version: 66.08
glider: 168
mission: 2
dive: 467
start: 11 10 110 4 23 20
data:
$ID,168
$MISSION,2
$DIVE,467
$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,-3823.7339
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,101110,041737,2122.205,12600.182,31,1.1,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.18
$_SM_ANGLEo,-69.8
$GPS2,101110,042238,2122.123,12600.132,13,1.4,13,-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,88.1,2082,-26.0,-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,-0.72,-116.3,0.0,0.0,0,24,0.00,0.00,-6.43,0.000,2,0.000,0.000,104,1539,613,0,0,0,0,0,0
$GC,26,-0.81,-185.1,4.1,-0.0,1,156,9.57,2.17,-109.93,0.000,4,0.161,0.063,2991,167,3824,0,0,0,0,0,0
$GC,185,-0.78,-185.1,18.4,-29.3,27,193,0.08,2.10,0.00,0.000,6,0.190,0.039,3000,1544,3825,0,0,0,0,0,0
$GC,530,-0.76,-185.1,132.2,-25.6,88,537,0.00,2.15,0.00,0.000,4,0.000,0.052,3000,158,3825,0,0,0,0,0,0
$GC,589,-0.76,-185.1,148.1,-24.9,98,597,0.08,2.10,0.00,0.000,6,0.181,0.037,3013,1538,3825,0,0,0,0,0,0
$GC,933,-0.78,-185.1,212.5,-17.0,159,940,0.00,2.15,0.00,0.000,4,0.000,0.051,3013,161,3826,0,0,0,0,0,0
$GC,959,-0.79,-185.1,217.5,-19.3,163,965,0.00,2.08,0.00,0.000,6,0.000,0.037,3004,1534,3826,0,0,0,0,0,0
$GC,1302,-0.81,-185.1,281.1,-17.1,224,1309,0.00,2.20,0.00,0.000,4,0.000,0.044,2994,2963,3826,0,0,0,0,0,0
$GC,1360,-0.87,-185.1,290.9,-15.7,234,1370,0.08,2.20,0.00,0.000,6,0.115,0.044,2877,1530,3826,0,0,0,0,0,0
$GC,1691,-0.82,-185.1,383.3,-26.8,268,1696,0.30,2.20,0.00,0.000,4,0.123,0.041,2976,2959,3825,0,0,0,0,0,0
$GC,1724,-0.84,-185.1,390.7,-19.5,270,1732,0.00,2.17,0.00,0.000,6,0.000,0.045,2976,1542,3826,0,0,0,0,0,0
$GC,2050,-0.86,-185.1,445.0,-16.6,301,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1542,3825,0,0,0,0,0,0
$GC,2371,-0.89,-185.1,493.8,-14.9,331,2375,0.00,2.20,0.00,0.000,4,0.000,0.046,2967,2960,3823,0,0,0,0,0,0
$GC,2399,-0.93,-185.1,498.2,-14.3,333,2403,0.00,2.22,0.00,0.000,6,0.000,0.047,2967,1546,3823,0,0,0,0,0,0
$GC,2725,-0.96,-185.1,548.9,-16.5,363,2730,0.08,2.20,0.00,0.000,4,0.119,0.047,2851,2956,3820,0,0,0,0,0,0
$GC,2780,-0.94,-185.1,561.3,-23.2,367,2788,0.30,2.20,0.00,0.000,6,0.112,0.047,2952,1541,3820,0,0,0,0,0,0
$GC,3113,-0.96,-185.1,617.3,-16.4,394,3117,0.00,2.20,0.00,0.000,4,0.000,0.047,2942,2956,3816,0,0,0,0,0,0
$GC,3151,-1.00,-185.1,623.6,-15.1,395,3158,0.00,2.20,0.00,0.000,6,0.000,0.049,2943,1551,3816,0,0,0,0,0,0
$GC,3469,-1.01,-185.1,678.0,-17.4,411,3473,0.00,2.22,0.00,0.000,4,0.000,0.047,2934,2956,3813,0,0,0,0,0,0
$GC,3490,-1.03,-185.1,682.3,-17.4,412,3494,0.00,2.20,0.00,0.000,6,0.000,0.049,2933,1551,3813,0,0,0,0,0,0
