version: 66.08
glider: 168
mission: 2
dive: 381
start: 10 27 110 16 3 52
data:
$ID,168
$MISSION,2
$DIVE,381
$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,-3651.4353
$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,33
$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
$GPS1,271010,155722,2402.913,12659.655,9,2.8,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-63.1
$GPS2,271010,160325,2402.864,12659.661,75,1.0,75,-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,200.4,127395,-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,16,-0.63,-185.1,0.0,0.0,0,100,0.00,0.00,-82.12,0.000,2,0.000,0.000,106,1529,2801,0,0,0,0,0,0
$GC,103,-0.63,-185.1,3.1,-1.1,13,147,10.32,2.22,-23.15,0.000,4,0.190,0.053,3034,2948,3825,0,0,0,0,0,0
$GC,288,-0.59,-185.1,45.2,-20.2,45,295,0.10,2.17,0.00,0.000,6,0.135,0.046,3066,1550,3826,0,0,0,0,0,0
$GC,633,-0.56,-185.1,115.2,-19.0,106,639,0.00,2.12,0.00,0.000,4,0.000,0.050,3066,163,3827,0,0,0,0,0,0
$GC,715,-0.58,-185.1,126.6,-11.7,120,722,0.00,2.05,0.00,0.000,6,0.000,0.038,3061,1532,3828,0,0,0,0,0,0
$GC,1057,-0.57,-185.1,179.0,-12.4,181,1064,0.00,2.17,0.00,0.000,4,0.000,0.044,3051,2955,3828,0,0,0,0,0,0
$GC,1138,-0.60,-185.1,187.7,-9.6,195,1145,0.00,2.12,0.00,0.000,6,0.000,0.041,3051,1546,3828,0,0,0,0,0,0
$GC,1484,-0.59,-185.1,234.3,-13.9,256,1491,0.00,2.17,0.00,0.000,4,0.000,0.044,3043,2959,3828,0,0,0,0,0,0
$GC,1521,-0.61,-185.1,238.7,-10.9,262,1527,0.00,2.10,0.00,0.000,6,0.000,0.042,3043,1566,3828,0,0,0,0,0,0
$GC,1863,-0.60,-185.1,281.6,-12.8,323,1871,0.08,0.00,0.00,0.000,6,0.184,0.000,3066,1565,3828,0,0,0,0,0,0
$GC,2201,-0.61,-185.1,318.1,-11.9,369,2205,0.00,2.12,0.00,0.000,4,0.000,0.051,3066,169,3826,0,0,0,0,0,0
$GC,2218,-0.63,-185.1,320.3,-11.6,370,2222,0.00,2.10,0.00,0.000,6,0.000,0.038,3064,1566,3826,0,0,0,0,0,0
$GC,2544,-0.65,-185.1,355.3,-10.2,400,2549,0.08,2.15,0.00,0.000,4,0.122,0.047,2947,2965,3824,0,0,0,0,0,0
$GC,2640,-0.62,-185.1,370.4,-15.8,408,2645,0.32,2.10,0.00,0.000,6,0.106,0.044,3059,1578,3824,0,0,0,0,0,0
$GC,2966,-0.64,-185.1,401.8,-9.0,438,2970,0.00,2.17,0.00,0.000,4,0.000,0.053,3059,169,3823,0,0,0,0,0,0
$GC,2995,-0.67,-185.1,404.7,-9.4,440,2999,0.00,2.15,0.00,0.000,6,0.000,0.039,3053,1589,3823,0,0,0,0,0,0
$GC,3321,-0.68,-185.1,434.4,-9.2,470,3325,0.08,2.10,0.00,0.000,4,0.120,0.047,2937,2961,3821,0,0,0,0,0,0
$GC,3397,-0.64,-185.1,446.7,-15.8,476,3405,0.32,2.12,0.00,0.000,6,0.109,0.044,3048,1579,3820,0,0,0,0,0,0
$GC,3725,-0.66,-185.1,480.8,-10.7,507,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1578,3818,0,0,0,0,0,0
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3907,0.00,0.0,500.5,11.1,524,4057,0.52,0.00,143.60,0.884,4,0.083,0.000,3255,1722,3067,0,0,0,0,0,0
$STATE,4058,end apogee,CONTROL_FINISHED_OK
