version: 66.08
glider: 168
mission: 2
dive: 477
start: 11 11 110 17 19 14
data:
$ID,168
$MISSION,2
$DIVE,477
$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,-3880.5447
$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,51
$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
$GPS1,111110,171255,2121.787,12601.715,37,1.7,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.37
$_SM_ANGLEo,-72.4
$GPS2,111110,171844,2121.728,12601.720,14,1.7,14,-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,264.4,927,-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,-102.9,0.0,0.0,0,24,0.00,0.00,-7.28,0.000,2,0.000,0.000,104,1530,639,0,0,0,0,0,0
$GC,27,-0.84,-185.1,4.3,-0.0,1,172,9.52,2.22,-123.70,0.000,4,0.160,0.057,2972,2955,3824,0,0,0,0,0,0
$GC,312,-0.86,-185.1,41.3,-25.0,50,319,0.00,2.17,0.00,0.000,6,0.000,0.045,2972,1563,3825,0,0,0,0,0,0
$GC,656,-0.85,-185.1,151.7,-24.5,111,663,0.00,2.17,0.00,0.000,4,0.000,0.053,2972,166,3825,0,0,0,0,0,0
$GC,692,-0.84,-185.1,161.9,-27.8,117,701,0.08,2.08,0.00,0.000,6,0.184,0.037,2982,1537,3824,0,0,0,0,0,0
$GC,1037,-0.84,-185.1,236.5,-20.5,178,1044,0.00,2.17,0.00,0.000,4,0.000,0.043,2972,2959,3825,0,0,0,0,0,0
$GC,1086,-0.88,-185.1,245.5,-17.5,186,1092,0.00,2.17,0.00,0.000,6,0.000,0.044,2972,1552,3825,0,0,0,0,0,0
$GC,1431,-0.90,-185.1,311.7,-18.5,242,1435,0.00,2.17,0.00,0.000,4,0.000,0.053,2972,156,3825,0,0,0,0,0,0
$GC,1493,-0.92,-185.1,323.5,-18.2,247,1497,0.00,2.10,0.00,0.000,6,0.000,0.037,2962,1543,3825,0,0,0,0,0,0
$GC,1819,-0.94,-185.1,383.4,-18.6,277,1823,0.00,2.15,0.00,0.000,4,0.000,0.044,2952,2960,3824,0,0,0,0,0,0
$GC,1908,-0.99,-185.1,398.4,-15.4,284,1915,0.00,2.20,0.00,0.000,6,0.000,0.044,2952,1542,3824,0,0,0,0,0,0
$GC,2234,-1.00,-185.1,459.7,-18.3,315,2236,0.08,0.00,0.00,0.000,6,0.120,0.000,2839,1542,3822,0,0,0,0,0,0
$GC,2552,-0.95,-185.1,548.9,-27.4,345,2557,0.32,2.20,0.00,0.000,4,0.125,0.043,2932,2961,3820,0,0,0,0,0,0
$GC,2616,-0.99,-185.1,560.8,-15.4,350,2621,0.00,2.17,0.00,0.000,6,0.000,0.047,2932,1551,3820,0,0,0,0,0,0
$GC,2951,-1.01,-185.1,617.4,-16.5,376,2954,0.00,2.22,0.00,0.000,4,0.000,0.047,2922,2960,3817,0,0,0,0,0,0
$GC,2992,-1.04,-185.1,624.3,-15.4,378,2996,0.00,2.20,0.00,0.000,6,0.000,0.048,2922,1553,3816,0,0,0,0,0,0
$GC,3320,-1.06,-185.1,683.2,-18.8,394,3324,0.00,2.20,0.00,0.000,4,0.000,0.049,2911,2957,3813,0,0,0,0,0,0
$GC,3347,-1.08,-185.1,688.6,-18.5,395,3351,0.00,2.20,0.00,0.000,6,0.000,0.049,2912,1559,3813,0,0,0,0,0,0
$GC,3670,-1.09,-185.1,750.5,-19.6,411,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1559,3810,0,0,0,0,0,0
