version: 66.08
glider: 168
mission: 2
dive: 202
start: 10 6 110 22 43 25
data:
$ID,168
$MISSION,2
$DIVE,202
$N_DIVES,220
$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,-3422.3684
$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,34
$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
$GPS1,061010,223807,2427.844,12706.712,28,1.2,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-79.6
$GPS2,061010,224257,2427.749,12706.773,8,2.2,27,-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,327.0,5130,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-185.1,0.0,0.0,0,88,0.00,0.00,-70.38,0.000,2,0.000,0.000,104,1536,3243,0,0,0,0,0,0
$GC,90,-0.72,-185.1,3.7,-5.6,10,121,10.25,2.22,-9.35,0.000,4,0.194,0.057,3006,2951,3827,0,0,0,0,0,0
$GC,213,-0.68,-185.1,49.6,-28.2,31,222,0.08,2.20,0.00,0.000,6,0.120,0.045,3034,1552,3828,0,0,0,0,0,0
$GC,538,-0.64,-185.1,134.4,-25.7,92,546,0.00,2.17,0.00,0.000,4,0.000,0.050,3034,168,3830,0,0,0,0,0,0
$GC,565,-0.59,-185.1,141.0,-24.8,96,573,0.10,2.08,0.00,0.000,6,0.125,0.037,3062,1530,3830,0,0,0,0,0,0
$GC,894,-0.59,-185.1,207.5,-18.2,157,902,0.00,2.15,0.00,0.000,4,0.000,0.046,3052,2957,3831,0,0,0,0,0,0
$GC,922,-0.60,-185.1,212.1,-18.1,161,930,0.00,2.17,0.00,0.000,6,0.000,0.042,3053,1534,3832,0,0,0,0,0,0
$GC,1252,-0.60,-185.1,270.3,-17.1,222,1261,0.00,2.12,0.00,0.000,4,0.000,0.053,3052,168,3832,0,0,0,0,0,0
$GC,1296,-0.62,-185.1,277.8,-17.7,229,1304,0.00,2.08,0.00,0.000,6,0.000,0.039,3043,1544,3832,0,0,0,0,0,0
$GC,1629,-0.63,-185.1,332.5,-15.0,272,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1547,3832,0,0,0,0,0,0
$GC,1949,-0.64,-185.1,382.7,-16.0,302,1953,0.00,2.15,0.00,0.000,4,0.000,0.048,3033,2958,3831,0,0,0,0,0,0
$GC,1976,-0.67,-185.1,387.0,-14.6,304,1984,0.00,2.20,0.00,0.000,6,0.000,0.044,3033,1540,3831,0,0,0,0,0,0
$GC,2304,-0.69,-185.1,433.7,-13.7,335,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1540,3830,0,0,0,0,0,0
$GC,2631,-0.71,-185.1,475.3,-13.4,366,2635,0.00,2.12,0.00,0.000,4,0.000,0.056,3033,165,3828,0,0,0,0,0,0
$GC,2672,-0.74,-185.1,481.0,-14.0,369,2676,0.00,2.05,0.00,0.000,6,0.000,0.041,3027,1535,3828,0,0,0,0,0,0
$STATE,2810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2810,begin apogee
$GC,2814,0.00,0.0,500.8,14.2,382,2961,0.60,0.00,141.27,0.881,4,0.094,0.000,3250,1716,3067,0,0,0,0,0,0
$STATE,2962,end apogee,CONTROL_FINISHED_OK
$STATE,2962,begin climb
$GC,2963,0.72,185.1,508.5,0.0,394,3121,0.62,2.33,145.00,0.868,4,0.034,0.053,3514,289,2311,0,0,0,0,0,0
$GC,3159,0.66,185.1,493.8,19.1,410,3169,0.15,2.20,0.00,0.000,6,0.132,0.032,3465,1699,2308,0,0,0,0,0,0
$GC,3485,0.63,185.1,441.8,16.8,441,3489,0.00,2.15,0.00,0.000,4,0.000,0.041,3465,3109,2303,0,0,0,0,0,0
$GC,3506,0.61,185.1,437.8,16.4,442,3517,0.08,2.20,0.00,0.000,6,0.135,0.042,3447,1700,2303,0,0,0,0,0,0
$GC,3834,0.64,225.0,393.3,13.0,473,3873,0.00,0.00,31.42,0.802,6,0.000,0.000,3447,1699,2150,0,0,0,0,0,0
$GC,4192,0.65,229.5,342.9,14.9,507,4202,0.00,2.22,4.05,0.503,4,0.000,0.041,3447,3113,2132,0,0,0,0,0,0
$GC,4215,0.65,229.5,339.2,15.2,509,4219,0.00,2.17,0.00,0.000,6,0.000,0.042,3455,1705,2132,0,0,0,0,0,0
$GC,4542,0.65,229.5,287.1,16.2,546,4551,0.00,2.22,0.00,0.000,4,0.000,0.053,3465,289,2129,0,0,0,0,0,0
$GC,4612,0.66,236.9,276.3,14.7,558,4628,0.00,2.15,7.30,0.626,6,0.000,0.032,3466,1710,2101,0,0,0,0,0,0
$GC,4961,0.70,270.3,226.4,13.3,620,4996,0.00,2.22,27.52,0.700,4,0.000,0.051,3475,293,1964,0,0,0,0,0,0
$GC,5020,0.73,292.4,218.1,13.9,629,5048,0.00,2.12,19.02,0.672,6,0.000,0.032,3475,1704,1873,0,0,0,0,0,0
$GC,5380,0.74,299.7,166.9,14.8,693,5395,0.00,0.00,6.50,0.544,6,0.000,0.000,3474,1705,1845,0,0,0,0,0,0
$GC,5719,0.80,338.6,119.7,13.0,755,5758,0.10,2.15,30.95,0.621,4,0.099,0.038,3567,3106,1688,0,0,0,0,0,0
$GC,5782,0.77,338.6,107.6,21.6,764,5791,0.22,2.22,0.00,0.000,6,0.119,0.043,3499,1696,1687,0,0,0,0,0,0
$GC,6109,0.87,390.3,62.2,12.3,825,6156,0.10,2.28,40.38,0.580,4,0.096,0.050,3607,290,1475,0,0,0,0,0,0
$GC,6248,0.85,390.3,35.4,20.2,848,6257,0.22,2.12,0.00,0.000,6,0.108,0.030,3526,1688,1469,0,0,0,0,0,0
$STATE,6473,end climb,SURFACE_DEPTH_REACHED
$STATE,6473,begin surface coast
$FINISH,0.6,0.997987
$STATE,6495,end surface coast,CONTROL_FINISHED_OK
$STATE,6496,begin surface
$SM_CCo,6511,8.15,0.064,0,0,1437,400.08
$SM_GC,2.38,0.00,0.00,8.15,0.000,0.000,0.064,103,1533,1437,-9.84,-0.48,400.08
$IRIDIUM_FIX,2420.48,12706.40,061010,202039
$TT8_MAMPS,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.4,26.113
$10V_AH,10.4,18.353
$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,20.825,56.975,453.425,8.150,0.000,23.314,43.968,105.799,0.250,0.000,31.072,2110.063,1771.528,491.745,2318.295,129.791,0.000,1302.554,0.000,2124.380,0.000,0.541,0.000
$DEVICE_MAMPS,194.310,63.495,880.515,64.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.480,0.000,1490.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53699,894
$CAP_FILE_SIZE,90198,0
$CFSIZE,260165632,243257344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.312,139.1,1
$GPS,071010,003331,2427.816,12706.978,32,1.1,49,-3.7