version: 66.08
glider: 168
mission: 2
dive: 141
start: 10 2 110 7 47 10
data:
$ID,168
$MISSION,2
$DIVE,141
$N_DIVES,155
$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,-3345.7236
$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,34
$R_STBD_OVSHOOT,40
$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
$GPS1,021010,074155,2429.219,12705.322,10,1.9,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.9
$GPS2,021010,074643,2429.147,12705.358,13,1.9,30,-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,334.6,1691,-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,-185.1,0.0,0.0,0,98,0.00,0.00,-80.38,0.000,2,0.000,0.000,104,1533,3043,0,0,0,0,0,0
$GC,100,-0.72,-185.1,3.4,-5.3,12,129,10.15,2.22,-13.25,0.000,4,0.190,0.054,3010,2957,3826,0,0,0,0,0,0
$GC,266,-0.69,-185.1,59.1,-27.5,41,273,0.08,2.15,0.00,0.000,6,0.168,0.042,3030,1551,3829,0,0,0,0,0,0
$GC,601,-0.64,-185.1,153.5,-26.9,102,606,0.05,2.12,0.00,0.000,4,0.254,0.050,3043,169,3830,0,0,0,0,0,0
$GC,642,-0.62,-185.1,162.8,-22.1,105,647,0.08,2.08,0.00,0.000,6,0.186,0.037,3055,1551,3831,0,0,0,0,0,0
$GC,973,-0.61,-185.1,222.7,-17.9,136,976,0.00,2.12,0.00,0.000,4,0.000,0.046,3046,2964,3831,0,0,0,0,0,0
$GC,1013,-0.62,-185.1,229.1,-15.2,139,1017,0.00,2.15,0.00,0.000,6,0.000,0.044,3046,1552,3831,0,0,0,0,0,0
$GC,1339,-0.62,-185.1,284.8,-16.6,169,1343,0.00,2.10,0.00,0.000,4,0.000,0.052,3045,165,3831,0,0,0,0,0,0
$GC,1404,-0.65,-185.1,294.9,-13.3,174,1412,0.00,2.10,0.00,0.000,6,0.000,0.040,3037,1541,3831,0,0,0,0,0,0
$GC,1731,-0.65,-185.1,347.9,-17.3,205,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1543,3830,0,0,0,0,0,0
$GC,2049,-0.67,-185.1,399.0,-14.4,235,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1544,3829,0,0,0,0,0,0
$GC,2367,-0.69,-185.1,443.5,-13.0,265,2371,0.00,2.15,0.00,0.000,4,0.000,0.048,3028,2963,3827,0,0,0,0,0,0
$GC,2397,-0.72,-185.1,447.3,-12.2,267,2401,0.00,2.17,0.00,0.000,6,0.000,0.046,3028,1544,3828,0,0,0,0,0,0
$GC,2725,-0.74,-185.1,489.2,-13.6,297,2729,0.00,2.12,0.00,0.000,4,0.000,0.056,3027,165,3825,0,0,0,0,0,0
$GC,2769,-0.77,-185.1,496.1,-13.6,300,2777,0.00,2.10,0.00,0.000,6,0.000,0.041,3018,1536,3825,0,0,0,0,0,0
$STATE,2806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2806,begin apogee
$GC,2811,0.00,0.0,501.3,14.0,304,2962,0.62,0.00,140.40,0.873,4,0.095,0.000,3250,1714,3067,0,0,0,0,0,0
$STATE,2963,end apogee,CONTROL_FINISHED_OK
$STATE,2963,begin climb
$GC,2964,0.72,185.1,509.0,0.0,317,3119,0.62,2.33,145.02,0.855,4,0.032,0.053,3526,284,2312,0,0,0,0,0,0
$GC,3167,0.66,185.1,492.1,18.9,334,3177,0.20,2.20,0.00,0.000,6,0.137,0.031,3461,1697,2307,0,0,0,0,0,0
$GC,3496,0.63,185.1,439.1,16.0,365,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1699,2303,0,0,0,0,0,0
$GC,3814,0.61,185.1,390.0,15.4,395,3818,0.00,2.12,0.00,0.000,4,0.000,0.041,3461,3107,2300,0,0,0,0,0,0
$GC,3835,0.58,185.1,385.9,16.4,396,3844,0.08,2.17,0.00,0.000,6,0.144,0.043,3443,1712,2300,0,0,0,0,0,0
$GC,4162,0.62,210.7,341.7,13.7,427,4188,0.00,2.12,19.35,0.750,4,0.000,0.040,3442,3108,2208,0,0,0,0,0,0
$GC,4212,0.64,231.8,334.6,14.0,431,4238,0.00,2.17,18.40,0.735,6,0.000,0.044,3452,1691,2123,0,0,0,0,0,0
$GC,4555,0.64,231.8,280.7,16.6,463,4559,0.00,2.15,0.00,0.000,4,0.000,0.054,3462,295,2116,0,0,0,0,0,0
$GC,4572,0.64,231.8,277.5,16.9,464,4576,0.00,2.10,0.00,0.000,6,0.000,0.031,3462,1697,2115,0,0,0,0,0,0
$GC,4897,0.65,242.7,226.7,14.5,494,4911,0.00,2.20,8.95,0.626,4,0.000,0.041,3462,3111,2077,0,0,0,0,0,0
$GC,4949,0.68,258.3,218.8,14.3,498,4969,0.00,2.20,14.23,0.659,6,0.000,0.043,3470,1695,2013,0,0,0,0,0,0
$GC,5286,0.68,258.3,166.1,15.6,530,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1695,2006,0,0,0,0,0,0
$GC,5607,0.70,268.0,118.7,14.6,580,5622,0.00,2.12,7.70,0.542,4,0.000,0.039,3471,3108,1974,0,0,0,0,0,0
$GC,5687,0.78,311.5,107.9,12.8,594,5730,0.05,2.22,35.45,0.614,6,0.058,0.044,3555,1684,1798,0,0,0,0,0,0
$GC,6053,0.81,334.4,51.2,13.9,660,6082,0.15,2.22,17.92,0.551,4,0.142,0.040,3506,3108,1704,0,0,0,0,0,0
$GC,6102,0.95,410.6,45.9,11.0,667,6172,0.15,2.17,58.58,0.559,6,0.065,0.043,3616,1691,1391,0,0,0,0,0,0
$STATE,6296,end climb,SURFACE_DEPTH_REACHED
$STATE,6296,begin surface coast
$FINISH,0.7,1.021740
$STATE,6307,end surface coast,CONTROL_FINISHED_OK
$STATE,6307,begin surface
$SM_CCo,6323,101.95,0.477,1,0,621,600.00
$SM_GC,1.31,0.00,0.00,101.95,0.000,0.000,0.477,104,1534,621,-9.84,-0.45,600.00
$IRIDIUM_FIX,2422.84,12704.51,021010,050515
$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,18.956
$10V_AH,10.4,13.612
$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,20.800,56.600,466.000,101.950,0.000,30.808,37.110,111.920,0.250,0.000,33.380,1682.809,2559.688,582.404,1802.998,104.268,0.000,1279.391,0.000,1597.388,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,65.025,872.865,476.595,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.917,0.000,890.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43616,702
$CAP_FILE_SIZE,83727,0
$CFSIZE,260165632,246091776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.265,161.9,1
$GPS,021010,093536,2429.077,12705.055,34,1.0,40,-3.7