version: 66.08
glider: 168
mission: 2
dive: 481
start: 11 12 110 6 6 36
data:
$ID,168
$MISSION,2
$DIVE,481
$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,-3886.8621
$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,48
$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
$GPS1,121110,060136,2121.336,12559.867,37,0.9,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.52
$_SM_ANGLEo,-77.3
$GPS2,121110,060608,2121.288,12559.847,11,0.9,11,-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,68.2,2405,-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,15,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.55,0.000,2,0.000,0.000,104,1561,617,0,0,0,0,0,0
$GC,26,-0.68,-185.1,4.6,-0.0,1,169,9.85,2.22,-121.75,0.000,4,0.169,0.072,3033,166,3824,0,0,0,0,0,0
$GC,182,-0.63,-185.1,10.1,-18.8,27,190,0.10,2.08,0.00,0.000,6,0.148,0.039,3054,1537,3825,0,0,0,0,0,0
$GC,527,-0.59,-185.1,94.0,-24.8,88,534,0.00,2.15,0.00,0.000,4,0.000,0.050,3054,159,3825,0,0,0,0,0,0
$GC,564,-0.56,-185.1,103.1,-24.0,94,571,0.10,2.10,0.00,0.000,6,0.155,0.039,3076,1541,3825,0,0,0,0,0,0
$GC,910,-0.57,-185.1,160.7,-14.4,155,917,0.00,2.12,0.00,0.000,4,0.000,0.050,3076,165,3826,0,0,0,0,0,0
$GC,974,-0.62,-185.1,169.1,-12.6,166,981,0.10,2.05,0.00,0.000,6,0.093,0.037,2976,1531,3826,0,0,0,0,0,0
$GC,1319,-0.58,-185.1,238.6,-19.6,227,1326,0.25,2.17,0.00,0.000,4,0.110,0.041,3059,2956,3826,0,0,0,0,0,0
$GC,1380,-0.65,-185.1,245.9,-8.5,237,1387,0.08,2.20,0.00,0.000,6,0.114,0.041,2955,1521,3826,0,0,0,0,0,0
$GC,1721,-0.61,-185.1,312.8,-19.9,292,1723,0.30,0.00,0.00,0.000,6,0.111,0.000,3058,1520,3826,0,0,0,0,0,0
$GC,2039,-0.65,-185.1,348.7,-10.5,322,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1520,3826,0,0,0,0,0,0
$GC,2360,-0.70,-185.1,382.1,-9.9,352,2364,0.10,2.28,0.00,0.000,4,0.090,0.047,2941,2958,3824,0,0,0,0,0,0
$GC,2448,-0.70,-185.1,397.1,-17.2,359,2456,0.22,2.25,0.00,0.000,6,0.088,0.045,3036,1531,3823,0,0,0,0,0,0
$GC,2774,-0.73,-185.1,434.2,-10.9,390,2779,0.08,2.17,0.00,0.000,4,0.119,0.055,2923,155,3822,0,0,0,0,0,0
$GC,2803,-0.71,-185.1,438.7,-17.8,392,2808,0.35,2.05,0.00,0.000,6,0.112,0.039,3030,1521,3821,0,0,0,0,0,0
$GC,3129,-0.74,-185.1,471.9,-9.7,422,3133,0.08,2.22,0.00,0.000,4,0.119,0.047,2906,2957,3819,0,0,0,0,0,0
$GC,3206,-0.71,-185.1,484.2,-18.0,428,3215,0.35,2.22,0.00,0.000,6,0.105,0.046,3025,1528,3818,0,0,0,0,0,0
$STATE,3359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3359,begin apogee
$GC,3365,0.00,0.0,500.8,10.2,443,3517,0.60,0.00,145.70,0.856,4,0.081,0.000,3257,1716,3067,0,0,0,0,0,0
