version: 66.08
glider: 168
mission: 2
dive: 378
start: 10 27 110 8 47 4
data:
$ID,168
$MISSION,2
$DIVE,378
$N_DIVES,391
$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,140
$T_MISSION,200
$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,-3647.6682
$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,52
$R_STBD_OVSHOOT,40
$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
$GPS1,271010,084054,2405.001,12658.383,37,1.5,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-64.9
$GPS2,271010,084638,2404.942,12658.325,13,1.7,13,-3.6
$SPEED_LIMITS,0.206,0.306
$TGT_NAME,DOGLEG
$TGT_LATLONG,2300.000,12730.000
$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,180.7,131839,-18.0,-11.905
$D_GRID,5000
$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,17,-0.63,-185.1,0.0,0.0,0,92,0.00,0.00,-72.75,0.000,2,0.000,0.000,106,1516,2557,0,0,0,0,0,0
$GC,94,-0.63,-185.1,3.1,-1.2,12,140,10.30,2.15,-28.73,0.000,4,0.184,0.064,3043,185,3825,0,0,0,0,0,0
$GC,223,-0.58,-185.1,31.9,-24.4,34,232,0.12,2.05,0.00,0.000,6,0.143,0.039,3072,1541,3827,0,0,0,0,0,0
$GC,568,-0.55,-185.1,108.1,-18.5,95,574,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1545,3827,0,0,0,0,0,0
$GC,911,-0.55,-185.1,163.8,-13.7,156,917,0.00,2.17,0.00,0.000,4,0.000,0.044,3063,2966,3828,0,0,0,0,0,0
$GC,935,-0.55,-185.1,167.1,-13.2,160,942,0.00,2.12,0.00,0.000,6,0.000,0.042,3063,1566,3828,0,0,0,0,0,0
$GC,1277,-0.55,-185.1,212.1,-12.7,221,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1566,3828,0,0,0,0,0,0
$GC,1619,-0.55,-185.1,252.4,-11.2,282,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1566,3828,0,0,0,0,0,0
$GC,1965,-0.56,-185.1,290.0,-10.8,343,1971,0.00,2.17,0.00,0.000,4,0.000,0.051,3063,161,3827,0,0,0,0,0,0
$GC,1990,-0.58,-185.1,292.9,-11.3,347,1997,0.00,2.12,0.00,0.000,6,0.000,0.039,3063,1564,3827,0,0,0,0,0,0
$GC,2326,-0.59,-185.1,327.0,-10.0,384,2329,0.00,2.12,0.00,0.000,4,0.000,0.046,3053,2958,3825,0,0,0,0,0,0
$GC,2392,-0.64,-185.1,333.3,-8.3,389,2399,0.00,2.12,0.00,0.000,6,0.000,0.043,3053,1562,3825,0,0,0,0,0,0
$GC,2719,-0.65,-185.1,367.6,-10.7,420,2723,0.00,2.15,0.00,0.000,4,0.000,0.047,3047,2963,3823,0,0,0,0,0,0
$GC,2742,-0.67,-185.1,370.3,-11.0,421,2749,0.00,2.15,0.00,0.000,6,0.000,0.044,3047,1568,3823,0,0,0,0,0,0
$GC,3068,-0.68,-185.1,406.2,-10.8,452,3072,0.00,2.15,0.00,0.000,4,0.000,0.047,3039,2963,3822,0,0,0,0,0,0
$GC,3095,-0.71,-185.1,409.2,-10.9,454,3103,0.00,2.12,0.00,0.000,6,0.000,0.045,3039,1570,3822,0,0,0,0,0,0
$GC,3421,-0.72,-185.1,445.1,-11.1,485,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1570,3819,0,0,0,0,0,0
$GC,3741,-0.73,-185.1,476.8,-9.4,515,3745,0.08,2.17,0.00,0.000,4,0.120,0.049,2937,2957,3817,0,0,0,0,0,0
$GC,3775,-0.69,-185.1,481.5,-15.0,518,3780,0.30,2.15,0.00,0.000,6,0.109,0.047,3038,1570,3817,0,0,0,0,0,0
$STATE,3961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3961,begin apogee
