version: 66.08
glider: 168
mission: 2
dive: 173
start: 10 4 110 18 1 8
data:
$ID,168
$MISSION,2
$DIVE,173
$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,-3385.873
$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,40
$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
$GPS1,041010,175552,2429.485,12705.006,8,5.5,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,041010,180034,2429.453,12705.003,9,5.1,28,-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,351.0,1012,-26.9,-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,-0.75,-124.5,0.0,0.0,0,103,0.00,0.00,-86.60,0.000,2,0.000,0.000,104,1536,3242,0,0,0,0,0,0
$GC,106,-0.83,-185.1,3.7,-6.8,13,134,10.02,2.17,-9.32,0.000,4,0.190,0.054,2975,2960,3825,0,0,0,0,0,0
$GC,170,-0.75,-185.1,36.3,-47.0,23,177,0.12,2.17,0.00,0.000,6,0.150,0.047,3009,1556,3826,0,0,0,0,0,0
$GC,507,-0.72,-185.1,145.7,-26.1,84,516,0.00,2.17,0.00,0.000,4,0.000,0.054,3010,167,3828,0,0,0,0,0,0
$GC,582,-0.72,-185.1,165.2,-22.9,92,592,0.05,2.08,0.00,0.000,6,0.145,0.037,3021,1532,3829,0,0,0,0,0,0
$GC,910,-0.73,-185.1,236.8,-21.0,123,914,0.00,2.15,0.00,0.000,4,0.000,0.045,3010,2959,3830,0,0,0,0,0,0
$GC,940,-0.75,-185.1,243.1,-19.9,125,944,0.00,2.17,0.00,0.000,6,0.000,0.045,3010,1544,3830,0,0,0,0,0,0
$GC,1267,-0.76,-185.1,309.6,-18.6,155,1271,0.00,2.10,0.00,0.000,4,0.000,0.054,3010,164,3830,0,0,0,0,0,0
$GC,1341,-0.80,-185.1,323.3,-17.5,161,1345,0.00,2.05,0.00,0.000,6,0.000,0.041,3002,1541,3830,0,0,0,0,0,0
$GC,1668,-0.82,-185.1,383.9,-18.6,191,1672,0.00,2.12,0.00,0.000,4,0.000,0.044,2991,2960,3829,0,0,0,0,0,0
$GC,1689,-0.84,-185.1,388.4,-18.5,192,1698,0.00,2.20,0.00,0.000,6,0.000,0.044,2991,1534,3829,0,0,0,0,0,0
$GC,2016,-0.86,-185.1,451.8,-19.6,223,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1534,3828,0,0,0,0,0,0
$STATE,2278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2278,begin apogee
$GC,2282,0.00,0.0,501.0,19.1,248,2429,0.73,0.00,141.10,0.873,4,0.100,0.000,3254,1712,3067,0,0,0,0,0,0
$STATE,2430,end apogee,CONTROL_FINISHED_OK
$STATE,2430,begin climb
$GC,2431,0.83,185.1,508.7,0.0,260,2586,0.65,2.35,144.77,0.859,4,0.025,0.054,3575,299,2312,0,0,0,0,0,0
$GC,2615,0.76,185.1,491.0,23.6,276,2619,0.28,2.15,0.00,0.000,6,0.151,0.031,3496,1707,2307,0,0,0,0,0,0
$GC,2939,0.75,185.1,423.5,19.5,306,2943,0.00,2.10,0.00,0.000,4,0.000,0.041,3496,3102,2303,0,0,0,0,0,0
$GC,3006,0.73,185.1,410.4,19.0,312,3011,0.08,2.15,0.00,0.000,6,0.203,0.042,3489,1695,2302,0,0,0,0,0,0
$GC,3331,0.72,185.1,356.8,16.2,342,3335,0.00,2.10,0.00,0.000,4,0.000,0.040,3489,3103,2299,0,0,0,0,0,0
$GC,3359,0.71,185.1,351.9,17.8,344,3364,0.08,2.12,0.00,0.000,6,0.199,0.044,3480,1709,2299,0,0,0,0,0,0
$GC,3683,0.71,185.1,303.0,17.1,374,3687,0.00,2.12,0.00,0.000,4,0.000,0.041,3480,3111,2296,0,0,0,0,0,0
$GC,3761,0.72,185.1,289.5,17.0,380,3770,0.00,2.17,0.00,0.000,6,0.000,0.044,3490,1712,2296,0,0,0,0,0,0
$GC,4086,0.72,185.1,234.1,16.8,411,4090,0.00,2.17,0.00,0.000,4,0.000,0.052,3501,286,2294,0,0,0,0,0,0
$GC,4125,0.72,185.1,227.1,17.3,414,4130,0.08,2.10,0.00,0.000,6,0.178,0.032,3480,1711,2292,0,0,0,0,0,0
$GC,4457,0.77,212.4,181.1,12.9,445,4483,0.08,2.17,19.55,0.653,4,0.125,0.041,3565,3109,2202,0,0,0,0,0,0
$GC,4544,0.73,212.4,164.5,19.0,452,4554,0.25,2.17,0.00,0.000,6,0.133,0.042,3491,1712,2200,0,0,0,0,0,0
$GC,4877,0.76,218.1,119.0,14.7,504,4892,0.00,2.22,6.00,0.505,4,0.000,0.051,3501,299,2177,0,0,0,0,0,0
$GC,4922,0.81,238.8,113.0,13.5,511,4950,0.00,2.10,17.80,0.599,6,0.000,0.031,3501,1714,2092,0,0,0,0,0,0
$GC,5284,0.98,339.1,68.4,7.0,575,5371,0.17,2.20,76.57,0.588,4,0.061,0.039,3618,3105,1683,0,0,0,0,0,0
$GC,5381,0.96,339.1,52.4,20.2,589,5388,0.25,2.17,0.00,0.000,6,0.145,0.041,3553,1702,1682,0,0,0,0,0,0
$GC,5722,0.99,339.1,5.1,15.7,650,5729,0.00,2.15,0.00,0.000,4,0.000,0.041,3553,3095,1676,0,0,0,0,0,0
$STATE,5734,end climb,SURFACE_DEPTH_REACHED
$STATE,5734,begin surface coast
$FINISH,0.6,1.021923
$STATE,5753,end surface coast,CONTROL_FINISHED_OK
$STATE,5754,begin surface
$SM_CCo,5772,136.98,0.058,0,0,622,600.00
$SM_GC,1.43,0.00,0.00,136.98,0.000,0.000,0.058,104,1535,622,-9.84,-0.42,600.00
$IRIDIUM_FIX,2418.11,12706.40,041010,161657
$TT8_MAMPS,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,22.828
$10V_AH,10.5,15.999
$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,21.150,60.800,405.800,136.975,0.000,24.858,39.020,113.162,0.250,0.000,30.453,1580.117,2244.976,578.563,1707.619,99.574,0.000,1238.216,0.000,1504.717,0.000,0.540,0.000
$DEVICE_MAMPS,202.725,55.845,872.865,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.709,0.000,832.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40474,655
$CAP_FILE_SIZE,79447,0
$CFSIZE,260165632,244654080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,149.3,1
$GPS,041010,194048,2429.737,12704.897,11,2.1,32,-3.7