$STATE,3518,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3520,0.68,185.1,507.0,0.0,456,3679,0.57,2.22,150.25,0.838,4,0.029,0.046,3532,3098,2313,0,0,0,0,0,0
$GC,3853,0.62,185.1,465.6,18.5,485,3861,0.30,2.20,0.00,0.000,6,0.143,0.044,3451,1699,2305,0,0,0,0,0,0
$GC,4179,0.62,196.3,421.7,13.3,516,4194,0.00,2.28,8.73,0.698,4,0.000,0.054,3462,294,2266,0,0,0,0,0,0
$GC,4217,0.60,196.3,416.1,14.3,519,4224,0.08,2.10,0.00,0.000,6,0.174,0.031,3440,1697,2264,0,0,0,0,0,0
$GC,4542,0.63,220.9,374.8,12.7,550,4565,0.00,0.00,21.10,0.766,6,0.000,0.000,3441,1698,2167,0,0,0,0,0,0
$GC,4880,0.68,261.9,334.7,11.8,582,4925,0.10,2.33,34.28,0.758,4,0.093,0.054,3556,293,1997,0,0,0,0,0,0
$GC,4961,0.62,261.9,320.0,20.1,589,4966,0.35,2.15,0.00,0.000,6,0.122,0.030,3444,1709,1993,0,0,0,0,0,0
$GC,5296,0.67,295.9,278.7,12.2,634,5334,0.08,2.33,28.15,0.714,4,0.119,0.055,3552,293,1859,0,0,0,0,0,0
$GC,5409,0.63,295.9,255.9,20.6,653,5416,0.30,2.12,0.00,0.000,6,0.116,0.030,3455,1697,1855,0,0,0,0,0,0
$GC,5756,0.71,340.0,211.0,11.7,714,5800,0.08,2.25,35.90,0.672,4,0.119,0.053,3566,293,1680,0,0,0,0,0,0
$GC,5863,0.68,340.0,187.7,22.5,732,5870,0.30,2.10,0.00,0.000,6,0.106,0.030,3465,1682,1675,0,0,0,0,0,0
$GC,6209,0.80,403.2,144.3,10.7,793,6266,0.12,2.30,50.17,0.623,4,0.078,0.054,3595,293,1423,0,0,0,0,0,0
$GC,6364,0.78,403.2,113.1,21.4,819,6371,0.30,2.10,0.00,0.000,6,0.102,0.030,3492,1684,1417,0,0,0,0,0,0
$GC,6709,0.97,509.1,82.0,8.6,880,6800,0.20,2.28,81.00,0.565,4,0.054,0.054,3641,291,990,0,0,0,0,0,0
$GC,6853,0.93,509.1,49.6,24.1,904,6860,0.28,2.08,0.00,0.000,6,0.117,0.028,3551,1670,987,0,0,0,0,0,0
$GC,7197,1.43,769.5,3.6,0.8,965,7274,0.40,2.25,67.53,0.493,4,0.047,0.060,3739,295,413,0,0,0,0,0,0
$FREEZE,3.74,26.363,-1.887,0,1,0
$STATE,7336,end climb,NO_VERTICAL_VELOCITY
$STATE,7336,begin surface
$SM_CCo,7572,0.00,0.000,0,0,409,652.25
$SM_GC,4.50,8.82,0.00,0.00,0.021,0.000,0.000,103,1570,409,-9.68,0.57,652.25
$IRIDIUM_FIX,2111.01,12601.30,121110,030334
$TT8_MAMPS,0.026964
$HUMID,47.32
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.90
$XPDR_PINGS,8
$24V_AH,24.0,67.646
$10V_AH,10.3,47.355
$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,24.825,65.550,622.800,0.000,0.000,29.227,17.047,111.798,2.000,0.000,13.740,2253.751,3016.562,689.437,1692.028,198.106,0.000,1553.486,0.000,1524.049,0.000,0.540,0.000
$DEVICE_MAMPS,174.420,71.910,856.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,56866,989
$CAP_FILE_SIZE,103601,0
$CFSIZE,260165632,223973376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,264.4,1
$GPS,121110,081337,2121.417,12600.359,8,1.9,13,-2.9