version: 66.08
glider: 168
mission: 2
dive: 73
start: 9 27 110 4 20 40
data:
$ID,168
$MISSION,2
$DIVE,73
$N_DIVES,80
$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,-8
$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,4
$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,-3258.8784
$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,45
$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
$GPS1,270910,041620,2424.078,12704.921,11,1.3,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.6
$GPS2,270910,042014,2424.003,12704.912,11,1.5,11,-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,3.1,11107,-22.1,-15.152
$D_GRID,4924
$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,-185.1,0.0,0.0,0,101,0.00,0.00,-83.97,0.000,2,0.000,0.000,104,1534,3169,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.5,-5.6,13,132,10.10,2.15,-10.62,0.000,4,0.190,0.052,3006,2954,3824,0,0,0,0,0,0
$GC,234,-0.68,-185.1,53.1,-27.3,35,241,0.10,2.15,0.00,0.000,6,0.152,0.047,3035,1557,3826,0,0,0,0,0,0
$GC,571,-0.64,-185.1,145.9,-22.9,96,580,0.00,2.17,0.00,0.000,4,0.000,0.054,3035,165,3828,0,0,0,0,0,0
$GC,641,-0.63,-185.1,162.9,-21.4,104,646,0.10,2.05,0.00,0.000,6,0.164,0.039,3056,1539,3829,0,0,0,0,0,0
$GC,966,-0.63,-185.1,215.5,-15.8,134,967,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1541,3829,0,0,0,0,0,0
$GC,1285,-0.64,-185.1,264.0,-14.7,164,1289,0.00,2.12,0.00,0.000,4,0.000,0.045,3048,2959,3829,0,0,0,0,0,0
$GC,1318,-0.67,-185.1,268.8,-13.2,166,1326,0.00,2.17,0.00,0.000,6,0.000,0.044,3047,1547,3829,0,0,0,0,0,0
$GC,1645,-0.68,-185.1,318.1,-15.8,197,1649,0.00,2.10,0.00,0.000,4,0.000,0.055,3047,165,3829,0,0,0,0,0,0
$GC,1674,-0.70,-185.1,322.9,-16.3,199,1678,0.00,2.10,0.00,0.000,6,0.000,0.040,3038,1562,3828,0,0,0,0,0,0
$GC,2000,-0.71,-185.1,374.2,-15.7,229,2004,0.00,2.12,0.00,0.000,4,0.000,0.046,3028,2967,3827,0,0,0,0,0,0
$GC,2053,-0.76,-185.1,381.8,-13.2,233,2058,0.08,2.15,0.00,0.000,6,0.121,0.047,2945,1552,3827,0,0,0,0,0,0
$GC,2379,-0.70,-185.1,458.6,-22.4,263,2384,0.25,2.12,0.00,0.000,4,0.142,0.057,3029,166,3825,0,0,0,0,0,0
$GC,2477,-0.74,-185.1,473.8,-13.2,271,2481,0.00,2.08,0.00,0.000,6,0.000,0.042,3020,1544,3825,0,0,0,0,0,0
$STATE,2678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2678,begin apogee
$GC,2682,-0.18,0.0,501.1,13.4,290,2832,0.47,0.00,139.35,0.848,4,0.104,0.000,3197,1707,3067,0,0,0,0,0,0
$STATE,2833,end apogee,CONTROL_FINISHED_OK
$STATE,2833,begin climb
$GC,2834,0.72,185.1,507.0,0.0,303,2987,0.73,0.00,145.15,0.838,6,0.045,0.000,3492,1708,2313,0,0,0,0,0,0
$GC,3304,0.67,185.1,436.2,18.9,346,3309,0.10,2.10,0.00,0.000,4,0.188,0.037,3466,3111,2305,0,0,0,0,0,0
$GC,3370,0.64,185.1,424.0,17.7,352,3375,0.08,2.20,0.00,0.000,6,0.195,0.044,3458,1693,2304,0,0,0,0,0,0
$GC,3695,0.64,205.6,373.3,14.0,382,3715,0.00,0.00,15.68,0.727,6,0.000,0.000,3458,1692,2230,0,0,0,0,0,0
$GC,4034,0.63,211.4,320.8,14.8,414,4047,0.00,2.15,5.68,0.576,4,0.000,0.038,3458,3113,2206,0,0,0,0,0,0
$GC,4141,0.63,215.2,304.2,14.9,423,4151,0.00,2.20,5.03,0.542,6,0.000,0.044,3467,1690,2189,0,0,0,0,0,0
$GC,4478,0.61,215.2,252.4,15.3,455,4483,0.08,2.15,0.00,0.000,4,0.205,0.041,3447,3116,2187,0,0,0,0,0,0
$GC,4520,0.62,225.6,245.6,14.6,458,4534,0.00,2.20,9.35,0.623,6,0.000,0.044,3457,1699,2148,0,0,0,0,0,0
$GC,4854,0.66,254.9,196.1,13.5,489,4883,0.00,2.15,24.35,0.647,4,0.000,0.038,3457,3112,2027,0,0,0,0,0,0
$GC,4939,0.68,262.8,184.1,14.7,496,4953,0.00,2.15,7.38,0.552,6,0.000,0.044,3465,1713,1996,0,0,0,0,0,0
$GC,5272,0.75,311.6,134.6,12.5,537,5319,0.10,2.30,38.45,0.610,4,0.098,0.057,3551,294,1796,0,0,0,0,0,0
$GC,5381,0.71,311.6,111.5,23.4,555,5389,0.22,2.15,0.00,0.000,6,0.129,0.033,3479,1714,1792,0,0,0,0,0,0
$GC,5711,0.81,376.1,62.6,11.6,616,5767,0.10,2.33,48.88,0.563,4,0.097,0.055,3574,291,1533,0,0,0,0,0,0
$GC,5796,0.79,376.1,47.8,21.7,629,5805,0.22,2.12,0.00,0.000,6,0.125,0.031,3502,1709,1528,0,0,0,0,0,0
$GC,6128,0.94,463.7,11.4,10.3,690,6184,0.15,0.00,52.30,0.519,2,0.070,0.000,3605,1711,1242,0,0,0,0,0,0
$STATE,6185,end climb,SURFACE_DEPTH_REACHED
$STATE,6185,begin surface coast
$FINISH,0.6,1.007261
$STATE,6195,end surface coast,CONTROL_FINISHED_OK
$STATE,6195,begin surface
$SM_CCo,6211,85.25,0.058,0,0,622,600.00
$SM_GC,1.46,0.00,0.00,85.25,0.000,0.000,0.058,104,1536,622,-9.84,-0.40,600.00
$IRIDIUM_FIX,2415.74,12701.66,270910,020247
$TT8_MAMPS,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,10.792
$10V_AH,10.5,8.538
$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,21.500,52.175,491.575,85.250,0.000,28.062,15.537,101.811,0.250,0.000,14.753,1663.504,2449.930,568.872,1771.231,91.994,0.000,1272.714,0.000,1610.703,0.000,0.540,0.000
$DEVICE_MAMPS,205.020,67.320,848.385,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.819,0.000,887.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,43615,700
$CAP_FILE_SIZE,83236,0
$CFSIZE,260165632,249176064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,173.8,1
$GPS,270910,060637,2424.437,12704.866,25,1.0,25,-3.7