version: 66.08
glider: 168
mission: 2
dive: 471
start: 11 10 110 18 52 31
data:
$ID,168
$MISSION,2
$DIVE,471
$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,-3870.1897
$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,29
$R_STBD_OVSHOOT,66
$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
$GPS1,101110,184637,2122.974,12601.243,45,1.1,46,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.22
$_SM_ANGLEo,-71.4
$GPS2,101110,185202,2122.932,12601.287,9,2.0,9,-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,198.3,2471,-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,15,-0.74,-102.9,0.0,0.0,0,25,0.00,0.00,-7.55,0.000,2,0.000,0.000,104,1578,653,0,0,0,0,0,0
$GC,28,-0.84,-185.1,4.3,-0.0,1,157,9.52,2.22,-110.07,0.000,4,0.161,0.062,2981,158,3824,0,0,0,0,0,0
$GC,271,-0.82,-185.1,46.8,-33.5,42,279,0.08,2.05,0.00,0.000,6,0.196,0.038,2990,1518,3825,0,0,0,0,0,0
$GC,615,-0.81,-185.1,157.6,-26.1,103,622,0.00,2.22,0.00,0.000,4,0.000,0.042,2980,2965,3824,0,0,0,0,0,0
$GC,674,-0.84,-185.1,171.4,-19.0,113,681,0.00,2.15,0.00,0.000,6,0.000,0.042,2980,1555,3825,0,0,0,0,0,0
$GC,1018,-0.84,-185.1,246.4,-21.0,174,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1555,3826,0,0,0,0,0,0
$GC,1363,-0.85,-185.1,315.9,-19.6,229,1367,0.00,2.17,0.00,0.000,4,0.000,0.044,2970,2962,3826,0,0,0,0,0,0
$GC,1430,-0.90,-185.1,327.3,-15.7,234,1437,0.00,2.17,0.00,0.000,6,0.000,0.044,2970,1552,3826,0,0,0,0,0,0
$GC,1755,-0.92,-185.1,386.3,-18.1,265,1759,0.00,2.17,0.00,0.000,4,0.000,0.054,2970,159,3825,0,0,0,0,0,0
$GC,1818,-0.95,-185.1,398.2,-17.8,270,1822,0.00,2.10,0.00,0.000,6,0.000,0.039,2961,1543,3825,0,0,0,0,0,0
$GC,2144,-0.98,-185.1,456.3,-18.4,300,2149,0.08,2.20,0.00,0.000,4,0.125,0.044,2845,2960,3823,0,0,0,0,0,0
$GC,2199,-0.96,-185.1,469.4,-25.2,304,2206,0.30,2.20,0.00,0.000,6,0.116,0.044,2947,1542,3823,0,0,0,0,0,0
$GC,2525,-0.98,-185.1,531.1,-17.8,335,2528,0.00,2.12,0.00,0.000,4,0.000,0.054,2947,168,3820,0,0,0,0,0,0
$GC,2544,-1.00,-185.1,534.4,-18.3,336,2549,0.00,2.10,0.00,0.000,6,0.000,0.040,2937,1541,3820,0,0,0,0,0,0
$GC,2870,-1.01,-185.1,594.0,-18.1,366,2874,0.00,2.20,0.00,0.000,4,0.000,0.046,2926,2965,3818,0,0,0,0,0,0
$GC,2932,-1.06,-185.1,604.7,-15.7,370,2936,0.00,2.22,0.00,0.000,6,0.000,0.047,2926,1545,3817,0,0,0,0,0,0
$GC,3260,-1.07,-185.1,666.5,-19.0,386,3264,0.08,2.25,0.00,0.000,4,0.126,0.046,2803,2961,3814,0,0,0,0,0,0
$GC,3322,-1.04,-185.1,681.6,-25.9,389,3327,0.35,2.20,0.00,0.000,6,0.119,0.047,2920,1550,3813,0,0,0,0,0,0
