version: 66.08
glider: 168
mission: 2
dive: 164
start: 10 4 110 1 28 22
data:
$ID,168
$MISSION,2
$DIVE,164
$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,-3374.5862
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,041010,012320,2429.080,12705.586,10,1.7,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.5
$GPS2,041010,012755,2429.020,12705.623,13,1.7,30,-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,329.5,2097,-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,-185.1,0.0,0.0,0,103,0.00,0.00,-86.43,0.000,2,0.000,0.000,104,1532,3257,0,0,0,0,0,0
$GC,105,-0.72,-185.1,3.9,-7.0,13,134,10.07,2.20,-8.90,0.000,4,0.188,0.054,3008,2946,3825,0,0,0,0,0,0
$GC,208,-0.69,-185.1,43.2,-26.2,30,216,0.05,2.17,0.00,0.000,6,0.125,0.047,3028,1566,3827,0,0,0,0,0,0
$GC,549,-0.65,-185.1,138.7,-26.6,91,556,0.08,2.15,0.00,0.000,4,0.206,0.051,3048,164,3830,0,0,0,0,0,0
$GC,611,-0.65,-185.1,154.3,-21.4,100,621,0.00,2.10,0.00,0.000,6,0.000,0.037,3038,1538,3830,0,0,0,0,0,0
$GC,938,-0.63,-185.1,224.2,-21.2,131,942,0.00,2.10,0.00,0.000,4,0.000,0.050,3038,158,3831,0,0,0,0,0,0
$GC,959,-0.61,-185.1,229.3,-21.3,132,969,0.08,2.10,0.00,0.000,6,0.127,0.038,3058,1541,3831,0,0,0,0,0,0
$GC,1287,-0.62,-185.1,280.7,-15.2,163,1291,0.00,2.12,0.00,0.000,4,0.000,0.046,3049,2958,3831,0,0,0,0,0,0
$GC,1339,-0.67,-185.1,287.5,-10.7,167,1343,0.00,2.15,0.00,0.000,6,0.000,0.046,3049,1547,3831,0,0,0,0,0,0
$GC,1670,-0.68,-185.1,338.0,-14.6,198,1674,0.00,2.12,0.00,0.000,4,0.000,0.054,3049,165,3830,0,0,0,0,0,0
$GC,1734,-0.71,-185.1,347.4,-14.2,203,1738,0.00,2.08,0.00,0.000,6,0.000,0.041,3039,1542,3829,0,0,0,0,0,0
$GC,2062,-0.73,-185.1,398.0,-15.8,233,2067,0.08,2.15,0.00,0.000,4,0.124,0.047,2922,2960,3827,0,0,0,0,0,0
$GC,2190,-0.70,-185.1,426.0,-21.8,244,2195,0.32,2.17,0.00,0.000,6,0.119,0.048,3029,1548,3828,0,0,0,0,0,0
$GC,2515,-0.72,-185.1,474.8,-13.1,274,2519,0.00,2.15,0.00,0.000,4,0.000,0.057,3030,160,3827,0,0,0,0,0,0
$GC,2566,-0.75,-185.1,481.4,-13.0,278,2569,0.00,2.10,0.00,0.000,6,0.000,0.041,3021,1547,3826,0,0,0,0,0,0
$STATE,2709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2709,begin apogee
$GC,2714,0.00,0.0,500.1,12.8,291,2861,0.62,0.00,140.60,0.872,4,0.095,0.000,3254,1711,3068,0,0,0,0,0,0
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin climb
$GC,2864,0.72,185.1,504.9,0.0,303,3018,0.60,2.22,145.55,0.858,4,0.030,0.047,3534,3101,2312,0,0,0,0,0,0
$GC,3231,0.65,185.1,443.6,22.1,335,3236,0.28,2.17,0.00,0.000,6,0.151,0.042,3462,1691,2305,0,0,0,0,0,0
$GC,3559,0.64,196.6,393.6,14.5,365,3571,0.00,0.00,8.48,0.691,6,0.000,0.000,3462,1690,2266,0,0,0,0,0,0
$GC,3889,0.62,196.6,340.1,17.1,396,3893,0.00,2.15,0.00,0.000,4,0.000,0.040,3462,3112,2262,0,0,0,0,0,0
$GC,3933,0.61,196.6,332.3,17.2,400,3938,0.10,2.15,0.00,0.000,6,0.174,0.044,3442,1702,2262,0,0,0,0,0,0
$GC,4258,0.64,224.0,285.2,13.6,430,4285,0.00,2.20,22.33,0.728,4,0.000,0.054,3453,294,2154,0,0,0,0,0,0
$GC,4331,0.64,226.2,274.6,15.0,436,4335,0.00,2.12,0.00,0.000,6,0.000,0.032,3453,1704,2150,0,0,0,0,0,0
$GC,4656,0.72,289.5,230.1,11.7,466,4716,0.10,2.17,51.60,0.702,4,0.098,0.037,3542,3112,1885,0,0,0,0,0,0
$GC,4776,0.69,289.5,206.2,19.9,476,4787,0.22,2.22,0.00,0.000,6,0.121,0.043,3474,1712,1882,0,0,0,0,0,0
$GC,5103,0.69,289.5,156.7,15.3,507,5107,0.00,2.22,0.00,0.000,4,0.000,0.054,3485,286,1879,0,0,0,0,0,0
$GC,5186,0.71,289.5,142.8,15.5,518,5194,0.00,2.15,0.00,0.000,6,0.000,0.031,3485,1707,1876,0,0,0,0,0,0
$GC,5527,0.81,358.8,91.4,11.3,579,5587,0.10,2.25,52.38,0.598,4,0.095,0.050,3586,290,1603,0,0,0,0,0,0
$GC,5643,0.77,358.8,67.3,22.5,598,5652,0.25,2.15,0.00,0.000,6,0.110,0.030,3498,1702,1598,0,0,0,0,0,0
$GC,5989,0.97,476.1,26.0,8.7,659,6085,0.17,2.17,86.47,0.542,4,0.060,0.035,3625,3106,1125,0,0,0,0,0,0
$STATE,6101,end climb,SURFACE_DEPTH_REACHED
$STATE,6102,begin surface coast
$FINISH,0.5,1.021853
$STATE,6113,end surface coast,CONTROL_FINISHED_OK
$STATE,6114,begin surface
$SM_CCo,6132,70.03,0.467,1,0,621,600.00
$SM_GC,1.30,0.00,0.00,70.03,0.000,0.000,0.467,104,1542,621,-9.84,-0.28,600.00
$IRIDIUM_FIX,2422.84,12704.51,031010,232349
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.4,21.733
$10V_AH,10.5,15.327
$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,21.750,60.950,507.400,70.025,0.000,30.259,38.093,96.943,0.500,0.000,34.285,1622.838,2396.163,581.645,1790.317,105.439,0.000,1295.030,0.000,1597.561,0.000,0.542,0.000
$DEVICE_MAMPS,205.785,62.730,872.100,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.802,0.000,859.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43518,678
$CAP_FILE_SIZE,82921,0
$CFSIZE,260165632,245055488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.217,136.5,1
$GPS,041010,031306,2429.204,12705.567,35,1.0,41,-3.7