version: 66.08
glider: 168
mission: 2
dive: 479
start: 11 12 110 0 9 15
data:
$ID,168
$MISSION,2
$DIVE,479
$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,-3883.062
$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,34
$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
$GPS1,121110,000337,2121.610,12602.274,24,1.2,25,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.48
$_SM_ANGLEo,-77.0
$GPS2,121110,000832,2121.515,12602.282,11,1.4,11,-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,302.8,1873,-23.4,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-143.6,0.0,0.0,0,23,0.00,0.00,-6.55,0.000,2,0.000,0.000,104,1540,621,0,0,0,0,0,0
$GC,26,-0.75,-185.1,4.6,-0.0,1,167,9.77,2.28,-121.15,0.000,4,0.166,0.057,3004,2950,3825,0,0,0,0,0,0
$GC,274,-0.75,-185.1,31.0,-20.6,43,282,0.00,2.20,0.00,0.000,6,0.000,0.046,3004,1549,3826,0,0,0,0,0,0
$GC,619,-0.71,-185.1,130.3,-22.2,104,626,0.08,0.00,0.00,0.000,6,0.194,0.000,3026,1549,3826,0,0,0,0,0,0
$GC,962,-0.73,-185.1,195.7,-17.8,165,968,0.00,2.12,0.00,0.000,4,0.000,0.052,3026,165,3827,0,0,0,0,0,0
$GC,998,-0.74,-185.1,202.4,-17.9,171,1006,0.00,2.10,0.00,0.000,6,0.000,0.039,3018,1547,3827,0,0,0,0,0,0
$GC,1344,-0.75,-185.1,259.2,-15.9,232,1351,0.00,2.20,0.00,0.000,4,0.000,0.047,3008,2958,3827,0,0,0,0,0,0
$GC,1419,-0.80,-185.1,269.7,-12.3,245,1426,0.00,2.17,0.00,0.000,6,0.000,0.044,3008,1551,3826,0,0,0,0,0,0
$GC,1755,-0.82,-185.1,321.0,-15.4,293,1759,0.08,2.17,0.00,0.000,4,0.122,0.054,2872,164,3827,0,0,0,0,0,0
$GC,1795,-0.75,-185.1,330.5,-27.8,296,1800,0.47,2.10,0.00,0.000,6,0.119,0.039,3016,1549,3826,0,0,0,0,0,0
$GC,2121,-0.78,-185.1,378.7,-13.4,326,2124,0.00,2.17,0.00,0.000,4,0.000,0.047,3006,2963,3825,0,0,0,0,0,0
$GC,2165,-0.83,-185.1,384.6,-11.4,329,2172,0.08,2.17,0.00,0.000,6,0.114,0.044,2898,1549,3825,0,0,0,0,0,0
$GC,2491,-0.79,-185.1,459.4,-24.0,360,2496,0.28,2.15,0.00,0.000,4,0.118,0.053,2997,166,3823,0,0,0,0,0,0
$GC,2513,-0.76,-185.1,464.6,-21.6,361,2520,0.08,2.12,0.00,0.000,6,0.171,0.039,3012,1558,3823,0,0,0,0,0,0
$GC,2839,-0.80,-185.1,503.5,-11.1,392,2844,0.08,2.17,0.00,0.000,4,0.120,0.046,2885,2964,3821,0,0,0,0,0,0
$GC,2895,-0.78,-185.1,513.7,-19.9,396,2902,0.35,2.20,0.00,0.000,6,0.106,0.046,3003,1552,3820,0,0,0,0,0,0
$GC,3221,-0.82,-185.1,552.1,-10.7,427,3225,0.00,2.20,0.00,0.000,4,0.000,0.048,2996,2959,3817,0,0,0,0,0,0
$GC,3265,-0.88,-185.1,557.0,-9.6,430,3272,0.10,2.20,0.00,0.000,6,0.090,0.047,2884,1553,3817,0,0,0,0,0,0
$GC,3598,-0.83,-185.1,627.8,-22.0,456,3600,0.32,0.00,0.00,0.000,6,0.115,0.000,2992,1551,3814,0,0,0,0,0,0
$GC,3907,-0.86,-185.1,664.8,-11.5,471,3911,0.00,2.20,0.00,0.000,4,0.000,0.049,2984,2956,3811,0,0,0,0,0,0
