version: 66.08
glider: 168
mission: 2
dive: 126
start: 10 1 110 5 12 23
data:
$ID,168
$MISSION,2
$DIVE,126
$N_DIVES,140
$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,-3326.9028
$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,31
$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
$GPS1,011010,050800,2429.625,12705.003,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-77.9
$GPS2,011010,051156,2429.561,12705.017,12,1.3,12,-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,340.3,814,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.30,0.000,2,0.000,0.000,104,1537,3159,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.4,-5.2,13,131,10.15,2.15,-10.85,0.000,4,0.191,0.050,3010,2955,3826,0,0,0,0,0,0
$GC,248,-0.68,-185.1,54.5,-25.9,38,257,0.05,2.20,0.00,0.000,6,0.138,0.045,3029,1552,3828,0,0,0,0,0,0
$GC,595,-0.63,-185.1,153.4,-25.0,99,599,0.08,2.15,0.00,0.000,4,0.212,0.053,3049,165,3829,0,0,0,0,0,0
$GC,647,-0.64,-185.1,165.2,-19.2,103,651,0.00,2.05,0.00,0.000,6,0.000,0.039,3040,1535,3830,0,0,0,0,0,0
$GC,977,-0.62,-185.1,237.6,-21.7,134,981,0.00,2.15,0.00,0.000,4,0.000,0.044,3030,2965,3830,0,0,0,0,0,0
$GC,1017,-0.63,-185.1,245.5,-19.6,137,1022,0.08,2.17,0.00,0.000,6,0.163,0.047,3055,1542,3830,0,0,0,0,0,0
$GC,1347,-0.65,-185.1,303.8,-15.4,168,1351,0.00,2.10,0.00,0.000,4,0.000,0.054,3055,163,3830,0,0,0,0,0,0
$GC,1389,-0.67,-185.1,309.8,-15.0,171,1393,0.00,2.10,0.00,0.000,6,0.000,0.041,3048,1556,3830,0,0,0,0,0,0
$GC,1715,-0.68,-185.1,359.4,-15.5,201,1719,0.00,2.12,0.00,0.000,4,0.000,0.047,3037,2964,3829,0,0,0,0,0,0
$GC,1736,-0.70,-185.1,362.9,-14.8,202,1744,0.00,2.20,0.00,0.000,6,0.000,0.045,3037,1545,3829,0,0,0,0,0,0
$GC,2063,-0.72,-185.1,410.0,-13.6,233,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1544,3828,0,0,0,0,0,0
$GC,2381,-0.74,-185.1,454.5,-13.3,263,2386,0.08,2.17,0.00,0.000,4,0.126,0.047,2938,2963,3826,0,0,0,0,0,0
$GC,2414,-0.73,-185.1,460.7,-18.5,265,2422,0.22,2.20,0.00,0.000,6,0.103,0.047,3020,1551,3825,0,0,0,0,0,0
$STATE,2686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2690,0.00,0.0,501.3,13.9,291,2835,0.62,0.00,139.85,0.861,4,0.096,0.000,3253,1711,3068,0,0,0,0,0,0
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin climb
$GC,2838,0.72,185.1,506.7,0.0,303,2992,0.60,2.35,144.85,0.853,4,0.033,0.054,3515,284,2312,0,0,0,0,0,0
$GC,3051,0.67,185.1,484.6,20.2,321,3055,0.17,2.17,0.00,0.000,6,0.154,0.031,3465,1706,2307,0,0,0,0,0,0
$GC,3381,0.67,208.2,432.6,13.9,352,3406,0.00,2.15,18.73,0.774,4,0.000,0.038,3464,3106,2218,0,0,0,0,0,0
$GC,3442,0.65,208.2,423.7,15.7,357,3447,0.00,2.17,0.00,0.000,6,0.000,0.044,3475,1701,2217,0,0,0,0,0,0
$GC,3768,0.62,208.2,371.3,16.8,387,3773,0.10,2.15,0.00,0.000,4,0.177,0.041,3447,3108,2212,0,0,0,0,0,0
$GC,3822,0.63,211.9,362.3,14.9,391,3830,0.00,2.17,0.00,0.000,6,0.000,0.043,3456,1712,2212,0,0,0,0,0,0
$GC,4148,0.63,217.6,316.1,14.8,422,4161,0.00,2.28,7.55,0.642,4,0.000,0.054,3467,289,2180,0,0,0,0,0,0
$GC,4176,0.61,217.6,311.3,15.3,424,4187,0.05,2.15,0.00,0.000,6,0.128,0.033,3447,1708,2179,0,0,0,0,0,0
$GC,4505,0.62,220.3,264.0,15.0,455,4509,0.00,2.10,0.00,0.000,4,0.000,0.041,3447,3108,2177,0,0,0,0,0,0
$GC,4580,0.65,243.1,253.2,13.9,461,4607,0.00,2.10,21.55,0.698,6,0.000,0.043,3456,1715,2075,0,0,0,0,0,0
$GC,4932,0.69,272.0,203.4,13.6,494,4961,0.05,2.22,23.15,0.662,4,0.177,0.052,3525,289,1957,0,0,0,0,0,0
$GC,4984,0.65,272.0,194.7,18.7,498,4989,0.22,2.15,0.00,0.000,6,0.132,0.032,3453,1717,1954,0,0,0,0,0,0
$GC,5309,0.71,307.6,149.2,13.2,528,5346,0.10,2.12,28.25,0.625,4,0.099,0.037,3547,3111,1813,0,0,0,0,0,0
$GC,5375,0.68,307.6,136.3,22.8,538,5383,0.25,2.17,0.00,0.000,6,0.119,0.042,3471,1727,1811,0,0,0,0,0,0
$GC,5717,0.79,377.7,95.1,11.3,599,5778,0.10,2.30,53.80,0.591,4,0.096,0.052,3571,287,1526,0,0,0,0,0,0
$GC,5885,0.77,377.7,67.0,16.0,627,5892,0.22,2.15,0.00,0.000,6,0.118,0.031,3496,1717,1519,0,0,0,0,0,0
$GC,6225,0.94,466.7,31.6,10.3,688,6301,0.17,2.17,65.62,0.543,4,0.062,0.038,3614,3106,1163,0,0,0,0,0,0
$STATE,6358,end climb,SURFACE_DEPTH_REACHED
$STATE,6358,begin surface coast
$FINISH,0.5,1.021691
$STATE,6370,end surface coast,CONTROL_FINISHED_OK
$STATE,6370,begin surface
$SM_CCo,6388,74.00,0.464,1,0,621,600.00
$SM_GC,1.29,0.00,0.00,74.00,0.000,0.000,0.464,104,1542,621,-9.84,-0.23,600.00
$IRIDIUM_FIX,2418.11,12703.08,011010,030358
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,17.164
$10V_AH,10.5,12.517
$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,21.975,65.575,503.350,74.000,0.000,30.154,20.541,93.910,0.250,0.000,15.174,1699.152,2553.486,581.549,1786.194,97.891,0.000,1299.270,0.000,1627.783,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,60.435,861.390,463.590,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.956,0.000,903.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43757,711
$CAP_FILE_SIZE,86475,0
$CFSIZE,260165632,246763520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.253,159.6,1
$GPS,011010,070116,2429.596,12704.869,10,2.6,29,-3.7