version: 66.08
glider: 168
mission: 2
dive: 161
start: 10 3 110 20 2 16
data:
$ID,168
$MISSION,2
$DIVE,161
$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,-3370.8184
$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,38
$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
$GPS1,031010,195734,2429.066,12705.550,11,8.9,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.0
$GPS2,031010,200149,2429.004,12705.596,12,1.1,12,-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,337.0,2099,-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,15,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-83.65,0.000,2,0.000,0.000,104,1541,3155,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.5,-5.6,13,132,10.10,2.17,-10.82,0.000,4,0.188,0.054,3006,2965,3825,0,0,0,0,0,0
$GC,202,-0.68,-185.1,43.3,-29.7,29,209,0.10,2.20,0.00,0.000,6,0.155,0.045,3034,1548,3826,0,0,0,0,0,0
$GC,539,-0.64,-185.1,137.7,-25.8,90,547,0.00,2.15,0.00,0.000,4,0.000,0.051,3035,168,3829,0,0,0,0,0,0
$GC,602,-0.63,-185.1,152.7,-21.0,100,612,0.05,2.10,0.00,0.000,6,0.129,0.037,3047,1542,3829,0,0,0,0,0,0
$GC,928,-0.62,-185.1,217.9,-18.6,131,932,0.00,2.12,0.00,0.000,4,0.000,0.044,3037,2963,3831,0,0,0,0,0,0
$GC,967,-0.64,-185.1,224.9,-15.6,134,971,0.00,2.15,0.00,0.000,6,0.000,0.043,3037,1542,3831,0,0,0,0,0,0
$GC,1299,-0.64,-185.1,284.1,-18.3,165,1303,0.00,2.10,0.00,0.000,4,0.000,0.052,3037,167,3831,0,0,0,0,0,0
$GC,1330,-0.64,-185.1,290.5,-18.2,167,1338,0.03,2.10,0.00,0.000,6,0.170,0.039,3042,1542,3831,0,0,0,0,0,0
$GC,1656,-0.65,-185.1,345.0,-15.9,198,1660,0.00,2.15,0.00,0.000,4,0.000,0.045,3033,2962,3830,0,0,0,0,0,0
$GC,1704,-0.69,-185.1,351.9,-12.7,202,1713,0.00,2.17,0.00,0.000,6,0.000,0.044,3033,1550,3830,0,0,0,0,0,0
$GC,2032,-0.71,-185.1,399.1,-14.5,233,2036,0.00,2.15,0.00,0.000,4,0.000,0.046,3025,2959,3828,0,0,0,0,0,0
$GC,2063,-0.73,-185.1,403.6,-13.5,235,2067,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,1553,3829,0,0,0,0,0,0
$GC,2390,-0.74,-185.1,454.4,-16.1,265,2394,0.00,2.12,0.00,0.000,4,0.000,0.056,3024,162,3827,0,0,0,0,0,0
$GC,2455,-0.77,-185.1,464.9,-13.5,270,2464,0.00,2.12,0.00,0.000,6,0.000,0.041,3015,1552,3827,0,0,0,0,0,0
$STATE,2726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2731,0.00,0.0,500.9,12.9,296,2876,0.65,0.00,140.20,0.875,4,0.096,0.000,3255,1714,3068,0,0,0,0,0,0
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2879,0.72,185.1,504.6,0.0,308,3035,0.57,0.00,145.12,0.854,6,0.033,0.000,3520,1717,2311,0,0,0,0,0,0
$GC,3351,0.65,185.1,422.6,20.1,351,3355,0.20,2.22,0.00,0.000,4,0.163,0.050,3472,288,2303,0,0,0,0,0,0
$GC,3390,0.61,185.1,415.3,16.0,354,3395,0.10,2.12,0.00,0.000,6,0.150,0.032,3443,1710,2301,0,0,0,0,0,0
$GC,3723,0.64,217.5,372.4,13.4,385,3751,0.00,0.00,25.10,0.775,6,0.000,0.000,3443,1713,2180,0,0,0,0,0,0
$GC,4068,0.67,240.9,320.9,13.9,418,4094,0.08,2.20,19.00,0.740,4,0.121,0.041,3511,3109,2085,0,0,0,0,0,0
$GC,4175,0.64,240.9,300.8,20.5,427,4180,0.22,2.15,0.00,0.000,6,0.138,0.044,3452,1710,2082,0,0,0,0,0,0
$GC,4501,0.65,249.4,250.9,14.7,457,4514,0.00,2.28,7.38,0.613,4,0.000,0.054,3462,292,2051,0,0,0,0,0,0
$GC,4595,0.66,249.4,236.3,15.4,465,4599,0.00,2.12,0.00,0.000,6,0.000,0.032,3462,1709,2048,0,0,0,0,0,0
$GC,4921,0.68,262.0,185.1,14.5,495,4934,0.00,0.00,10.88,0.623,6,0.000,0.000,3462,1711,1999,0,0,0,0,0,0
$GC,5252,0.69,267.3,135.8,14.9,534,5266,0.00,2.28,5.25,0.492,4,0.000,0.054,3471,288,1977,0,0,0,0,0,0
$GC,5287,0.72,279.0,131.2,14.5,539,5303,0.00,2.10,11.02,0.586,6,0.000,0.032,3471,1702,1930,0,0,0,0,0,0
$GC,5640,0.89,393.1,92.1,8.9,601,5734,0.17,2.33,87.25,0.604,4,0.063,0.052,3606,293,1464,0,0,0,0,0,0
$GC,5752,0.83,393.1,67.0,26.4,618,5761,0.25,2.15,0.00,0.000,6,0.119,0.029,3520,1692,1461,0,0,0,0,0,0
$GC,6096,0.94,451.7,18.9,11.9,679,6151,0.10,2.28,43.42,0.536,4,0.093,0.052,3622,292,1224,0,0,0,0,0,0
$STATE,6174,end climb,SURFACE_DEPTH_REACHED
$STATE,6175,begin surface coast
$FINISH,0.6,1.021415
$STATE,6188,end surface coast,CONTROL_FINISHED_OK
$STATE,6189,begin surface
$SM_CCo,6206,81.82,0.470,1,0,621,600.00
$SM_GC,1.32,0.00,0.00,81.82,0.000,0.000,0.470,104,1548,621,-9.84,-0.06,600.00
$IRIDIUM_FIX,2420.48,12709.72,031010,181807
$TT8_MAMPS,0.026964
$HUMID,46.06
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.4,21.376
$10V_AH,10.5,15.103
$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,21.225,56.350,494.625,81.825,0.000,31.135,37.308,97.338,0.250,0.000,15.101,1641.576,2474.341,585.640,1752.139,107.568,0.000,1280.902,0.000,1581.819,0.000,0.540,0.000
$DEVICE_MAMPS,188.190,63.495,875.160,469.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.717,0.000,880.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43660,693
$CAP_FILE_SIZE,81589,0
$CFSIZE,260165632,245194752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.236,148.5,1
$GPS,031010,214756,2429.212,12705.627,11,1.3,11,-3.7