version: 66.08
glider: 168
mission: 2
dive: 118
start: 9 30 110 15 10 5
data:
$ID,168
$MISSION,2
$DIVE,118
$N_DIVES,120
$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,-3316.8662
$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,39
$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
$GPS1,300910,150531,2429.056,12704.891,11,1.5,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-78.5
$GPS2,300910,150938,2429.023,12704.887,12,1.3,12,-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,1.5,1820,-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,-185.1,0.0,0.0,0,100,0.00,0.00,-83.75,0.000,2,0.000,0.000,104,1533,3181,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.8,-6.5,13,131,10.12,2.17,-10.30,0.000,4,0.191,0.053,3005,2959,3825,0,0,0,0,0,0
$GC,247,-0.68,-185.1,59.1,-31.9,38,256,0.08,2.20,0.00,0.000,6,0.123,0.045,3033,1556,3826,0,0,0,0,0,0
$GC,588,-0.63,-185.1,151.3,-25.6,99,593,0.05,2.17,0.00,0.000,4,0.245,0.054,3047,159,3829,0,0,0,0,0,0
$GC,664,-0.63,-185.1,167.9,-17.6,105,673,0.00,2.10,0.00,0.000,6,0.000,0.039,3038,1535,3830,0,0,0,0,0,0
$GC,990,-0.62,-185.1,230.0,-18.0,136,994,0.00,2.10,0.00,0.000,4,0.000,0.052,3038,163,3830,0,0,0,0,0,0
$GC,1025,-0.61,-185.1,236.9,-21.4,139,1030,0.10,2.05,0.00,0.000,6,0.165,0.039,3059,1542,3830,0,0,0,0,0,0
$GC,1352,-0.63,-185.1,287.8,-14.9,169,1356,0.00,2.12,0.00,0.000,4,0.000,0.045,3050,2959,3830,0,0,0,0,0,0
$GC,1426,-0.68,-185.1,297.2,-11.3,175,1431,0.08,2.12,0.00,0.000,6,0.119,0.044,2960,1548,3830,0,0,0,0,0,0
$GC,1753,-0.63,-185.1,379.9,-26.7,205,1755,0.28,0.00,0.00,0.000,6,0.133,0.000,3049,1547,3829,0,0,0,0,0,0
$GC,2072,-0.66,-185.1,425.3,-12.1,235,2075,0.00,2.12,0.00,0.000,4,0.000,0.056,3049,166,3828,0,0,0,0,0,0
$GC,2124,-0.70,-185.1,431.6,-11.3,239,2128,0.00,2.08,0.00,0.000,6,0.000,0.042,3041,1550,3828,0,0,0,0,0,0
$GC,2455,-0.73,-185.1,469.6,-11.5,270,2459,0.08,2.17,0.00,0.000,4,0.124,0.049,2936,2963,3826,0,0,0,0,0,0
$GC,2496,-0.72,-185.1,476.2,-18.4,273,2501,0.28,2.15,0.00,0.000,6,0.114,0.047,3028,1549,3826,0,0,0,0,0,0
$STATE,2660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2664,0.00,0.0,500.5,14.1,288,2814,0.60,0.00,140.38,0.863,4,0.096,0.000,3253,1713,3067,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2817,0.72,185.1,508.1,0.0,300,2972,0.60,2.33,144.77,0.856,4,0.033,0.054,3520,282,2312,0,0,0,0,0,0
$GC,3018,0.66,185.1,492.7,18.7,317,3023,0.20,2.15,0.00,0.000,6,0.159,0.033,3464,1696,2308,0,0,0,0,0,0
$GC,3344,0.64,190.3,442.8,14.9,347,3357,0.00,2.17,4.28,0.534,4,0.000,0.041,3464,3097,2292,0,0,0,0,0,0
$GC,3415,0.62,190.3,432.1,15.4,353,3419,0.10,2.15,0.00,0.000,6,0.177,0.043,3447,1698,2292,0,0,0,0,0,0
$GC,3745,0.62,202.5,384.7,14.5,384,3761,0.00,2.22,11.12,0.721,4,0.000,0.055,3457,301,2242,0,0,0,0,0,0
$GC,3791,0.62,203.8,377.6,15.1,388,3795,0.00,2.12,0.00,0.000,6,0.000,0.034,3458,1709,2239,0,0,0,0,0,0
$GC,4123,0.63,223.0,328.1,14.1,419,4148,0.00,2.12,17.75,0.731,4,0.000,0.040,3457,3108,2157,0,0,0,0,0,0
$GC,4197,0.64,236.0,316.9,14.4,425,4217,0.00,2.20,11.73,0.688,6,0.000,0.043,3466,1704,2104,0,0,0,0,0,0
$GC,4535,0.63,236.0,265.2,16.2,457,4539,0.00,2.12,0.00,0.000,4,0.000,0.040,3466,3109,2099,0,0,0,0,0,0
$GC,4599,0.63,236.0,253.5,17.2,462,4608,0.05,2.17,0.00,0.000,6,0.149,0.043,3455,1716,2099,0,0,0,0,0,0
$GC,4926,0.66,256.8,204.9,14.0,493,4950,0.00,2.22,16.73,0.651,4,0.000,0.054,3465,292,2021,0,0,0,0,0,0
$GC,5063,0.71,280.8,186.5,13.8,505,5088,0.00,2.08,19.85,0.643,6,0.000,0.032,3465,1699,1922,0,0,0,0,0,0
$GC,5405,0.78,330.9,140.4,12.4,544,5453,0.12,0.00,39.60,0.627,6,0.080,0.000,3565,1699,1717,0,0,0,0,0,0
$GC,5774,0.75,330.9,58.3,22.2,611,5782,0.22,2.12,0.00,0.000,4,0.139,0.037,3493,3106,1711,0,0,0,0,0,0
$GC,5875,0.96,450.9,46.9,8.6,629,5975,0.17,2.15,89.62,0.562,6,0.060,0.044,3608,1693,1227,0,0,0,0,0,0
$STATE,6100,end climb,SURFACE_DEPTH_REACHED
$STATE,6100,begin surface coast
$FINISH,0.6,1.021791
$STATE,6112,end surface coast,CONTROL_FINISHED_OK
$STATE,6112,begin surface
$SM_CCo,6128,81.05,0.467,1,0,621,600.00
$SM_GC,1.46,0.00,0.00,81.05,0.000,0.000,0.467,103,1528,621,-9.84,-0.62,600.00
$IRIDIUM_FIX,2418.11,12706.40,300910,131338
$TT8_MAMPS,0.026964
$HUMID,47.12
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.5,16.233
$10V_AH,10.4,11.932
$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,21.650,56.375,495.825,81.050,0.000,29.212,37.375,93.770,0.250,0.000,14.924,1600.695,2466.240,582.459,1736.197,90.209,0.000,1279.185,0.000,1562.642,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,63.495,862.920,467.415,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.938,0.000,849.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40316,669
$CAP_FILE_SIZE,82834,0
$CFSIZE,260165632,247132160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.176,166.7,1
$GPS,300910,165426,2429.360,12705.011,12,1.3,12,-3.7