version: 66.08
glider: 168
mission: 2
dive: 469
start: 11 10 110 11 17 35
data:
$ID,168
$MISSION,2
$DIVE,469
$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,-3826.2559
$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,45
$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
$GPS1,101110,111201,2120.013,12601.038,35,1.4,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.22
$_SM_ANGLEo,-72.5
$GPS2,101110,111656,2119.951,12600.992,13,1.1,13,-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,23.1,3076,-23.8,-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,-0.70,-138.5,0.0,0.0,0,24,0.00,0.00,-6.90,0.000,2,0.000,0.000,104,1533,633,0,0,0,0,0,0
$GC,26,-0.76,-185.1,4.3,-0.0,1,158,9.93,2.28,-112.38,0.000,4,0.173,0.056,2992,2954,3825,0,0,0,0,0,0
$GC,187,-0.74,-185.1,17.3,-26.9,27,195,0.10,2.17,0.00,0.000,6,0.138,0.045,3023,1552,3826,0,0,0,0,0,0
$GC,531,-0.69,-185.1,115.2,-28.1,88,538,0.00,2.12,0.00,0.000,4,0.000,0.050,3024,163,3826,0,0,0,0,0,0
$GC,551,-0.65,-185.1,121.3,-29.0,91,558,0.10,2.08,0.00,0.000,6,0.158,0.035,3045,1543,3826,0,0,0,0,0,0
$GC,896,-0.67,-185.1,185.4,-17.4,152,903,0.00,2.12,0.00,0.000,4,0.000,0.050,3045,163,3826,0,0,0,0,0,0
$GC,942,-0.71,-185.1,193.1,-15.5,160,949,0.00,2.05,0.00,0.000,6,0.000,0.037,3038,1541,3827,0,0,0,0,0,0
$GC,1286,-0.73,-185.1,247.8,-15.9,221,1295,0.08,2.17,0.00,0.000,4,0.123,0.043,2901,2961,3827,0,0,0,0,0,0
$GC,1320,-0.72,-185.1,254.3,-21.1,226,1327,0.38,2.17,0.00,0.000,6,0.108,0.044,3029,1539,3827,0,0,0,0,0,0
$GC,1663,-0.75,-185.1,305.1,-13.4,284,1665,0.08,0.00,0.00,0.000,6,0.121,0.000,2916,1538,3826,0,0,0,0,0,0
$GC,1980,-0.70,-185.1,383.4,-25.7,314,1985,0.32,2.20,0.00,0.000,4,0.118,0.042,3015,2959,3826,0,0,0,0,0,0
$GC,2013,-0.73,-185.1,390.2,-16.1,316,2020,0.00,2.20,0.00,0.000,6,0.000,0.044,3015,1543,3826,0,0,0,0,0,0
$GC,2339,-0.77,-185.1,435.1,-13.7,347,2343,0.00,2.12,0.00,0.000,4,0.000,0.054,3015,167,3824,0,0,0,0,0,0
$GC,2372,-0.81,-185.1,440.2,-14.8,349,2380,0.00,2.08,0.00,0.000,6,0.000,0.039,3009,1542,3824,0,0,0,0,0,0
$GC,2698,-0.85,-185.1,482.9,-12.7,380,2703,0.10,2.20,0.00,0.000,4,0.092,0.045,2864,2965,3822,0,0,0,0,0,0
$GC,2749,-0.81,-185.1,492.9,-22.6,384,2754,0.38,2.22,0.00,0.000,6,0.105,0.045,2991,1539,3822,0,0,0,0,0,0
$GC,3075,-0.83,-185.1,538.7,-13.3,414,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1538,3820,0,0,0,0,0,0
$GC,3395,-0.86,-185.1,578.5,-12.4,444,3399,0.00,2.25,0.00,0.000,4,0.000,0.047,2983,2967,3816,0,0,0,0,0,0
$GC,3425,-0.90,-185.1,582.2,-11.9,446,3430,0.08,2.22,0.00,0.000,6,0.116,0.047,2878,1538,3816,0,0,0,0,0,0
$GC,3746,-0.85,-185.1,653.3,-23.5,465,3751,0.28,2.22,0.00,0.000,4,0.120,0.046,2961,2960,3814,0,0,0,0,0,0
$GC,3772,-0.85,-185.1,659.3,-18.8,466,3777,0.03,2.25,0.00,0.000,6,0.132,0.049,2978,1549,3813,0,0,0,0,0,0