$GC,3818,-1.05,-185.1,740.4,-17.7,428,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1549,3810,0,0,0,0,0,0
$GC,4128,-1.06,-185.1,792.8,-16.4,443,4133,0.08,2.22,0.00,0.000,4,0.125,0.048,2824,2956,3806,0,0,0,0,0,0
$GC,4161,-1.03,-185.1,799.8,-21.4,444,4166,0.30,2.20,0.00,0.000,6,0.119,0.050,2924,1557,3806,0,0,0,0,0,0
$GC,4478,-1.04,-185.1,853.8,-16.2,459,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1556,3803,0,0,0,0,0,0
$GC,4786,-1.06,-185.1,903.0,-15.5,474,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1556,3800,0,0,0,0,0,0
$GC,5095,-1.07,-185.1,953.3,-16.3,489,5099,0.00,2.20,0.00,0.000,4,0.000,0.050,2913,2958,3796,0,0,0,0,0,0
$GC,5137,-1.10,-185.1,959.5,-15.6,491,5141,0.00,2.22,0.00,0.000,6,0.000,0.054,2913,1557,3796,0,0,0,0,0,0
$STATE,5399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5399,begin apogee
$GC,5405,0.00,0.0,1002.9,16.2,504,5563,0.95,0.00,151.62,1.218,4,0.094,0.000,3253,1710,3067,0,0,0,0,0,0
$STATE,5564,end apogee,CONTROL_FINISHED_OK
$STATE,5564,begin climb
$GC,5566,0.81,185.1,1009.0,0.0,511,5737,0.70,2.30,161.20,1.138,4,0.028,0.048,3564,3107,2313,0,0,0,0,0,0
$GC,5887,0.75,185.1,948.3,25.4,526,5892,0.30,2.25,0.00,0.000,6,0.158,0.049,3488,1699,2305,0,0,0,0,0,0
$GC,6211,0.72,185.1,882.8,20.7,542,6215,0.00,2.17,0.00,0.000,4,0.000,0.041,3488,3116,2299,0,0,0,0,0,0
$GC,6232,0.70,185.1,877.5,20.7,543,6237,0.08,2.25,0.00,0.000,6,0.203,0.049,3480,1698,2299,0,0,0,0,0,0
$GC,6556,0.69,185.1,815.7,19.0,559,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1698,2297,0,0,0,0,0,0
$GC,6863,0.68,185.1,758.2,18.4,574,6867,0.00,2.17,0.00,0.000,4,0.000,0.042,3480,3110,2295,0,0,0,0,0,0
$GC,6908,0.68,185.1,749.9,18.7,576,6912,0.08,2.22,0.00,0.000,6,0.200,0.050,3471,1704,2295,0,0,0,0,0,0
$GC,7240,0.68,185.1,693.1,16.5,592,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1704,2293,0,0,0,0,0,0
$GC,7549,0.68,185.1,643.5,15.4,607,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1704,2293,0,0,0,0,0,0
$GC,7859,0.68,185.1,592.4,16.2,624,7863,0.00,2.20,0.00,0.000,4,0.000,0.042,3471,3112,2291,0,0,0,0,0,0
$GC,7916,0.68,185.1,582.7,17.7,628,7923,0.00,2.22,0.00,0.000,6,0.000,0.050,3481,1704,2292,0,0,0,0,0,0
$GC,8242,0.68,185.1,528.4,16.5,659,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1704,2291,0,0,0,0,0,0
$GC,8562,0.68,185.1,476.4,16.7,689,8566,0.00,2.17,0.00,0.000,4,0.000,0.042,3481,3106,2289,0,0,0,0,0,0
$GC,8628,0.68,185.1,464.8,15.9,694,8636,0.05,2.22,0.00,0.000,6,0.150,0.048,3472,1719,2289,0,0,0,0,0,0
