version: 66.08
glider: 168
mission: 2
dive: 472
start: 11 10 110 22 21 12
data:
$ID,168
$MISSION,2
$DIVE,472
$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,-3871.449
$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,42
$R_STBD_OVSHOOT,42
$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
$GPS1,101110,221537,2120.595,12601.828,39,0.9,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.22
$_SM_ANGLEo,-70.4
$GPS2,101110,222044,2120.510,12601.861,12,1.4,12,-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,317.2,2319,-20.6,-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,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.53,0.000,2,0.000,0.000,104,1533,621,0,0,0,0,0,0
$GC,26,-0.68,-185.1,4.2,-0.0,1,160,9.77,2.25,-113.47,0.000,4,0.162,0.059,3024,2949,3824,0,0,0,0,0,0
$GC,246,-0.68,-185.1,25.3,-19.5,38,253,0.00,2.17,0.00,0.000,6,0.000,0.044,3024,1559,3825,0,0,0,0,0,0
$GC,589,-0.63,-185.1,120.1,-24.4,99,596,0.10,2.20,0.00,0.000,4,0.174,0.054,3054,165,3825,0,0,0,0,0,0
$GC,648,-0.64,-185.1,131.2,-14.7,109,656,0.00,2.10,0.00,0.000,6,0.000,0.038,3050,1543,3825,0,0,0,0,0,0
$GC,992,-0.64,-185.1,183.6,-13.8,170,999,0.00,2.17,0.00,0.000,4,0.000,0.044,3040,2970,3826,0,0,0,0,0,0
$GC,1073,-0.69,-185.1,193.2,-10.7,184,1080,0.00,2.20,0.00,0.000,6,0.000,0.042,3040,1543,3826,0,0,0,0,0,0
$GC,1413,-0.69,-185.1,244.0,-15.3,245,1421,0.00,2.12,0.00,0.000,4,0.000,0.051,3040,165,3826,0,0,0,0,0,0
$GC,1441,-0.69,-185.1,247.8,-14.9,249,1449,0.00,2.10,0.00,0.000,6,0.000,0.039,3037,1553,3826,0,0,0,0,0,0
$GC,1787,-0.71,-185.1,295.3,-14.4,310,1794,0.00,2.17,0.00,0.000,4,0.000,0.045,3027,2961,3826,0,0,0,0,0,0
$GC,1861,-0.76,-185.1,305.2,-12.0,319,1868,0.08,2.17,0.00,0.000,6,0.116,0.042,2914,1551,3826,0,0,0,0,0,0
$GC,2188,-0.69,-185.1,382.9,-24.5,350,2195,0.35,0.00,0.00,0.000,6,0.116,0.000,3032,1551,3825,0,0,0,0,0,0
$GC,2514,-0.72,-185.1,422.9,-10.7,381,2518,0.00,2.15,0.00,0.000,4,0.000,0.054,3032,165,3823,0,0,0,0,0,0
$GC,2542,-0.75,-185.1,426.1,-11.5,383,2549,0.00,2.12,0.00,0.000,6,0.000,0.038,3024,1560,3823,0,0,0,0,0,0
$GC,2868,-0.77,-185.1,461.0,-10.5,414,2873,0.08,2.17,0.00,0.000,4,0.119,0.046,2892,2964,3820,0,0,0,0,0,0
$GC,2909,-0.73,-185.1,467.8,-18.9,417,2914,0.38,2.17,0.00,0.000,6,0.106,0.044,3019,1562,3820,0,0,0,0,0,0
$GC,3235,-0.75,-185.1,508.1,-12.1,447,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1562,3818,0,0,0,0,0,0
$GC,3554,-0.78,-185.1,547.0,-12.3,477,3556,0.08,0.00,0.00,0.000,6,0.119,0.000,2910,1562,3816,0,0,0,0,0,0
$GC,3871,-0.73,-185.1,613.3,-20.2,504,3876,0.32,2.20,0.00,0.000,4,0.112,0.044,3011,2957,3812,0,0,0,0,0,0
$GC,3916,-0.78,-185.1,619.5,-9.6,506,3920,0.00,2.20,0.00,0.000,6,0.000,0.048,3011,1558,3812,0,0,0,0,0,0
$GC,4240,-0.81,-185.1,651.0,-9.6,522,4241,0.08,0.00,0.00,0.000,6,0.116,0.000,2899,1557,3810,0,0,0,0,0,0
