version: 66.08
glider: 168
mission: 2
dive: 134
start: 10 1 110 19 32 33
data:
$ID,168
$MISSION,2
$DIVE,134
$N_DIVES,150
$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,-3336.9441
$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,39
$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
$GPS1,011010,192732,2429.597,12704.769,8,2.0,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.4
$GPS2,011010,193206,2429.581,12704.777,15,1.4,31,-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,4.6,863,-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,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,102,0.00,0.00,-84.62,0.000,2,0.000,0.000,104,1536,3190,0,0,0,0,0,0
$GC,104,-0.72,-185.1,3.6,-5.4,13,133,10.18,2.15,-10.10,0.000,4,0.192,0.050,3007,2959,3826,0,0,0,0,0,0
$GC,238,-0.67,-185.1,56.1,-31.5,36,247,0.08,2.20,0.00,0.000,6,0.116,0.049,3035,1561,3828,0,0,0,0,0,0
$GC,580,-0.63,-185.1,145.8,-24.6,97,587,0.00,2.15,0.00,0.000,4,0.000,0.053,3036,162,3829,0,0,0,0,0,0
$GC,673,-0.60,-185.1,167.2,-21.8,107,677,0.10,2.05,0.00,0.000,6,0.164,0.039,3056,1537,3829,0,0,0,0,0,0
$GC,999,-0.60,-185.1,226.8,-17.5,137,1003,0.00,2.10,0.00,0.000,4,0.000,0.052,3057,158,3830,0,0,0,0,0,0
$GC,1037,-0.60,-185.1,234.2,-18.1,140,1041,0.00,2.05,0.00,0.000,6,0.000,0.038,3048,1537,3830,0,0,0,0,0,0
$GC,1361,-0.60,-185.1,290.7,-16.5,170,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1540,3830,0,0,0,0,0,0
$GC,1681,-0.62,-185.1,341.3,-16.1,200,1685,0.00,2.15,0.00,0.000,4,0.000,0.047,3038,2958,3830,0,0,0,0,0,0
$GC,1722,-0.66,-185.1,347.1,-13.7,203,1726,0.00,2.20,0.00,0.000,6,0.000,0.047,3038,1520,3829,0,0,0,0,0,0
$GC,2053,-0.67,-185.1,397.7,-15.9,234,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1519,3828,0,0,0,0,0,0
$GC,2372,-0.69,-185.1,444.2,-13.1,264,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1519,3827,0,0,0,0,0,0
$GC,2691,-0.72,-185.1,483.6,-11.4,294,2695,0.00,2.20,0.00,0.000,4,0.000,0.050,3031,2954,3825,0,0,0,0,0,0
$GC,2732,-0.77,-185.1,487.9,-9.9,297,2737,0.10,2.20,0.00,0.000,6,0.093,0.048,2942,1523,3824,0,0,0,0,0,0
$STATE,2806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2806,begin apogee
$GC,2810,0.00,0.0,501.4,20.5,304,2956,0.90,0.00,140.40,0.864,4,0.112,0.000,3248,1715,3067,0,0,0,0,0,0
$STATE,2957,end apogee,CONTROL_FINISHED_OK
$STATE,2957,begin climb
$GC,2959,0.72,185.1,506.6,0.0,316,3113,0.60,2.25,145.73,0.855,4,0.023,0.047,3535,3095,2312,0,0,0,0,0,0
$GC,3291,0.65,185.1,452.7,22.5,345,3299,0.30,2.20,0.00,0.000,6,0.154,0.044,3456,1690,2306,0,0,0,0,0,0
$GC,3616,0.63,190.3,401.8,14.9,376,3620,0.00,2.12,0.00,0.000,4,0.000,0.039,3456,3105,2300,0,0,0,0,0,0
$GC,3658,0.62,190.3,394.7,16.4,379,3666,0.05,2.17,0.00,0.000,6,0.153,0.044,3447,1713,2300,0,0,0,0,0,0
$GC,3984,0.61,196.8,347.6,14.8,410,3996,0.00,0.00,8.25,0.668,6,0.000,0.000,3447,1713,2264,0,0,0,0,0,0
$GC,4315,0.65,232.5,302.3,13.2,441,4350,0.00,2.20,29.05,0.738,4,0.000,0.041,3446,3104,2119,0,0,0,0,0,0
$GC,4386,0.69,259.0,292.8,13.7,447,4415,0.08,2.15,22.30,0.714,6,0.119,0.044,3531,1710,2012,0,0,0,0,0,0
$GC,4740,0.65,259.0,216.7,21.5,480,4742,0.25,0.00,0.00,0.000,6,0.145,0.000,3453,1710,2002,0,0,0,0,0,0
$GC,5059,0.66,259.0,168.0,15.2,510,5063,0.00,2.20,0.00,0.000,4,0.000,0.055,3464,293,2000,0,0,0,0,0,0
$GC,5094,0.68,260.3,163.0,15.1,513,5098,0.00,2.10,0.00,0.000,6,0.000,0.033,3464,1714,1998,0,0,0,0,0,0
$GC,5428,0.73,291.6,114.6,13.4,565,5456,0.08,0.00,24.90,0.602,6,0.120,0.000,3545,1717,1879,0,0,0,0,0,0
$GC,5791,0.78,339.7,52.4,12.5,629,5838,0.15,2.30,37.10,0.562,4,0.141,0.054,3506,290,1682,0,0,0,0,0,0
$GC,5880,0.98,466.6,44.0,8.2,643,5988,0.17,2.12,95.18,0.557,6,0.060,0.031,3621,1717,1163,0,0,0,0,0,0
$STATE,6070,end climb,SURFACE_DEPTH_REACHED
$STATE,6070,begin surface coast
$FINISH,0.5,0.999740
$STATE,6082,end surface coast,CONTROL_FINISHED_OK
$STATE,6082,begin surface
$SM_CCo,6098,75.15,0.466,1,0,621,600.00
$SM_GC,1.32,0.00,0.00,75.15,0.000,0.000,0.466,104,1540,621,-9.84,-0.28,600.00
$IRIDIUM_FIX,2418.11,12703.08,011010,171713
$TT8_MAMPS,0.026964
$HUMID,47.36
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.5,18.113
$10V_AH,10.5,13.105
$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,21.700,43.800,502.900,75.150,0.000,28.521,40.700,97.625,0.250,0.000,34.418,1593.562,2472.480,561.523,1746.814,92.551,0.000,1242.835,0.000,1550.657,0.000,0.539,0.000
$DEVICE_MAMPS,192.015,59.670,864.450,465.885,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.648,0.000,857.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43542,676
$CAP_FILE_SIZE,78105,0
$CFSIZE,260165632,246411264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.215,164.1,1
$GPS,011010,211619,2429.886,12705.028,7,1.4,12,-3.7