$GC,3979,-1.10,-185.1,809.6,-18.9,426,3983,0.00,2.20,0.00,0.000,4,0.000,0.050,2900,2959,3806,0,0,0,0,0,0
$GC,4030,-1.13,-185.1,818.7,-17.2,428,4034,0.00,2.22,0.00,0.000,6,0.000,0.050,2901,1559,3805,0,0,0,0,0,0
$GC,4351,-1.13,-185.1,878.2,-18.5,444,4355,0.00,2.20,0.00,0.000,4,0.000,0.051,2891,2958,3802,0,0,0,0,0,0
$GC,4372,-1.15,-185.1,882.5,-18.6,445,4376,0.00,2.22,0.00,0.000,6,0.000,0.051,2891,1555,3801,0,0,0,0,0,0
$GC,4700,-1.15,-185.1,941.9,-17.9,461,4704,0.00,2.22,0.00,0.000,4,0.000,0.063,2891,166,3798,0,0,0,0,0,0
$GC,4731,-1.15,-185.1,948.3,-19.1,462,4739,0.00,2.17,0.00,0.000,6,0.000,0.043,2880,1553,3798,0,0,0,0,0,0
$STATE,5025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5025,begin apogee
$GC,5031,0.00,0.0,1003.8,18.7,477,5190,1.05,0.00,152.90,1.207,4,0.103,0.000,3247,1716,3068,0,0,0,0,0,0
$STATE,5190,end apogee,CONTROL_FINISHED_OK
$STATE,5190,begin climb
$GC,5193,0.84,185.1,1009.8,0.0,484,5361,0.73,2.28,161.20,1.130,4,0.028,0.048,3571,3099,2313,0,0,0,0,0,0
$GC,5501,0.79,185.1,951.4,26.9,498,5508,0.28,2.25,0.00,0.000,6,0.161,0.048,3504,1699,2304,0,0,0,0,0,0
$GC,5818,0.77,185.1,883.8,20.9,514,5822,0.00,2.25,0.00,0.000,4,0.000,0.060,3514,286,2299,0,0,0,0,0,0
$GC,5850,0.74,185.1,876.1,22.8,515,5858,0.10,2.15,0.00,0.000,6,0.172,0.033,3487,1705,2298,0,0,0,0,0,0
$GC,6168,0.73,185.1,812.5,20.2,531,6171,0.00,2.15,0.00,0.000,4,0.000,0.042,3487,3105,2296,0,0,0,0,0,0
$GC,6207,0.73,185.1,804.1,19.9,533,6211,0.00,2.22,0.00,0.000,6,0.000,0.050,3498,1701,2296,0,0,0,0,0,0
$GC,6535,0.72,185.1,737.3,20.2,549,6540,0.08,2.17,0.00,0.000,4,0.220,0.041,3480,3106,2293,0,0,0,0,0,0
$GC,6567,0.72,185.1,730.4,19.8,550,6574,0.00,2.25,0.00,0.000,6,0.000,0.049,3490,1707,2294,0,0,0,0,0,0
$GC,6884,0.72,185.1,672.4,17.9,566,6887,0.00,2.17,0.00,0.000,4,0.000,0.042,3490,3107,2292,0,0,0,0,0,0
$GC,6911,0.72,185.1,667.0,18.1,567,6916,0.08,2.20,0.00,0.000,6,0.197,0.050,3483,1709,2292,0,0,0,0,0,0
$GC,7232,0.72,185.1,612.7,16.7,583,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,1709,2290,0,0,0,0,0,0
$GC,7548,0.72,185.1,559.8,16.2,609,7552,0.00,2.15,0.00,0.000,4,0.000,0.042,3483,3103,2289,0,0,0,0,0,0
$GC,7595,0.73,185.1,551.6,18.5,613,7599,0.00,2.20,0.00,0.000,6,0.000,0.048,3492,1710,2290,0,0,0,0,0,0
$GC,7921,0.73,185.1,494.9,16.8,643,7925,0.00,2.15,0.00,0.000,4,0.000,0.042,3492,3105,2288,0,0,0,0,0,0
$GC,7959,0.73,185.1,488.0,16.7,646,7967,0.05,2.22,0.00,0.000,6,0.155,0.049,3485,1712,2288,0,0,0,0,0,0
