version: 66.08
glider: 168
mission: 2
dive: 165
start: 10 4 110 3 17 29
data:
$ID,168
$MISSION,2
$DIVE,165
$N_DIVES,170
$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,-3375.8386
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,041010,031306,2429.204,12705.567,35,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.0
$GPS2,041010,031702,2429.144,12705.564,10,1.0,10,-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,324.6,1848,-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,15,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-83.70,0.000,2,0.000,0.000,105,1543,3161,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.7,-6.6,13,133,10.10,2.15,-10.60,0.000,4,0.188,0.053,3009,2953,3824,0,0,0,0,0,0
$GC,228,-0.68,-185.1,51.0,-26.3,34,236,0.05,2.20,0.00,0.000,6,0.127,0.046,3030,1554,3825,0,0,0,0,0,0
$GC,569,-0.64,-185.1,144.2,-23.8,95,577,0.08,2.15,0.00,0.000,4,0.203,0.052,3050,157,3827,0,0,0,0,0,0
$GC,609,-0.62,-185.1,154.6,-22.7,100,619,0.00,2.10,0.00,0.000,6,0.000,0.038,3041,1535,3828,0,0,0,0,0,0
$GC,936,-0.60,-185.1,222.2,-21.9,131,938,0.08,0.00,0.00,0.000,6,0.214,0.000,3059,1538,3830,0,0,0,0,0,0
$GC,1255,-0.61,-185.1,275.2,-15.5,161,1259,0.00,2.17,0.00,0.000,4,0.000,0.046,3050,2964,3830,0,0,0,0,0,0
$GC,1299,-0.66,-185.1,281.7,-12.0,164,1309,0.00,2.20,0.00,0.000,6,0.000,0.045,3050,1549,3829,0,0,0,0,0,0
$GC,1626,-0.67,-185.1,332.3,-16.1,195,1630,0.00,2.12,0.00,0.000,4,0.000,0.054,3050,163,3829,0,0,0,0,0,0
$GC,1670,-0.69,-185.1,339.3,-14.2,198,1678,0.00,2.10,0.00,0.000,6,0.000,0.041,3041,1539,3829,0,0,0,0,0,0
$GC,1997,-0.71,-185.1,387.1,-12.6,229,2001,0.00,2.15,0.00,0.000,4,0.000,0.047,3032,2965,3828,0,0,0,0,0,0
$GC,2060,-0.76,-185.1,394.2,-9.5,234,2064,0.08,2.17,0.00,0.000,6,0.119,0.047,2936,1549,3827,0,0,0,0,0,0
$GC,2384,-0.70,-185.1,466.6,-22.4,264,2389,0.28,2.15,0.00,0.000,4,0.139,0.055,3028,161,3826,0,0,0,0,0,0
$GC,2425,-0.71,-185.1,473.9,-16.8,267,2429,0.00,2.10,0.00,0.000,6,0.000,0.041,3020,1549,3826,0,0,0,0,0,0
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2623,begin apogee
$GC,2627,0.00,0.0,501.0,14.4,285,2773,0.62,0.00,140.60,0.872,4,0.094,0.000,3253,1711,3068,0,0,0,0,0,0
$STATE,2773,end apogee,CONTROL_FINISHED_OK
$STATE,2774,begin climb
$GC,2775,0.72,185.1,508.4,0.0,297,2928,0.60,2.25,145.95,0.860,4,0.031,0.047,3534,3104,2313,0,0,0,0,0,0
$GC,3061,0.65,185.1,467.9,22.9,322,3066,0.30,2.20,0.00,0.000,6,0.148,0.043,3455,1696,2306,0,0,0,0,0,0
$GC,3386,0.63,185.1,414.6,15.3,352,3390,0.00,2.17,0.00,0.000,4,0.000,0.053,3466,285,2300,0,0,0,0,0,0
$GC,3428,0.61,185.1,407.5,16.3,355,3436,0.05,2.15,0.00,0.000,6,0.137,0.033,3445,1697,2298,0,0,0,0,0,0
$GC,3755,0.70,272.2,367.6,10.4,386,3828,0.10,2.28,66.95,0.796,4,0.092,0.039,3525,3112,1957,0,0,0,0,0,0
$GC,3854,0.67,272.2,350.1,20.9,394,3863,0.20,2.28,0.00,0.000,6,0.122,0.044,3467,1699,1954,0,0,0,0,0,0
$GC,4181,0.66,272.2,294.8,16.9,425,4185,0.00,2.20,0.00,0.000,4,0.000,0.054,3478,288,1947,0,0,0,0,0,0
$GC,4254,0.66,272.2,281.8,17.0,431,4259,0.08,2.10,0.00,0.000,6,0.163,0.031,3453,1695,1945,0,0,0,0,0,0
$GC,4580,0.66,272.2,228.3,15.4,461,4584,0.00,2.12,0.00,0.000,4,0.000,0.040,3453,3106,1944,0,0,0,0,0,0
$GC,4611,0.69,277.1,223.8,14.9,463,4615,0.00,2.17,0.00,0.000,6,0.000,0.044,3458,1683,1944,0,0,0,0,0,0
$GC,4938,0.76,324.9,178.8,12.5,493,4987,0.12,2.22,40.12,0.662,4,0.081,0.051,3572,264,1741,0,0,0,0,0,0
$GC,5043,0.72,324.9,156.0,23.4,502,5048,0.28,2.15,0.00,0.000,6,0.119,0.032,3483,1684,1737,0,0,0,0,0,0
$GC,5374,0.77,353.4,104.3,13.6,559,5403,0.05,2.20,22.23,0.595,4,0.174,0.051,3568,287,1626,0,0,0,0,0,0
$GC,5492,0.75,353.4,80.3,22.1,579,5500,0.22,2.10,0.00,0.000,6,0.117,0.031,3493,1689,1621,0,0,0,0,0,0
$GC,5822,0.95,469.6,38.6,8.8,640,5916,0.17,0.00,86.65,0.555,6,0.061,0.000,3618,1691,1151,0,0,0,0,0,0
$STATE,5986,end climb,SURFACE_DEPTH_REACHED
$STATE,5986,begin surface coast
$FINISH,0.6,1.010178
$STATE,5999,end surface coast,CONTROL_FINISHED_OK
$STATE,5999,begin surface
$SM_CCo,6015,71.97,0.470,1,0,621,600.00
$SM_GC,1.21,0.00,0.00,71.97,0.000,0.000,0.470,104,1530,621,-9.84,-0.65,600.00
$IRIDIUM_FIX,2420.48,12703.08,041010,010136
$TT8_MAMPS,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,21.859
$10V_AH,10.5,15.401
$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,22.050,56.825,502.500,71.975,0.000,27.306,18.050,102.050,0.250,0.000,13.233,1600.422,2348.807,573.148,1717.822,102.213,0.000,1270.311,0.000,1561.648,0.000,0.541,0.000
$DEVICE_MAMPS,214.200,62.730,872.100,470.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.811,0.000,849.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40251,669
$CAP_FILE_SIZE,82844,0
$CFSIZE,260165632,245014528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194,136.8,1
$GPS,041010,050004,2429.502,12705.510,7,3.6,26,-3.7