version: 66.08
glider: 168
mission: 2
dive: 470
start: 11 10 110 15 24 2
data:
$ID,168
$MISSION,2
$DIVE,470
$N_DIVES,484
$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,-3868.9351
$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,44
$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
$GPS1,101110,151631,2121.398,12601.398,10,1.2,10,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.25
$_SM_ANGLEo,-70.4
$GPS2,101110,152333,2121.352,12601.337,13,1.6,13,-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,350.6,516,-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,-102.9,0.0,0.0,0,24,0.00,0.00,-6.55,0.000,2,0.000,0.000,124,1539,623,0,0,0,0,0,0
$GC,27,-0.84,-185.1,4.4,-0.0,1,153,9.50,2.25,-107.00,0.000,4,0.164,0.057,2972,2948,3824,0,0,0,0,0,0
$GC,257,-0.86,-185.1,34.4,-22.2,39,263,0.00,2.17,0.00,0.000,6,0.000,0.048,2972,1552,3825,0,0,0,0,0,0
$GC,600,-0.83,-185.1,148.1,-29.2,100,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1551,3825,0,0,0,0,0,0
$GC,944,-0.83,-185.1,231.9,-24.2,161,950,0.00,2.17,0.00,0.000,4,0.000,0.051,2972,155,3826,0,0,0,0,0,0
$GC,979,-0.83,-185.1,240.6,-24.8,167,987,0.10,2.10,0.00,0.000,6,0.181,0.039,2990,1549,3826,0,0,0,0,0,0
$GC,1321,-0.85,-185.1,304.4,-18.5,226,1325,0.00,2.17,0.00,0.000,4,0.000,0.051,2990,155,3825,0,0,0,0,0,0
$GC,1339,-0.87,-185.1,307.8,-18.2,227,1343,0.00,2.10,0.00,0.000,6,0.000,0.037,2981,1552,3826,0,0,0,0,0,0
$GC,1670,-0.90,-185.1,367.0,-16.9,258,1675,0.08,2.17,0.00,0.000,4,0.121,0.045,2845,2964,3824,0,0,0,0,0,0
$GC,1714,-0.87,-185.1,377.2,-24.0,261,1722,0.40,2.17,0.00,0.000,6,0.113,0.044,2981,1547,3824,0,0,0,0,0,0
$GC,2040,-0.90,-185.1,434.8,-17.3,292,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1547,3822,0,0,0,0,0,0
$GC,2359,-0.94,-185.1,488.0,-16.2,322,2361,0.10,0.00,0.00,0.000,6,0.092,0.000,2854,1546,3820,0,0,0,0,0,0
$GC,2676,-0.90,-185.1,571.8,-25.2,352,2681,0.32,2.20,0.00,0.000,4,0.121,0.043,2956,2957,3817,0,0,0,0,0,0
$GC,2727,-0.95,-185.1,580.7,-13.6,356,2731,0.00,2.17,0.00,0.000,6,0.000,0.046,2956,1554,3817,0,0,0,0,0,0
$GC,3049,-0.99,-185.1,626.6,-14.2,377,3054,0.08,2.20,0.00,0.000,4,0.122,0.057,2834,169,3814,0,0,0,0,0,0
$GC,3068,-0.99,-185.1,630.0,-15.0,378,3073,0.35,2.10,0.00,0.000,6,0.129,0.041,2939,1557,3814,0,0,0,0,0,0
$GC,3397,-1.01,-185.1,685.1,-16.0,394,3401,0.00,2.15,0.00,0.000,4,0.000,0.047,2928,2961,3810,0,0,0,0,0,0
$GC,3430,-1.04,-185.1,690.8,-15.2,395,3436,0.00,2.17,0.00,0.000,6,0.000,0.047,2928,1559,3810,0,0,0,0,0,0