$GC,8286,0.73,185.1,438.1,15.2,677,8290,0.00,2.25,0.00,0.000,4,0.000,0.058,3495,290,2287,0,0,0,0,0,0
$GC,8329,0.73,185.1,430.9,15.4,680,8336,0.00,2.17,0.00,0.000,6,0.000,0.034,3495,1704,2287,0,0,0,0,0,0
$GC,8654,0.73,185.1,380.6,14.6,711,8658,0.00,2.15,0.00,0.000,4,0.000,0.042,3495,3109,2286,0,0,0,0,0,0
$GC,8696,0.74,185.1,374.5,15.7,714,8701,0.08,2.20,0.00,0.000,6,0.197,0.047,3488,1705,2286,0,0,0,0,0,0
$GC,9021,0.76,185.1,326.1,14.5,744,9025,0.00,2.25,0.00,0.000,4,0.000,0.057,3498,293,2286,0,0,0,0,0,0
$GC,9077,0.76,185.1,317.4,15.7,748,9084,0.00,2.12,0.00,0.000,6,0.000,0.033,3498,1701,2285,0,0,0,0,0,0
$GC,9413,0.78,190.4,269.6,13.4,798,9420,0.00,2.22,0.00,0.000,4,0.000,0.056,3509,292,2285,0,0,0,0,0,0
$GC,9427,0.80,192.2,267.6,13.7,800,9434,0.00,2.12,0.00,0.000,6,0.000,0.031,3508,1704,2285,0,0,0,0,0,0
$GC,9771,0.82,200.7,221.6,13.1,861,9790,0.00,2.22,10.12,0.636,4,0.000,0.040,3509,3105,2249,0,0,0,0,0,0
$GC,9911,0.83,200.7,202.0,13.9,885,9918,0.00,2.20,0.00,0.000,6,0.000,0.044,3518,1703,2249,0,0,0,0,0,0
$GC,10257,0.86,210.3,154.9,13.0,946,10275,0.00,2.20,10.20,0.583,4,0.000,0.038,3519,3095,2209,0,0,0,0,0,0
$GC,10316,0.88,210.6,146.4,13.9,956,10323,0.00,2.17,0.00,0.000,6,0.000,0.044,3530,1702,2209,0,0,0,0,0,0
$GC,10662,1.02,297.5,114.6,6.0,1017,10743,0.15,2.22,71.68,0.601,4,0.069,0.035,3651,3110,1854,0,0,0,0,0,0
$GC,10853,1.00,297.5,84.7,18.8,1049,10862,0.30,2.15,0.00,0.000,6,0.142,0.043,3570,1724,1850,0,0,1,0,0,0
$GC,11201,1.04,310.4,37.0,12.7,1110,11213,0.00,0.00,10.90,0.481,6,0.000,0.000,3570,1723,1801,0,0,0,0,0,0
$GC,11551,1.42,460.8,3.7,0.3,1172,11606,0.32,0.00,51.15,0.487,2,0.044,0.000,3748,1720,1319,0,0,0,0,0,0
$FREEZE,3.50,26.324,-1.886,0,1,0
$STATE,11608,end climb,NO_VERTICAL_VELOCITY
$STATE,11608,begin surface
$SM_CCo,11611,106.82,0.484,0,0,414,650.78
$SM_GC,4.33,8.85,0.00,0.00,0.017,0.000,0.000,105,1545,410,-9.68,-0.11,652.01
$IRIDIUM_FIX,2115.63,12559.43,111110,131348
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.00
$XPDR_PINGS,10
$24V_AH,23.3,67.059
$10V_AH,10.1,47.097
$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,22.050,110.075,468.150,106.825,0.000,28.498,41.869,137.639,2.500,0.000,16.913,2878.438,6318.256,695.381,2151.589,254.398,0.000,1758.247,0.000,1922.274,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,65.025,1207.170,484.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,67062,1181
$CAP_FILE_SIZE,137758,0
$CFSIZE,260165632,224194560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106,123.4,1
$GPS,111110,203937,2121.137,12600.440,35,0.9,36,-2.9