$GC,8954,0.69,185.1,417.0,14.6,725,8958,0.00,2.28,0.00,0.000,4,0.000,0.062,3482,293,2289,0,0,0,0,0,0
$GC,8985,0.69,185.1,412.0,15.0,727,8993,0.00,2.17,0.00,0.000,6,0.000,0.035,3482,1703,2287,0,0,0,0,0,0
$GC,9311,0.70,197.2,367.4,12.9,758,9325,0.00,2.25,7.15,0.712,4,0.000,0.041,3482,3111,2264,0,0,0,0,0,0
$GC,9360,0.71,197.2,360.5,14.4,762,9364,0.00,2.20,0.00,0.000,6,0.000,0.047,3493,1714,2264,0,0,0,0,0,0
$GC,9685,0.71,197.2,313.1,15.1,792,9689,0.00,2.30,0.00,0.000,4,0.000,0.060,3503,285,2264,0,0,0,0,0,0
$GC,9728,0.71,197.2,306.0,15.9,795,9737,0.05,2.20,0.00,0.000,6,0.138,0.034,3483,1715,2262,0,0,0,0,0,0
$GC,10070,0.76,226.3,263.6,11.6,852,10103,0.00,2.22,26.50,0.734,4,0.000,0.041,3483,3108,2144,0,0,0,0,0,0
$GC,10157,0.81,237.9,252.9,13.0,866,10177,0.05,2.22,11.48,0.671,6,0.160,0.046,3564,1712,2097,0,0,0,0,0,0
$GC,10513,0.78,237.9,186.7,18.2,929,10520,0.20,2.28,0.00,0.000,4,0.155,0.054,3517,292,2092,0,0,0,0,0,0
$GC,10666,0.80,240.7,164.2,13.7,956,10673,0.00,2.10,0.00,0.000,6,0.000,0.032,3517,1696,2090,0,0,0,0,0,0
$GC,11012,0.90,296.8,125.8,9.4,1017,11069,0.08,2.30,48.17,0.613,4,0.118,0.055,3613,290,1857,0,0,0,0,0,0
$GC,11153,0.89,296.8,101.9,18.2,1041,11161,0.25,2.12,0.00,0.000,6,0.120,0.032,3533,1699,1851,0,0,0,0,0,0
$GC,11498,0.97,332.1,61.5,11.1,1102,11536,0.10,2.30,28.52,0.541,4,0.093,0.054,3648,300,1713,0,0,0,0,0,0
$GC,11550,0.94,332.1,52.9,18.7,1110,11558,0.30,2.10,0.00,0.000,6,0.130,0.030,3554,1698,1711,0,0,0,0,0,0
$GC,11896,0.96,336.2,3.7,13.6,1171,11904,0.00,2.30,2.20,0.154,4,0.000,0.055,3554,292,1696,0,0,0,0,0,0
$GC,11934,1.34,503.5,3.4,0.5,1177,12017,0.35,2.10,72.72,0.496,6,0.063,0.033,3698,1686,1012,0,0,0,0,0,0
$FREEZE,3.30,26.647,-1.654,0,1,0
$STATE,12114,end climb,NO_VERTICAL_VELOCITY
$STATE,12114,begin surface
$SM_CCo,12117,73.88,0.493,0,0,413,650.78
$SM_GC,4.04,8.73,0.00,0.00,0.017,0.000,0.000,104,1548,409,-9.70,-0.06,652.25
$IRIDIUM_FIX,2111.01,12601.30,101110,000053
$TT8_MAMPS,0.026964
$HUMID,46.77
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.10
$XPDR_PINGS,9
$24V_AH,23.2,65.427
$10V_AH,10.1,46.353
$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,23.100,106.125,509.575,73.875,0.000,29.421,19.553,126.348,2.250,0.000,16.462,2929.806,6738.470,691.557,2122.610,254.975,0.000,1766.880,0.000,1932.824,0.000,0.539,0.000
$DEVICE_MAMPS,203.490,76.500,1217.880,493.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,70262,1208
$CAP_FILE_SIZE,139492,0
$CFSIZE,260165632,224919552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,254.9,1
$GPS,101110,075136,2122.087,12601.396,31,0.9,35,-2.9