$GC,4547,-0.76,-185.1,709.9,-19.0,537,4552,0.32,2.20,0.00,0.000,4,0.110,0.046,3002,2956,3806,0,0,0,0,0,0
$GC,4566,-0.73,-185.1,712.8,-17.9,538,4570,0.08,2.20,0.00,0.000,6,0.138,0.050,3030,1570,3806,0,0,0,0,0,0
$GC,4895,-0.78,-185.1,737.2,-7.9,554,4897,0.10,0.00,0.00,0.000,6,0.092,0.000,2923,1569,3804,0,0,0,0,0,0
$GC,5202,-0.75,-185.1,789.6,-17.7,569,5206,0.25,2.17,0.00,0.000,4,0.114,0.047,3005,2955,3801,0,0,0,0,0,0
$GC,5248,-0.81,-185.1,794.9,-9.3,571,5252,0.00,2.20,0.00,0.000,6,0.000,0.052,3005,1562,3800,0,0,0,0,0,0
$GC,5582,-0.84,-185.1,828.1,-9.8,587,5584,0.08,0.00,0.00,0.000,6,0.117,0.000,2902,1562,3797,0,0,0,0,0,0
$GC,5891,-0.80,-185.1,883.8,-18.7,602,5893,0.30,0.00,0.00,0.000,6,0.110,0.000,3001,1562,3794,0,0,0,0,0,0
$GC,6199,-0.83,-185.1,915.4,-9.6,617,6203,0.00,2.20,0.00,0.000,4,0.000,0.051,2993,2959,3792,0,0,0,0,0,0
$GC,6221,-0.87,-185.1,917.6,-9.9,618,6225,0.08,2.22,0.00,0.000,6,0.112,0.053,2898,1571,3792,0,0,0,0,0,0
$GC,6544,-0.83,-185.1,975.6,-19.2,634,6546,0.28,0.00,0.00,0.000,6,0.115,0.000,2990,1570,3789,0,0,0,0,0,0
$STATE,6746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6746,begin apogee
$GC,6751,0.00,0.0,1001.1,11.7,644,6908,0.70,0.00,152.38,1.218,4,0.081,0.000,3253,1711,3068,0,0,0,0,0,0
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6911,0.68,185.1,1008.9,0.0,651,7083,0.60,2.30,161.65,1.147,4,0.030,0.049,3524,3102,2312,0,0,0,0,0,0
$GC,7207,0.61,185.1,965.7,21.4,665,7212,0.30,2.28,0.00,0.000,6,0.151,0.049,3447,1701,2305,0,0,0,0,0,0
$GC,7536,0.58,185.1,911.9,16.2,681,7540,0.00,2.28,0.00,0.000,4,0.000,0.063,3458,293,2298,0,0,0,0,0,0
$GC,7568,0.54,185.1,905.7,17.8,682,7576,0.12,2.12,0.00,0.000,6,0.142,0.034,3418,1693,2296,0,0,0,0,0,0
$GC,7886,0.53,185.1,860.8,14.4,698,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1696,2296,0,0,0,0,0,0
$GC,8194,0.52,185.1,816.4,14.2,713,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1696,2294,0,0,0,0,0,0
$GC,8503,0.51,185.1,772.4,14.2,728,8507,0.00,2.28,0.00,0.000,4,0.000,0.064,3428,290,2293,0,0,0,0,0,0
$GC,8525,0.50,185.1,768.9,15.2,729,8530,0.08,2.15,0.00,0.000,6,0.165,0.036,3406,1696,2292,0,0,0,0,0,0
$GC,8846,0.51,197.3,727.0,13.3,745,8861,0.00,2.22,8.60,0.955,4,0.000,0.046,3406,3095,2263,0,0,0,0,0,0
$GC,8878,0.53,208.9,722.5,13.3,746,8895,0.00,2.25,12.05,0.998,6,0.000,0.050,3414,1695,2216,0,0,0,0,0,0
$GC,9218,0.55,228.0,677.5,12.9,763,9241,0.00,2.38,18.00,1.018,4,0.000,0.065,3426,289,2137,0,0,0,0,0,0
$GC,9289,0.58,241.1,668.3,13.2,766,9312,0.00,2.17,12.82,0.949,6,0.000,0.036,3426,1693,2085,0,0,0,0,0,0
$GC,9622,0.59,246.2,623.7,13.6,782,9629,0.00,0.00,5.10,0.754,6,0.000,0.000,3426,1693,2064,0,0,0,0,0,0
$GC,9933,0.59,246.2,579.8,14.2,803,9937,0.00,2.20,0.00,0.000,4,0.000,0.045,3426,3105,2062,0,0,0,0,0,0
$GC,9966,0.60,246.2,574.9,14.3,805,9974,0.00,2.28,0.00,0.000,6,0.000,0.051,3434,1684,2062,0,0,0,0,0,0
