version: 66.08
glider: 168
mission: 2
dive: 143
start: 10 2 110 11 28 41
data:
$ID,168
$MISSION,2
$DIVE,143
$N_DIVES,155
$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,-3348.2368
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,021010,112350,2429.027,12704.999,11,1.2,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.6
$GPS2,021010,112814,2428.944,12705.022,13,1.9,13,-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,355.9,1956,-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,-83.50,0.000,2,0.000,0.000,104,1533,3162,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.6,-6.3,13,131,10.12,2.17,-10.62,0.000,4,0.190,0.053,3009,2959,3824,0,0,0,0,0,0
$GC,237,-0.68,-185.1,50.9,-25.4,36,246,0.05,2.20,0.00,0.000,6,0.134,0.044,3028,1553,3826,0,0,0,0,0,0
$GC,579,-0.64,-185.1,146.6,-26.0,97,587,0.05,2.12,0.00,0.000,4,0.249,0.059,3042,165,3828,0,0,0,0,0,0
$GC,617,-0.63,-185.1,156.0,-22.9,101,622,0.08,2.08,0.00,0.000,6,0.177,0.040,3056,1537,3829,0,0,0,0,0,0
$GC,943,-0.63,-185.1,216.2,-17.5,131,947,0.00,2.17,0.00,0.000,4,0.000,0.045,3047,2968,3830,0,0,0,0,0,0
$GC,1004,-0.67,-185.1,226.1,-14.5,136,1008,0.00,2.15,0.00,0.000,6,0.000,0.044,3046,1549,3830,0,0,0,0,0,0
$GC,1328,-0.67,-185.1,281.8,-17.3,166,1332,0.00,2.10,0.00,0.000,4,0.000,0.053,3047,165,3830,0,0,0,0,0,0
$GC,1356,-0.68,-185.1,286.5,-17.8,168,1365,0.00,2.12,0.00,0.000,6,0.000,0.040,3037,1557,3830,0,0,0,0,0,0
$GC,1681,-0.68,-185.1,340.5,-16.5,199,1685,0.00,2.15,0.00,0.000,4,0.000,0.054,3037,165,3829,0,0,0,0,0,0
$GC,1721,-0.69,-185.1,346.9,-15.5,202,1725,0.00,2.10,0.00,0.000,6,0.000,0.040,3028,1559,3829,0,0,0,0,0,0
$GC,2053,-0.70,-185.1,397.9,-15.8,233,2057,0.00,2.12,0.00,0.000,4,0.000,0.048,3018,2958,3827,0,0,0,0,0,0
$GC,2093,-0.73,-185.1,404.2,-13.9,236,2097,0.00,2.15,0.00,0.000,6,0.000,0.046,3018,1543,3826,0,0,0,0,0,0
$GC,2418,-0.73,-185.1,456.8,-17.2,266,2422,0.00,2.10,0.00,0.000,4,0.000,0.055,3018,165,3825,0,0,0,0,0,0
$GC,2438,-0.73,-185.1,460.5,-16.5,267,2446,0.00,2.12,0.00,0.000,6,0.000,0.041,3010,1553,3825,0,0,0,0,0,0
$STATE,2677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2681,0.00,0.0,500.4,16.8,290,2827,0.65,0.00,140.55,0.868,4,0.097,0.000,3250,1714,3067,0,0,0,0,0,0
$STATE,2828,end apogee,CONTROL_FINISHED_OK
$STATE,2828,begin climb
$GC,2830,0.72,185.1,508.0,0.0,302,2988,0.62,2.22,145.90,0.858,4,0.031,0.047,3538,3109,2312,0,0,0,0,0,0
$GC,3181,0.64,185.1,451.8,21.5,332,3190,0.28,2.22,0.00,0.000,6,0.143,0.041,3459,1695,2306,0,0,0,0,0,0
$GC,3510,0.63,191.8,401.5,14.8,363,3518,0.00,0.00,4.70,0.557,6,0.000,0.000,3459,1695,2285,0,0,0,0,0,0
$GC,3836,0.62,200.6,351.9,14.7,394,3850,0.00,2.22,8.35,0.676,4,0.000,0.039,3459,3117,2249,0,0,0,0,0,0
$GC,3888,0.61,200.6,343.1,15.7,398,3898,0.05,2.22,0.00,0.000,6,0.155,0.044,3449,1695,2249,0,0,0,0,0,0
$GC,4216,0.61,205.5,295.3,14.9,429,4228,0.00,2.17,4.97,0.547,4,0.000,0.054,3460,291,2230,0,0,0,0,0,0
$GC,4264,0.60,205.5,287.4,16.1,433,4268,0.00,2.10,0.00,0.000,6,0.000,0.034,3459,1708,2228,0,0,0,0,0,0
$GC,4591,0.61,220.1,237.3,14.3,463,4615,0.00,2.17,13.20,0.665,4,0.000,0.041,3460,3108,2169,0,0,0,0,0,0
$GC,4694,0.65,250.1,222.2,13.5,472,4731,0.00,2.15,25.08,0.682,6,0.000,0.043,3468,1698,2046,0,0,0,0,0,0
$GC,5047,0.65,257.1,172.1,14.8,505,5057,0.00,0.00,6.05,0.529,6,0.000,0.000,3468,1698,2018,0,0,0,0,0,0
$GC,5381,0.69,280.0,125.0,13.9,551,5408,0.00,2.17,18.80,0.606,4,0.000,0.040,3468,3098,1925,0,0,0,0,0,0
$GC,5444,0.73,294.2,115.8,14.4,561,5465,0.00,2.15,12.80,0.574,6,0.000,0.044,3473,1708,1867,0,0,0,0,0,0
$GC,5798,0.87,382.2,68.7,10.3,624,5874,0.17,2.25,66.30,0.575,4,0.063,0.049,3603,290,1510,0,0,0,0,0,0
$GC,5900,0.84,382.2,51.0,21.5,639,5907,0.25,2.12,0.00,0.000,6,0.118,0.033,3519,1697,1507,0,0,0,0,0,0
$GC,6239,0.94,435.3,7.0,12.2,700,6275,0.10,0.00,33.05,0.519,2,0.090,0.000,3612,1699,1325,0,0,0,0,0,0
$STATE,6276,end climb,SURFACE_DEPTH_REACHED
$STATE,6276,begin surface coast
$FINISH,0.6,1.021807
$STATE,6292,end surface coast,CONTROL_FINISHED_OK
$STATE,6293,begin surface
$SM_CCo,6309,93.80,0.058,0,0,622,600.00
$SM_GC,1.23,0.00,0.00,93.80,0.000,0.000,0.058,104,1538,622,-9.84,-0.40,600.00
$IRIDIUM_FIX,2418.11,12703.08,021010,090951
$TT8_MAMPS,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.4,19.178
$10V_AH,10.4,13.762
$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,21.025,56.525,479.750,93.800,0.000,31.296,39.531,96.922,0.500,0.000,15.777,1684.423,2492.013,592.845,1814.578,96.849,0.000,1308.782,0.000,1626.581,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,63.495,867.510,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.139,0.000,897.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43615,708
$CAP_FILE_SIZE,83512,0
$CFSIZE,260165632,246001664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.272,175.9,1
$GPS,021010,131637,2428.951,12704.843,37,1.0,37,-3.7