$GC,4096,-0.88,-185.1,702.0,-13.0,482,4100,0.00,2.17,0.00,0.000,4,0.000,0.060,2978,162,3810,0,0,0,0,0,0
$GC,4129,-0.91,-185.1,707.0,-13.7,483,4136,0.00,2.15,0.00,0.000,6,0.000,0.041,2970,1554,3810,0,0,0,0,0,0
$GC,4446,-0.93,-185.1,749.1,-13.0,499,4450,0.00,2.17,0.00,0.000,4,0.000,0.049,2960,2960,3806,0,0,0,0,0,0
$GC,4513,-0.98,-185.1,757.3,-11.5,502,4518,0.08,2.22,0.00,0.000,6,0.113,0.050,2867,1542,3806,0,0,0,0,0,0
$GC,4836,-0.94,-185.1,824.0,-21.6,518,4838,0.25,0.00,0.00,0.000,6,0.123,0.000,2950,1540,3802,0,0,0,0,0,0
$GC,5145,-0.95,-185.1,870.8,-14.6,533,5149,0.00,2.25,0.00,0.000,4,0.000,0.050,2941,2959,3799,0,0,0,0,0,0
$GC,5200,-0.98,-185.1,878.9,-13.4,535,5207,0.00,2.25,0.00,0.000,6,0.000,0.053,2941,1552,3799,0,0,0,0,0,0
$GC,5517,-0.99,-185.1,929.2,-15.9,551,5521,0.00,2.20,0.00,0.000,4,0.000,0.050,2931,2960,3796,0,0,0,0,0,0
$GC,5577,-1.02,-185.1,938.7,-14.7,553,5585,0.00,2.20,0.00,0.000,6,0.000,0.052,2930,1556,3796,0,0,0,0,0,0
$GC,5893,-1.02,-185.1,988.9,-15.6,569,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1555,3793,0,0,0,0,0,0
$STATE,5974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5974,begin apogee
$GC,5980,0.00,0.0,1001.9,15.8,573,6139,0.90,0.00,152.15,1.222,4,0.090,0.000,3255,1711,3067,0,0,0,0,0,0
$STATE,6140,end apogee,CONTROL_FINISHED_OK
$STATE,6140,begin climb
$GC,6142,0.76,185.1,1008.3,0.0,580,6311,0.65,2.42,161.05,1.141,4,0.028,0.063,3550,286,2313,0,0,0,0,0,0
$GC,6355,0.68,185.1,978.0,26.7,590,6360,0.28,2.20,0.00,0.000,6,0.137,0.033,3469,1698,2307,0,0,0,0,0,0
$GC,6674,0.66,185.1,916.8,18.6,605,6678,0.00,2.15,0.00,0.000,4,0.000,0.041,3469,3107,2298,0,0,0,0,0,0
$GC,6729,0.64,185.1,905.4,19.3,607,6737,0.10,2.25,0.00,0.000,6,0.177,0.049,3452,1689,2297,0,0,0,0,0,0
$GC,7046,0.62,185.1,851.6,17.0,623,7050,0.00,2.17,0.00,0.000,4,0.000,0.042,3453,3109,2295,0,0,0,0,0,0
$GC,7085,0.62,185.1,844.5,17.6,625,7089,0.00,2.22,0.00,0.000,6,0.000,0.050,3463,1706,2295,0,0,0,0,0,0
$GC,7413,0.60,185.1,786.5,18.2,641,7418,0.08,2.25,0.00,0.000,4,0.203,0.062,3455,293,2293,0,0,0,0,0,0
$GC,7434,0.59,185.1,782.3,17.3,642,7438,0.00,2.12,0.00,0.000,6,0.000,0.035,3455,1707,2292,0,0,0,0,0,0
$GC,7762,0.57,185.1,728.6,16.1,658,7764,0.08,0.00,0.00,0.000,6,0.197,0.000,3434,1710,2291,0,0,0,0,0,0
$GC,8071,0.58,185.1,683.8,14.4,673,8075,0.00,2.15,0.00,0.000,4,0.000,0.044,3434,3114,2290,0,0,0,0,0,0
$GC,8095,0.59,185.1,680.4,14.9,674,8099,0.00,2.20,0.00,0.000,6,0.000,0.050,3443,1709,2290,0,0,0,0,0,0
$GC,8422,0.59,185.1,633.3,14.4,690,8426,0.00,2.28,0.00,0.000,4,0.000,0.062,3455,286,2289,0,0,0,0,0,0
$GC,8443,0.59,185.1,629.8,14.8,691,8447,0.00,2.15,0.00,0.000,6,0.000,0.035,3454,1710,2288,0,0,0,0,0,0
$GC,8763,0.59,187.5,584.2,13.7,711,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1713,2288,0,0,0,0,0,0
$GC,9083,0.59,188.9,540.4,13.8,741,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1713,2287,0,0,0,0,0,0