$GC,3650,-1.05,-185.1,742.3,-17.6,405,3654,0.00,2.22,0.00,0.000,4,0.000,0.047,2910,2960,3809,0,0,0,0,0,0
$GC,3678,-1.08,-185.1,747.7,-17.4,406,3681,0.00,2.20,0.00,0.000,6,0.000,0.049,2909,1554,3809,0,0,0,0,0,0
$GC,4006,-1.09,-185.1,806.5,-17.9,422,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1553,3806,0,0,0,0,0,0
$GC,4314,-1.10,-185.1,861.5,-17.5,437,4318,0.00,2.22,0.00,0.000,4,0.000,0.050,2899,2959,3802,0,0,0,0,0,0
$GC,4342,-1.12,-185.1,866.6,-17.6,438,4346,0.00,2.20,0.00,0.000,6,0.000,0.050,2899,1560,3802,0,0,0,0,0,0
$GC,4664,-1.13,-185.1,927.7,-19.3,454,4668,0.00,2.20,0.00,0.000,4,0.000,0.050,2888,2958,3798,0,0,0,0,0,0
$GC,4713,-1.15,-185.1,937.5,-17.9,456,4717,0.00,2.20,0.00,0.000,6,0.000,0.052,2889,1564,3798,0,0,0,0,0,0
$STATE,5033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5033,begin apogee
$GC,5040,0.00,0.0,1002.0,19.8,472,5197,1.02,0.00,152.15,1.220,4,0.099,0.000,3250,1721,3068,0,0,0,0,0,0
$STATE,5198,end apogee,CONTROL_FINISHED_OK
$STATE,5198,begin climb
$GC,5200,0.84,185.1,1011.0,0.0,479,5368,0.73,2.42,159.30,1.143,4,0.027,0.062,3573,293,2312,0,0,0,0,0,0
$GC,5426,0.78,185.1,977.4,26.0,490,5431,0.25,2.20,0.00,0.000,6,0.150,0.034,3503,1696,2305,0,0,0,0,0,0
$GC,5749,0.77,185.1,909.6,20.6,506,5753,0.00,2.15,0.00,0.000,4,0.000,0.042,3503,3106,2296,0,0,0,0,0,0
$GC,5881,0.76,185.1,881.8,21.4,512,5886,0.08,2.20,0.00,0.000,6,0.205,0.050,3497,1706,2296,0,0,0,0,0,0
$GC,6215,0.75,185.1,815.8,19.1,528,6219,0.00,2.15,0.00,0.000,4,0.000,0.042,3497,3113,2293,0,0,0,0,0,0
$GC,6236,0.74,185.1,811.0,20.2,529,6241,0.08,2.20,0.00,0.000,6,0.200,0.050,3488,1706,2293,0,0,0,0,0,0
$GC,6564,0.74,185.1,751.9,17.9,545,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,1705,2291,0,0,0,0,0,0
$GC,6873,0.74,185.1,695.5,18.7,560,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,1705,2290,0,0,0,0,0,0
$GC,7182,0.74,185.1,637.9,18.9,575,7186,0.00,2.17,0.00,0.000,4,0.000,0.043,3488,3107,2288,0,0,0,0,0,0
$GC,7253,0.74,185.1,623.9,18.3,578,7257,0.00,2.22,0.00,0.000,6,0.000,0.050,3498,1718,2288,0,0,0,0,0,0
$GC,7582,0.74,185.1,564.8,17.1,603,7586,0.00,2.12,0.00,0.000,4,0.000,0.042,3498,3110,2287,0,0,0,0,0,0
$GC,7648,0.74,185.1,552.8,17.6,608,7655,0.10,2.22,0.00,0.000,6,0.180,0.050,3482,1708,2287,0,0,0,0,0,0
$GC,7974,0.74,185.1,504.0,14.8,639,7978,0.00,2.25,0.00,0.000,4,0.000,0.060,3492,288,2286,0,0,0,0,0,0
$GC,8041,0.76,185.1,493.2,14.8,644,8047,0.00,2.15,0.00,0.000,6,0.000,0.034,3492,1706,2285,0,0,0,0,0,0
