version: 66.08
glider: 168
mission: 2
dive: 183
start: 10 5 110 12 2 54
data:
$ID,168
$MISSION,2
$DIVE,183
$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,-3398.416
$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,50
$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
$GPS1,051010,115828,2428.633,12705.720,7,3.0,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.1
$GPS2,051010,120226,2428.548,12705.771,12,1.4,12,-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,336.0,2987,-22.1,-15.152
$D_GRID,1000
$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,-58.92,0.000,2,0.000,0.000,104,1528,3115,0,0,0,0,0,0
$GC,77,-0.72,-185.1,3.7,-7.3,9,107,10.23,2.25,-11.65,0.000,4,0.194,0.057,3012,2953,3825,0,0,0,0,0,0
$GC,209,-0.69,-185.1,50.5,-26.4,31,216,0.08,2.12,0.00,0.000,6,0.164,0.044,3032,1570,3828,0,0,0,0,0,0
$GC,546,-0.65,-185.1,139.3,-22.7,92,555,0.00,2.17,0.00,0.000,4,0.000,0.050,3032,168,3830,0,0,0,0,0,0
$GC,594,-0.62,-185.1,150.5,-22.0,100,599,0.10,2.03,0.00,0.000,6,0.161,0.037,3052,1536,3830,0,0,0,0,0,0
$GC,920,-0.61,-185.1,209.5,-17.1,130,923,0.00,2.10,0.00,0.000,4,0.000,0.050,3052,158,3831,0,0,0,0,0,0
$GC,955,-0.61,-185.1,215.0,-16.4,133,958,0.00,2.08,0.00,0.000,6,0.000,0.038,3044,1541,3832,0,0,0,0,0,0
$GC,1280,-0.61,-185.1,272.7,-18.4,163,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1544,3832,0,0,0,0,0,0
$GC,1600,-0.61,-185.1,330.3,-17.1,193,1604,0.00,2.12,0.00,0.000,4,0.000,0.045,3033,2955,3831,0,0,0,0,0,0
$GC,1644,-0.65,-185.1,337.4,-14.0,196,1653,0.00,2.20,0.00,0.000,6,0.000,0.045,3033,1538,3831,0,0,0,0,0,0
$GC,1972,-0.65,-185.1,383.8,-13.7,227,1976,0.00,2.10,0.00,0.000,4,0.000,0.055,3033,163,3830,0,0,0,0,0,0
$GC,2035,-0.68,-185.1,392.8,-13.0,232,2039,0.00,2.08,0.00,0.000,6,0.000,0.041,3024,1537,3830,0,0,0,0,0,0
$GC,2359,-0.69,-185.1,440.0,-15.2,262,2363,0.00,2.15,0.00,0.000,4,0.000,0.047,3014,2962,3828,0,0,0,0,0,0
$GC,2424,-0.72,-185.1,448.8,-13.4,267,2428,0.00,2.17,0.00,0.000,6,0.000,0.045,3014,1535,3828,0,0,0,0,0,0
$STATE,2731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2731,begin apogee
$GC,2736,0.00,0.0,500.1,17.3,296,2887,0.65,0.00,141.38,0.879,4,0.096,0.000,3253,1710,3067,0,0,0,0,0,0
$STATE,2887,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2889,0.72,185.1,510.1,0.0,308,3047,0.62,2.22,145.57,0.864,4,0.035,0.047,3526,3098,2313,0,0,0,0,0,0
$GC,3153,0.66,185.1,478.5,22.4,330,3161,0.22,2.22,0.00,0.000,6,0.144,0.044,3464,1701,2308,0,0,0,0,0,0
$GC,3479,0.63,185.1,418.9,18.0,361,3483,0.00,2.15,0.00,0.000,4,0.000,0.041,3464,3109,2302,0,0,0,0,0,0
$GC,3532,0.61,185.1,409.7,17.5,365,3537,0.10,2.17,0.00,0.000,6,0.177,0.044,3447,1704,2302,0,0,0,0,0,0
$GC,3858,0.68,250.3,365.6,11.6,395,3922,0.08,2.25,50.92,0.798,4,0.119,0.050,3529,295,2044,0,0,0,0,0,0
$GC,3934,0.62,250.3,352.3,19.5,402,3939,0.25,2.15,0.00,0.000,6,0.140,0.031,3453,1705,2042,0,0,0,0,0,0
$GC,4259,0.64,263.4,304.6,14.4,432,4272,0.00,0.00,9.98,0.680,6,0.000,0.000,3453,1707,1993,0,0,0,0,0,0
$GC,4588,0.64,263.4,254.9,15.6,463,4592,0.00,2.17,0.00,0.000,4,0.000,0.053,3464,294,1988,0,0,0,0,0,0
$GC,4617,0.64,263.4,250.5,15.7,465,4622,0.00,2.12,0.00,0.000,6,0.000,0.033,3464,1709,1987,0,0,0,0,0,0
$GC,4943,0.64,263.4,197.5,16.3,495,4947,0.00,2.12,0.00,0.000,4,0.000,0.043,3464,3109,1986,0,0,0,0,0,0
$GC,5018,0.66,263.4,185.7,15.7,501,5022,0.00,2.12,0.00,0.000,6,0.000,0.043,3470,1712,1986,0,0,0,0,0,0
$GC,5348,0.71,306.5,133.6,12.8,541,5389,0.00,2.22,34.22,0.638,4,0.000,0.051,3480,294,1818,0,0,0,0,0,0
$GC,5481,0.81,367.8,116.2,11.8,563,5537,0.10,2.12,48.05,0.620,6,0.094,0.031,3583,1707,1568,0,0,0,0,0,0
$GC,5871,0.79,367.8,27.3,18.9,631,5879,0.25,2.12,0.00,0.000,4,0.131,0.038,3495,3102,1559,0,0,0,0,0,0
$GC,5932,0.91,412.5,19.2,12.7,641,5973,0.15,2.12,33.92,0.542,6,0.066,0.042,3598,1705,1384,0,0,0,0,0,0
$STATE,6022,end climb,SURFACE_DEPTH_REACHED
$STATE,6022,begin surface coast
$FINISH,0.6,1.001853
$STATE,6034,end surface coast,CONTROL_FINISHED_OK
$STATE,6034,begin surface
$SM_CCo,6110,0.00,0.000,0,0,1376,415.05
$SM_GC,1.62,8.52,0.00,0.00,0.021,0.000,0.000,105,1540,1376,-9.69,-0.25,415.05
$IRIDIUM_FIX,2420.48,12741.91,051010,101026
$TT8_MAMPS,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,23.941
$10V_AH,10.4,16.738
$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,21.350,56.400,464.050,0.000,0.000,30.514,14.959,101.245,0.250,0.000,15.325,1583.197,2546.548,457.362,1664.749,108.819,0.000,1119.410,0.000,1513.292,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,69.615,878.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.417,0.000,834.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40375,658
$CAP_FILE_SIZE,78343,0
$CFSIZE,260165632,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.343,162.6,1
$GPS,051010,134552,2428.259,12705.594,14,3.3,33,-3.7