,2294,0,0,0,0,0,0
$GC,7887,0.57,185.1,849.5,17.2,695,7891,0.00,2.22,0.00,0.000,6,0.000,0.050,3447,1705,2294,0,0,0,0,0,0
$GC,8220,0.55,185.1,793.1,16.6,711,8222,0.08,0.00,0.00,0.000,6,0.203,0.000,3428,1705,2292,0,0,0,0,0,0
$GC,8529,0.55,185.1,747.3,14.3,726,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1705,2291,0,0,0,0,0,0
$GC,8838,0.55,185.9,704.1,13.8,741,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1705,2290,0,0,0,0,0,0
$GC,9148,0.55,188.1,662.2,13.8,756,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1705,2289,0,0,0,0,0,0
$GC,9457,0.56,198.7,621.0,13.3,771,9468,0.00,0.00,9.00,0.914,6,0.000,0.000,3428,1705,2257,0,0,0,0,0,0
$GC,9770,0.58,208.6,579.8,13.3,793,9782,0.00,0.00,10.25,0.913,6,0.000,0.000,3428,1705,2217,0,0,0,0,0,0
$GC,10100,0.60,225.0,536.7,13.0,824,10121,0.08,0.00,16.25,0.933,6,0.116,0.000,3498,1705,2149,0,0,0,0,0,0
$GC,10439,0.57,225.0,474.8,18.8,856,10441,0.20,0.00,0.00,0.000,6,0.134,0.000,3437,1705,2143,0,0,0,0,0,0
$GC,10757,0.58,225.0,428.5,14.3,886,10761,0.00,2.28,0.00,0.000,4,0.000,0.062,3448,286,2142,0,0,0,0,0,0
$GC,10802,0.60,225.0,421.9,14.2,889,10809,0.00,2.17,0.00,0.000,6,0.000,0.035,3448,1716,2140,0,0,0,0,0,0
$GC,11128,0.64,257.9,378.5,12.0,920,11159,0.00,0.00,28.67,0.846,6,0.000,0.000,3448,1717,2016,0,0,0,0,0,0
$GC,11476,0.70,290.2,335.2,12.1,953,11512,0.10,2.35,27.45,0.796,4,0.097,0.058,3555,285,1884,0,0,0,0,0,0
$GC,11560,0.66,290.2,318.8,22.4,960,11565,0.30,2.20,0.00,0.000,6,0.115,0.034,3458,1703,1881,0,0,0,0,0,0
$GC,11895,0.68,298.7,270.9,13.4,1009,11910,0.00,2.25,7.88,0.649,4,0.000,0.041,3458,3112,1849,0,0,0,0,0,0
$GC,11928,0.71,298.7,266.2,14.6,1014,11937,0.08,2.28,0.00,0.000,6,0.112,0.048,3551,1691,1848,0,0,0,0,0,0
$GC,12276,0.67,298.7,193.6,19.7,1075,12283,0.25,2.22,0.00,0.000,4,0.135,0.057,3476,292,1847,0,0,0,0,0,0
$GC,12363,0.77,347.6,180.9,11.1,1090,12413,0.08,2.10,41.00,0.671,6,0.115,0.032,3572,1696,1649,0,0,0,0,0,0
$GC,12749,0.75,347.6,105.6,17.1,1158,12757,0.25,2.17,0.00,0.000,4,0.125,0.039,3484,3107,1642,0,0,0,0,0,0
$GC,12792,0.92,429.4,100.6,9.2,1165,12866,0.17,2.25,64.75,0.598,6,0.058,0.046,3602,1685,1316,0,0,0,0,0,0
$GC,13204,0.90,429.4,18.4,22.3,1237,13211,0.20,2.25,0.00,0.000,4,0.130,0.057,3547,289,1310,0,0,0,0,0,0
$GC,13331,1.35,662.5,3.5,0.7,1259,13450,0.40,2.10,108.75,0.513,6,0.074,0.037,3691,1677,414,0,0,0,0,0,0
$FREEZE,3.38,26.643,-1.907,0,1,0
$STATE,13490,end climb,NO_VERTICAL_VELOCITY
$STATE,13490,begin surface
$SM_CCo,13723,0.00,0.000,0,0,410,652.25
$SM_GC,4.02,8.73,0.00,0.00,0.018,0.000,0.000,104,1536,410,-9.68,-0.31,652.25
$IRIDIUM_FIX,2111.01,12334.34,091110,212100
$TT8_MAMPS,0.026964
$HUMID,48.46
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,23.2,65.271
$10V_AH,10.1,46.281
$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,24.175,92.775,628.100,0.000,0.000,30.485,23.153,131.722,2.750,0.000,15.540,3084.576,7764.776,714.609,2225.110,251.841,0.000,1841.409,0.000,2022.225,0.000,0.539,0.000
$DEVICE_MAMPS,202.725,75.735,1216.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,73618,1286
$CAP_FILE_SIZE,146408,0
$CFSIZE,260165632,224989184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,235.1,1
$GPS,101110,041737,2122.205,12600.182,31,1.1,31,-2.9