version: 66.08
glider: 168
mission: 2
dive: 145
start: 10 2 110 15 9 58
data:
$ID,168
$MISSION,2
$DIVE,145
$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,-3350.7424
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,021010,150543,2428.903,12704.828,7,1.8,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.8
$GPS2,021010,150932,2428.851,12704.827,13,1.2,13,-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,5.0,2149,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-82.95,0.000,2,0.000,0.000,104,1534,3122,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-5.0,13,132,10.10,2.25,-11.52,0.000,4,0.189,0.057,3006,2954,3827,0,0,0,0,0,0
$GC,212,-0.68,-185.1,44.8,-28.4,31,219,0.10,2.17,0.00,0.000,6,0.151,0.045,3034,1553,3829,0,0,0,0,0,0
$GC,548,-0.64,-185.1,138.8,-24.0,92,557,0.00,2.15,0.00,0.000,4,0.000,0.051,3035,170,3831,0,0,0,0,0,0
$GC,609,-0.62,-185.1,152.7,-22.8,101,614,0.10,2.05,0.00,0.000,6,0.150,0.039,3057,1542,3831,0,0,0,0,0,0
$GC,934,-0.62,-185.1,208.0,-16.8,131,938,0.00,2.15,0.00,0.000,4,0.000,0.044,3048,2962,3832,0,0,0,0,0,0
$GC,1000,-0.66,-185.1,217.5,-12.3,136,1010,0.00,2.17,0.00,0.000,6,0.000,0.043,3048,1551,3831,0,0,0,0,0,0
$GC,1326,-0.66,-185.1,273.6,-19.1,167,1329,0.00,2.10,0.00,0.000,4,0.000,0.052,3048,165,3832,0,0,0,0,0,0
$GC,1380,-0.68,-185.1,284.5,-17.4,171,1387,0.00,2.10,0.00,0.000,6,0.000,0.039,3038,1542,3831,0,0,0,0,0,0
$GC,1705,-0.68,-185.1,342.7,-17.2,202,1709,0.00,2.12,0.00,0.000,4,0.000,0.044,3029,2962,3831,0,0,0,0,0,0
$GC,1750,-0.72,-185.1,349.7,-13.9,205,1757,0.00,2.15,0.00,0.000,6,0.000,0.044,3029,1549,3831,0,0,0,0,0,0
$GC,2075,-0.72,-185.1,400.7,-16.0,236,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1549,3830,0,0,0,0,0,0
$GC,2394,-0.74,-185.1,447.8,-14.4,266,2398,0.00,2.10,0.00,0.000,4,0.000,0.055,3029,168,3828,0,0,0,0,0,0
$GC,2439,-0.76,-185.1,454.7,-14.1,269,2446,0.00,2.08,0.00,0.000,6,0.000,0.041,3020,1554,3828,0,0,0,0,0,0
$STATE,2742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2742,begin apogee
$GC,2746,0.00,0.0,500.5,15.9,298,2895,0.62,0.00,141.00,0.871,4,0.093,0.000,3252,1717,3068,0,0,0,0,0,0
$STATE,2895,end apogee,CONTROL_FINISHED_OK
$STATE,2895,begin climb
$GC,2897,0.72,185.1,509.4,0.0,310,3053,0.60,2.35,145.10,0.855,4,0.031,0.054,3530,288,2312,0,0,0,0,0,0
$GC,3132,0.65,185.1,484.8,21.5,330,3137,0.25,2.15,0.00,0.000,6,0.150,0.033,3457,1701,2306,0,0,0,0,0,0
$GC,3457,0.63,185.1,431.6,15.8,360,3461,0.00,2.15,0.00,0.000,4,0.000,0.041,3457,3113,2302,0,0,0,0,0,0
$GC,3498,0.61,185.1,424.9,16.7,363,3503,0.08,2.17,0.00,0.000,6,0.195,0.044,3448,1695,2302,0,0,0,0,0,0
$GC,3828,0.64,220.8,376.7,13.2,394,3865,0.00,2.17,28.23,0.779,4,0.000,0.040,3448,3107,2165,0,0,0,0,0,0
$GC,3889,0.64,227.2,368.1,14.8,399,3902,0.00,2.17,6.40,0.623,6,0.000,0.044,3458,1699,2141,0,0,0,0,0,0
$GC,4220,0.66,250.0,320.6,13.9,430,4244,0.00,2.28,19.05,0.736,4,0.000,0.054,3468,294,2047,0,0,0,0,0,0
$GC,4289,0.66,250.0,310.3,15.2,436,4293,0.00,2.10,0.00,0.000,6,0.000,0.033,3468,1697,2044,0,0,0,0,0,0
$GC,4614,0.65,250.0,260.3,16.5,466,4618,0.00,2.15,0.00,0.000,4,0.000,0.041,3468,3117,2040,0,0,0,0,0,0
$GC,4664,0.65,250.0,251.7,16.7,470,4668,0.00,2.17,0.00,0.000,6,0.000,0.044,3476,1694,2040,0,0,0,0,0,0
$GC,4989,0.64,250.0,196.8,17.9,500,4993,0.08,2.17,0.00,0.000,4,0.198,0.053,3466,290,2039,0,0,0,0,0,0
$GC,5038,0.65,250.0,188.5,16.1,504,5042,0.00,2.08,0.00,0.000,6,0.000,0.033,3466,1698,2038,0,0,0,0,0,0
$GC,5366,0.67,271.5,142.6,14.0,539,5387,0.00,2.20,16.45,0.617,4,0.000,0.040,3466,3116,1961,0,0,0,0,0,0
$GC,5484,0.74,310.0,126.8,13.0,559,5525,0.00,2.17,31.40,0.624,6,0.000,0.043,3474,1701,1802,0,0,0,0,0,0
$GC,5859,0.91,414.0,80.0,9.4,625,5946,0.20,2.22,79.00,0.589,4,0.055,0.050,3613,294,1378,0,0,0,0,0,0
$GC,6031,0.88,414.0,44.3,22.3,653,6039,0.25,2.10,0.00,0.000,6,0.121,0.031,3533,1697,1372,0,0,0,0,0,0
$STATE,6314,end climb,SURFACE_DEPTH_REACHED
$STATE,6314,begin surface coast
$FINISH,0.7,1.009791
$STATE,6337,end surface coast,CONTROL_FINISHED_OK
$STATE,6337,begin surface
$SM_CCo,6353,98.43,0.477,1,0,621,600.00
$SM_GC,1.40,0.00,0.00,98.43,0.000,0.000,0.477,103,1539,621,-9.85,-0.34,600.00
$IRIDIUM_FIX,2420.48,12706.40,021010,131353
$TT8_MAMPS,0.026964
$HUMID,46.18
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,19.424
$10V_AH,10.5,13.914
$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,20.700,60.875,466.625,98.425,0.000,27.564,15.965,97.372,0.250,0.000,14.006,1687.782,2554.044,582.225,1777.103,98.044,0.000,1285.872,0.000,1626.430,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,63.495,871.335,476.595,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.581,0.000,897.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,43679,708
$CAP_FILE_SIZE,82736,0
$CFSIZE,260165632,245911552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168,167.3,1
$GPS,021010,165837,2429.206,12705.018,26,1.3,26,-3.7