version: 66.11
glider: 168
mission: 7
dive: 5
start: 7 12 112 21 49 18
data:
$ID,168
$MISSION,7
$DIVE,5
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,100
$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,50
$T_MISSION,65
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51744
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,612.81671
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36049.336
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,2490
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1944
$C_ROLL_CLIMB,1944
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2954
$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,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-72.333031
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043311096
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231596
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,120712,214230,4743.043,-12224.767,13,1.3,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-69.4
$GPS2,120712,214855,4743.052,-12224.750,12,1.1,12,18.2
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,321.2,886,-18.2,-10.000
$D_GRID,177
$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,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.67,-146.6,0.0,0.0,0,139,0.00,0.00,-115.45,0.000,6,0.000,0.000,97,1947,3553,0,0,0,0,0,0,28.83,28.83,26.37
$GC,141,-0.67,-146.6,3.6,-10.6,21,155,7.90,2.30,0.00,0.000,4,0.216,0.057,2267,533,3554,0,0,0,0,0,0,25.82,26.01,28.83
$GC,229,-0.33,-146.6,23.7,-14.3,37,236,0.40,2.20,0.00,0.000,6,0.142,0.046,2384,1948,3555,0,0,0,0,0,0,25.98,26.10,28.83
$GC,360,-0.51,-146.6,34.2,-7.8,62,366,0.15,0.00,0.00,0.000,6,0.070,0.000,2273,1949,3558,0,0,0,0,0,0,26.29,28.83,28.83
$GC,490,-0.29,-146.6,51.1,-12.2,87,497,0.35,2.28,0.00,0.000,4,0.128,0.060,2394,529,3555,0,0,0,0,0,0,26.16,26.22,28.83
$GC,515,-0.36,-146.6,53.7,-10.3,91,522,0.00,2.20,0.00,0.000,6,0.000,0.047,2385,1948,3556,0,0,0,0,0,0,28.83,26.26,28.83
$GC,646,-0.65,-146.6,61.9,-6.8,116,653,0.25,2.22,0.00,0.000,4,0.051,0.056,2227,3359,3555,0,0,0,0,0,0,26.41,26.29,28.83
$GC,732,-0.32,-146.6,73.6,-13.5,132,739,0.47,2.22,0.00,0.000,6,0.132,0.048,2383,1941,3555,0,0,0,0,0,0,26.22,26.33,28.83
$GC,863,-0.64,-146.6,81.1,-5.1,157,870,0.25,0.00,0.00,0.000,6,0.050,0.000,2228,1941,3556,0,0,0,0,0,0,26.46,28.83,28.83
$GC,994,-0.30,-146.6,97.5,-13.8,182,1001,0.47,2.22,0.00,0.000,4,0.132,0.055,2380,3352,3555,0,0,0,0,0,0,26.29,26.37,28.83
$GC,1061,-0.72,-146.6,101.8,-5.0,191,1067,0.32,2.22,0.00,0.000,6,0.044,0.049,2203,1936,3555,0,0,0,0,0,0,26.48,26.40,28.83
$GC,1196,-0.30,-146.6,120.5,-15.2,204,1202,0.55,2.22,0.00,0.000,4,0.138,0.054,2378,3353,3555,0,0,0,0,0,0,26.32,26.41,28.83
$GC,1230,-0.30,-146.6,123.6,-10.2,207,1236,0.05,2.22,0.00,0.000,6,0.185,0.050,2398,1940,3555,0,0,0,0,0,0,26.36,26.42,28.83
$GC,1365,-0.71,-146.6,128.4,-3.4,220,1371,0.35,2.25,0.00,0.000,4,0.042,0.057,2196,3352,3556,0,0,0,0,0,0,26.53,26.42,28.83
$GC,1400,-0.60,-146.6,131.7,-7.8,223,1406,0.32,2.20,0.00,0.000,6,0.146,0.047,2295,1945,3554,0,0,0,0,0,0,26.32,26.44,28.83
$GC,1535,-0.52,-146.6,144.4,-8.7,236,1542,0.10,0.00,0.00,0.000,6,0.170,0.000,2327,1945,3555,0,0,0,0,0,0,26.42,28.83,28.83
$STATE,1601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1607,-0.22,0.0,150.1,-8.0,243,1729,0.25,0.00,114.53,0.923,6,0.125,0.000,2416,1945,2954,0,0,0,0,0,0,26.40,28.83,24.18
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1732,0.67,146.6,154.7,0.0,255,1861,0.85,2.42,116.90,0.790,4,0.091,0.057,2719,536,2359,0,0,0,0,0,0,24.90,24.75,24.15
$GC,1903,0.59,146.6,137.9,13.0,272,1910,0.15,2.25,0.00,0.000,6,0.132,0.037,2674,1957,2352,0,0,0,0,0,0,25.24,25.32,28.83
$GC,2031,0.64,146.6,122.6,11.6,285,2037,0.10,2.25,0.00,0.000,4,0.096,0.049,2751,3354,2348,0,0,0,0,0,0,25.82,25.74,28.83
$GC,2079,0.40,146.6,115.3,16.3,289,2086,0.45,2.28,0.00,0.000,6,0.125,0.047,2616,1942,2347,0,0,0,0,0,0,25.75,25.86,28.83
$GC,2207,0.76,195.9,102.9,7.7,302,2251,0.32,0.00,38.42,0.859,6,0.044,0.000,2767,1942,2154,0,0,0,0,0,0,26.08,28.83,24.63
$GC,2375,0.51,195.9,73.7,18.7,332,2381,0.35,0.00,0.00,0.000,6,0.123,0.000,2649,1942,2149,0,0,0,0,0,0,25.67,28.83,28.83
$GC,2505,0.82,255.7,61.8,7.3,357,2569,0.25,2.35,54.00,0.273,4,0.050,0.060,2783,533,1911,0,0,0,0,0,0,26.05,25.64,25.45
$GC,2583,0.65,255.7,49.8,17.5,370,2590,0.28,2.20,0.00,0.000,6,0.120,0.040,2696,1945,1909,0,0,0,0,0,0,25.65,25.74,28.83
$GC,2715,0.80,255.7,34.8,11.2,395,2722,0.12,2.25,0.00,0.000,4,0.080,0.057,2778,536,1905,0,0,0,0,0,0,26.03,25.93,28.83
$GC,2740,0.80,255.7,31.2,14.5,399,2747,0.12,2.17,0.00,0.000,6,0.145,0.039,2746,1950,1905,0,0,0,0,0,0,25.92,25.99,28.83
$GC,2870,0.80,255.7,10.7,14.3,424,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1950,1904,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2936,end climb,SURFACE_DEPTH_REACHED
$STATE,2936,begin surface coast
$FINISH,0.6,1.015563
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,2975,161.98,0.136,0,0,452,613.00
$SM_GC,0.55,6.57,0.00,161.98,0.035,0.000,0.136,96,1950,452,-7.30,0.17,613.00,0,0,0,0,0,0,26.27,28.83,25.68
$IRIDIUM_FIX,4726.11,-12220.67,120712,202048
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,18.80
$XPDR_PINGS,6
$SC_FREEKB,7768064
$24V_AH,24.2,0.634
$10V_AH,10.0,1.604
$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,21.775,44.950,323.850,161.975,0.000,28.193,18.298,152.393,1.500,0.000,13.709,997.153,767.760,576.329,1022.289,166.179,0.000,1047.494,0.000,753.981,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,60.435,922.590,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.214,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,13445,441
$CAP_FILE_SIZE,86539,0
$CFSIZE,260165632,219545600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120712,224245,4743.459,-12224.893,9,2.2,28,18.2