$GC,3951,-0.92,-185.1,670.0,-10.8,473,3955,0.10,2.20,0.00,0.000,6,0.089,0.049,2875,1562,3811,0,0,0,0,0,0
$GC,4273,-0.87,-185.1,740.1,-22.8,489,4277,0.28,2.22,0.00,0.000,4,0.118,0.057,2972,166,3808,0,0,0,0,0,0
$GC,4294,-0.85,-185.1,745.0,-19.7,490,4298,0.05,2.15,0.00,0.000,6,0.207,0.042,2979,1559,3807,0,0,0,0,0,0
$GC,4623,-0.88,-185.1,787.0,-12.7,506,4627,0.00,2.17,0.00,0.000,4,0.000,0.049,2970,2966,3804,0,0,0,0,0,0
$GC,4656,-0.93,-185.1,791.5,-11.7,507,4664,0.00,2.22,0.00,0.000,6,0.000,0.050,2970,1563,3804,0,0,0,0,0,0
$GC,4974,-0.95,-185.1,832.9,-13.3,523,4978,0.08,2.22,0.00,0.000,4,0.120,0.050,2853,2963,3800,0,0,0,0,0,0
$GC,4994,-0.95,-185.1,836.7,-15.7,524,4999,0.28,2.22,0.00,0.000,6,0.112,0.050,2946,1564,3800,0,0,0,0,0,0
$GC,5316,-0.96,-185.1,886.4,-15.3,540,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1563,3799,0,0,0,0,0,0
$GC,5626,-0.97,-185.1,931.0,-13.9,555,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1563,3796,0,0,0,0,0,0
$GC,5935,-0.98,-185.1,972.1,-13.0,570,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1563,3793,0,0,0,0,0,0
$STATE,6159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6159,begin apogee
$GC,6165,0.00,0.0,1000.9,12.6,581,6325,0.85,0.00,153.20,1.213,4,0.090,0.000,3253,1715,3068,0,0,0,0,0,0
$STATE,6326,end apogee,CONTROL_FINISHED_OK
$STATE,6326,begin climb
$GC,6328,0.75,185.1,1006.0,0.0,588,6498,0.65,2.30,161.93,1.138,4,0.028,0.049,3546,3102,2313,0,0,0,0,0,0
$GC,6627,0.68,185.1,952.6,25.8,602,6632,0.30,2.28,0.00,0.000,6,0.155,0.048,3469,1700,2304,0,0,0,0,0,0
$GC,6950,0.65,185.1,891.8,18.4,618,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1699,2298,0,0,0,0,0,0
$GC,7258,0.62,185.1,833.9,18.7,633,7263,0.08,2.17,0.00,0.000,4,0.210,0.042,3449,3106,2296,0,0,0,0,0,0
$GC,7279,0.60,185.1,829.3,19.8,634,7284,0.00,2.25,0.00,0.000,6,0.000,0.050,3460,1693,2296,0,0,0,0,0,0
$GC,7607,0.58,185.1,769.6,18.4,650,7609,0.10,0.00,0.00,0.000,6,0.182,0.000,3433,1692,2294,0,0,0,0,0,0
$GC,7916,0.58,185.1,721.3,15.0,665,7920,0.00,2.20,0.00,0.000,4,0.000,0.043,3433,3105,2293,0,0,0,0,0,0
$GC,7956,0.58,185.1,715.1,15.2,667,7960,0.00,2.22,0.00,0.000,6,0.000,0.050,3443,1702,2293,0,0,0,0,0,0
$GC,8283,0.58,185.1,667.1,14.6,683,8287,0.00,2.25,0.00,0.000,4,0.000,0.063,3454,293,2292,0,0,0,0,0,0
$GC,8332,0.58,185.1,659.3,15.4,685,8337,0.00,2.12,0.00,0.000,6,0.000,0.035,3453,1700,2290,0,0,0,0,0,0
$GC,8649,0.57,185.1,611.7,15.1,700,8654,0.08,2.17,0.00,0.000,4,0.194,0.044,3433,3108,2290,0,0,0,0,0,0
$GC,8739,0.59,191.2,599.0,13.5,704,8745,0.00,2.22,0.00,0.000,6,0.000,0.050,3443,1706,2290,0,0,0,0,0,0
