version: 66.08
glider: 169
mission: 2
dive: 484
start: 11 13 110 5 38 25
data:
$ID,169
$MISSION,2
$DIVE,484
$N_DIVES,495
$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,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$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,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-7360.7285
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,32
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3091
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-76.551537
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,131110,053325,2118.260,12600.664,8,2.0,13,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-73.3
$GPS2,131110,053758,2118.215,12600.606,15,5.1,34,-2.9
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP
$TGT_LATLONG,2118.600,12601.200
$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,35.9,1248,-19.5,-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,-0.69,-204.4,0.0,0.0,0,117,0.00,0.00,-98.72,0.000,2,0.000,0.000,144,1984,3104,0,0,0,0,0,0
$GC,120,-0.69,-204.4,3.7,-4.4,12,154,9.82,1.73,-15.40,0.000,4,0.243,0.066,2496,876,3926,0,0,0,0,0,0
$GC,303,-0.68,-204.4,56.1,-23.2,41,313,0.00,1.80,0.00,0.000,6,0.000,0.054,2496,2033,3926,0,0,0,0,0,0
$GC,670,-0.67,-204.4,146.6,-23.7,102,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2033,3927,0,0,0,0,0,0
$GC,1022,-0.67,-204.4,208.6,-17.8,163,1028,0.00,1.75,0.00,0.000,4,0.000,0.057,2495,3170,3927,0,0,0,0,0,0
$GC,1072,-0.67,-204.4,216.8,-15.1,171,1079,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2000,3927,0,0,0,0,0,0
$GC,1419,-0.67,-204.4,271.6,-14.8,232,1428,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3168,3927,0,0,0,0,0,0
$GC,1442,-0.67,-204.4,274.5,-14.4,235,1448,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,1999,3927,0,0,0,0,0,0
$GC,1782,-0.68,-204.4,322.3,-13.4,281,1785,0.00,1.83,0.00,0.000,4,0.000,0.055,2496,3168,3925,0,0,0,0,0,0
$GC,1831,-0.69,-204.4,328.4,-11.6,285,1835,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,1986,3925,0,0,0,0,0,0
$GC,2162,-0.69,-204.4,368.9,-12.5,316,2166,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3168,3923,0,0,0,0,0,0
$GC,2202,-0.70,-204.4,373.7,-11.9,319,2208,0.00,1.77,0.00,0.000,6,0.000,0.039,2496,1993,3923,0,0,0,0,0,0
$GC,2528,-0.71,-204.4,412.9,-11.7,350,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1992,3921,0,0,0,0,0,0
$GC,2848,-0.72,-204.4,445.9,-10.2,380,2851,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3170,3919,0,0,0,0,0,0
$GC,2907,-0.73,-204.4,451.5,-9.3,385,2911,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2002,3918,0,0,0,0,0,0
$GC,3239,-0.74,-204.4,487.2,-11.4,416,3242,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3178,3915,0,0,0,0,0,0
$GC,3311,-0.76,-204.4,494.9,-9.6,422,3320,0.00,1.83,0.00,0.000,6,0.000,0.041,2496,2000,3914,0,0,0,0,0,0
$STATE,3369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3369,begin apogee
$GC,3374,-0.18,0.0,500.6,10.4,428,3543,0.52,0.08,161.40,0.873,6,0.142,0.110,2665,2090,3090,0,0,0,0,0,0
$STATE,3543,end apogee,CONTROL_FINISHED_OK
$STATE,3543,begin climb
$GC,3546,0.69,204.4,509.4,0.0,443,3724,0.77,1.77,171.27,0.853,4,0.076,0.041,2957,960,2256,0,0,0,0,0,0
$GC,3853,0.70,220.3,488.0,13.2,470,3874,0.00,1.77,13.65,0.763,6,0.000,0.032,2957,2157,2191,0,0,0,0,0,0
$GC,4191,0.75,271.1,445.7,11.6,502,4241,0.00,1.70,42.67,0.825,4,0.000,0.037,2957,3275,1984,0,0,0,0,0,0
$GC,4302,0.76,280.2,432.2,13.5,511,4315,0.00,1.77,8.60,0.696,6,0.000,0.032,2966,2079,1947,0,0,0,0,0,0
$GC,4632,0.76,280.2,384.1,14.9,542,4636,0.00,1.67,0.00,0.000,4,0.000,0.043,2974,964,1939,0,0,0,0,0,0
$GC,4692,0.75,280.2,375.6,14.8,547,4695,0.00,1.73,0.00,0.000,6,0.000,0.033,2974,2159,1938,0,0,0,0,0,0
$GC,5022,0.75,280.2,324.0,15.5,578,5026,0.00,1.77,0.00,0.000,4,0.000,0.042,2983,955,1934,0,0,0,0,0,0
$GC,5062,0.74,280.2,317.8,15.6,581,5068,0.00,1.75,0.00,0.000,6,0.000,0.034,2984,2161,1934,0,0,0,0,0,0
$GC,5403,0.74,285.4,268.7,13.6,631,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2161,1932,0,0,0,0,0,0
$GC,5751,0.74,292.2,220.4,13.6,692,5767,0.00,1.83,9.10,0.627,4,0.000,0.040,2992,961,1898,0,0,0,0,0,0
$GC,5838,0.77,315.3,209.1,12.8,706,5867,0.00,1.77,21.52,0.679,6,0.000,0.033,2993,2156,1804,0,0,0,0,0,0
$GC,6210,0.79,335.5,158.8,13.0,770,6233,0.00,0.00,17.48,0.630,6,0.000,0.000,2992,2155,1721,0,0,0,0,0,0
$GC,6581,0.90,421.1,114.0,10.0,833,6663,0.00,1.75,70.25,0.616,4,0.000,0.038,2992,3276,1372,0,0,0,0,0,0
$GC,6750,1.01,505.9,96.3,10.0,857,6824,0.12,1.80,68.55,0.591,6,0.039,0.032,3082,2086,1027,0,0,0,0,0,0
$GC,7176,1.01,505.9,20.4,19.0,926,7184,0.00,1.67,0.00,0.000,4,0.000,0.040,3091,966,1022,0,0,0,0,0,0
$STATE,7274,end climb,SURFACE_DEPTH_REACHED
$STATE,7274,begin surface coast
$FINISH,0.4,1.009349
$STATE,7293,end surface coast,CONTROL_FINISHED_OK
$STATE,7294,begin surface
$SM_CCo,7313,88.88,0.056,0,0,481,640.23
$SM_GC,1.21,0.00,0.00,88.88,0.000,0.000,0.056,146,2056,481,-8.08,0.88,640.23
$IRIDIUM_FIX,2111.01,12601.30,131110,040440
$TT8_MAMPS,0.026964
$HUMID,51.92
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.2,77.186
$10V_AH,10.0,61.969
$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,19.425,49.850,584.500,88.875,0.000,25.149,19.107,98.498,0.000,0.000,36.369,2200.517,1829.297,649.863,2803.067,202.409,0.000,1558.455,0.000,2642.185,0.000,0.545,0.000
$DEVICE_MAMPS,243.270,110.160,872.865,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.042,0.000,1885.011,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,56937,945
$CAP_FILE_SIZE,95582,0
$CFSIZE,260165632,224964608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,260.8,1
$GPS,131110,074255,2118.742,12600.652,39,1.3,39,-2.9