$GC,8366,0.76,185.1,443.9,15.4,675,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1708,2285,0,0,0,0,0,0
$GC,8688,0.76,185.1,398.7,14.8,705,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1708,2284,0,0,0,0,0,0
$GC,9015,0.78,189.9,351.7,13.5,736,9019,0.00,2.28,0.00,0.000,4,0.000,0.059,3503,285,2284,0,0,0,0,0,0
$GC,9059,0.79,189.9,344.5,15.8,739,9067,0.00,2.15,0.00,0.000,6,0.000,0.034,3503,1707,2284,0,0,0,0,0,0
$GC,9386,0.82,207.3,301.7,12.3,770,9410,0.00,2.20,15.20,0.737,4,0.000,0.041,3503,3114,2222,0,0,0,0,0,0
$GC,9489,0.84,207.3,287.0,14.4,786,9496,0.00,2.22,0.00,0.000,6,0.000,0.046,3512,1701,2222,0,0,0,0,0,0
$GC,9833,0.85,207.3,238.4,14.0,847,9840,0.00,2.15,0.00,0.000,4,0.000,0.039,3512,3112,2221,0,0,0,0,0,0
$GC,9887,0.87,207.3,230.7,14.9,856,9894,0.00,2.22,0.00,0.000,6,0.000,0.046,3523,1699,2221,0,0,0,0,0,0
$GC,10233,0.90,223.9,184.5,12.4,917,10252,0.00,0.00,16.08,0.635,6,0.000,0.000,3523,1698,2154,0,0,0,0,0,0
$GC,10594,0.96,254.4,137.4,11.1,980,10626,0.10,2.28,26.35,0.610,4,0.095,0.037,3602,3112,2029,0,0,0,0,0,0
$GC,10656,0.95,254.4,127.0,19.0,990,10663,0.20,2.22,0.00,0.000,6,0.147,0.045,3553,1707,2026,0,0,0,0,0,0
$GC,11004,1.02,289.4,85.2,10.7,1051,11043,0.10,2.22,29.10,0.560,4,0.093,0.037,3650,3106,1886,0,0,0,0,0,0
$GC,11086,1.00,289.4,71.6,17.3,1064,11093,0.30,2.22,0.00,0.000,6,0.144,0.042,3570,1693,1885,0,0,0,0,0,0
$GC,11432,1.02,289.4,15.3,17.2,1125,11438,0.00,2.20,0.00,0.000,4,0.000,0.054,3580,296,1883,0,0,0,0,0,0
$GC,11457,1.04,289.4,11.1,15.2,1129,11464,0.00,2.12,0.00,0.000,6,0.000,0.030,3581,1712,1882,0,0,0,0,0,0
$FREEZE,3.45,26.613,-0.370,0,1,0
$STATE,11703,end climb,NO_VERTICAL_VELOCITY
$STATE,11703,begin surface
$SM_CCo,11706,170.05,0.491,0,0,415,650.78
$SM_GC,4.24,8.45,0.00,0.00,0.018,0.000,0.000,103,1535,410,-9.69,-0.40,652.01
$IRIDIUM_FIX,2115.63,12602.66,101110,151513
$TT8_MAMPS,0.026964
$HUMID,46.57
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.3,66.065
$10V_AH,10.1,46.647
$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,21.800,101.475,398.175,170.050,0.000,27.813,45.238,127.691,2.250,0.000,11.796,2896.277,6470.963,685.829,2138.889,243.082,0.000,1731.149,0.000,1921.935,0.000,0.540,0.000
$DEVICE_MAMPS,205.020,61.965,1220.175,491.130,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.864,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334008
$DATA_FILE_SIZE,66786,1173
$CAP_FILE_SIZE,135328,0
$CFSIZE,260165632,224641024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174,119.4,1
$GPS,101110,221537,2120.595,12601.828,39,0.9,40,-2.9