$GC,9064,0.60,196.1,554.2,13.6,735,9075,0.00,0.00,6.62,0.809,6,0.000,0.000,3443,1705,2268,0,0,0,0,0,0
$GC,9392,0.61,205.2,510.8,13.3,766,9408,0.00,2.25,9.68,0.859,4,0.000,0.044,3443,3100,2231,0,0,0,0,0,0
$GC,9418,0.64,222.0,507.1,12.8,768,9440,0.00,2.22,16.65,0.901,6,0.000,0.049,3453,1708,2162,0,0,0,0,0,0
$GC,9760,0.65,222.0,459.3,14.1,800,9765,0.00,2.30,0.00,0.000,4,0.000,0.061,3464,289,2157,0,0,0,0,0,0
$GC,9800,0.65,222.0,453.3,15.9,803,9804,0.00,2.17,0.00,0.000,6,0.000,0.034,3464,1709,2155,0,0,0,0,0,0
$GC,10125,0.65,222.0,405.0,14.1,833,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1711,2155,0,0,0,0,0,0
$GC,10445,0.65,222.0,361.3,14.0,863,10449,0.00,2.30,0.00,0.000,4,0.000,0.060,3475,286,2154,0,0,0,0,0,0
$GC,10478,0.65,222.0,356.0,15.6,866,10483,0.08,2.17,0.00,0.000,6,0.168,0.034,3452,1715,2153,0,0,0,0,0,0
$GC,10805,0.70,253.2,315.2,11.9,896,10839,0.10,2.30,27.08,0.783,4,0.098,0.056,3567,292,2034,0,0,0,0,0,0
$GC,10898,0.66,253.2,296.3,22.8,905,10906,0.32,2.15,0.00,0.000,6,0.118,0.033,3461,1697,2028,0,0,0,0,0,0
$GC,11244,0.68,253.2,248.3,14.0,966,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1698,2025,0,0,0,0,0,0
$GC,11589,0.75,287.3,206.1,11.7,1027,11622,0.10,0.00,28.80,0.688,6,0.093,0.000,3569,1699,1895,0,0,0,0,0,0
$GC,11958,0.73,287.3,132.6,19.3,1092,11965,0.25,2.25,0.00,0.000,4,0.135,0.054,3493,286,1890,0,0,0,0,0,0
$GC,11995,0.75,287.3,126.7,15.2,1098,12002,0.00,2.12,0.00,0.000,6,0.000,0.031,3493,1694,1888,0,0,0,0,0,0
$GC,12337,0.91,380.2,91.6,7.9,1159,12417,0.15,0.00,74.30,0.590,6,0.066,0.000,3626,1694,1517,0,0,0,0,0,0
$GC,12755,0.89,380.2,4.5,21.4,1232,12762,0.25,0.00,0.00,0.000,6,0.083,0.000,3519,1695,1510,0,0,0,0,0,0
$FREEZE,3.70,26.563,-1.857,0,1,0
$STATE,12909,end climb,NO_VERTICAL_VELOCITY
$STATE,12909,begin surface
$SM_CCo,12912,128.07,0.498,0,0,415,650.78
$SM_GC,4.36,8.35,0.00,0.00,0.018,0.000,0.000,103,1545,410,-9.71,-0.14,652.01
$IRIDIUM_FIX,2113.32,12602.66,111110,202020
$TT8_MAMPS,0.026964
$HUMID,48.14
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.50
$XPDR_PINGS,10
$24V_AH,23.2,67.374
$10V_AH,10.1,47.242
$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,24.100,97.275,478.250,128.075,0.000,25.653,22.428,125.575,2.500,0.000,14.216,3098.557,7295.785,712.490,2214.885,262.404,0.000,1822.437,0.000,2029.059,0.000,0.539,0.000
$DEVICE_MAMPS,209.610,69.615,1212.525,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73430,1259
$CAP_FILE_SIZE,146509,0
$CFSIZE,260165632,224043008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,207.9,1
$GPS,121110,035137,2121.467,12559.813,31,1.0,31,-2.9