version: 66.08
glider: 168
mission: 2
dive: 186
start: 10 5 110 17 29 47
data:
$ID,168
$MISSION,2
$DIVE,186
$N_DIVES,200
$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,400
$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,-3402.1826
$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,42
$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
$GPS1,051010,172506,2428.358,12705.521,10,2.0,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-78.4
$GPS2,051010,172920,2428.288,12705.553,13,1.3,13,-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,346.7,3305,-22.1,-15.152
$D_GRID,4118
$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,-185.1,0.0,0.0,0,75,0.00,0.00,-58.58,0.000,2,0.000,0.000,104,1531,3098,0,0,0,0,0,0
$GC,77,-0.72,-185.1,3.2,-4.6,9,106,10.23,2.25,-12.20,0.000,4,0.192,0.056,3008,2955,3826,0,0,0,0,0,0
$GC,146,-0.63,-185.1,33.0,-41.0,20,155,0.10,2.17,0.00,0.000,6,0.126,0.044,3043,1566,3827,0,0,0,0,0,0
$GC,488,-0.59,-185.1,127.1,-22.8,81,496,0.08,2.15,0.00,0.000,4,0.209,0.051,3063,164,3830,0,0,0,0,0,0
$GC,559,-0.60,-185.1,141.0,-16.7,93,566,0.00,2.08,0.00,0.000,6,0.000,0.038,3054,1535,3830,0,0,0,0,0,0
$GC,887,-0.60,-185.1,197.8,-16.0,128,891,0.00,2.15,0.00,0.000,4,0.000,0.045,3044,2960,3832,0,0,0,0,0,0
$GC,928,-0.62,-185.1,204.0,-14.8,131,932,0.00,2.17,0.00,0.000,6,0.000,0.045,3044,1538,3832,0,0,0,0,0,0
$GC,1258,-0.62,-185.1,259.1,-16.4,162,1262,0.00,2.10,0.00,0.000,4,0.000,0.054,3044,162,3832,0,0,0,0,0,0
$GC,1300,-0.63,-185.1,265.7,-16.5,165,1304,0.00,2.05,0.00,0.000,6,0.000,0.040,3036,1538,3832,0,0,0,0,0,0
$GC,1626,-0.63,-185.1,324.3,-17.9,195,1630,0.00,2.15,0.00,0.000,4,0.000,0.047,3025,2961,3832,0,0,0,0,0,0
$GC,1666,-0.66,-185.1,330.6,-14.8,198,1671,0.05,2.17,0.00,0.000,6,0.201,0.047,3042,1535,3832,0,0,0,0,0,0
$GC,1991,-0.67,-185.1,379.3,-15.2,228,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1534,3831,0,0,0,0,0,0
$GC,2311,-0.69,-185.1,422.6,-13.5,258,2315,0.00,2.12,0.00,0.000,4,0.000,0.057,3043,167,3830,0,0,0,0,0,0
$GC,2343,-0.72,-185.1,427.1,-12.8,260,2353,0.00,2.08,0.00,0.000,6,0.000,0.042,3037,1520,3830,0,0,0,0,0,0
$GC,2670,-0.75,-185.1,468.7,-12.8,291,2675,0.08,2.22,0.00,0.000,4,0.125,0.049,2920,2967,3828,0,0,0,0,0,0
$GC,2722,-0.72,-185.1,478.3,-20.0,295,2727,0.32,2.20,0.00,0.000,6,0.119,0.048,3028,1529,3828,0,0,0,0,0,0
$STATE,2864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2864,begin apogee
$GC,2869,0.00,0.0,501.1,15.0,308,3016,0.60,0.00,141.70,0.887,4,0.095,0.000,3251,1720,3068,0,0,0,0,0,0
$STATE,3017,end apogee,CONTROL_FINISHED_OK
$STATE,3017,begin climb
$GC,3018,0.72,185.1,508.4,0.0,320,3176,0.62,2.35,145.00,0.868,4,0.032,0.054,3526,292,2312,0,0,0,0,0,0
$GC,3365,0.66,185.1,456.1,22.8,350,3370,0.22,2.12,0.00,0.000,6,0.149,0.033,3459,1706,2304,0,0,0,0,0,0
$GC,3691,0.63,185.5,401.0,15.1,380,3695,0.00,2.20,0.00,0.000,4,0.000,0.053,3469,285,2302,0,0,0,0,0,0
$GC,3888,0.62,193.2,371.4,14.7,397,3901,0.08,2.12,5.82,0.622,6,0.177,0.034,3449,1702,2280,0,0,0,0,0,0
$GC,4218,0.65,220.1,323.7,13.7,428,4246,0.00,2.15,23.17,0.762,4,0.000,0.043,3448,3105,2169,0,0,0,0,0,0
$GC,4337,0.66,235.8,306.1,14.3,438,4356,0.00,2.20,13.65,0.717,6,0.000,0.044,3457,1710,2106,0,0,0,0,0,0
$GC,4673,0.68,244.7,254.8,14.7,470,4687,0.00,2.28,7.85,0.633,4,0.000,0.053,3468,290,2069,0,0,0,0,0,0
$GC,4736,0.68,246.7,244.8,15.0,475,4743,0.00,2.17,0.00,0.000,6,0.000,0.034,3468,1713,2068,0,0,0,0,0,0
$GC,5062,0.71,277.5,198.8,13.5,506,5099,0.00,2.17,27.02,0.685,4,0.000,0.043,3468,3100,1934,0,0,0,0,0,0
$GC,5124,0.73,286.1,190.3,14.7,511,5136,0.00,2.15,8.10,0.590,6,0.000,0.044,3474,1712,1901,0,0,0,0,0,0
$GC,5457,0.73,286.1,135.5,15.6,550,5465,0.00,2.22,0.00,0.000,4,0.000,0.053,3483,298,1896,0,0,0,0,0,0
$GC,5534,0.79,321.6,125.1,13.2,563,5568,0.08,2.10,28.45,0.630,6,0.125,0.033,3570,1717,1757,0,0,0,0,0,0
$GC,5899,0.77,321.6,46.1,15.8,628,5908,0.22,0.00,0.00,0.000,6,0.135,0.000,3498,1717,1750,0,0,0,0,0,0
$GC,6242,0.94,418.9,13.3,9.8,689,6309,0.15,0.00,64.22,0.544,2,0.069,0.000,3613,1717,1408,0,0,0,0,0,0
$STATE,6310,end climb,SURFACE_DEPTH_REACHED
$STATE,6310,begin surface coast
$FINISH,0.8,1.021975
$STATE,6323,end surface coast,CONTROL_FINISHED_OK
$STATE,6324,begin surface
$SM_CCo,6400,0.00,0.000,0,0,1401,408.67
$SM_GC,1.73,8.65,0.00,0.00,0.021,0.000,0.000,103,1530,1401,-9.69,-0.51,408.67
$IRIDIUM_FIX,2420.48,12707.83,051010,151546
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,24.272
$10V_AH,10.4,16.961
$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,21.475,56.875,465.000,0.000,0.000,24.883,37.577,99.233,0.250,0.000,15.856,1698.038,2586.784,456.439,1817.058,106.864,0.000,1166.633,0.000,1643.895,0.000,0.539,0.000
$DEVICE_MAMPS,208.845,58.140,886.635,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.870,0.000,890.266,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43615,701
$CAP_FILE_SIZE,83523,0
$CFSIZE,260165632,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,149.5,1
$GPS,051010,191714,2428.550,12705.738,13,2.0,13,-3.7