version: 66.08
glider: 168
mission: 2
dive: 148
start: 10 2 110 20 43 29
data:
$ID,168
$MISSION,2
$DIVE,148
$N_DIVES,160
$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,-3354.5085
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,021010,203850,2429.479,12705.109,9,1.3,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.9
$GPS2,021010,204302,2429.427,12705.136,10,1.4,10,-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,347.9,1085,-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,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.07,0.000,2,0.000,0.000,104,1542,3129,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.4,-5.3,13,131,10.10,2.22,-11.43,0.000,4,0.189,0.055,3008,2955,3827,0,0,0,0,0,0
$GC,223,-0.69,-185.1,50.5,-27.1,33,230,0.10,2.15,0.00,0.000,6,0.148,0.047,3036,1558,3829,0,0,0,0,0,0
$GC,560,-0.65,-185.1,140.5,-23.6,94,568,0.00,2.17,0.00,0.000,4,0.000,0.051,3037,162,3831,0,0,0,0,0,0
$GC,612,-0.62,-185.1,153.0,-21.3,102,621,0.05,2.10,0.00,0.000,6,0.132,0.037,3049,1538,3831,0,0,0,0,0,0
$GC,941,-0.61,-185.1,212.3,-17.6,133,945,0.00,2.12,0.00,0.000,4,0.000,0.050,3049,155,3832,0,0,0,0,0,0
$GC,970,-0.61,-185.1,217.6,-16.9,135,974,0.00,2.05,0.00,0.000,6,0.000,0.038,3041,1535,3832,0,0,0,0,0,0
$GC,1296,-0.61,-185.1,275.3,-18.7,165,1300,0.00,2.15,0.00,0.000,4,0.000,0.047,3030,2963,3832,0,0,0,0,0,0
$GC,1336,-0.64,-185.1,282.1,-15.3,168,1341,0.08,2.17,0.00,0.000,6,0.155,0.044,3057,1528,3832,0,0,0,0,0,0
$GC,1661,-0.66,-185.1,333.3,-15.5,198,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1528,3832,0,0,0,0,0,0
$GC,1980,-0.69,-185.1,379.7,-13.9,228,1985,0.10,2.20,0.00,0.000,4,0.094,0.047,2944,2963,3830,0,0,0,0,0,0
$GC,2008,-0.69,-185.1,384.6,-17.5,230,2013,0.28,2.17,0.00,0.000,6,0.118,0.046,3035,1529,3830,0,0,0,0,0,0
$GC,2333,-0.71,-185.1,433.0,-14.4,260,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1529,3829,0,0,0,0,0,0
$GC,2653,-0.73,-185.1,477.3,-13.0,290,2657,0.08,2.20,0.00,0.000,4,0.125,0.048,2933,2962,3826,0,0,0,0,0,0
$GC,2672,-0.73,-185.1,480.8,-15.2,291,2681,0.22,2.20,0.00,0.000,6,0.106,0.047,3014,1549,3826,0,0,0,0,0,0
$STATE,2805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2805,begin apogee
$GC,2810,0.00,0.0,501.1,14.6,304,2957,0.65,0.00,140.93,0.873,4,0.094,0.000,3256,1711,3067,0,0,0,0,0,0
$STATE,2958,end apogee,CONTROL_FINISHED_OK
$STATE,2958,begin climb
$GC,2959,0.72,185.1,507.6,0.0,316,3114,0.57,2.25,145.90,0.858,4,0.024,0.047,3529,3089,2312,0,0,0,0,0,0
$GC,3343,0.65,185.1,447.0,21.3,350,3353,0.22,2.20,0.00,0.000,6,0.136,0.042,3465,1694,2305,0,0,0,0,0,0
$GC,3670,0.62,185.1,391.5,17.4,381,3674,0.00,2.15,0.00,0.000,4,0.000,0.040,3465,3109,2300,0,0,0,0,0,0
$GC,3702,0.60,185.1,385.2,17.5,383,3710,0.08,2.17,0.00,0.000,6,0.145,0.043,3447,1713,2300,0,0,0,0,0,0
$GC,4029,0.62,211.1,336.3,13.7,414,4053,0.00,2.20,19.30,0.744,4,0.000,0.041,3447,3107,2207,0,0,0,0,0,0
$GC,4143,0.64,229.3,319.6,14.2,424,4168,0.00,2.15,15.70,0.721,6,0.000,0.044,3456,1714,2133,0,0,0,0,0,0
$GC,4485,0.65,239.9,270.1,14.6,456,4497,0.00,0.00,9.40,0.652,6,0.000,0.000,3456,1714,2089,0,0,0,0,0,0
$GC,4814,0.65,239.9,217.5,16.1,487,4818,0.00,2.20,0.00,0.000,4,0.000,0.054,3467,287,2084,0,0,0,0,0,0
$GC,4844,0.65,239.9,212.6,16.5,489,4848,0.00,2.10,0.00,0.000,6,0.000,0.033,3467,1708,2083,0,0,0,0,0,0
$GC,5171,0.70,281.8,164.5,12.9,519,5210,0.00,2.28,32.92,0.654,4,0.000,0.054,3475,298,1918,0,0,0,0,0,0
$GC,5228,0.71,286.8,156.1,14.9,524,5242,0.00,2.12,5.43,0.493,6,0.000,0.032,3475,1704,1896,0,0,0,0,0,0
$GC,5563,0.79,337.7,108.3,12.4,582,5611,0.10,2.25,39.90,0.614,4,0.099,0.050,3575,289,1690,0,0,0,0,0,0
$GC,5677,0.75,337.7,84.9,22.3,601,5686,0.25,2.12,0.00,0.000,6,0.117,0.031,3491,1694,1685,0,0,0,0,0,0
$GC,6005,0.94,448.6,46.0,9.1,662,6094,0.17,2.20,82.82,0.562,4,0.063,0.038,3612,3108,1237,0,0,0,0,0,0
$GC,6118,0.92,448.6,23.4,21.7,679,6125,0.25,2.22,0.00,0.000,6,0.131,0.044,3542,1690,1235,0,0,0,0,0,0
$STATE,6242,end climb,SURFACE_DEPTH_REACHED
$STATE,6242,begin surface coast
$FINISH,0.6,1.008162
$STATE,6260,end surface coast,CONTROL_FINISHED_OK
$STATE,6260,begin surface
$SM_CCo,6276,83.43,0.467,1,0,621,600.00
$SM_GC,1.37,0.00,0.00,83.43,0.000,0.000,0.467,103,1532,621,-9.84,-0.54,600.00
$IRIDIUM_FIX,2420.48,12706.40,021010,181833
$TT8_MAMPS,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,19.795
$10V_AH,10.4,14.142
$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,21.650,57.000,492.300,83.425,0.000,25.255,38.724,98.180,0.250,0.000,13.441,1682.393,2467.527,580.477,1798.629,101.806,0.000,1293.358,0.000,1625.990,0.000,0.540,0.000
$DEVICE_MAMPS,188.955,65.790,872.865,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.394,0.000,895.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43612,705
$CAP_FILE_SIZE,83809,0
$CFSIZE,260165632,245776384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.221,161.5,1
$GPS,021010,223037,2429.685,12705.054,28,1.1,28,-3.7