version: 66.08
glider: 168
mission: 2
dive: 169
start: 10 4 110 10 35 34
data:
$ID,168
$MISSION,2
$DIVE,169
$N_DIVES,180
$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,-3380.8513
$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,44
$R_STBD_OVSHOOT,46
$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
$GPS1,041010,103108,2429.176,12705.141,9,2.0,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.8
$GPS2,041010,103507,2429.091,12705.159,8,2.0,13,-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,337.6,1705,-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,-185.1,0.0,0.0,0,99,0.00,0.00,-81.57,0.000,2,0.000,0.000,104,1522,3070,0,0,0,0,0,0
$GC,101,-0.72,-185.1,3.3,-4.6,12,131,10.20,2.25,-12.75,0.000,4,0.192,0.054,3006,2958,3825,0,0,0,0,0,0
$GC,278,-0.69,-185.1,59.2,-24.4,43,286,0.10,2.17,0.00,0.000,6,0.140,0.047,3036,1562,3828,0,0,0,0,0,0
$GC,608,-0.66,-185.1,140.1,-22.5,104,617,0.00,2.17,0.00,0.000,4,0.000,0.053,3037,165,3830,0,0,0,0,0,0
$GC,630,-0.62,-185.1,144.8,-22.1,107,639,0.10,2.05,0.00,0.000,6,0.164,0.038,3056,1545,3830,0,0,0,0,0,0
$GC,964,-0.62,-185.1,205.2,-17.1,140,968,0.00,2.12,0.00,0.000,4,0.000,0.047,3047,2957,3831,0,0,0,0,0,0
$GC,995,-0.64,-185.1,210.7,-15.9,142,1004,0.00,2.17,0.00,0.000,6,0.000,0.045,3047,1557,3830,0,0,0,0,0,0
$GC,1323,-0.64,-185.1,268.1,-17.2,173,1327,0.00,2.12,0.00,0.000,4,0.000,0.055,3047,165,3831,0,0,0,0,0,0
$GC,1421,-0.67,-185.1,284.2,-13.6,181,1429,0.00,2.10,0.00,0.000,6,0.000,0.040,3037,1571,3831,0,0,0,0,0,0
$GC,1746,-0.67,-185.1,335.6,-16.0,212,1750,0.00,2.10,0.00,0.000,4,0.000,0.046,3027,2964,3830,0,0,0,0,0,0
$GC,1759,-0.67,-185.1,337.7,-16.7,213,1763,0.00,2.17,0.00,0.000,6,0.000,0.044,3027,1540,3830,0,0,0,0,0,0
$GC,2085,-0.67,-185.1,392.7,-16.3,243,2089,0.00,2.12,0.00,0.000,4,0.000,0.054,3027,158,3829,0,0,0,0,0,0
$GC,2137,-0.69,-185.1,400.3,-14.3,247,2141,0.00,2.08,0.00,0.000,6,0.000,0.041,3018,1546,3829,0,0,0,0,0,0
$GC,2463,-0.69,-185.1,449.4,-15.0,277,2467,0.00,2.12,0.00,0.000,4,0.000,0.048,3008,2959,3827,0,0,0,0,0,0
$GC,2503,-0.71,-185.1,455.4,-14.6,280,2507,0.00,2.15,0.00,0.000,6,0.000,0.047,3009,1550,3827,0,0,0,0,0,0
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2783,0.00,0.0,501.2,16.4,306,2929,0.68,0.00,141.07,0.874,4,0.098,0.000,3255,1715,3068,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2932,0.72,185.1,507.4,0.0,318,3088,0.60,2.35,145.12,0.858,4,0.031,0.054,3529,282,2312,0,0,0,0,0,0
$GC,3232,0.65,185.1,466.9,22.3,344,3237,0.22,2.15,0.00,0.000,6,0.153,0.032,3463,1697,2304,0,0,0,0,0,0
$GC,3556,0.63,185.1,411.7,16.9,374,3560,0.00,2.17,0.00,0.000,4,0.000,0.052,3474,289,2302,0,0,0,0,0,0
$GC,3760,0.61,185.1,377.2,17.1,392,3765,0.10,2.10,0.00,0.000,6,0.150,0.033,3444,1704,2300,0,0,0,0,0,0
$GC,4085,0.64,222.6,330.8,13.1,422,4122,0.00,2.25,28.83,0.761,4,0.000,0.053,3455,282,2159,0,0,0,0,0,0
$GC,4149,0.64,222.6,321.5,15.6,427,4158,0.00,2.15,0.00,0.000,6,0.000,0.032,3455,1692,2156,0,0,0,0,0,0
$GC,4475,0.66,241.1,271.6,14.1,458,4500,0.00,2.20,15.10,0.696,4,0.000,0.042,3455,3104,2084,0,0,0,0,0,0
$GC,4561,0.69,257.8,259.4,14.2,465,4581,0.00,2.15,14.98,0.685,6,0.000,0.044,3461,1701,2017,0,0,0,0,0,0
$GC,4897,0.69,257.8,207.7,16.4,497,4901,0.00,2.20,0.00,0.000,4,0.000,0.054,3472,292,2008,0,0,0,0,0,0
$GC,4984,0.69,257.8,192.7,16.8,504,4992,0.00,2.12,0.00,0.000,6,0.000,0.032,3472,1698,2005,0,0,0,0,0,0
$GC,5310,0.72,283.8,140.6,13.7,540,5338,0.00,2.12,20.20,0.628,4,0.000,0.039,3472,3107,1910,0,0,0,0,0,0
$GC,5388,0.76,300.9,129.3,14.2,553,5410,0.05,2.17,15.25,0.603,6,0.165,0.044,3554,1699,1841,0,0,0,0,0,0
$GC,5736,0.74,300.9,60.3,19.4,616,5744,0.22,2.20,0.00,0.000,4,0.129,0.050,3488,301,1835,0,0,0,0,0,0
$GC,5783,0.91,402.2,55.0,9.6,624,5872,0.12,2.10,76.95,0.579,6,0.033,0.032,3596,1696,1426,0,0,0,0,0,0
$STATE,6066,end climb,SURFACE_DEPTH_REACHED
$STATE,6066,begin surface coast
$FINISH,0.6,1.021780
$STATE,6084,end surface coast,CONTROL_FINISHED_OK
$STATE,6084,begin surface
$SM_CCo,6100,105.50,0.489,1,0,621,600.00
$SM_GC,1.36,0.00,0.00,105.50,0.000,0.000,0.489,104,1545,621,-9.84,-0.17,600.00
$IRIDIUM_FIX,2420.48,12706.40,041010,080844
$TT8_MAMPS,0.026964
$HUMID,47.91
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,22.345
$10V_AH,10.5,15.700
$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,20.950,60.825,457.500,105.500,0.000,28.246,15.326,98.492,0.250,0.000,16.365,1624.438,2401.907,584.986,1748.696,102.093,0.000,1287.523,0.000,1587.998,0.000,0.539,0.000
$DEVICE_MAMPS,192.015,64.260,873.630,488.835,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.008,0.000,857.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43628,676
$CAP_FILE_SIZE,81299,0
$CFSIZE,260165632,244830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.314,165.8,1
$GPS,041010,122006,2428.735,12705.007,26,1.4,26,-3.7