version: 66.08
glider: 168
mission: 2
dive: 475
start: 11 11 110 9 51 35
data:
$ID,168
$MISSION,2
$DIVE,475
$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,-3877.9309
$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,26
$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
$GPS1,111110,094522,2121.713,12601.917,9,3.7,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.39
$_SM_ANGLEo,-71.9
$GPS2,111110,095106,2121.668,12601.893,34,1.2,38,-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,269.7,1200,-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,-8.25,0.000,2,0.000,0.000,104,1541,674,0,0,0,0,0,0
$GC,28,-0.84,-185.1,4.5,-0.0,1,157,9.55,2.22,-110.25,0.000,4,0.161,0.062,2985,156,3825,0,0,1,0,0,0
$GC,287,-0.83,-185.1,48.6,-29.7,45,295,0.00,2.12,0.00,0.000,6,0.000,0.037,2975,1547,3826,0,0,0,0,0,0
$GC,632,-0.81,-185.1,154.9,-27.2,106,639,0.08,2.20,0.00,0.000,4,0.205,0.046,2985,2959,3826,0,0,0,0,0,0
$GC,691,-0.87,-185.1,167.4,-16.0,116,698,0.00,2.17,0.00,0.000,6,0.000,0.044,2985,1551,3825,0,0,0,0,0,0
$GC,1035,-0.88,-185.1,236.5,-20.1,177,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1551,3827,0,0,0,0,0,0
$GC,1385,-0.90,-185.1,304.1,-18.2,237,1390,0.08,2.20,0.00,0.000,4,0.123,0.044,2843,2958,3826,0,0,0,0,0,0
$GC,1442,-0.87,-185.1,317.9,-26.0,242,1447,0.38,2.17,0.00,0.000,6,0.112,0.045,2969,1562,3827,0,0,0,0,0,0
$GC,1768,-0.90,-185.1,380.1,-18.2,272,1772,0.00,2.20,0.00,0.000,4,0.000,0.054,2970,160,3826,0,0,0,0,0,0
$GC,1790,-0.92,-185.1,384.7,-19.3,273,1798,0.00,2.12,0.00,0.000,6,0.000,0.039,2960,1566,3826,0,0,0,0,0,0
$GC,2115,-0.94,-185.1,444.1,-18.2,304,2119,0.00,2.15,0.00,0.000,4,0.000,0.047,2949,2962,3824,0,0,0,0,0,0
$GC,2153,-0.98,-185.1,450.9,-17.0,307,2160,0.00,2.17,0.00,0.000,6,0.000,0.047,2950,1563,3824,0,0,0,0,0,0
$GC,2479,-1.00,-185.1,510.0,-17.3,338,2481,0.08,0.00,0.00,0.000,6,0.120,0.000,2833,1562,3821,0,0,0,0,0,0
$GC,2797,-0.95,-185.1,595.8,-27.6,368,2799,0.38,0.00,0.00,0.000,6,0.122,0.000,2946,1562,3819,0,0,0,0,0,0
$GC,3107,-0.98,-185.1,652.9,-18.2,384,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1561,3817,0,0,0,0,0,0
$GC,3417,-1.00,-185.1,705.7,-16.3,399,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1562,3813,0,0,0,0,0,0
$GC,3726,-1.04,-185.1,753.6,-15.5,414,3730,0.10,2.22,0.00,0.000,4,0.094,0.050,2823,2963,3810,0,0,0,0,0,0
$GC,3788,-1.02,-185.1,767.0,-22.8,417,3793,0.32,2.20,0.00,0.000,6,0.117,0.050,2932,1566,3809,0,0,0,0,0,0
$GC,4117,-1.04,-185.1,824.7,-16.9,433,4121,0.00,2.22,0.00,0.000,4,0.000,0.061,2932,166,3805,0,0,0,0,0,0
$GC,4144,-1.07,-185.1,830.1,-18.2,434,4148,0.00,2.17,0.00,0.000,6,0.000,0.043,2922,1566,3805,0,0,0,0,0,0
$GC,4472,-1.09,-185.1,883.7,-15.6,450,4477,0.08,2.20,0.00,0.000,4,0.128,0.051,2810,2961,3802,0,0,0,0,0,0
$GC,4540,-1.07,-185.1,897.7,-21.2,453,4545,0.30,2.22,0.00,0.000,6,0.120,0.050,2908,1559,3801,0,0,0,0,0,0
$GC,4869,-1.08,-185.1,952.2,-16.3,469,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1559,3799,0,0,0,0,0,0
$STATE,5153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5153,begin apogee
$GC,5159,0.00,0.0,1001.0,17.1,483,5318,0.95,0.00,153.70,1.208,4,0.096,0.000,3248,1710,3067,0,0,0,0,0,0
$STATE,5319,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5321,0.84,185.1,1007.4,0.0,490,5490,0.73,2.33,161.57,1.133,4,0.027,0.049,3574,3102,2313,0,0,0,0,0,0
$GC,5638,0.79,185.1,946.4,26.7,505,5644,0.28,2.25,0.00,0.000,6,0.160,0.048,3506,1697,2304,0,0,0,0,0,0
$GC,5967,0.77,185.1,873.5,22.4,521,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1697,2299,0,0,0,0,0,0
