version: 66.08
glider: 168
mission: 2
dive: 172
start: 10 4 110 16 7 28
data:
$ID,168
$MISSION,2
$DIVE,172
$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,-3384.6199
$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,35
$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
$GPS1,041010,160037,2428.910,12704.568,28,1.1,28,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.6
$GPS2,041010,160702,2428.831,12704.578,12,1.0,12,-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,11.9,2279,-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,-83.55,0.000,2,0.000,0.000,104,1535,3148,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.5,-6.5,13,132,10.23,2.17,-11.07,0.000,4,0.193,0.053,3006,2957,3825,0,0,0,0,0,0
$GC,160,-0.62,-185.1,30.1,-44.2,22,169,0.12,2.20,0.00,0.000,6,0.119,0.047,3050,1564,3827,0,0,0,0,0,0
$GC,501,-0.59,-185.1,126.7,-23.2,83,508,0.00,2.17,0.00,0.000,4,0.000,0.053,3050,157,3828,0,0,0,0,0,0
$GC,564,-0.57,-185.1,141.2,-20.7,94,572,0.08,2.10,0.00,0.000,6,0.125,0.038,3071,1532,3829,0,0,0,0,0,0
$GC,901,-0.59,-185.1,202.2,-16.9,129,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1536,3830,0,0,0,0,0,0
$GC,1220,-0.60,-185.1,252.1,-15.3,159,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1535,3830,0,0,0,0,0,0
$GC,1539,-0.63,-185.1,297.0,-13.9,189,1543,0.08,2.20,0.00,0.000,4,0.121,0.047,2960,2959,3829,0,0,0,0,0,0
$GC,1600,-0.62,-185.1,308.7,-19.0,194,1605,0.30,2.15,0.00,0.000,6,0.117,0.046,3058,1544,3829,0,0,0,0,0,0
$GC,1925,-0.65,-185.1,348.9,-10.3,224,1929,0.00,2.12,0.00,0.000,4,0.000,0.054,3059,165,3828,0,0,0,0,0,0
$GC,1988,-0.69,-185.1,355.3,-10.0,229,1993,0.08,2.08,0.00,0.000,6,0.117,0.040,2963,1544,3828,0,0,0,0,0,0
$GC,2318,-0.65,-185.1,426.6,-23.4,260,2323,0.25,2.17,0.00,0.000,4,0.132,0.044,3038,2963,3826,0,0,0,0,0,0
$GC,2386,-0.71,-185.1,436.3,-11.1,265,2393,0.00,2.15,0.00,0.000,6,0.000,0.045,3038,1547,3826,0,0,0,0,0,0
$GC,2711,-0.74,-185.1,481.4,-14.9,296,2715,0.08,2.12,0.00,0.000,4,0.120,0.056,2944,168,3824,0,0,0,0,0,0
$GC,2761,-0.70,-185.1,492.6,-25.3,300,2766,0.30,2.08,0.00,0.000,6,0.129,0.041,3031,1553,3824,0,0,0,0,0,0
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2799,begin apogee
$GC,2803,0.00,0.0,500.4,20.8,303,2951,0.60,0.00,140.88,0.877,4,0.095,0.000,3255,1709,3067,0,0,0,0,0,0
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2952,begin climb
$GC,2953,0.72,185.1,509.5,0.0,315,3106,0.60,2.25,145.35,0.866,4,0.030,0.048,3536,3098,2313,0,0,0,0,0,0
$GC,3191,0.65,185.1,480.6,22.6,336,3196,0.30,2.20,0.00,0.000,6,0.149,0.043,3457,1694,2308,0,0,0,0,0,0
$GC,3515,0.62,185.1,424.5,16.8,366,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1694,2302,0,0,0,0,0,0
$GC,3835,0.60,185.1,374.0,15.9,396,3839,0.00,2.12,0.00,0.000,4,0.000,0.040,3457,3108,2298,0,0,0,0,0,0
$GC,3861,0.57,185.1,369.2,15.8,398,3870,0.08,2.17,0.00,0.000,6,0.145,0.043,3438,1706,2298,0,0,0,0,0,0
$GC,4188,0.64,240.1,327.7,12.1,429,4237,0.08,2.30,41.92,0.770,4,0.119,0.053,3519,293,2088,0,0,0,0,0,0
$GC,4306,0.59,240.1,305.7,19.9,439,4311,0.25,2.10,0.00,0.000,6,0.138,0.031,3442,1701,2081,0,0,0,0,0,0
$GC,4634,0.62,258.5,259.4,14.1,469,4653,0.00,0.00,14.65,0.689,6,0.000,0.000,3442,1703,2011,0,0,0,0,0,0
$GC,4973,0.63,258.5,206.6,15.2,501,4977,0.00,2.20,0.00,0.000,4,0.000,0.054,3452,295,2005,0,0,0,0,0,0
$GC,5003,0.66,267.1,202.0,14.7,503,5015,0.00,2.08,6.97,0.578,6,0.000,0.032,3453,1696,1979,0,0,0,0,0,0
$GC,5333,0.75,328.0,156.7,11.8,534,5388,0.12,2.30,48.78,0.658,4,0.081,0.052,3569,292,1729,0,0,0,0,0,0
$GC,5414,0.69,328.0,140.2,24.6,543,5421,0.30,2.12,0.00,0.000,6,0.125,0.031,3473,1702,1725,0,0,0,0,0,0
$GC,5755,0.78,386.9,92.1,11.9,604,5810,0.10,2.30,44.80,0.606,4,0.098,0.053,3577,290,1488,0,0,0,0,0,0
$GC,5845,0.76,386.9,74.7,21.2,618,5853,0.22,2.15,0.00,0.000,6,0.092,0.033,3493,1686,1486,0,0,0,0,0,0
$GC,6188,0.95,494.9,39.9,9.2,679,6276,0.17,2.25,79.90,0.556,4,0.061,0.051,3622,293,1048,0,0,0,0,0,0
$GC,6311,0.91,494.9,10.8,29.3,698,6320,0.22,2.17,0.00,0.000,6,0.116,0.031,3543,1701,1044,0,0,0,0,0,0
$STATE,6346,end climb,SURFACE_DEPTH_REACHED
$STATE,6346,begin surface coast
$FINISH,0.7,1.009701
$STATE,6359,end surface coast,CONTROL_FINISHED_OK
$STATE,6359,begin surface
$SM_CCo,6375,59.22,0.448,1,0,621,600.00
$SM_GC,1.32,0.00,0.00,59.22,0.000,0.000,0.448,104,1535,621,-9.85,-0.40,600.00
$IRIDIUM_FIX,2422.84,12704.51,041010,161651
$TT8_MAMPS,0.026964
$HUMID,46.61
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,22.727
$10V_AH,10.5,15.927
$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,23.025,56.900,523.250,59.225,0.000,50.757,77.450,103.317,0.250,0.000,14.628,1679.681,2618.152,576.745,1854.931,107.922,0.000,1294.885,0.000,1611.556,0.000,0.539,0.000
$DEVICE_MAMPS,192.780,65.790,877.455,447.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.727,0.000,895.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43634,706
$CAP_FILE_SIZE,86340,0
$CFSIZE,260165632,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,152.3,1
$GPS,041010,175552,2429.485,12705.006,8,5.5,27,-3.7