version: 66.08
glider: 168
mission: 2
dive: 478
start: 11 11 110 20 44 54
data:
$ID,168
$MISSION,2
$DIVE,478
$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,-3881.8032
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,111110,203937,2121.137,12600.440,35,0.9,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.39
$_SM_ANGLEo,-73.6
$GPS2,111110,204425,2121.067,12600.479,10,1.1,10,-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,29.7,1588,-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,-6.50,0.000,2,0.000,0.000,105,1542,617,0,0,0,0,0,0
$GC,26,-0.84,-185.1,4.5,-0.0,1,171,9.60,2.20,-125.03,0.000,4,0.162,0.058,2972,2950,3824,0,0,0,0,0,0
$GC,256,-0.86,-185.1,27.9,-25.3,40,262,0.00,2.17,0.00,0.000,6,0.000,0.046,2971,1551,3825,0,0,0,0,0,0
$GC,599,-0.84,-185.1,140.7,-26.8,101,607,0.00,2.15,0.00,0.000,4,0.000,0.050,2971,162,3825,0,0,0,0,0,0
$GC,654,-0.83,-185.1,155.0,-25.7,110,662,0.10,2.10,0.00,0.000,6,0.166,0.037,2989,1547,3825,0,0,0,0,0,0
$GC,1000,-0.85,-185.1,226.8,-19.4,171,1006,0.00,2.17,0.00,0.000,4,0.000,0.052,2989,156,3826,0,0,0,0,0,0
$GC,1019,-0.87,-185.1,230.5,-19.7,174,1026,0.00,2.10,0.00,0.000,6,0.000,0.037,2980,1542,3826,0,0,0,0,0,0
$GC,1363,-0.89,-185.1,298.4,-19.7,235,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1546,3826,0,0,0,0,0,0
$GC,1698,-0.92,-185.1,363.2,-18.6,267,1703,0.08,2.17,0.00,0.000,4,0.122,0.044,2846,2962,3826,0,0,0,0,0,0
$GC,1761,-0.89,-185.1,379.1,-25.9,272,1766,0.35,2.17,0.00,0.000,6,0.111,0.044,2965,1539,3826,0,0,0,0,0,0
$GC,2087,-0.92,-185.1,437.7,-16.6,302,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1539,3824,0,0,0,0,0,0
$GC,2408,-0.95,-185.1,489.1,-16.2,332,2413,0.08,2.22,0.00,0.000,4,0.117,0.044,2846,2964,3822,0,0,0,0,0,0
$GC,2447,-0.93,-185.1,497.8,-23.2,335,2452,0.32,2.20,0.00,0.000,6,0.113,0.044,2956,1533,3822,0,0,0,0,0,0
$GC,2773,-0.96,-185.1,557.0,-18.5,365,2777,0.00,2.22,0.00,0.000,4,0.000,0.047,2946,2959,3819,0,0,0,0,0,0
$GC,2807,-1.01,-185.1,563.2,-17.2,368,2812,0.08,2.20,0.00,0.000,6,0.113,0.047,2837,1537,3819,0,0,0,0,0,0
$GC,3140,-0.96,-185.1,654.6,-28.0,390,3142,0.35,0.00,0.00,0.000,6,0.125,0.000,2948,1536,3816,0,0,0,0,0,0
$GC,3447,-0.99,-185.1,709.9,-16.1,405,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1536,3814,0,0,0,0,0,0
$GC,3756,-1.03,-185.1,758.5,-15.5,420,3761,0.10,2.25,0.00,0.000,4,0.091,0.050,2824,2957,3810,0,0,0,0,0,0
$GC,3842,-1.01,-185.1,776.7,-21.9,424,3847,0.32,2.22,0.00,0.000,6,0.119,0.050,2932,1538,3809,0,0,0,0,0,0
$GC,4170,-1.03,-185.1,829.5,-15.6,440,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1538,3806,0,0,0,0,0,0
$GC,4479,-1.06,-185.1,877.8,-15.6,455,4481,0.08,0.00,0.00,0.000,6,0.119,0.000,2824,1537,3802,0,0,0,0,0,0
$GC,4788,-1.02,-185.1,955.6,-26.2,470,4793,0.30,2.25,0.00,0.000,4,0.129,0.048,2914,2958,3799,0,0,0,0,0,0
$GC,4844,-1.07,-185.1,966.4,-15.2,472,4850,0.00,2.28,0.00,0.000,6,0.000,0.053,2914,1539,3799,0,0,0,0,0,0
$STATE,5054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5054,begin apogee
$GC,5060,0.00,0.0,1003.6,17.9,483,5218,0.95,0.00,152.45,1.214,4,0.093,0.000,3254,1705,3068,0,0,0,0,0,0
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5221,0.84,185.1,1011.7,0.0,490,5392,0.73,2.33,160.65,1.138,4,0.027,0.049,3576,3110,2313,0,0,0,0,0,0
$GC,5644,0.79,185.1,925.5,26.8,509,5652,0.28,2.25,0.00,0.000,6,0.159,0.049,3508,1698,2302,0,0,0,0,0,0
$GC,5961,0.77,185.1,856.6,21.3,525,5965,0.00,2.25,0.00,0.000,4,0.000,0.060,3518,288,2299,0,0,0,0,0,0
$GC,6107,0.74,185.1,824.2,22.5,531,6115,0.10,2.12,0.00,0.000,6,0.178,0.033,3493,1707,2295,0,0,0,0,0,0