$GC,9401,0.60,193.6,495.5,13.6,771,9405,0.00,2.12,0.00,0.000,4,0.000,0.044,3454,3108,2286,0,0,0,0,0,0
$GC,9436,0.60,193.6,490.4,14.2,774,9441,0.08,2.20,0.00,0.000,6,0.186,0.050,3443,1707,2286,0,0,0,0,0,0
$GC,9762,0.65,220.9,448.7,12.0,804,9796,0.00,2.30,27.88,0.886,4,0.000,0.060,3453,293,2165,0,0,0,0,0,0
$GC,9814,0.67,228.6,441.7,13.4,808,9832,0.00,2.17,8.23,0.760,6,0.000,0.034,3453,1711,2134,0,0,0,0,0,0
$GC,10150,0.71,243.9,396.6,12.9,840,10174,0.08,2.35,14.12,0.803,4,0.119,0.060,3545,298,2072,0,0,0,0,0,0
$GC,10249,0.67,243.9,378.1,21.0,848,10256,0.25,2.15,0.00,0.000,6,0.129,0.032,3467,1704,2068,0,0,0,0,0,0
$GC,10575,0.69,243.9,330.4,14.0,879,10579,0.00,2.25,0.00,0.000,4,0.000,0.058,3478,292,2066,0,0,0,0,0,0
$GC,10585,0.70,243.9,328.7,14.2,879,10592,0.00,2.15,0.00,0.000,6,0.000,0.032,3477,1709,2066,0,0,0,0,0,0
$GC,10916,0.71,243.9,283.0,14.1,920,10922,0.00,2.28,0.00,0.000,4,0.000,0.058,3486,292,2066,0,0,0,0,0,0
$GC,10940,0.71,243.9,279.2,14.8,924,10947,0.00,2.15,0.00,0.000,6,0.000,0.033,3486,1709,2065,0,0,0,0,0,0
$GC,11284,0.73,243.9,230.3,15.3,985,11292,0.00,2.28,0.00,0.000,4,0.000,0.057,3495,285,2065,0,0,0,0,0,0
$GC,11395,0.76,257.7,214.5,13.0,1004,11415,0.00,2.12,12.38,0.647,6,0.000,0.032,3495,1693,2015,0,0,0,0,0,0
$GC,11753,0.82,290.2,169.9,11.7,1067,11791,0.08,2.30,28.12,0.642,4,0.119,0.054,3593,293,1883,0,0,0,0,0,0
$GC,11850,0.78,290.2,150.0,23.5,1083,11857,0.30,2.10,0.00,0.000,6,0.126,0.032,3498,1688,1879,0,0,0,0,0,0
$GC,12196,0.90,355.6,103.7,9.5,1144,12258,0.12,2.25,52.97,0.589,4,0.076,0.038,3609,3114,1616,0,0,0,0,0,0
$GC,12322,0.90,355.6,82.9,20.7,1165,12330,0.25,2.25,0.00,0.000,6,0.126,0.043,3540,1690,1612,0,0,0,0,0,0
$GC,12669,0.93,355.6,33.6,13.9,1226,12676,0.00,2.20,0.00,0.000,4,0.000,0.054,3549,291,1611,0,0,0,0,0,0
$GC,12734,1.05,411.8,25.3,10.1,1237,12784,0.12,2.10,44.40,0.520,6,0.075,0.031,3662,1693,1388,0,0,0,0,0,0
$FREEZE,3.37,25.926,-0.146,0,1,0
$STATE,12980,end climb,NO_VERTICAL_VELOCITY
$STATE,12980,begin surface
$SM_CCo,12983,116.57,0.502,0,0,414,650.78
$SM_GC,4.23,8.70,0.00,0.00,0.018,0.000,0.000,104,1542,409,-9.71,-0.20,652.25
$IRIDIUM_FIX,2113.32,12602.66,101110,070723
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.90
$XPDR_PINGS,17
$24V_AH,23.2,65.745
$10V_AH,10.1,46.498
$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,24.200,123.525,501.300,116.575,0.000,22.620,25.523,123.980,4.250,0.000,15.978,3129.098,7248.523,750.941,2250.909,260.633,0.000,1889.416,0.000,2052.496,0.000,0.539,0.000
$DEVICE_MAMPS,203.490,64.260,1221.705,501.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,73666,1280
$CAP_FILE_SIZE,153560,0
$CFSIZE,260165632,224768000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,227.9,1
$GPS,101110,150107,2121.524,12601.547,42,1.0,42,-2.9