version: 66.08
glider: 168
mission: 2
dive: 128
start: 10 1 110 8 56 15
data:
$ID,168
$MISSION,2
$DIVE,128
$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,-3329.4119
$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,41
$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
$GPS1,011010,085200,2429.606,12704.859,34,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.1
$GPS2,011010,085549,2429.541,12704.856,9,1.0,14,-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,356.9,884,-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,-185.1,0.0,0.0,0,101,0.00,0.00,-83.55,0.000,2,0.000,0.000,104,1544,3178,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.7,-6.4,13,132,10.12,2.15,-10.23,0.000,4,0.190,0.047,3009,2970,3826,0,0,0,0,0,0
$GC,228,-0.69,-185.1,49.5,-27.0,34,236,0.05,2.22,0.00,0.000,6,0.142,0.044,3028,1548,3828,0,0,0,0,0,0
$GC,568,-0.64,-185.1,146.2,-25.2,95,575,0.08,2.15,0.00,0.000,4,0.214,0.050,3046,155,3829,0,0,0,0,0,0
$GC,607,-0.62,-185.1,157.4,-24.7,99,616,0.03,2.10,0.00,0.000,6,0.175,0.037,3049,1537,3830,0,0,0,0,0,0
$GC,933,-0.61,-185.1,224.9,-20.0,130,937,0.00,2.12,0.00,0.000,4,0.000,0.044,3040,2961,3831,0,0,0,0,0,0
$GC,964,-0.62,-185.1,231.0,-18.0,132,974,0.00,2.17,0.00,0.000,6,0.000,0.044,3039,1552,3831,0,0,0,0,0,0
$GC,1290,-0.62,-185.1,288.4,-16.7,163,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1552,3831,0,0,0,0,0,0
$GC,1610,-0.63,-185.1,342.6,-16.3,193,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1552,3830,0,0,0,0,0,0
$GC,1928,-0.65,-185.1,393.1,-14.6,223,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1552,3829,0,0,0,0,0,0
$GC,2247,-0.67,-185.1,438.3,-13.9,253,2251,0.00,2.15,0.00,0.000,4,0.000,0.048,3032,2966,3827,0,0,0,0,0,0
$GC,2290,-0.72,-185.1,444.3,-11.6,256,2300,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,1564,3827,0,0,0,0,0,0
$GC,2617,-0.74,-185.1,485.7,-12.5,287,2621,0.08,2.20,0.00,0.000,4,0.121,0.057,2939,157,3825,0,0,0,0,0,0
$GC,2678,-0.70,-185.1,498.0,-22.4,292,2683,0.30,2.10,0.00,0.000,6,0.129,0.042,3026,1558,3824,0,0,0,0,0,0
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2699,0.00,0.0,501.4,20.8,293,2845,0.60,0.00,140.00,0.867,4,0.099,0.000,3248,1710,3069,0,0,0,0,0,0
$STATE,2846,end apogee,CONTROL_FINISHED_OK
$STATE,2846,begin climb
$GC,2847,0.72,185.1,506.0,0.0,305,2999,0.62,2.35,144.82,0.855,4,0.037,0.055,3511,284,2312,0,0,0,0,0,0
$GC,3126,0.67,185.1,471.6,20.3,329,3131,0.15,2.12,0.00,0.000,6,0.148,0.032,3467,1699,2306,0,0,0,0,0,0
$GC,3452,0.64,185.1,416.0,16.4,359,3456,0.00,2.17,0.00,0.000,4,0.000,0.053,3477,289,2302,0,0,0,0,0,0
$GC,3618,0.61,185.1,388.6,16.7,373,3627,0.08,2.15,0.00,0.000,6,0.116,0.034,3447,1703,2300,0,0,0,0,0,0
$GC,3944,0.64,213.5,345.9,13.6,404,3972,0.00,2.17,21.77,0.760,4,0.000,0.041,3448,3101,2197,0,0,0,0,0,0
$GC,4070,0.68,250.2,329.3,13.1,415,4107,0.00,2.15,30.67,0.753,6,0.000,0.044,3457,1699,2046,0,0,0,0,0,0
$GC,4424,0.68,250.2,275.4,15.6,448,4428,0.00,2.17,0.00,0.000,4,0.000,0.055,3466,294,2038,0,0,0,0,0,0
$GC,4461,0.68,250.2,269.3,15.3,451,4468,0.00,2.15,0.00,0.000,6,0.000,0.033,3467,1707,2035,0,0,0,0,0,0
$GC,4786,0.69,257.5,219.0,14.8,482,4800,0.00,2.25,5.50,0.538,4,0.000,0.054,3476,265,2017,0,0,0,0,0,0
$GC,4827,0.69,259.7,212.8,15.0,485,4835,0.00,2.17,0.00,0.000,6,0.000,0.033,3476,1701,2016,0,0,0,0,0,0
$GC,5152,0.69,259.7,160.3,16.8,516,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1702,2015,0,0,0,0,0,0
$GC,5482,0.70,261.3,110.7,15.1,569,5496,0.00,2.15,4.10,0.418,4,0.000,0.040,3476,3109,2001,0,0,0,0,0,0
$GC,5587,0.76,289.2,95.5,13.6,587,5615,0.00,2.15,23.50,0.591,6,0.000,0.043,3483,1690,1888,0,0,0,0,0,0
$GC,5948,0.99,449.6,57.3,6.3,651,6076,0.22,2.28,119.85,0.564,4,0.055,0.036,3620,3109,1233,0,0,0,0,0,0
$GC,6118,0.98,449.6,23.2,23.7,677,6125,0.22,2.20,0.00,0.000,6,0.140,0.044,3560,1702,1229,0,0,0,0,0,0
$STATE,6230,end climb,SURFACE_DEPTH_REACHED
$STATE,6230,begin surface coast
$FINISH,0.6,1.012991
$STATE,6246,end surface coast,CONTROL_FINISHED_OK
$STATE,6246,begin surface
$SM_CCo,6261,81.80,0.471,1,0,621,600.00
$SM_GC,1.32,0.00,0.00,81.80,0.000,0.000,0.471,104,1546,621,-9.84,-0.11,600.00
$IRIDIUM_FIX,2420.48,12706.40,011010,070730
$TT8_MAMPS,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,17.410
$10V_AH,10.5,12.669
$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,20.975,52.625,490.225,81.800,0.000,24.456,17.258,98.566,0.250,0.000,16.786,1655.753,2488.528,579.387,1768.736,98.465,0.000,1286.944,0.000,1618.863,0.000,0.540,0.000
$DEVICE_MAMPS,214.200,67.320,866.745,471.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.784,0.000,887.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43727,700
$CAP_FILE_SIZE,81591,0
$CFSIZE,260165632,246677504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.245,175.3,1
$GPS,011010,104250,2429.554,12704.773,11,2.0,11,-3.7