$GC,3746,-1.06,-185.1,745.0,-17.3,411,3750,0.08,2.20,0.00,0.000,4,0.125,0.049,2811,2964,3806,0,0,0,0,0,0
$GC,3779,-1.04,-185.1,752.4,-22.6,412,3784,0.32,2.17,0.00,0.000,6,0.122,0.049,2919,1568,3806,0,0,0,0,0,0
$GC,4095,-1.05,-185.1,810.1,-18.0,427,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1568,3803,0,0,0,0,0,0
$GC,4404,-1.07,-185.1,865.9,-18.3,442,4408,0.00,2.17,0.00,0.000,4,0.000,0.048,2908,2966,3799,0,0,0,0,0,0
$GC,4439,-1.10,-185.1,872.1,-18.0,443,4446,0.00,2.20,0.00,0.000,6,0.000,0.050,2909,1566,3798,0,0,0,0,0,0
$GC,4755,-1.12,-185.1,931.4,-18.8,459,4759,0.00,2.25,0.00,0.000,4,0.000,0.062,2908,162,3795,0,0,0,0,0,0
$GC,4793,-1.13,-185.1,939.4,-20.4,460,4801,0.00,2.17,0.00,0.000,6,0.000,0.043,2898,1565,3795,0,0,0,0,0,0
$STATE,5107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5107,begin apogee
$GC,5113,0.00,0.0,1000.5,19.2,476,5271,1.00,0.00,152.02,1.209,4,0.101,0.000,3249,1713,3067,0,0,0,0,0,0
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5274,0.84,185.1,1008.3,0.0,483,5442,0.73,2.28,160.23,1.132,4,0.028,0.047,3573,3104,2313,0,0,0,0,0,0
$GC,5559,0.79,185.1,956.6,25.8,496,5568,0.28,2.25,0.00,0.000,6,0.160,0.047,3505,1695,2304,0,0,0,0,0,0
$GC,5876,0.77,185.1,887.1,21.8,512,5880,0.00,2.22,0.00,0.000,4,0.000,0.060,3515,293,2299,0,0,0,0,0,0
$GC,5897,0.75,185.1,881.9,21.9,513,5902,0.08,2.15,0.00,0.000,6,0.142,0.033,3477,1696,2297,0,0,0,0,0,0
$GC,6225,0.75,185.1,818.9,19.2,529,6229,0.00,2.15,0.00,0.000,4,0.000,0.042,3477,3105,2296,0,0,0,0,0,0
$GC,6251,0.75,185.1,813.0,19.9,530,6255,0.00,2.25,0.00,0.000,6,0.000,0.049,3488,1698,2295,0,0,0,0,0,0
$GC,6579,0.75,185.1,748.6,19.5,546,6583,0.00,2.17,0.00,0.000,4,0.000,0.041,3488,3105,2294,0,0,0,0,0,0
$GC,6623,0.75,185.1,739.8,19.2,548,6627,0.00,2.20,0.00,0.000,6,0.000,0.049,3499,1701,2294,0,0,0,0,0,0
$GC,6944,0.74,185.1,678.2,18.3,564,6948,0.00,2.17,0.00,0.000,4,0.000,0.041,3499,3109,2292,0,0,0,0,0,0
$GC,6984,0.74,185.1,670.7,19.0,566,6989,0.10,2.20,0.00,0.000,6,0.184,0.050,3484,1708,2291,0,0,0,0,0,0
$GC,7311,0.74,185.1,616.0,16.6,582,7315,0.00,2.25,0.00,0.000,4,0.000,0.060,3493,292,2290,0,0,0,0,0,0
$GC,7328,0.74,185.1,612.9,17.3,583,7332,0.00,2.15,0.00,0.000,6,0.000,0.034,3493,1707,2289,0,0,0,0,0,0
$GC,7651,0.74,185.1,555.7,18.3,610,7655,0.00,2.15,0.00,0.000,4,0.000,0.042,3493,3110,2288,0,0,0,0,0,0
$GC,7702,0.74,185.1,546.4,17.7,614,7706,0.08,2.20,0.00,0.000,6,0.201,0.049,3487,1710,2288,0,0,0,0,0,0
$GC,8033,0.74,185.1,494.7,15.9,645,8037,0.00,2.17,0.00,0.000,4,0.000,0.043,3486,3111,2288,0,0,0,0,0,0
