version: 66.08
glider: 168
mission: 2
dive: 146
start: 10 2 110 17 3 29
data:
$ID,168
$MISSION,2
$DIVE,146
$N_DIVES,160
$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,-3351.9985
$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,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
$GPS1,021010,165837,2429.206,12705.018,26,1.3,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.2
$GPS2,021010,170302,2429.146,12705.038,12,1.3,12,-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,356.1,1582,-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,-185.1,0.0,0.0,0,96,0.00,0.00,-79.93,0.000,2,0.000,0.000,104,1540,3033,0,0,0,0,0,0
$GC,99,-0.72,-185.1,3.3,-5.2,12,128,10.10,2.22,-13.52,0.000,4,0.188,0.054,3007,2955,3826,0,0,0,0,0,0
$GC,269,-0.67,-185.1,63.5,-30.9,42,278,0.08,2.20,0.00,0.000,6,0.116,0.046,3036,1555,3827,0,0,0,0,0,0
$GC,602,-0.63,-185.1,150.0,-20.8,103,606,0.00,2.10,0.00,0.000,4,0.000,0.050,3036,165,3830,0,0,0,0,0,0
$GC,655,-0.62,-185.1,162.2,-20.6,107,664,0.05,2.10,0.00,0.000,6,0.127,0.038,3051,1536,3830,0,0,0,0,0,0
$GC,981,-0.61,-185.1,224.4,-19.1,138,985,0.00,2.15,0.00,0.000,4,0.000,0.044,3041,2967,3830,0,0,0,0,0,0
$GC,1009,-0.61,-185.1,229.4,-17.9,140,1013,0.00,2.17,0.00,0.000,6,0.000,0.044,3041,1530,3830,0,0,0,0,0,0
$GC,1333,-0.61,-185.1,288.1,-18.2,170,1337,0.00,2.08,0.00,0.000,4,0.000,0.052,3041,158,3830,0,0,0,0,0,0
$GC,1383,-0.62,-185.1,297.2,-17.5,174,1387,0.08,2.08,0.00,0.000,6,0.182,0.040,3055,1549,3830,0,0,0,0,0,0
$GC,1708,-0.64,-185.1,344.7,-14.4,204,1712,0.00,2.12,0.00,0.000,4,0.000,0.048,3046,2960,3830,0,0,0,0,0,0
$GC,1749,-0.68,-185.1,350.2,-12.6,207,1753,0.00,2.15,0.00,0.000,6,0.000,0.044,3046,1537,3830,0,0,0,0,0,0
$GC,2076,-0.70,-185.1,396.3,-13.7,237,2078,0.08,0.00,0.00,0.000,6,0.117,0.000,2950,1536,3828,0,0,0,0,0,0
$GC,2393,-0.65,-185.1,470.0,-22.5,267,2398,0.25,2.10,0.00,0.000,4,0.132,0.053,3039,163,3826,0,0,0,0,0,0
$GC,2423,-0.65,-185.1,475.6,-18.3,269,2427,0.00,2.05,0.00,0.000,6,0.000,0.041,3036,1538,3826,0,0,0,0,0,0
$STATE,2629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2630,begin apogee
$GC,2634,0.00,0.0,500.6,12.0,288,2786,0.57,0.00,140.38,0.868,4,0.092,0.000,3253,1716,3067,0,0,0,0,0,0
$STATE,2786,end apogee,CONTROL_FINISHED_OK
$STATE,2786,begin climb
$GC,2788,0.72,185.1,506.7,0.0,301,2942,0.60,2.30,144.68,0.855,4,0.030,0.052,3530,293,2313,0,0,0,0,0,0
$GC,2977,0.65,185.1,492.2,20.6,317,2982,0.25,2.15,0.00,0.000,6,0.152,0.032,3458,1701,2308,0,0,0,0,0,0
$GC,3304,0.63,193.0,441.2,14.7,347,3318,0.00,2.20,6.57,0.650,4,0.000,0.041,3458,3108,2281,0,0,0,0,0,0
$GC,3407,0.61,193.0,423.1,18.1,356,3411,0.08,2.17,0.00,0.000,6,0.198,0.044,3450,1692,2280,0,0,0,0,0,0
$GC,3738,0.60,193.0,370.3,15.3,387,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1691,2276,0,0,0,0,0,0
$GC,4057,0.62,216.7,322.6,13.9,417,4083,0.00,2.25,19.48,0.736,4,0.000,0.054,3460,293,2184,0,0,0,0,0,0
$GC,4096,0.65,252.3,317.4,13.2,420,4132,0.00,2.10,29.55,0.742,6,0.000,0.032,3460,1707,2038,0,0,0,0,0,0
$GC,4450,0.68,279.9,268.2,13.6,453,4477,0.00,2.20,21.67,0.708,4,0.000,0.041,3460,3106,1927,0,0,0,0,0,0
$GC,4520,0.71,291.1,257.2,14.5,459,4541,0.00,2.20,10.57,0.648,6,0.000,0.044,3468,1712,1879,0,0,0,0,0,0
$GC,4858,0.71,291.1,201.0,18.2,491,4862,0.00,2.20,0.00,0.000,4,0.000,0.054,3478,288,1875,0,0,0,0,0,0
$GC,4923,0.73,291.1,188.7,17.0,496,4932,0.00,2.12,0.00,0.000,6,0.000,0.032,3478,1693,1874,0,0,0,0,0,0
$GC,5251,0.73,291.1,132.7,16.1,536,5259,0.00,2.20,0.00,0.000,4,0.000,0.054,3483,294,1873,0,0,0,0,0,0
$GC,5282,0.74,291.1,128.0,15.2,541,5289,0.00,2.10,0.00,0.000,6,0.000,0.032,3483,1707,1872,0,0,0,0,0,0
$GC,5611,0.80,331.0,83.4,13.0,602,5647,0.10,0.00,30.73,0.591,6,0.100,0.000,3574,1709,1718,0,0,0,0,0,0
$GC,5974,0.79,331.0,23.7,15.6,667,5982,0.22,2.12,0.00,0.000,4,0.127,0.038,3500,3109,1712,0,0,0,0,0,0
$GC,6011,0.93,416.1,19.2,10.5,673,6086,0.12,2.15,64.28,0.544,6,0.076,0.042,3604,1694,1368,0,0,0,0,0,0
$STATE,6105,end climb,SURFACE_DEPTH_REACHED
$STATE,6105,begin surface coast
$FINISH,0.6,1.021271
$STATE,6118,end surface coast,CONTROL_FINISHED_OK
$STATE,6118,begin surface
$SM_CCo,6134,99.53,0.476,1,0,621,600.00
$SM_GC,1.42,0.00,0.00,99.53,0.000,0.000,0.476,103,1522,621,-9.84,-0.82,600.00
$IRIDIUM_FIX,2420.48,12703.08,021010,151555
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,19.547
$10V_AH,10.4,13.989
$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,21.150,56.475,467.900,99.525,0.000,30.013,39.658,101.853,0.250,0.000,14.686,1651.822,2418.726,580.036,1770.159,96.486,0.000,1274.719,0.000,1582.629,0.000,0.540,0.000
$DEVICE_MAMPS,198.135,60.435,868.275,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.832,0.000,875.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43668,689
$CAP_FILE_SIZE,82663,0
$CFSIZE,260165632,245866496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.226,162.1,1
$GPS,021010,184814,2429.394,12705.156,11,1.8,11,-3.7