version: 66.08
glider: 168
mission: 2
dive: 138
start: 10 2 110 2 19 39
data:
$ID,168
$MISSION,2
$DIVE,138
$N_DIVES,150
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,110
$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,600
$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,-3341.9607
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,021010,021301,2429.158,12704.795,36,1.9,36,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.7
$GPS2,021010,021913,2429.085,12704.861,11,1.0,16,-3.7
$SPEED_LIMITS,0.262,0.330
$TGT_NAME,NORTH_EDGE
$TGT_LATLONG,2430.000,12705.000
$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,345.9,1711,-22.1,-15.152
$D_GRID,4367
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.88,0.000,2,0.000,0.000,104,1531,3178,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.5,-5.8,13,132,10.15,2.17,-10.52,0.000,4,0.191,0.053,3009,2956,3824,0,0,0,0,0,0
$GC,255,-0.70,-185.1,57.8,-25.8,39,263,0.08,2.17,0.00,0.000,6,0.164,0.047,3030,1558,3826,0,0,0,0,0,0
$GC,593,-0.66,-185.1,153.5,-24.8,99,597,0.00,2.15,0.00,0.000,4,0.000,0.053,3030,163,3827,0,0,0,0,0,0
$GC,655,-0.63,-185.1,168.1,-21.5,104,660,0.10,2.05,0.00,0.000,6,0.157,0.039,3052,1537,3828,0,0,0,0,0,0
$GC,979,-0.63,-185.1,229.8,-18.1,134,983,0.00,2.15,0.00,0.000,4,0.000,0.046,3042,2966,3828,0,0,0,0,0,0
$GC,1022,-0.66,-185.1,237.1,-16.2,137,1030,0.00,2.20,0.00,0.000,6,0.000,0.046,3043,1550,3828,0,0,0,0,0,0
$GC,1348,-0.66,-185.1,298.1,-18.9,168,1352,0.00,2.10,0.00,0.000,4,0.000,0.054,3042,164,3828,0,0,0,0,0,0
$GC,1398,-0.66,-185.1,308.0,-20.1,172,1401,0.00,2.05,0.00,0.000,6,0.000,0.040,3033,1541,3828,0,0,0,0,0,0
$GC,1722,-0.66,-185.1,368.6,-16.7,202,1726,0.00,2.12,0.00,0.000,4,0.000,0.047,3023,2959,3826,0,0,0,0,0,0
$GC,1787,-0.70,-185.1,377.9,-12.2,207,1794,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,1528,3826,0,0,0,0,0,0
$GC,2112,-0.70,-185.1,422.5,-13.3,238,2116,0.00,2.10,0.00,0.000,4,0.000,0.057,3023,159,3824,0,0,0,0,0,0
$GC,2160,-0.71,-185.1,429.0,-12.8,242,2169,0.00,2.12,0.00,0.000,6,0.000,0.041,3014,1548,3824,0,0,0,0,0,0
$GC,2486,-0.71,-185.1,475.4,-16.2,273,2490,0.00,2.15,0.00,0.000,4,0.000,0.050,3005,2960,3823,0,0,0,0,0,0
$GC,2530,-0.74,-185.1,482.6,-14.8,276,2539,0.00,2.20,0.00,0.000,6,0.000,0.047,3005,1548,3822,0,0,0,0,0,0
$STATE,2642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2642,begin apogee
$GC,2647,0.00,0.0,501.0,17.2,287,2792,0.68,0.00,139.70,0.870,4,0.097,0.000,3253,1715,3068,0,0,0,0,0,0
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2794,0.72,185.1,510.7,0.0,299,2949,0.60,2.33,144.60,0.855,4,0.031,0.054,3525,290,2312,0,0,0,0,0,0
$GC,2985,0.66,185.1,497.0,19.2,315,2990,0.22,2.17,0.00,0.000,6,0.152,0.033,3460,1699,2308,0,0,0,0,0,0
$GC,3312,0.63,185.1,444.3,16.7,345,3316,0.00,2.15,0.00,0.000,4,0.000,0.041,3460,3109,2303,0,0,0,0,0,0
$GC,3352,0.61,185.1,437.1,17.2,348,3356,0.10,2.17,0.00,0.000,6,0.177,0.043,3442,1694,2303,0,0,0,0,0,0
$GC,3683,0.62,200.5,388.9,14.3,379,3697,0.00,0.00,11.80,0.735,6,0.000,0.000,3443,1694,2250,0,0,0,0,0,0
$GC,4016,0.67,244.1,342.8,12.8,410,4057,0.08,2.17,35.97,0.776,4,0.121,0.039,3510,3106,2070,0,0,0,0,0,0
$GC,4136,0.63,244.1,321.8,18.9,420,4141,0.22,2.20,0.00,0.000,6,0.139,0.044,3452,1699,2066,0,0,0,0,0,0
$GC,4460,0.64,245.2,275.9,15.1,450,4464,0.00,2.20,0.00,0.000,4,0.000,0.054,3462,289,2062,0,0,0,0,0,0
$GC,4545,0.64,245.2,263.0,15.6,457,4549,0.00,2.08,0.00,0.000,6,0.000,0.033,3462,1693,2059,0,0,0,0,0,0
$GC,4872,0.64,245.2,210.0,15.6,487,4876,0.00,2.12,0.00,0.000,4,0.000,0.041,3462,3108,2059,0,0,0,0,0,0
$GC,4957,0.67,262.3,196.8,14.2,494,4975,0.00,2.15,13.43,0.643,6,0.000,0.044,3470,1698,1997,0,0,0,0,0,0
$GC,5296,0.72,306.3,146.7,12.7,527,5338,0.00,2.28,35.05,0.642,4,0.000,0.054,3479,294,1818,0,0,0,0,0,0
$GC,5409,0.78,331.1,131.7,13.8,545,5438,0.08,2.10,20.17,0.607,6,0.122,0.031,3574,1693,1717,0,0,0,0,0,0
$GC,5775,0.76,331.1,52.4,18.9,609,5783,0.25,2.12,0.00,0.000,4,0.129,0.038,3486,3105,1711,0,0,0,0,0,0
$GC,5857,0.98,464.1,43.5,7.9,623,5965,0.22,2.15,98.65,0.554,6,0.050,0.043,3624,1692,1174,0,0,0,0,0,0
$STATE,6043,end climb,SURFACE_DEPTH_REACHED
$STATE,6043,begin surface coast
$FINISH,0.5,1.009371
$STATE,6056,end surface coast,CONTROL_FINISHED_OK
$STATE,6056,begin surface
$SM_CCo,6072,75.45,0.461,1,0,622,600.00
$SM_GC,1.27,0.00,0.00,75.45,0.000,0.000,0.461,104,1528,622,-9.84,-0.59,600.00
$IRIDIUM_FIX,2420.48,12311.85,021010,020227
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.5,18.582
$10V_AH,10.5,13.385
$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,21.325,60.775,499.375,75.450,0.000,53.523,71.587,93.666,0.500,0.000,17.302,1563.467,2539.230,570.894,1766.792,98.800,0.000,1259.177,0.000,1535.753,0.000,0.541,0.000
$DEVICE_MAMPS,191.250,65.025,869.805,460.530,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.313,0.000,831.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,40336,655
$CAP_FILE_SIZE,81942,0
$CFSIZE,260165632,246231040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209,132.2,1
$GPS,021010,040256,2429.569,12705.155,8,1.5,8,-3.7