version: 66.08
glider: 168
mission: 2
dive: 130
start: 10 1 110 12 36 43
data:
$ID,168
$MISSION,2
$DIVE,130
$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,-3331.9277
$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,43
$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
$GPS1,011010,123210,2429.756,12704.883,29,1.7,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.2
$GPS2,011010,123608,2429.689,12704.867,10,1.7,10,-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,6.3,618,-23.7,-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,-161.5,0.0,0.0,0,98,0.00,0.00,-80.40,0.000,2,0.000,0.000,104,1556,3054,0,0,0,0,0,0
$GC,100,-0.75,-185.1,3.4,-6.3,12,129,10.07,2.20,-12.93,0.000,4,0.190,0.056,2997,2955,3826,0,0,0,0,0,0
$GC,202,-0.72,-185.1,42.5,-28.7,29,209,0.10,2.17,0.00,0.000,6,0.154,0.046,3026,1545,3828,0,0,0,0,0,0
$GC,532,-0.69,-185.1,135.0,-24.8,90,539,0.00,2.15,0.00,0.000,4,0.000,0.051,3026,162,3830,0,0,0,0,0,0
$GC,552,-0.65,-185.1,140.0,-25.3,93,560,0.10,2.05,0.00,0.000,6,0.164,0.036,3046,1546,3830,0,0,0,0,0,0
$GC,885,-0.65,-185.1,211.6,-20.1,128,889,0.00,2.12,0.00,0.000,4,0.000,0.044,3036,2958,3831,0,0,0,0,0,0
$GC,899,-0.65,-185.1,215.1,-19.9,129,908,0.00,2.17,0.00,0.000,6,0.000,0.042,3036,1547,3831,0,0,0,0,0,0
$GC,1226,-0.65,-185.1,277.8,-19.3,160,1230,0.00,2.12,0.00,0.000,4,0.000,0.052,3036,156,3831,0,0,0,0,0,0
$GC,1261,-0.66,-185.1,283.9,-18.0,163,1265,0.00,2.10,0.00,0.000,6,0.000,0.039,3026,1564,3831,0,0,0,0,0,0
$GC,1587,-0.66,-185.1,343.3,-19.1,193,1591,0.00,2.12,0.00,0.000,4,0.000,0.053,3026,165,3830,0,0,0,0,0,0
$GC,1607,-0.66,-185.1,347.9,-19.1,194,1617,0.05,2.12,0.00,0.000,6,0.134,0.037,3039,1559,3830,0,0,0,0,0,0
$GC,1935,-0.69,-185.1,396.0,-13.3,225,1939,0.00,2.12,0.00,0.000,4,0.000,0.047,3030,2959,3829,0,0,0,0,0,0
$GC,1986,-0.75,-185.1,402.0,-10.9,229,1991,0.08,2.12,0.00,0.000,6,0.117,0.044,2939,1560,3829,0,0,0,0,0,0
$GC,2317,-0.72,-185.1,479.2,-22.1,260,2319,0.28,0.00,0.00,0.000,6,0.137,0.000,3026,1559,3828,0,0,0,0,0,0
$STATE,2475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2475,begin apogee
$GC,2479,0.00,0.0,500.9,12.1,275,2626,0.60,0.00,140.80,0.862,4,0.094,0.000,3251,1717,3067,0,0,0,0,0,0
$STATE,2627,end apogee,CONTROL_FINISHED_OK
$STATE,2627,begin climb
$GC,2629,0.75,185.1,506.0,0.0,287,2781,0.65,2.35,144.75,0.851,4,0.030,0.054,3549,290,2312,0,0,0,0,0,0
$GC,2890,0.68,185.1,470.5,23.0,310,2899,0.22,2.17,0.00,0.000,6,0.138,0.032,3475,1702,2305,0,0,0,0,0,0
$GC,3216,0.66,185.1,415.3,17.0,341,3220,0.00,2.12,0.00,0.000,4,0.000,0.041,3475,3109,2301,0,0,0,0,0,0
$GC,3278,0.64,185.1,404.6,17.0,346,3282,0.10,2.17,0.00,0.000,6,0.175,0.043,3458,1698,2301,0,0,0,0,0,0
$GC,3603,0.66,208.1,358.5,13.7,376,3627,0.00,2.15,17.80,0.751,4,0.000,0.039,3458,3112,2218,0,0,0,0,0,0
$GC,3671,0.66,208.1,348.1,15.8,382,3675,0.00,2.15,0.00,0.000,6,0.000,0.042,3467,1703,2217,0,0,0,0,0,0
$GC,3996,0.65,208.1,299.8,15.3,412,4000,0.00,2.17,0.00,0.000,4,0.000,0.054,3478,290,2213,0,0,0,0,0,0
$GC,4047,0.65,208.1,291.5,16.2,416,4052,0.08,2.10,0.00,0.000,6,0.168,0.033,3455,1701,2211,0,0,0,0,0,0
$GC,4372,0.66,216.8,244.8,14.6,446,4385,0.00,2.12,7.32,0.606,4,0.000,0.040,3455,3111,2183,0,0,0,0,0,0
$GC,4477,0.70,233.5,229.2,14.1,455,4502,0.00,2.15,14.85,0.665,6,0.000,0.044,3465,1703,2114,0,0,0,0,0,0
$GC,4820,0.74,255.8,180.0,13.7,487,4846,0.08,2.20,18.67,0.643,4,0.127,0.051,3540,293,2024,0,0,0,0,0,0
$GC,4872,0.70,255.8,169.2,21.0,491,4881,0.17,2.15,0.00,0.000,6,0.125,0.032,3480,1706,2021,0,0,0,0,0,0
$GC,5201,0.73,269.3,114.3,14.3,542,5217,0.00,2.17,10.95,0.568,4,0.000,0.041,3480,3107,1969,0,0,0,0,0,0
$GC,5303,0.79,301.3,99.7,13.1,560,5339,0.03,2.17,26.75,0.593,6,0.099,0.043,3553,1712,1837,0,0,0,0,0,0
$GC,5663,0.86,347.9,43.0,12.2,625,5705,0.10,2.22,35.80,0.552,4,0.171,0.041,3522,3114,1648,0,0,0,0,0,0
$GC,5787,0.97,400.6,27.6,11.8,646,5836,0.10,2.20,40.47,0.536,6,0.039,0.042,3619,1713,1434,0,0,0,0,0,0
$STATE,5906,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FINISH,0.7,1.021765
$STATE,5919,end surface coast,CONTROL_FINISHED_OK
$STATE,5919,begin surface
$SM_CCo,5935,105.65,0.483,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,105.65,0.000,0.000,0.483,104,1538,621,-9.84,-0.37,600.00
$IRIDIUM_FIX,2420.48,12453.70,011010,101022
$TT8_MAMPS,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,17.654
$10V_AH,10.5,12.818
$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,21.300,60.875,458.175,105.650,0.000,31.044,18.027,101.090,0.500,0.000,13.198,1608.257,2320.157,581.603,1701.099,95.398,0.000,1261.319,0.000,1541.006,0.000,0.540,0.000
$DEVICE_MAMPS,189.720,62.730,862.155,482.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.551,0.000,847.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40341,668
$CAP_FILE_SIZE,81931,0
$CFSIZE,260165632,246587392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,169.6,1
$GPS,011010,141814,2429.991,12704.902,9,2.0,9,-3.7