version: 66.08
glider: 168
mission: 2
dive: 182
start: 10 5 110 10 15 18
data:
$ID,168
$MISSION,2
$DIVE,182
$N_DIVES,190
$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,400
$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,-3397.1636
$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,39
$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
$GPS1,051010,101007,2429.045,12705.578,33,2.0,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.9
$GPS2,051010,101451,2428.936,12705.646,14,2.1,33,-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,326.6,2251,-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,-185.1,0.0,0.0,0,75,0.00,0.00,-58.58,0.000,2,0.000,0.000,104,1533,3176,0,0,0,0,0,0
$GC,77,-0.72,-185.1,3.8,-6.5,9,106,10.18,2.17,-10.27,0.000,4,0.192,0.054,3007,2957,3826,0,0,0,0,0,0
$GC,198,-0.69,-185.1,50.9,-28.9,29,205,0.10,2.17,0.00,0.000,6,0.157,0.045,3035,1556,3829,0,0,0,0,0,0
$GC,535,-0.65,-185.1,148.8,-25.1,90,543,0.00,2.17,0.00,0.000,4,0.000,0.053,3036,163,3831,0,0,0,0,0,0
$GC,563,-0.61,-185.1,155.0,-23.5,93,568,0.10,2.05,0.00,0.000,6,0.161,0.038,3056,1542,3831,0,0,0,0,0,0
$GC,889,-0.61,-185.1,218.3,-17.8,123,893,0.00,2.12,0.00,0.000,4,0.000,0.050,3056,160,3833,0,0,0,0,0,0
$GC,910,-0.61,-185.1,222.6,-17.4,124,920,0.00,2.10,0.00,0.000,6,0.000,0.037,3048,1548,3833,0,0,0,0,0,0
$GC,1236,-0.61,-185.1,280.0,-16.9,155,1240,0.00,2.15,0.00,0.000,4,0.000,0.047,3036,2958,3833,0,0,0,0,0,0
$GC,1276,-0.64,-185.1,286.2,-14.4,158,1280,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,1551,3833,0,0,0,0,0,0
$GC,1601,-0.65,-185.1,342.3,-17.2,188,1605,0.00,2.15,0.00,0.000,4,0.000,0.053,3036,159,3833,0,0,0,0,0,0
$GC,1646,-0.66,-185.1,350.6,-18.6,192,1649,0.00,2.10,0.00,0.000,6,0.000,0.039,3028,1554,3833,0,0,0,0,0,0
$GC,1970,-0.66,-185.1,405.9,-15.2,222,1974,0.00,2.12,0.00,0.000,4,0.000,0.047,3018,2957,3832,0,0,0,0,0,0
$GC,2028,-0.71,-185.1,413.6,-12.2,227,2031,0.00,2.12,0.00,0.000,6,0.000,0.045,3018,1556,3832,0,0,0,0,0,0
$GC,2355,-0.72,-185.1,463.4,-15.0,257,2359,0.00,2.15,0.00,0.000,4,0.000,0.056,3018,166,3830,0,0,0,0,0,0
$GC,2387,-0.72,-185.1,469.0,-15.8,259,2394,0.00,2.12,0.00,0.000,6,0.000,0.041,3009,1555,3830,0,0,0,0,0,0
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2599,0.00,0.0,501.3,14.8,279,2746,0.65,0.00,141.68,0.875,4,0.099,0.000,3249,1710,3068,0,0,0,0,0,0
$STATE,2747,end apogee,CONTROL_FINISHED_OK
$STATE,2747,begin climb
$GC,2749,0.72,185.1,506.5,0.0,291,2902,0.62,2.33,145.00,0.865,4,0.032,0.053,3527,289,2313,0,0,0,0,0,0
$GC,2983,0.66,185.1,475.7,22.6,311,2988,0.22,2.15,0.00,0.000,6,0.150,0.031,3461,1701,2306,0,0,0,0,0,0
$GC,3310,0.63,185.1,418.5,16.5,341,3314,0.00,2.12,0.00,0.000,4,0.000,0.042,3461,3110,2302,0,0,0,0,0,0
$GC,3386,0.61,185.1,405.7,15.3,347,3394,0.08,2.17,0.00,0.000,6,0.145,0.043,3444,1715,2302,0,0,0,0,0,0
$GC,3712,0.66,234.4,364.3,12.4,378,3761,0.08,2.22,38.47,0.789,4,0.119,0.041,3507,3108,2111,0,0,0,0,0,0
$GC,3766,0.61,234.4,354.7,18.9,382,3775,0.20,2.22,0.00,0.000,6,0.127,0.043,3450,1710,2110,0,0,0,0,0,0
$GC,4094,0.61,234.4,300.3,16.9,413,4098,0.00,2.20,0.00,0.000,4,0.000,0.053,3460,288,2104,0,0,0,0,0,0
$GC,4133,0.61,234.4,293.0,17.5,416,4137,0.00,2.15,0.00,0.000,6,0.000,0.033,3461,1715,2102,0,0,0,0,0,0
$GC,4457,0.62,241.1,237.9,14.8,446,4471,0.00,2.15,5.22,0.542,4,0.000,0.042,3461,3109,2084,0,0,0,0,0,0
$GC,4496,0.64,256.8,232.5,14.3,449,4520,0.00,2.15,14.12,0.670,6,0.000,0.043,3468,1710,2021,0,0,0,0,0,0
$GC,4838,0.68,288.3,183.4,13.4,481,4873,0.00,2.28,25.50,0.662,4,0.000,0.053,3479,293,1891,0,0,0,0,0,0
$GC,4956,0.72,309.4,166.6,14.0,491,4979,0.00,2.12,17.83,0.632,6,0.000,0.033,3479,1704,1806,0,0,0,0,0,0
$GC,5313,0.74,309.4,110.5,15.3,545,5319,0.00,2.12,0.00,0.000,4,0.000,0.041,3479,3105,1801,0,0,0,0,0,0
$GC,5331,0.75,309.4,107.2,15.9,548,5340,0.00,2.20,0.00,0.000,6,0.000,0.044,3479,1698,1801,0,0,0,0,0,0
$GC,5674,0.92,417.1,62.6,9.2,609,5768,0.20,2.30,81.50,0.579,4,0.057,0.051,3620,293,1366,0,0,0,0,0,0
$GC,5816,0.90,417.1,33.7,20.7,631,5823,0.28,2.12,0.00,0.000,6,0.131,0.030,3534,1697,1362,0,0,0,0,0,0
$STATE,6029,end climb,SURFACE_DEPTH_REACHED
$STATE,6029,begin surface coast
$FINISH,0.6,1.004708
$STATE,6053,end surface coast,CONTROL_FINISHED_OK
$STATE,6053,begin surface
$SM_CCo,6129,0.00,0.000,0,0,1353,420.44
$SM_GC,1.49,8.23,0.00,0.00,0.016,0.000,0.000,104,1528,1353,-9.69,-0.59,420.44
$IRIDIUM_FIX,2418.11,12704.97,051010,080856
$TT8_MAMPS,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,23.830
$10V_AH,10.5,16.667
$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,20.925,65.300,469.325,0.000,0.000,29.290,40.373,95.659,0.250,0.000,36.948,1619.710,2460.180,473.314,1767.424,104.630,0.000,1163.880,0.000,1562.638,0.000,0.539,0.000
$DEVICE_MAMPS,192.015,68.085,875.160,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.065,0.000,854.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40319,673
$CAP_FILE_SIZE,81794,0
$CFSIZE,260165632,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.394,152.6,1
$GPS,051010,115828,2428.633,12705.720,7,3.0,26,-3.7