version: 66.08
glider: 168
mission: 2
dive: 127
start: 10 1 110 7 6 19
data:
$ID,168
$MISSION,2
$DIVE,127
$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,-3328.1609
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,011010,070116,2429.596,12704.869,10,2.6,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.7
$GPS2,011010,070552,2429.523,12704.877,12,2.8,31,-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,351.9,907,-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,15,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.15,0.000,2,0.000,0.000,104,1540,3152,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.6,-6.4,13,131,10.02,2.17,-10.93,0.000,4,0.187,0.053,3005,2962,3825,0,0,0,0,0,0
$GC,211,-0.69,-185.1,45.1,-27.0,31,219,0.10,2.17,0.00,0.000,6,0.154,0.045,3033,1547,3827,0,0,0,0,0,0
$GC,550,-0.64,-185.1,146.6,-28.1,92,559,0.00,2.15,0.00,0.000,4,0.000,0.051,3034,161,3828,0,0,0,0,0,0
$GC,601,-0.62,-185.1,158.6,-23.2,97,605,0.10,2.05,0.00,0.000,6,0.151,0.039,3056,1535,3829,0,0,0,0,0,0
$GC,926,-0.62,-185.1,215.4,-15.8,127,930,0.00,2.15,0.00,0.000,4,0.000,0.044,3046,2967,3830,0,0,0,0,0,0
$GC,992,-0.67,-185.1,224.9,-11.7,132,1002,0.00,2.17,0.00,0.000,6,0.000,0.045,3046,1558,3830,0,0,0,0,0,0
$GC,1318,-0.67,-185.1,279.7,-18.2,163,1322,0.00,2.15,0.00,0.000,4,0.000,0.054,3046,162,3830,0,0,0,0,0,0
$GC,1383,-0.69,-185.1,292.1,-17.1,168,1393,0.00,2.12,0.00,0.000,6,0.000,0.040,3037,1552,3829,0,0,0,0,0,0
$GC,1709,-0.69,-185.1,347.3,-16.5,199,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1554,3828,0,0,0,0,0,0
$GC,2030,-0.70,-185.1,396.1,-14.7,229,2034,0.00,2.15,0.00,0.000,4,0.000,0.050,3028,2958,3827,0,0,0,0,0,0
$GC,2073,-0.75,-185.1,403.2,-12.8,232,2083,0.00,2.17,0.00,0.000,6,0.000,0.045,3028,1551,3827,0,0,0,0,0,0
$GC,2401,-0.76,-185.1,452.0,-14.9,263,2402,0.08,0.00,0.00,0.000,6,0.125,0.000,2932,1550,3825,0,0,0,0,0,0
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2611,begin apogee
$GC,2615,0.00,0.0,501.1,25.1,283,2762,0.90,0.00,140.05,0.863,4,0.115,0.000,3247,1717,3067,0,0,0,0,0,0
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2763,begin climb
$GC,2764,0.72,185.1,507.5,0.0,295,2917,0.62,2.22,145.27,0.851,4,0.034,0.046,3524,3100,2313,0,0,0,0,0,0
$GC,2962,0.65,185.1,486.7,21.3,312,2967,0.25,2.20,0.00,0.000,6,0.160,0.042,3462,1698,2309,0,0,0,0,0,0
$GC,3287,0.63,185.1,431.1,16.2,342,3291,0.00,2.20,0.00,0.000,4,0.000,0.054,3473,282,2302,0,0,0,0,0,0
$GC,3306,0.59,185.1,427.6,16.3,343,3315,0.08,2.15,0.00,0.000,6,0.118,0.032,3444,1699,2301,0,0,0,0,0,0
$GC,3633,0.63,222.9,382.4,13.1,374,3670,0.00,2.15,29.15,0.778,4,0.000,0.039,3444,3106,2158,0,0,0,0,0,0
$GC,3739,0.64,229.6,367.2,14.8,383,3752,0.00,2.17,6.35,0.618,6,0.000,0.044,3453,1709,2131,0,0,0,0,0,0
$GC,4069,0.64,229.6,315.0,16.4,414,4073,0.00,2.20,0.00,0.000,4,0.000,0.054,3464,291,2126,0,0,0,0,0,0
$GC,4096,0.64,229.6,310.0,17.8,416,4105,0.00,2.15,0.00,0.000,6,0.000,0.034,3464,1704,2124,0,0,0,0,0,0
$GC,4422,0.63,229.6,252.4,15.6,447,4426,0.00,2.10,0.00,0.000,4,0.000,0.041,3464,3115,2123,0,0,0,0,0,0
$GC,4519,0.66,255.9,238.3,13.7,455,4545,0.00,2.12,21.20,0.685,6,0.000,0.043,3471,1713,2023,0,0,0,0,0,0
$GC,4860,0.69,278.1,189.6,13.9,487,4886,0.00,2.22,17.75,0.643,4,0.000,0.053,3481,292,1933,0,0,0,0,0,0
$GC,4902,0.71,296.1,183.5,14.2,490,4922,0.00,2.17,15.65,0.623,6,0.000,0.032,3480,1725,1860,0,0,0,0,0,0
$GC,5244,0.72,296.1,126.0,16.6,534,5252,0.00,2.10,0.00,0.000,4,0.000,0.040,3480,3102,1854,0,0,0,0,0,0
$GC,5271,0.74,296.1,121.6,16.7,538,5279,0.00,2.15,0.00,0.000,6,0.000,0.044,3483,1723,1854,0,0,0,0,0,0
$GC,5612,0.83,354.3,70.2,12.0,599,5667,0.10,2.30,44.65,0.575,4,0.099,0.052,3581,289,1622,0,0,0,0,0,0
$GC,5725,0.81,354.3,51.5,15.5,617,5732,0.22,2.15,0.00,0.000,6,0.116,0.031,3505,1714,1617,0,0,0,0,0,0
$GC,6066,0.97,448.1,18.9,10.0,678,6142,0.17,2.20,69.47,0.532,4,0.062,0.039,3629,3109,1240,0,0,0,0,0,0
$STATE,6148,end climb,SURFACE_DEPTH_REACHED
$STATE,6148,begin surface coast
$FINISH,0.6,1.008999
$STATE,6158,end surface coast,CONTROL_FINISHED_OK
$STATE,6158,begin surface
$SM_CCo,6176,84.12,0.471,1,0,621,600.00
$SM_GC,1.38,0.00,0.00,84.12,0.000,0.000,0.471,104,1545,621,-9.84,-0.14,600.00
$IRIDIUM_FIX,2420.48,12706.40,011010,050519
$TT8_MAMPS,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,17.287
$10V_AH,10.4,12.593
$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,21.325,61.150,489.550,84.125,0.000,30.112,36.585,98.804,0.250,0.000,33.198,1639.595,2437.958,593.560,1789.941,94.404,0.000,1297.533,0.000,1592.452,0.000,0.540,0.000
$DEVICE_MAMPS,187.425,57.375,862.920,471.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.970,0.000,877.691,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43634,692
$CAP_FILE_SIZE,82095,0
$CFSIZE,260165632,246718464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.252,165.6,1
$GPS,011010,085200,2429.606,12704.859,34,1.0,39,-3.7