version: 66.08
glider: 168
mission: 2
dive: 204
start: 10 7 110 2 28 56
data:
$ID,168
$MISSION,2
$DIVE,204
$N_DIVES,220
$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,400
$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,-3424.8777
$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,30
$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
$GPS1,071010,022358,2427.525,12707.342,13,3.5,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-78.2
$GPS2,071010,022828,2427.481,12707.415,19,2.6,38,-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,322.5,6191,-22.1,-15.152
$D_GRID,1000
$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,-185.1,0.0,0.0,0,81,0.00,0.00,-63.53,0.000,2,0.000,0.000,104,1550,3331,0,0,0,0,0,0
$GC,83,-0.72,-185.1,4.1,-7.0,9,107,10.27,2.20,-7.72,0.000,4,0.196,0.055,3006,2954,3827,0,0,0,0,0,0
$GC,235,-0.70,-185.1,57.5,-24.6,36,244,0.05,2.20,0.00,0.000,6,0.126,0.044,3025,1546,3829,0,0,0,0,0,0
$GC,564,-0.66,-185.1,144.9,-25.3,97,572,0.05,2.15,0.00,0.000,4,0.247,0.050,3038,164,3831,0,0,0,0,0,0
$GC,624,-0.65,-185.1,160.7,-22.5,107,631,0.00,2.08,0.00,0.000,6,0.000,0.037,3030,1542,3832,0,0,0,0,0,0
$GC,962,-0.63,-185.1,232.0,-19.8,168,971,0.08,0.00,0.00,0.000,6,0.208,0.000,3049,1546,3834,0,0,0,0,0,0
$GC,1305,-0.64,-185.1,285.4,-14.3,229,1312,0.00,2.12,0.00,0.000,4,0.000,0.050,3049,158,3834,0,0,0,0,0,0
$GC,1342,-0.65,-185.1,291.0,-14.5,235,1349,0.00,2.10,0.00,0.000,6,0.000,0.038,3041,1557,3833,0,0,0,0,0,0
$GC,1673,-0.67,-185.1,338.3,-14.0,271,1677,0.00,2.10,0.00,0.000,4,0.000,0.044,3032,2957,3833,0,0,0,0,0,0
$GC,1726,-0.71,-185.1,345.3,-12.2,275,1730,0.00,2.15,0.00,0.000,6,0.000,0.043,3032,1544,3832,0,0,0,0,0,0
$GC,2056,-0.72,-185.1,395.3,-15.6,306,2060,0.00,2.10,0.00,0.000,4,0.000,0.053,3031,162,3831,0,0,0,0,0,0
$GC,2111,-0.74,-185.1,403.9,-14.6,310,2119,0.00,2.10,0.00,0.000,6,0.000,0.039,3023,1541,3831,0,0,0,0,0,0
$GC,2440,-0.75,-185.1,452.4,-14.3,341,2444,0.00,2.15,0.00,0.000,4,0.000,0.047,3012,2964,3829,0,0,0,0,0,0
$GC,2480,-0.78,-185.1,458.3,-13.1,344,2484,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,1547,3829,0,0,0,0,0,0
$STATE,2752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2752,begin apogee
$GC,2757,0.00,0.0,500.7,16.8,369,2904,0.65,0.00,141.40,0.884,4,0.096,0.000,3251,1715,3068,0,0,0,0,0,0
$STATE,2904,end apogee,CONTROL_FINISHED_OK
$STATE,2904,begin climb
$GC,2906,0.72,185.1,509.6,0.0,381,3059,0.62,2.22,145.55,0.866,4,0.032,0.047,3531,3092,2313,0,0,0,0,0,0
$GC,3150,0.65,185.1,480.3,23.4,402,3155,0.28,2.17,0.00,0.000,6,0.155,0.043,3461,1697,2307,0,0,0,0,0,0
$GC,3475,0.62,185.1,421.1,17.7,432,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1697,2302,0,0,0,0,0,0
$GC,3794,0.62,205.5,372.6,14.0,462,3816,0.00,2.15,15.45,0.757,4,0.000,0.038,3461,3100,2229,0,0,0,0,0,0
$GC,3822,0.61,215.9,368.2,14.6,464,3842,0.05,2.20,9.82,0.702,6,0.153,0.044,3451,1701,2188,0,0,0,0,0,0
$GC,4159,0.60,215.9,317.2,15.8,496,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1701,2182,0,0,0,0,0,0
$GC,4488,0.61,218.0,267.8,15.0,545,4495,0.00,2.12,0.00,0.000,4,0.000,0.041,3451,3099,2181,0,0,0,0,0,0
$GC,4502,0.61,218.0,265.3,15.7,547,4509,0.00,2.15,0.00,0.000,6,0.000,0.043,3459,1700,2181,0,0,0,0,0,0
$GC,4840,0.64,244.5,214.4,13.7,608,4868,0.00,2.28,22.75,0.691,4,0.000,0.053,3470,287,2070,0,0,0,0,0,0
$GC,4924,0.69,282.4,202.7,13.1,622,4965,0.00,2.12,30.83,0.686,6,0.000,0.032,3470,1687,1914,0,0,0,0,0,0
$GC,5295,0.70,297.9,151.9,14.3,688,5310,0.00,0.00,12.62,0.613,6,0.000,0.000,3470,1687,1854,0,0,0,0,0,0
$GC,5630,0.75,318.9,105.0,14.0,750,5654,0.08,2.25,17.73,0.601,4,0.125,0.051,3566,287,1766,0,0,0,0,0,0
$GC,5699,0.72,318.9,90.5,21.0,761,5708,0.22,2.12,0.00,0.000,6,0.097,0.031,3482,1687,1762,0,0,0,0,0,0
$GC,6025,0.89,421.7,52.6,9.5,822,6113,0.15,2.28,78.25,0.577,4,0.071,0.052,3610,293,1347,0,0,0,0,0,0
$GC,6148,0.86,421.7,28.9,22.7,840,6158,0.22,2.12,0.00,0.000,6,0.105,0.031,3529,1679,1342,0,0,0,0,0,0
$STATE,6318,end climb,SURFACE_DEPTH_REACHED
$STATE,6318,begin surface coast
$FINISH,0.7,1.022145
$STATE,6341,end surface coast,CONTROL_FINISHED_OK
$STATE,6341,begin surface
$SM_CCo,6417,0.00,0.000,0,0,1334,425.10
$SM_GC,1.59,8.30,0.00,0.00,0.019,0.000,0.000,103,1529,1334,-9.70,-0.51,425.10
$IRIDIUM_FIX,2418.11,12708.29,071010,000052
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,26.336
$10V_AH,10.5,18.558
$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,21.025,52.250,474.400,0.000,0.000,24.062,18.230,105.154,0.250,0.000,41.492,2075.010,1755.071,460.487,2276.731,129.168,0.000,1257.566,0.000,2108.609,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,67.320,883.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.973,0.000,1470.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53660,875
$CAP_FILE_SIZE,88335,0
$CFSIZE,260165632,243154944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,133.0,1
$GPS,071010,041706,2427.543,12707.409,39,1.1,39,-3.7