version: 66.08
glider: 168
mission: 2
dive: 490
start: 11 13 110 0 9 25
data:
$ID,168
$MISSION,2
$DIVE,490
$N_DIVES,498
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,120
$T_MISSION,180
$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,-3898.1565
$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,39
$R_STBD_OVSHOOT,47
$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
$GPS1,131110,000346,2121.335,12601.831,11,4.3,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.45
$_SM_ANGLEo,-74.7
$GPS2,131110,000857,2121.271,12601.877,11,3.9,30,-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,305.2,1317,-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,16,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.95,0.000,2,0.000,0.000,104,1536,630,0,0,0,0,0,0
$GC,27,-0.68,-185.1,4.5,-0.0,1,166,9.68,2.12,-119.85,0.000,4,0.164,0.061,3036,173,3822,0,0,0,0,0,0
$GC,279,-0.66,-185.1,32.4,-22.3,44,287,0.00,2.08,0.00,0.000,6,0.000,0.037,3026,1538,3824,0,0,0,0,0,0
$GC,623,-0.62,-185.1,121.7,-20.5,105,630,0.10,2.17,0.00,0.000,4,0.179,0.044,3045,2961,3824,0,0,0,0,0,0
$GC,638,-0.60,-185.1,124.7,-19.5,107,645,0.00,2.15,0.00,0.000,6,0.000,0.041,3045,1557,3824,0,0,0,0,0,0
$GC,981,-0.60,-185.1,182.2,-16.1,168,990,0.05,2.17,0.00,0.000,4,0.232,0.052,3058,162,3825,0,0,0,0,0,0
$GC,1041,-0.65,-185.1,190.5,-11.9,178,1048,0.00,2.10,0.00,0.000,6,0.000,0.039,3058,1556,3825,0,0,0,0,0,0
$GC,1387,-0.67,-185.1,233.1,-12.0,239,1394,0.08,2.17,0.00,0.000,4,0.119,0.045,2930,2962,3825,0,0,0,0,0,0
$GC,1451,-0.64,-185.1,245.1,-20.4,250,1458,0.35,2.17,0.00,0.000,6,0.140,0.043,3050,1549,3825,0,0,0,0,0,0
$GC,1796,-0.67,-185.1,289.2,-12.1,311,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1549,3825,0,0,0,0,0,0
$GC,2132,-0.70,-185.1,326.9,-10.7,350,2134,0.08,0.00,0.00,0.000,6,0.121,0.000,2940,1549,3824,0,0,0,0,0,0
$GC,2451,-0.64,-185.1,396.2,-20.8,380,2455,0.32,2.17,0.00,0.000,4,0.111,0.042,3039,2960,3822,0,0,0,0,0,0
$GC,2485,-0.68,-185.1,401.1,-11.5,382,2491,0.00,2.17,0.00,0.000,6,0.000,0.044,3039,1555,3822,0,0,0,0,0,0
$GC,2811,-0.72,-185.1,432.6,-10.1,413,2815,0.08,2.17,0.00,0.000,4,0.116,0.055,2927,165,3822,0,0,0,0,0,0
$GC,2827,-0.73,-185.1,434.9,-11.6,414,2835,0.30,2.10,0.00,0.000,6,0.116,0.039,3017,1555,3822,0,0,0,0,0,0
$GC,3154,-0.76,-185.1,473.8,-12.1,445,3158,0.00,2.15,0.00,0.000,4,0.000,0.047,3008,2955,3819,0,0,0,0,0,0
$GC,3176,-0.79,-185.1,476.7,-11.5,446,3183,0.00,2.17,0.00,0.000,6,0.000,0.044,3008,1552,3819,0,0,0,0,0,0
$STATE,3372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3372,begin apogee
$GC,3378,0.00,0.0,501.1,12.5,465,3533,0.65,0.00,145.80,0.862,4,0.084,0.000,3255,1713,3068,0,0,0,0,0,0
$STATE,3534,end apogee,CONTROL_FINISHED_OK
