version: 66.08
glider: 168
mission: 2
dive: 171
start: 10 4 110 14 17 16
data:
$ID,168
$MISSION,2
$DIVE,171
$N_DIVES,180
$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,-3383.3647
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,041010,141239,2428.641,12704.783,11,3.1,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.5
$GPS2,041010,141650,2428.581,12704.771,14,1.8,14,-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,1.8,2656,-22.1,-15.152
$D_GRID,4118
$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,-185.1,0.0,0.0,0,97,0.00,0.00,-79.85,0.000,2,0.000,0.000,105,1539,3015,0,0,0,0,0,0
$GC,99,-0.72,-185.1,3.1,-4.6,12,135,10.18,2.22,-14.15,0.000,4,0.192,0.058,3010,2950,3827,0,0,0,0,0,0
$GC,213,-0.69,-185.1,42.4,-27.8,31,221,0.08,2.17,0.00,0.000,6,0.164,0.048,3031,1560,3828,0,0,0,0,0,0
$GC,544,-0.65,-185.1,138.3,-27.1,92,552,0.00,2.17,0.00,0.000,4,0.000,0.053,3031,167,3830,0,0,0,0,0,0
$GC,605,-0.64,-185.1,152.7,-20.2,102,614,0.05,2.10,0.00,0.000,6,0.136,0.039,3043,1537,3830,0,0,0,0,0,0
$GC,933,-0.63,-185.1,216.1,-18.9,133,937,0.00,2.17,0.00,0.000,4,0.000,0.045,3034,2965,3831,0,0,0,0,0,0
$GC,954,-0.63,-185.1,220.7,-18.1,134,964,0.03,2.20,0.00,0.000,6,0.148,0.045,3049,1547,3831,0,0,0,0,0,0
$GC,1281,-0.63,-185.1,272.0,-15.5,165,1285,0.00,2.10,0.00,0.000,4,0.000,0.054,3049,164,3831,0,0,0,0,0,0
$GC,1365,-0.66,-185.1,284.5,-12.2,172,1369,0.00,2.08,0.00,0.000,6,0.000,0.041,3041,1553,3830,0,0,0,0,0,0
$GC,1690,-0.66,-185.1,331.6,-16.0,202,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1555,3830,0,0,0,0,0,0
$GC,2010,-0.68,-185.1,379.1,-13.8,232,2014,0.00,2.12,0.00,0.000,4,0.000,0.053,3040,161,3829,0,0,0,0,0,0
$GC,2039,-0.70,-185.1,383.4,-14.6,234,2043,0.00,2.05,0.00,0.000,6,0.000,0.040,3032,1537,3829,0,0,0,0,0,0
$GC,2365,-0.72,-185.1,428.2,-13.2,264,2369,0.00,2.15,0.00,0.000,4,0.000,0.049,3021,2959,3827,0,0,0,0,0,0
$GC,2450,-0.77,-185.1,438.4,-11.0,271,2454,0.08,2.15,0.00,0.000,6,0.118,0.045,2930,1539,3827,0,0,0,0,0,0
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2724,0.00,0.0,501.5,24.2,296,2871,0.93,0.00,140.95,0.877,4,0.114,0.000,3252,1714,3068,0,0,0,0,0,0
$STATE,2872,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2873,0.72,185.1,508.1,0.0,308,3029,0.62,2.25,145.75,0.864,4,0.035,0.047,3526,3104,2312,0,0,0,0,0,0
$GC,3067,0.65,185.1,487.5,22.6,324,3076,0.25,2.25,0.00,0.000,6,0.145,0.042,3458,1702,2308,0,0,0,0,0,0
$GC,3395,0.62,185.1,433.1,15.9,355,3399,0.00,2.12,0.00,0.000,4,0.000,0.041,3458,3109,2302,0,0,0,0,0,0
$GC,3425,0.60,185.1,428.0,16.4,357,3430,0.10,2.17,0.00,0.000,6,0.177,0.043,3440,1690,2301,0,0,0,0,0,0
$GC,3752,0.64,229.5,385.9,12.7,387,3791,0.00,2.20,34.35,0.799,4,0.000,0.039,3440,3105,2131,0,0,0,0,0,0
$GC,3880,0.66,239.4,366.9,14.6,398,3894,0.00,2.17,8.80,0.687,6,0.000,0.045,3449,1706,2092,0,0,0,0,0,0
$GC,4211,0.66,239.4,311.8,16.9,429,4215,0.00,2.20,0.00,0.000,4,0.000,0.054,3460,285,2086,0,0,0,0,0,0
$GC,4293,0.66,239.4,297.0,16.9,436,4298,0.00,2.10,0.00,0.000,6,0.000,0.034,3460,1697,2083,0,0,0,0,0,0
$GC,4625,0.66,239.4,242.1,16.3,467,4629,0.00,2.12,0.00,0.000,4,0.000,0.041,3459,3108,2082,0,0,0,0,0,0
$GC,4668,0.66,239.4,234.5,16.3,470,4677,0.00,2.20,0.00,0.000,6,0.000,0.044,3469,1696,2082,0,0,0,0,0,0
$GC,4995,0.65,239.4,180.9,15.3,501,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1695,2081,0,0,0,0,0,0
$GC,5313,0.71,289.6,137.1,12.4,540,5361,0.00,2.25,38.47,0.643,4,0.000,0.054,3479,296,1886,0,0,0,0,0,0
$GC,5396,0.78,330.6,126.7,12.9,553,5437,0.08,2.12,32.70,0.626,6,0.122,0.032,3574,1707,1719,0,0,0,0,0,0
$GC,5763,0.76,330.6,51.7,15.6,619,5771,0.25,2.22,0.00,0.000,4,0.129,0.050,3494,289,1712,0,0,0,0,0,0
$GC,5822,0.96,448.4,45.3,8.7,629,5916,0.17,2.08,87.90,0.571,6,0.059,0.032,3611,1690,1239,0,0,0,0,0,0
$STATE,6018,end climb,SURFACE_DEPTH_REACHED
$STATE,6018,begin surface coast
$FINISH,0.5,1.021938
$STATE,6031,end surface coast,CONTROL_FINISHED_OK
$STATE,6031,begin surface
$SM_CCo,6047,84.57,0.477,1,0,621,600.00
$SM_GC,1.40,0.00,0.00,84.57,0.000,0.000,0.477,105,1534,621,-9.84,-0.45,600.00
$IRIDIUM_FIX,2418.11,12656.45,041010,121224
$TT8_MAMPS,0.026215
$HUMID,47.83
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.4,22.596
$10V_AH,10.4,15.849
$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,21.425,56.650,488.925,84.575,0.000,22.635,37.494,98.280,1.000,0.000,16.934,1577.907,2447.151,576.124,1701.067,97.808,0.000,1262.690,0.000,1529.987,0.000,0.539,0.000
$DEVICE_MAMPS,192.015,66.555,877.455,476.595,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.674,0.000,842.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40454,664
$CAP_FILE_SIZE,80094,0
$CFSIZE,260165632,244744192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,179.8,1
$GPS,041010,160037,2428.910,12704.568,28,1.1,28,-3.7