$GC,6275,0.75,185.1,805.2,21.8,536,6279,0.00,2.20,0.00,0.000,4,0.000,0.041,3506,3107,2297,0,0,0,0,0,0
$GC,6323,0.74,185.1,794.0,22.5,538,6328,0.10,2.22,0.00,0.000,6,0.188,0.049,3490,1691,2296,0,0,0,0,0,0
$GC,6640,0.74,185.1,731.6,19.5,553,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1691,2295,0,0,0,0,0,0
$GC,6949,0.74,185.1,672.3,18.9,568,6953,0.00,2.20,0.00,0.000,4,0.000,0.042,3490,3109,2293,0,0,0,0,0,0
$GC,7026,0.74,185.1,656.7,20.3,571,7034,0.00,2.20,0.00,0.000,6,0.000,0.049,3500,1706,2293,0,0,0,0,0,0
$GC,7343,0.73,185.1,593.6,20.2,588,7347,0.00,2.25,0.00,0.000,4,0.000,0.060,3511,293,2292,0,0,0,0,0,0
$GC,7382,0.72,185.1,585.7,19.9,591,7389,0.10,2.15,0.00,0.000,6,0.179,0.034,3485,1708,2289,0,0,0,0,0,0
$GC,7707,0.72,185.1,529.5,16.5,622,7711,0.00,2.12,0.00,0.000,4,0.000,0.043,3484,3106,2289,0,0,0,0,0,0
$GC,7740,0.72,185.1,523.5,17.1,624,7747,0.00,2.25,0.00,0.000,6,0.000,0.049,3495,1705,2288,0,0,0,0,0,0
$GC,8066,0.72,185.1,468.6,17.3,655,8069,0.00,2.17,0.00,0.000,4,0.000,0.042,3495,3110,2288,0,0,0,0,0,0
$GC,8120,0.72,185.1,459.4,16.4,659,8128,0.05,2.22,0.00,0.000,6,0.151,0.048,3488,1718,2288,0,0,0,0,0,0
$GC,8447,0.73,185.1,412.9,14.2,690,8451,0.00,2.28,0.00,0.000,4,0.000,0.059,3497,290,2287,0,0,0,0,0,0
$GC,8502,0.73,185.1,404.6,14.9,695,8506,0.00,2.15,0.00,0.000,6,0.000,0.034,3497,1704,2287,0,0,0,0,0,0
$GC,8827,0.73,185.1,353.5,15.5,725,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1706,2286,0,0,0,0,0,0
$GC,9148,0.74,190.0,309.3,13.4,755,9152,0.00,2.15,0.00,0.000,4,0.000,0.041,3498,3107,2286,0,0,0,0,0,0
$GC,9166,0.75,191.0,306.6,13.8,756,9170,0.00,2.22,0.00,0.000,6,0.000,0.046,3508,1691,2286,0,0,0,0,0,0
$GC,9506,0.78,210.7,263.6,12.1,812,9532,0.00,2.20,18.73,0.719,4,0.000,0.037,3508,3107,2208,0,0,0,0,0,0
$GC,9556,0.79,211.7,256.9,13.8,820,9562,0.00,2.22,0.00,0.000,6,0.000,0.045,3519,1690,2207,0,0,0,0,0,0
$GC,9900,0.82,228.7,209.0,12.3,881,9920,0.00,0.00,16.45,0.660,6,0.000,0.000,3519,1690,2135,0,0,0,0,0,0
$GC,10259,0.87,245.2,162.9,12.4,944,10279,0.00,2.28,14.77,0.610,4,0.000,0.038,3519,3109,2068,0,0,0,0,0,0
$GC,10309,0.94,270.7,157.0,11.6,952,10340,0.08,2.22,22.70,0.617,6,0.116,0.045,3608,1689,1963,0,0,0,0,0,0
$GC,10678,0.94,283.3,97.6,12.7,1017,10698,0.17,2.25,11.02,0.534,4,0.149,0.039,3554,3102,1911,0,0,0,0,0,0
$GC,10811,0.99,287.3,79.6,13.5,1040,10825,0.00,2.20,5.07,0.426,6,0.000,0.044,3564,1705,1895,0,0,0,0,0,0
$GC,11163,1.02,287.3,31.0,14.1,1102,11170,0.00,2.20,0.00,0.000,4,0.000,0.054,3574,293,1894,0,0,0,0,0,0
$GC,11222,1.05,287.3,22.0,15.6,1112,11229,0.00,2.12,0.00,0.000,6,0.000,0.029,3575,1716,1892,0,0,0,0,0,0
$GC,11567,1.45,441.0,3.7,-0.0,1173,11576,0.35,0.00,5.78,0.380,2,0.055,0.000,3739,1720,1848,0,0,0,0,0,0
$FREEZE,3.66,26.414,-1.071,0,1,0
$STATE,11578,end climb,NO_VERTICAL_VELOCITY
$STATE,11578,begin surface
$SM_CCo,11581,164.00,0.488,0,0,415,650.78
$SM_GC,4.37,8.82,0.00,0.00,0.015,0.000,0.000,103,1544,411,-9.70,-0.17,652.01
$IRIDIUM_FIX,2115.63,12559.43,111110,060659
$TT8_MAMPS,0.026964
$HUMID,46.41
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.2,66.738
$10V_AH,10.2,46.944
$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,22.950,88.575,409.800,164.000,0.000,28.916,41.505,120.859,2.250,0.000,42.603,2876.263,6401.876,679.062,2130.662,237.222,0.000,1705.000,0.000,1891.340,0.000,0.539,0.000
$DEVICE_MAMPS,205.020,65.025,1207.935,488.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,66959,1174
$CAP_FILE_SIZE,132245,0
$CFSIZE,260165632,224350208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.089,217.3,1
$GPS,111110,131230,2121.072,12559.646,34,0.9,40,-2.9