$GC,3967,0.00,0.0,500.5,9.7,535,4116,0.55,0.00,143.73,0.882,4,0.086,0.000,3253,1719,3067,0,0,0,0,0,0
$STATE,4116,end apogee,CONTROL_FINISHED_OK
$STATE,4116,begin climb
$GC,4118,0.63,185.1,507.4,0.0,548,4279,0.55,2.22,149.40,0.874,4,0.037,0.045,3492,3097,2312,0,0,0,0,0,0
$GC,4291,0.56,185.1,499.7,13.2,563,4296,0.25,2.25,0.00,0.000,6,0.137,0.044,3429,1697,2309,0,0,0,0,0,0
$GC,4617,0.55,190.4,460.9,11.7,593,4626,0.00,0.00,4.20,0.535,6,0.000,0.000,3429,1697,2291,0,0,0,0,0,0
$GC,4945,0.56,211.1,424.0,11.0,624,4970,0.00,2.25,18.12,0.793,4,0.000,0.041,3429,3101,2207,0,0,0,0,0,0
$GC,4987,0.59,241.7,419.4,10.6,627,5019,0.00,2.20,26.80,0.805,6,0.000,0.046,3438,1691,2081,0,0,0,0,0,0
$GC,5346,0.59,248.8,378.1,11.6,661,5355,0.00,0.00,5.80,0.619,6,0.000,0.000,3438,1691,2053,0,0,0,0,0,0
$GC,5674,0.60,262.6,339.6,11.3,692,5691,0.00,2.20,12.68,0.728,4,0.000,0.054,3448,294,1996,0,0,0,0,0,0
$GC,5715,0.62,275.6,334.9,11.3,695,5732,0.00,2.10,12.10,0.714,6,0.000,0.031,3449,1702,1944,0,0,0,0,0,0
$GC,6052,0.62,275.6,293.8,12.6,730,6059,0.00,2.12,0.00,0.000,4,0.000,0.041,3449,3103,1938,0,0,0,0,0,0
$GC,6082,0.62,275.6,290.0,12.7,735,6089,0.00,2.15,0.00,0.000,6,0.000,0.046,3455,1709,1937,0,0,0,0,0,0
$GC,6426,0.62,275.6,249.3,12.2,796,6434,0.00,2.20,0.00,0.000,4,0.000,0.054,3464,291,1936,0,0,0,0,0,0
$GC,6507,0.65,292.8,240.1,11.2,810,6527,0.00,2.08,14.45,0.678,6,0.000,0.031,3464,1699,1874,0,0,0,0,0,0
$GC,6866,0.65,292.8,197.1,12.0,873,6872,0.00,2.15,0.00,0.000,4,0.000,0.041,3464,3106,1870,0,0,0,0,0,0
$GC,6895,0.66,292.8,193.2,12.5,878,6902,0.00,2.20,0.00,0.000,6,0.000,0.046,3466,1694,1870,0,0,0,0,0,0
$GC,7238,0.68,307.8,154.4,11.3,939,7258,0.00,2.20,13.55,0.616,4,0.000,0.053,3472,288,1812,0,0,0,0,0,0
$GC,7345,0.78,365.6,143.5,9.4,957,7401,0.10,2.08,46.72,0.646,6,0.093,0.030,3581,1700,1575,0,0,0,0,0,0
$GC,7738,0.74,365.6,70.9,16.5,1026,7745,0.28,2.22,0.00,0.000,4,0.119,0.049,3490,287,1569,0,0,0,0,0,0
$GC,7814,0.92,469.7,64.3,7.4,1039,7901,0.17,2.05,79.35,0.589,6,0.061,0.029,3601,1684,1152,0,0,0,0,0,0
$STATE,8208,end climb,SURFACE_DEPTH_REACHED
$STATE,8208,begin surface coast
$FINISH,1.6,1.007913
$STATE,8226,end surface coast,CONTROL_FINISHED_OK
$STATE,8226,begin surface
$SM_CCo,8304,0.00,0.000,0,0,1140,472.94
$SM_GC,2.81,8.55,0.00,0.00,0.024,0.000,0.000,102,1519,1140,-9.70,-0.82,472.94
$IRIDIUM_FIX,2354.48,12659.28,271010,040437
$TT8_MAMPS,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.0,50.431
$10V_AH,10.3,39.583
$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,21.250,65.025,526.900,0.000,0.000,30.025,18.833,165.405,0.250,0.000,15.738,2590.770,3366.116,595.578,1890.444,194.843,0.000,1510.542,0.000,1673.355,0.000,0.540,0.000
$DEVICE_MAMPS,183.600,68.085,882.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333864
$DATA_FILE_SIZE,63695,1111
$CAP_FILE_SIZE,109238,0
$CFSIZE,260165632,231546880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 44.6,1
$GPS,271010,110707,2404.091,12658.531,64,1.9,64,-3.6