$GC,6424,0.74,185.1,762.4,19.2,547,6428,0.00,2.12,0.00,0.000,4,0.000,0.041,3493,3109,2294,0,0,0,0,0,0
$GC,6464,0.74,185.1,754.7,18.9,549,6469,0.08,2.22,0.00,0.000,6,0.196,0.049,3486,1704,2294,0,0,0,0,0,0
$GC,6791,0.74,185.1,695.5,18.6,565,6795,0.00,2.15,0.00,0.000,4,0.000,0.042,3485,3105,2293,0,0,0,0,0,0
$GC,6845,0.74,185.1,684.8,19.4,567,6853,0.00,2.22,0.00,0.000,6,0.000,0.050,3494,1719,2292,0,0,0,0,0,0
$GC,7162,0.74,185.1,625.2,19.5,583,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1719,2291,0,0,0,0,0,0
$GC,7476,0.74,185.1,562.4,20.1,606,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1719,2289,0,0,0,0,0,0
$GC,7797,0.74,185.1,501.7,17.9,636,7801,0.00,2.12,0.00,0.000,4,0.000,0.041,3495,3104,2288,0,0,0,0,0,0
$GC,7841,0.74,185.1,492.7,18.2,639,7849,0.08,2.20,0.00,0.000,6,0.194,0.048,3487,1709,2288,0,0,0,0,0,0
$GC,8167,0.74,185.1,440.9,14.8,670,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1709,2288,0,0,0,0,0,0
$GC,8487,0.74,185.1,392.9,14.5,700,8491,0.00,2.25,0.00,0.000,4,0.000,0.059,3498,288,2287,0,0,0,0,0,0
$GC,8508,0.74,185.1,389.1,15.0,701,8516,0.00,2.17,0.00,0.000,6,0.000,0.034,3497,1702,2286,0,0,0,0,0,0
$GC,8834,0.74,185.1,341.6,15.0,732,8838,0.00,2.15,0.00,0.000,4,0.000,0.042,3497,3115,2286,0,0,0,0,0,0
$GC,8878,0.75,185.1,335.2,14.2,735,8885,0.00,2.20,0.00,0.000,6,0.000,0.047,3508,1705,2286,0,0,0,0,0,0
$GC,9206,0.75,185.1,291.7,14.7,771,9212,0.00,2.22,0.00,0.000,4,0.000,0.057,3519,293,2286,0,0,0,0,0,0
$GC,9265,0.75,185.1,282.8,15.0,781,9272,0.10,2.15,0.00,0.000,6,0.167,0.033,3493,1716,2286,0,0,0,0,0,0
$GC,9611,0.79,199.0,236.4,12.6,842,9625,0.00,2.22,8.52,0.633,4,0.000,0.041,3492,3109,2256,0,0,0,0,0,0
$GC,9655,0.82,200.8,230.5,13.7,849,9662,0.00,2.22,0.00,0.000,6,0.000,0.046,3502,1701,2255,0,0,0,0,0,0
$GC,10000,0.87,222.1,186.0,12.0,910,10032,0.10,2.30,21.20,0.659,4,0.092,0.054,3600,292,2162,0,0,0,0,0,0
$GC,10104,0.83,222.1,168.0,20.0,927,10111,0.28,2.15,0.00,0.000,6,0.132,0.031,3517,1709,2160,0,0,0,0,0,0
$GC,10450,0.91,261.8,125.4,10.3,988,10495,0.08,2.33,33.70,0.614,4,0.116,0.054,3606,292,1999,0,0,0,0,0,0
$GC,10564,0.89,261.8,107.5,18.3,1007,10571,0.22,2.15,0.00,0.000,6,0.125,0.032,3535,1702,1994,0,0,0,0,0,0
$GC,10908,0.99,305.0,71.9,10.0,1068,10953,0.10,2.20,36.03,0.558,4,0.090,0.037,3632,3107,1822,0,0,0,0,0,0
$GC,11043,0.99,305.0,47.2,19.2,1091,11051,0.25,2.20,0.00,0.000,6,0.141,0.043,3567,1698,1820,0,0,0,0,0,0
$GC,11391,1.42,469.4,3.8,-1.0,1152,11469,0.32,2.35,70.62,0.495,4,0.041,0.057,3752,291,1151,0,0,0,0,0,0
$GC,11529,1.80,624.8,3.7,-0.2,1175,11538,0.22,2.15,3.25,0.275,2,0.086,0.031,3833,1706,1115,0,0,0,0,0,0
$FREEZE,3.58,26.426,-0.898,0,1,0
$STATE,11540,end climb,NO_VERTICAL_VELOCITY
$STATE,11540,begin surface
$SM_CCo,11543,84.90,0.487,0,0,415,650.78
$SM_GC,4.47,9.15,0.00,0.00,0.022,0.000,0.000,104,1540,410,-9.68,-0.28,652.01
$IRIDIUM_FIX,2115.63,12602.66,111110,171753
$TT8_MAMPS,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.00
$XPDR_PINGS,13
$24V_AH,23.3,67.210
$10V_AH,10.1,47.167
$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,24.775,93.025,486.425,84.900,0.000,24.323,18.020,125.131,3.250,0.000,13.069,2836.236,6286.367,691.098,2098.490,238.579,0.000,1742.185,0.000,1915.718,0.000,0.539,0.000
$DEVICE_MAMPS,195.840,62.730,1214.055,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,66881,1176
$CAP_FILE_SIZE,133647,0
$CFSIZE,260165632,224129024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,138.2,1
$GPS,121110,000337,2121.610,12602.274,24,1.2,25,-2.9