$GC,10292,0.60,246.2,528.0,14.1,836,10296,0.00,2.22,0.00,0.000,4,0.000,0.063,3444,293,2061,0,0,0,0,0,0
$GC,10335,0.60,246.6,521.5,13.9,839,10342,0.00,2.10,0.00,0.000,6,0.000,0.035,3444,1678,2060,0,0,0,0,0,0
$GC,10661,0.60,246.6,475.0,14.4,870,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1681,2059,0,0,0,0,0,0
$GC,10981,0.60,247.0,430.6,13.9,900,10985,0.00,2.22,0.00,0.000,4,0.000,0.062,3454,287,2059,0,0,0,0,0,0
$GC,11058,0.61,247.0,419.1,13.9,906,11065,0.00,2.12,0.00,0.000,6,0.000,0.034,3455,1681,2058,0,0,0,0,0,0
$GC,11383,0.63,262.2,374.7,13.1,937,11403,0.00,0.00,14.82,0.804,6,0.000,0.000,3455,1683,1998,0,0,0,0,0,0
$GC,11722,0.64,273.3,330.1,13.3,969,11738,0.00,2.30,10.48,0.732,4,0.000,0.060,3464,292,1953,0,0,0,0,0,0
$GC,11813,0.70,303.5,318.1,12.4,977,11848,0.00,2.12,27.52,0.774,6,0.000,0.034,3465,1684,1829,0,0,0,0,0,0
$GC,12181,0.72,314.7,267.8,13.3,1031,12201,0.08,2.30,10.32,0.672,4,0.118,0.058,3572,286,1783,0,0,0,0,0,0
$GC,12227,0.66,314.7,258.3,23.3,1038,12234,0.32,2.10,0.00,0.000,6,0.114,0.031,3466,1670,1782,0,0,0,0,0,0
$GC,12573,0.70,329.8,208.2,13.1,1099,12592,0.00,0.00,13.55,0.648,6,0.000,0.000,3466,1673,1723,0,0,0,0,0,0
$GC,12931,0.75,349.9,162.8,12.9,1162,12957,0.10,2.22,18.12,0.623,4,0.095,0.055,3588,286,1640,0,0,0,0,0,0
$GC,13016,0.71,349.9,144.4,22.6,1176,13024,0.32,2.10,0.00,0.000,6,0.109,0.031,3479,1671,1637,0,0,0,0,0,0
$GC,13363,0.87,444.2,108.5,9.1,1237,13444,0.15,2.33,74.97,0.592,4,0.066,0.056,3613,291,1256,0,0,0,0,0,0
$GC,13537,0.85,444.2,74.8,18.0,1266,13545,0.28,2.08,0.00,0.000,6,0.111,0.031,3522,1652,1250,0,0,0,0,0,0
$GC,13882,0.93,478.3,30.2,12.2,1327,13919,0.10,2.25,26.88,0.516,4,0.090,0.054,3629,290,1115,0,0,0,0,0,0
$GC,13977,0.90,478.3,11.6,25.3,1343,13985,0.30,2.03,0.00,0.000,6,0.118,0.029,3532,1643,1113,0,0,0,0,0,0
$FREEZE,3.53,26.426,-1.587,0,1,0
$STATE,14165,end climb,NO_VERTICAL_VELOCITY
$STATE,14165,begin surface
$SM_CCo,14167,85.57,0.500,0,0,414,650.78
$SM_GC,4.24,8.32,0.00,0.00,0.015,0.000,0.000,104,1532,409,-9.70,-0.54,652.25
$IRIDIUM_FIX,2117.95,12551.09,101110,181829
$TT8_MAMPS,0.026215
$HUMID,47.28
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.80
$XPDR_PINGS,7
$24V_AH,23.2,66.242
$10V_AH,10.1,46.728
$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,24.475,105.650,567.275,85.575,0.000,25.829,18.829,133.035,1.750,0.000,15.370,3353.878,8010.420,762.131,2389.729,277.889,0.000,1961.190,0.000,2185.700,0.000,0.539,0.000
$DEVICE_MAMPS,174.420,79.560,1217.880,499.545,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,935.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,76858,1376
$CAP_FILE_SIZE,159078,0
$CFSIZE,260165632,224542720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,201.3,1
$GPS,111110,022355,2120.963,12559.855,39,1.2,39,-2.9