$STATE,3534,begin climb
$GC,3536,0.68,185.1,508.2,0.0,479,3696,0.57,2.33,149.10,0.841,4,0.034,0.054,3506,293,2312,0,0,0,0,0,0
$GC,3857,0.64,185.1,468.0,18.9,507,3865,0.17,2.12,0.00,0.000,6,0.129,0.033,3452,1696,2303,0,0,0,0,0,0
$GC,4183,0.66,217.6,424.2,12.3,538,4218,0.00,2.25,26.65,0.802,4,0.000,0.054,3463,289,2179,0,0,0,0,0,0
$GC,4412,0.70,247.1,396.1,12.4,558,4447,0.00,2.12,24.75,0.789,6,0.000,0.031,3463,1704,2058,0,0,0,0,0,0
$GC,4764,0.70,247.1,346.8,14.8,591,4768,0.00,2.22,0.00,0.000,4,0.000,0.056,3472,286,2052,0,0,0,0,0,0
$GC,4804,0.70,247.1,341.1,15.0,594,4808,0.00,2.12,0.00,0.000,6,0.000,0.031,3472,1702,2050,0,0,0,0,0,0
$GC,5131,0.70,248.8,295.3,13.8,627,5137,0.00,2.20,0.00,0.000,4,0.000,0.055,3481,291,2048,0,0,0,0,0,0
$GC,5178,0.70,248.9,288.7,13.9,635,5185,0.00,2.10,0.00,0.000,6,0.000,0.031,3481,1696,2048,0,0,0,0,0,0
$GC,5522,0.70,248.9,241.8,13.9,696,5530,0.00,2.15,0.00,0.000,4,0.000,0.040,3481,3107,2047,0,0,0,0,0,0
$GC,5564,0.70,252.3,235.7,13.7,703,5571,0.00,2.20,0.00,0.000,6,0.000,0.044,3490,1686,2046,0,0,0,0,0,0
$GC,5908,0.71,259.1,187.8,13.5,764,5922,0.00,2.25,9.12,0.595,4,0.000,0.037,3490,3111,2010,0,0,0,0,0,0
$GC,5986,0.71,263.6,177.3,13.7,777,6000,0.08,2.20,5.40,0.507,6,0.181,0.044,3476,1691,1993,0,0,0,0,0,0
$GC,6340,0.84,355.9,139.1,9.2,839,6425,0.15,2.30,74.75,0.623,4,0.067,0.054,3617,265,1615,0,0,0,0,0,0
$GC,6561,0.81,355.9,91.5,19.5,877,6568,0.32,2.12,0.00,0.000,6,0.113,0.029,3509,1693,1609,0,0,0,0,0,0
$GC,6907,0.93,429.9,57.3,10.2,938,6975,0.12,2.28,57.25,0.544,4,0.078,0.052,3643,297,1314,0,0,0,0,0,0
$GC,7005,0.88,429.9,36.8,25.2,954,7013,0.35,2.08,0.00,0.000,6,0.117,0.029,3527,1678,1310,0,0,0,0,0,0
$GC,7351,1.38,708.5,3.7,-0.1,1015,7452,0.40,0.00,96.70,0.495,2,0.051,0.000,3705,1682,461,0,0,0,0,0,0
$FREEZE,3.53,26.256,-1.874,0,1,0
$STATE,7455,end climb,NO_VERTICAL_VELOCITY
$STATE,7456,begin surface
$SM_CCo,7458,6.18,0.385,0,0,414,650.78
$SM_GC,4.44,8.77,0.00,0.00,0.021,0.000,0.000,103,1534,410,-9.70,-0.40,652.01
$IRIDIUM_FIX,2113.32,12559.43,121110,222222
$TT8_MAMPS,0.026964
$HUMID,50.55
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,24.0,68.729
$10V_AH,10.3,47.829
$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,22.625,65.575,589.525,6.175,0.000,25.234,25.247,126.123,2.750,0.000,33.902,2362.367,2980.535,673.608,1796.535,202.407,0.000,1566.810,0.000,1591.142,0.000,0.539,0.000
$DEVICE_MAMPS,231.795,67.320,862.155,384.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333988
$DATA_FILE_SIZE,56936,1032
$CAP_FILE_SIZE,105284,0
$CFSIZE,260165632,223522816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226,185.5,1
$GPS,131110,021900,2120.835,12600.990,36,0.9,41,-2.9