version: 66.08
glider: 168
mission: 2
dive: 168
start: 10 4 110 8 42 10
data:
$ID,168
$MISSION,2
$DIVE,168
$N_DIVES,180
$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,-3379.6018
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,041010,083730,2429.329,12705.188,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.7
$GPS2,041010,084143,2429.245,12705.202,9,0.9,14,-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,335.4,1439,-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,-83.53,0.000,2,0.000,0.000,104,1545,3163,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.7,-7.0,13,132,10.18,2.15,-10.60,0.000,4,0.191,0.051,3005,2966,3826,0,0,0,0,0,0
$GC,230,-0.67,-185.1,51.8,-31.2,35,239,0.12,2.20,0.00,0.000,6,0.145,0.045,3043,1549,3827,0,0,0,0,0,0
$GC,564,-0.63,-185.1,140.8,-21.1,96,572,0.00,2.15,0.00,0.000,4,0.000,0.051,3043,166,3829,0,0,0,0,0,0
$GC,596,-0.60,-185.1,147.5,-22.5,101,603,0.10,2.08,0.00,0.000,6,0.167,0.038,3063,1556,3829,0,0,0,0,0,0
$GC,930,-0.60,-185.1,206.0,-17.7,133,934,0.00,2.12,0.00,0.000,4,0.000,0.044,3053,2958,3830,0,0,0,0,0,0
$GC,960,-0.62,-185.1,211.1,-16.1,135,964,0.00,2.15,0.00,0.000,6,0.000,0.044,3053,1551,3830,0,0,0,0,0,0
$GC,1287,-0.62,-185.1,268.9,-16.4,165,1290,0.00,2.15,0.00,0.000,4,0.000,0.053,3054,164,3830,0,0,0,0,0,0
$GC,1407,-0.65,-185.1,286.1,-11.9,175,1414,0.00,2.05,0.00,0.000,6,0.000,0.041,3047,1537,3830,0,0,0,0,0,0
$GC,1732,-0.66,-185.1,335.0,-14.7,206,1736,0.00,2.15,0.00,0.000,4,0.000,0.046,3037,2965,3829,0,0,0,0,0,0
$GC,1760,-0.69,-185.1,339.0,-13.9,208,1764,0.00,2.20,0.00,0.000,6,0.000,0.046,3037,1533,3829,0,0,0,0,0,0
$GC,2085,-0.70,-185.1,395.4,-17.6,238,2089,0.00,2.10,0.00,0.000,4,0.000,0.056,3037,158,3828,0,0,0,0,0,0
$GC,2144,-0.73,-185.1,405.1,-14.4,243,2152,0.00,2.10,0.00,0.000,6,0.000,0.041,3028,1537,3828,0,0,0,0,0,0
$GC,2469,-0.74,-185.1,453.5,-13.9,274,2473,0.00,2.15,0.00,0.000,4,0.000,0.048,3018,2957,3826,0,0,0,0,0,0
$GC,2498,-0.76,-185.1,457.2,-12.5,276,2502,0.00,2.17,0.00,0.000,6,0.000,0.046,3018,1537,3826,0,0,0,0,0,0
$GC,2824,-0.77,-185.1,499.2,-12.7,306,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1537,3824,0,0,0,0,0,0
$STATE,2833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2833,begin apogee
$GC,2837,0.00,0.0,500.6,12.7,307,2985,0.62,0.00,140.60,0.876,4,0.096,0.000,3250,1710,3067,0,0,0,0,0,0
$STATE,2986,end apogee,CONTROL_FINISHED_OK
$STATE,2986,begin climb
$GC,2987,0.72,185.1,504.9,0.0,319,3141,0.62,2.25,145.65,0.857,4,0.031,0.047,3542,3101,2312,0,0,0,0,0,0
$GC,3241,0.64,185.1,473.4,21.4,341,3248,0.32,2.17,0.00,0.000,6,0.151,0.042,3456,1698,2306,0,0,0,0,0,0