$GC,8101,0.74,185.1,483.3,16.7,651,8105,0.00,2.20,0.00,0.000,6,0.000,0.049,3496,1709,2287,0,0,0,0,0,0
$GC,8427,0.74,185.1,428.4,17.3,681,8431,0.00,2.25,0.00,0.000,4,0.000,0.060,3507,289,2286,0,0,0,0,0,0
$GC,8455,0.74,185.1,423.2,17.6,683,8460,0.08,2.15,0.00,0.000,6,0.190,0.034,3490,1709,2286,0,0,0,0,0,0
$GC,8783,0.75,185.1,371.5,16.0,713,8787,0.00,2.12,0.00,0.000,4,0.000,0.041,3489,3108,2285,0,0,0,0,0,0
$GC,8835,0.77,185.1,362.7,15.8,717,8839,0.00,2.17,0.00,0.000,6,0.000,0.047,3500,1713,2286,0,0,0,0,0,0
$GC,9161,0.78,193.9,313.6,13.1,747,9165,0.00,2.25,0.00,0.000,4,0.000,0.057,3511,282,2286,0,0,0,0,0,0
$GC,9226,0.78,193.9,304.1,14.7,752,9236,0.00,2.15,3.70,0.474,6,0.000,0.033,3511,1692,2277,0,0,0,0,0,0
$GC,9568,0.78,193.9,255.9,14.6,810,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1693,2277,0,0,0,0,0,0
$GC,9910,0.80,199.9,210.9,13.3,871,9925,0.00,2.25,7.60,0.593,4,0.000,0.040,3511,3109,2252,0,0,0,0,0,0
$GC,9943,0.82,203.7,206.5,13.6,876,9957,0.00,2.22,5.25,0.520,6,0.000,0.045,3522,1694,2236,0,0,0,0,0,0
$GC,10297,0.87,233.6,159.2,11.2,938,10328,0.00,2.30,26.40,0.633,4,0.000,0.055,3533,293,2115,0,0,0,0,0,0
$GC,10509,0.90,236.5,130.5,13.6,975,10515,0.00,2.12,0.00,0.000,6,0.000,0.032,3533,1692,2110,0,0,0,0,0,0
$GC,10854,1.01,297.9,98.3,8.3,1036,10915,0.12,2.28,52.58,0.580,4,0.078,0.051,3656,292,1852,0,0,0,0,0,0
$GC,10967,0.98,297.9,80.2,18.7,1055,10974,0.30,2.12,0.00,0.000,6,0.135,0.031,3564,1687,1848,0,0,0,0,0,0
$GC,11313,1.01,297.9,30.5,15.5,1116,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1689,1845,0,0,0,0,0,0
$GC,11657,1.38,451.1,3.5,0.0,1177,11729,0.32,2.30,65.55,0.489,4,0.068,0.052,3706,295,1226,0,0,0,0,0,0
$FREEZE,3.42,26.537,-1.403,0,1,0
$STATE,11736,end climb,NO_VERTICAL_VELOCITY
$STATE,11736,begin surface
$SM_CCo,11739,97.72,0.490,0,0,414,650.78
$SM_GC,4.13,8.77,0.00,0.00,0.019,0.000,0.000,103,1578,409,-9.70,0.79,652.01
$IRIDIUM_FIX,2113.32,12602.66,101110,151541
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,23.4,65.912
$10V_AH,10.1,46.575
$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,23.175,109.500,473.325,97.725,0.000,0.000,0.000,0.000,1.250,0.000,16.201,2905.703,6430.037,669.264,1954.519,191.677,0.000,1731.234,0.000,1928.284,0.000,0.539,0.000
$DEVICE_MAMPS,201.195,67.320,1208.700,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,67020,1190
$CAP_FILE_SIZE,149572,0
$CFSIZE,260165632,224702464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,117.9,1
$GPS,101110,184637,2122.974,12601.243,45,1.1,46,-2.9