version: 66.08
glider: 168
mission: 2
dive: 160
start: 10 3 110 18 11 52
data:
$ID,168
$MISSION,2
$DIVE,160
$N_DIVES,170
$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,-3369.5615
$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,43
$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
$GPS1,031010,180650,2429.016,12705.549,12,1.6,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.5
$GPS2,031010,181125,2428.947,12705.604,13,1.5,30,-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,340.0,2199,-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,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.68,0.000,2,0.000,0.000,104,1537,3161,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.6,-6.5,13,132,10.10,2.15,-10.68,0.000,4,0.189,0.052,3005,2955,3825,0,0,0,0,0,0
$GC,245,-0.69,-185.1,53.8,-26.1,37,252,0.10,2.17,0.00,0.000,6,0.153,0.045,3034,1549,3827,0,0,0,0,0,0
$GC,582,-0.66,-185.1,147.0,-25.7,98,591,0.00,2.15,0.00,0.000,4,0.000,0.050,3034,163,3830,0,0,0,0,0,0
$GC,634,-0.63,-185.1,159.4,-21.7,103,642,0.05,2.10,0.00,0.000,6,0.133,0.037,3047,1546,3830,0,0,0,0,0,0
$GC,959,-0.63,-185.1,227.0,-19.3,134,963,0.00,2.12,0.00,0.000,4,0.000,0.045,3037,2960,3831,0,0,0,0,0,0
$GC,1002,-0.66,-185.1,234.1,-14.1,137,1010,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,1555,3831,0,0,0,0,0,0
$GC,1327,-0.66,-185.1,289.8,-17.0,168,1331,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,161,3831,0,0,0,0,0,0
$GC,1417,-0.68,-185.1,304.8,-15.9,176,1420,0.00,2.05,0.00,0.000,6,0.000,0.040,3028,1541,3831,0,0,0,0,0,0
$GC,1741,-0.68,-185.1,363.0,-19.4,206,1745,0.00,2.12,0.00,0.000,4,0.000,0.045,3018,2960,3830,0,0,0,0,0,0
$GC,1791,-0.71,-185.1,371.2,-14.4,210,1795,0.00,2.17,0.00,0.000,6,0.000,0.044,3018,1537,3830,0,0,0,0,0,0
$GC,2116,-0.71,-185.1,426.4,-16.5,240,2120,0.00,2.12,0.00,0.000,4,0.000,0.056,3019,162,3828,0,0,0,0,0,0
$GC,2158,-0.71,-185.1,433.9,-16.9,243,2167,0.03,2.10,0.00,0.000,6,0.164,0.041,3022,1532,3828,0,0,0,0,0,0
$GC,2485,-0.72,-185.1,478.5,-12.6,274,2489,0.00,2.17,0.00,0.000,4,0.000,0.049,3012,2967,3826,0,0,0,0,0,0
$GC,2557,-0.76,-185.1,486.5,-9.8,280,2561,0.00,2.20,0.00,0.000,6,0.000,0.046,3012,1531,3826,0,0,0,0,0,0
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2680,0.00,0.0,501.0,13.2,291,2827,0.65,0.00,140.90,0.876,4,0.094,0.000,3253,1720,3068,0,0,0,0,0,0
$STATE,2827,end apogee,CONTROL_FINISHED_OK
$STATE,2828,begin climb
$GC,2829,0.72,185.1,506.3,0.0,303,2984,0.62,2.22,145.73,0.857,4,0.032,0.046,3534,3105,2312,0,0,0,0,0,0
$GC,3234,0.65,185.1,442.3,20.5,338,3243,0.25,2.20,0.00,0.000,6,0.136,0.042,3462,1702,2303,0,0,0,0,0,0
$GC,3562,0.62,185.1,391.0,16.1,369,3566,0.00,2.12,0.00,0.000,4,0.000,0.040,3461,3107,2299,0,0,0,0,0,0
$GC,3704,0.60,185.1,365.3,18.9,381,3709,0.10,2.15,0.00,0.000,6,0.178,0.044,3444,1705,2299,0,0,0,0,0,0
$GC,4035,0.61,199.9,314.6,14.3,412,4050,0.00,2.20,10.15,0.685,4,0.000,0.041,3444,3111,2252,0,0,0,0,0,0
$GC,4107,0.61,206.3,304.0,14.8,418,4120,0.00,2.12,6.82,0.620,6,0.000,0.044,3454,1715,2226,0,0,0,0,0,0
$GC,4439,0.66,248.7,258.9,12.8,449,4478,0.00,2.25,34.20,0.720,4,0.000,0.052,3465,286,2053,0,0,0,0,0,0
$GC,4523,0.67,261.4,246.8,14.5,456,4541,0.00,2.17,10.80,0.646,6,0.000,0.032,3465,1720,2001,0,0,0,0,0,0
$GC,4866,0.67,261.4,191.2,15.5,488,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1721,1995,0,0,0,0,0,0
$GC,5187,0.67,261.4,141.1,15.3,522,5195,0.00,2.10,0.00,0.000,4,0.000,0.041,3465,3098,1993,0,0,0,0,0,0
$GC,5213,0.69,261.7,137.4,15.1,526,5222,0.00,2.15,0.00,0.000,6,0.000,0.044,3472,1716,1993,0,0,0,0,0,0
$GC,5556,0.81,344.5,93.2,10.6,587,5630,0.12,2.30,63.60,0.607,4,0.082,0.052,3586,292,1661,0,0,0,0,0,0
$GC,5671,0.78,344.5,71.7,21.0,605,5679,0.28,2.15,0.00,0.000,6,0.113,0.031,3493,1710,1657,0,0,0,0,0,0
$GC,6011,0.97,458.1,35.2,8.9,666,6105,0.20,2.33,83.82,0.550,4,0.057,0.053,3642,293,1198,0,0,0,0,0,0
$GC,6129,0.93,458.1,9.3,25.9,684,6138,0.28,2.17,0.00,0.000,6,0.121,0.030,3548,1707,1195,0,0,0,0,0,0
$STATE,6162,end climb,SURFACE_DEPTH_REACHED
$STATE,6163,begin surface coast
$FINISH,0.6,1.008064
$STATE,6175,end surface coast,CONTROL_FINISHED_OK
$STATE,6175,begin surface
$SM_CCo,6191,78.93,0.464,1,0,621,600.00
$SM_GC,1.42,0.00,0.00,78.93,0.000,0.000,0.464,103,1540,621,-9.84,-0.28,600.00
$IRIDIUM_FIX,2420.48,12706.40,031010,161603
$TT8_MAMPS,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,21.251
$10V_AH,10.5,15.027
$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,21.225,61.125,496.025,78.925,0.000,31.076,37.586,97.137,0.250,0.000,33.460,1649.818,2398.944,586.307,1825.166,104.630,0.000,1311.968,0.000,1631.223,0.000,0.540,0.000
$DEVICE_MAMPS,188.955,61.200,875.925,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.047,0.000,877.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43592,691
$CAP_FILE_SIZE,83597,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.220,154.2,1
$GPS,031010,195734,2429.066,12705.550,11,8.9,30,-3.7