$STATE,4058,begin climb
$GC,4060,0.63,185.1,509.2,0.0,537,4216,0.52,2.20,147.68,0.875,4,0.031,0.044,3508,3097,2313,0,0,0,0,0,0
$GC,4345,0.56,185.1,478.7,18.2,562,4353,0.30,2.20,0.00,0.000,6,0.138,0.044,3427,1691,2306,0,0,0,0,0,0
$GC,4672,0.58,216.3,440.8,10.6,593,4701,0.00,0.00,25.00,0.815,6,0.000,0.000,3427,1691,2185,0,0,0,0,0,0
$GC,5020,0.63,269.4,405.2,9.6,626,5066,0.10,0.00,43.58,0.819,6,0.090,0.000,3524,1691,1969,0,0,0,0,0,0
$GC,5381,0.57,269.4,340.0,20.3,660,5386,0.25,2.15,0.00,0.000,4,0.132,0.037,3438,3102,1960,0,0,0,0,0,0
$GC,5403,0.54,269.4,335.9,18.0,661,5410,0.08,2.17,0.00,0.000,6,0.181,0.046,3422,1703,1960,0,0,0,0,0,0
$GC,5728,0.60,309.5,302.1,10.2,692,5771,0.08,2.28,32.35,0.751,4,0.119,0.054,3519,297,1804,0,0,0,0,0,0
$GC,5829,0.57,309.5,285.4,17.3,707,5836,0.28,2.08,0.00,0.000,6,0.109,0.031,3427,1691,1799,0,0,0,0,0,0
$GC,6174,0.65,352.8,246.8,10.0,768,6218,0.10,2.28,35.08,0.713,4,0.096,0.054,3537,298,1628,0,0,0,0,0,0
$GC,6242,0.60,352.8,235.1,19.2,779,6250,0.28,2.10,0.00,0.000,6,0.112,0.029,3446,1691,1625,0,0,0,0,0,0
$GC,6588,0.68,398.9,201.0,9.9,840,6632,0.08,2.25,36.97,0.680,4,0.122,0.052,3543,294,1439,0,0,0,0,0,0
$GC,6691,0.66,398.9,183.7,17.3,857,6699,0.25,2.05,0.00,0.000,6,0.102,0.028,3457,1675,1436,0,0,0,0,0,0
$GC,7038,0.80,476.3,149.6,8.6,918,7107,0.15,2.22,59.80,0.649,4,0.072,0.053,3591,297,1124,0,0,0,0,0,0
$GC,7159,0.76,476.3,124.5,21.7,938,7166,0.30,2.05,0.00,0.000,6,0.100,0.028,3488,1660,1122,0,0,0,0,0,0
$GC,7500,0.91,547.2,89.8,8.8,999,7563,0.15,2.17,53.85,0.604,4,0.069,0.052,3598,296,835,0,0,0,0,0,0
$GC,7642,0.91,547.2,63.7,18.5,1023,7650,0.17,2.03,0.00,0.000,6,0.103,0.027,3535,1659,832,0,0,0,0,0,0
$GC,7986,1.40,882.1,37.4,-2.6,1084,8071,0.40,2.17,77.28,0.551,4,0.040,0.048,3744,293,414,0,0,0,0,0,0
$STATE,8111,end climb,SURFACE_DEPTH_REACHED
$STATE,8111,begin surface coast
$FINISH,1.4,1.021912
$STATE,8116,end surface coast,CONTROL_FINISHED_OK
$STATE,8116,begin surface
$SM_CCo,8196,0.00,0.000,0,0,407,652.74
$SM_GC,2.51,9.20,0.00,0.00,0.038,0.000,0.000,105,1543,407,-9.69,-0.20,652.74
$IRIDIUM_FIX,2352.12,12642.76,271010,131301
$TT8_MAMPS,0.026964
$HUMID,47.40
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.2,50.866
$10V_AH,10.4,39.776
$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,24.500,68.700,655.175,0.000,0.000,28.469,41.704,115.548,0.250,0.000,76.626,2545.347,3179.388,705.352,1954.371,177.628,0.000,1640.583,0.000,1684.424,0.000,0.542,0.000
$DEVICE_MAMPS,189.720,66.555,884.340,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333848
$DATA_FILE_SIZE,63565,1106
$CAP_FILE_SIZE,112593,0
$CFSIZE,260165632,231366656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209, 95.0,1
$GPS,271010,182140,2401.860,12700.239,17,2.3,36,-3.6