version: 66.08
glider: 168
mission: 2
dive: 196
start: 10 6 110 11 51 41
data:
$ID,168
$MISSION,2
$DIVE,196
$N_DIVES,210
$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,-3414.8376
$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,33
$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
$GPS1,061010,114706,2427.634,12706.641,13,0.9,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-79.8
$GPS2,061010,115113,2427.552,12706.696,13,0.9,13,-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,324.9,5359,-22.1,-15.152
$D_GRID,1000
$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,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,82,0.00,0.00,-65.10,0.000,2,0.000,0.000,104,1541,3260,0,0,0,0,0,0
$GC,84,-0.72,-185.1,3.7,-5.5,9,109,10.23,2.22,-8.95,0.000,4,0.193,0.054,3004,2958,3826,0,0,0,0,0,0
$GC,180,-0.67,-185.1,42.6,-30.0,25,189,0.08,2.20,0.00,0.000,6,0.128,0.044,3031,1551,3828,0,0,0,0,0,0
$GC,505,-0.63,-185.1,131.4,-23.5,86,513,0.08,2.17,0.00,0.000,4,0.214,0.052,3050,168,3829,0,0,0,0,0,0
$GC,527,-0.59,-185.1,136.8,-23.5,89,536,0.05,2.08,0.00,0.000,6,0.145,0.035,3060,1537,3830,0,0,0,0,0,0
$GC,858,-0.59,-185.1,195.7,-15.1,150,865,0.00,2.17,0.00,0.000,4,0.000,0.044,3051,2952,3831,0,0,0,0,0,0
$GC,879,-0.59,-185.1,198.6,-14.6,153,885,0.00,2.15,0.00,0.000,6,0.000,0.043,3050,1542,3832,0,0,0,0,0,0
$GC,1204,-0.59,-185.1,253.0,-15.2,214,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1542,3832,0,0,0,0,0,0
$GC,1536,-0.60,-185.1,305.8,-16.5,272,1540,0.00,2.10,0.00,0.000,4,0.000,0.052,3050,160,3831,0,0,0,0,0,0
$GC,1576,-0.61,-185.1,313.1,-18.2,275,1581,0.05,2.10,0.00,0.000,6,0.218,0.039,3058,1557,3832,0,0,0,0,0,0
$GC,1906,-0.63,-185.1,365.1,-15.3,306,1910,0.00,2.10,0.00,0.000,4,0.000,0.045,3049,2959,3831,0,0,0,0,0,0
$GC,1956,-0.69,-185.1,372.1,-13.1,310,1961,0.08,2.15,0.00,0.000,6,0.116,0.044,2961,1553,3830,0,0,0,0,0,0
$GC,2281,-0.65,-185.1,446.9,-22.0,340,2286,0.25,2.12,0.00,0.000,4,0.133,0.054,3049,170,3829,0,0,0,0,0,0
$GC,2312,-0.66,-185.1,453.0,-16.4,342,2321,0.00,2.12,0.00,0.000,6,0.000,0.041,3041,1556,3829,0,0,0,0,0,0
$GC,2640,-0.69,-185.1,488.5,-10.7,373,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1559,3828,0,0,0,0,0,0
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2749,0.00,0.0,500.2,11.0,383,2895,0.57,0.00,141.12,0.877,4,0.093,0.000,3256,1720,3068,0,0,0,0,0,0
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2897,0.72,185.1,506.1,0.0,395,3052,0.60,2.33,144.57,0.865,4,0.035,0.053,3512,292,2312,0,0,0,0,0,0
$GC,3079,0.66,185.1,493.0,19.6,410,3088,0.15,2.17,0.00,0.000,6,0.132,0.032,3462,1690,2308,0,0,0,0,0,0
$GC,3406,0.63,185.1,439.0,16.3,441,3410,0.00,2.15,0.00,0.000,4,0.000,0.041,3462,3104,2303,0,0,0,0,0,0
$GC,3435,0.61,185.1,434.2,16.2,443,3440,0.10,2.17,0.00,0.000,6,0.176,0.043,3445,1697,2302,0,0,0,0,0,0
$GC,3762,0.63,212.7,386.8,13.6,473,3791,0.00,0.00,21.73,0.782,6,0.000,0.000,3446,1696,2199,0,0,0,0,0,0
$GC,4109,0.66,251.4,340.0,13.0,506,4146,0.08,2.20,31.62,0.771,4,0.121,0.041,3511,3111,2042,0,0,0,0,0,0
$GC,4159,0.62,251.4,331.8,17.2,510,4164,0.25,2.22,0.00,0.000,6,0.139,0.041,3445,1689,2041,0,0,0,0,0,0
$GC,4484,0.62,251.4,282.7,15.6,550,4492,0.00,2.20,0.00,0.000,4,0.000,0.054,3456,296,2035,0,0,0,0,0,0
$GC,4537,0.63,251.4,274.5,15.2,559,4545,0.00,2.08,0.00,0.000,6,0.000,0.032,3455,1696,2033,0,0,0,0,0,0
$GC,4866,0.65,273.5,223.5,13.9,620,4887,0.00,2.20,17.15,0.676,4,0.000,0.041,3455,3101,1953,0,0,0,0,0,0
$GC,4922,0.67,274.6,215.2,15.1,629,4929,0.00,2.17,0.00,0.000,6,0.000,0.043,3464,1697,1951,0,0,0,0,0,0
$GC,5251,0.71,307.0,166.3,13.4,690,5286,0.00,2.20,27.42,0.653,4,0.000,0.051,3474,292,1815,0,0,0,0,0,0
$GC,5359,0.77,340.3,151.4,13.3,708,5396,0.05,2.12,26.83,0.637,6,0.057,0.032,3572,1687,1680,0,0,0,0,0,0
$GC,5715,0.74,340.3,67.3,18.6,773,5724,0.25,2.17,0.00,0.000,4,0.136,0.038,3486,3094,1674,0,0,0,0,0,0
$GC,5786,0.90,417.9,57.9,10.9,785,5853,0.12,2.20,59.15,0.583,6,0.035,0.045,3580,1693,1362,0,0,0,0,0,0
$STATE,6079,end climb,SURFACE_DEPTH_REACHED
$STATE,6079,begin surface coast
$FINISH,0.6,1.018601
$STATE,6094,end surface coast,CONTROL_FINISHED_OK
$STATE,6094,begin surface
$SM_CCo,6170,0.00,0.000,0,0,1352,420.93
$SM_GC,1.50,8.32,0.00,0.00,0.015,0.000,0.000,103,1532,1352,-9.69,-0.45,420.93
$IRIDIUM_FIX,2420.48,12733.39,061010,101017
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.4,25.432
$10V_AH,10.4,17.755
$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,21.300,56.750,469.600,0.000,0.000,31.466,15.684,103.726,0.250,0.000,15.861,1992.696,1700.451,465.306,2145.291,123.231,0.000,1244.910,0.000,1995.491,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,65.790,876.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.696,0.000,1353.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50266,839
$CAP_FILE_SIZE,87523,0
$CFSIZE,260165632,243580928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.359,148.1,1
$GPS,061010,133534,2427.314,12706.778,9,2.5,28,-3.7