$GC,3566,0.64,196.5,424.9,14.5,372,3580,0.00,0.00,8.82,0.708,6,0.000,0.000,3455,1698,2265,0,0,0,0,0,0
$GC,3898,0.62,196.5,371.7,16.2,403,3902,0.00,2.17,0.00,0.000,4,0.000,0.053,3466,286,2261,0,0,0,0,0,0
$GC,3951,0.60,196.5,362.6,17.1,407,3956,0.10,2.10,0.00,0.000,6,0.158,0.032,3437,1704,2260,0,0,0,0,0,0
$GC,4280,0.67,252.2,317.9,12.1,438,4336,0.10,2.30,44.22,0.768,4,0.096,0.053,3526,293,2038,0,0,0,0,0,0
$GC,4342,0.62,252.2,307.4,19.4,443,4349,0.25,2.15,0.00,0.000,6,0.142,0.031,3450,1709,2037,0,0,0,0,0,0
$GC,4667,0.66,289.7,261.5,13.1,474,4701,0.00,2.33,29.45,0.718,4,0.000,0.054,3461,289,1887,0,0,0,0,0,0
$GC,4713,0.69,314.3,255.1,13.8,478,4740,0.00,2.12,20.98,0.688,6,0.000,0.031,3460,1696,1785,0,0,0,0,0,0
$GC,5067,0.70,317.8,200.6,15.0,511,5071,0.00,2.17,0.00,0.000,4,0.000,0.054,3470,294,1778,0,0,0,0,0,0
$GC,5107,0.71,317.8,194.0,16.4,514,5111,0.00,2.10,0.00,0.000,6,0.000,0.031,3469,1697,1777,0,0,0,0,0,0
$GC,5435,0.72,317.8,144.6,15.8,547,5441,0.00,2.20,0.00,0.000,4,0.000,0.054,3478,288,1776,0,0,0,0,0,0
$GC,5482,0.74,317.8,136.9,15.5,555,5489,0.00,2.08,0.00,0.000,6,0.000,0.032,3478,1687,1775,0,0,0,0,0,0
$GC,5820,0.76,317.8,85.3,15.5,616,5830,0.05,2.17,0.00,0.000,4,0.174,0.041,3547,3102,1775,0,0,0,0,0,0
$GC,5868,0.76,317.8,76.7,18.3,624,5878,0.17,2.20,0.00,0.000,6,0.111,0.044,3493,1685,1775,0,0,0,0,0,0
$GC,6212,0.97,453.6,40.1,7.7,685,6325,0.20,2.28,103.05,0.555,4,0.057,0.053,3640,290,1216,0,0,0,0,0,0
$GC,6348,0.91,453.6,10.7,25.9,706,6356,0.28,2.12,0.00,0.000,6,0.125,0.028,3547,1682,1213,0,0,0,0,0,0
$STATE,6383,end climb,SURFACE_DEPTH_REACHED
$STATE,6383,begin surface coast
$FINISH,0.6,1.021793
$STATE,6396,end surface coast,CONTROL_FINISHED_OK
$STATE,6396,begin surface
$SM_CCo,6411,80.93,0.058,0,0,622,600.00
$SM_GC,1.42,0.00,0.00,80.93,0.000,0.000,0.058,104,1522,622,-9.84,-0.79,600.00
$IRIDIUM_FIX,2420.48,12703.08,041010,060615
$TT8_MAMPS,0.026964
$HUMID,47.12
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,22.223
$10V_AH,10.5,15.626
$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,21.575,65.325,492.775,80.925,0.000,27.692,37.229,96.718,0.250,0.000,17.401,1703.498,2553.223,594.937,1802.822,105.594,0.000,1313.577,0.000,1628.744,0.000,0.540,0.000
$DEVICE_MAMPS,191.250,67.320,875.925,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.150,0.000,905.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43621,714
$CAP_FILE_SIZE,86614,0
$CFSIZE,260165632,244871168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.287,151.2,1
$GPS,041010,103108,2429.176,12705.141,9,2.0,9,-3.7