version: 66.08
glider: 168
mission: 2
dive: 237
start: 10 9 110 15 45 32
data:
$ID,168
$MISSION,2
$DIVE,237
$N_DIVES,250
$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,-3466.3083
$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,36
$R_STBD_OVSHOOT,47
$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
$GPS1,091010,154032,2429.485,12705.727,7,1.9,7,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.9
$GPS2,091010,154504,2429.490,12705.733,10,2.8,29,-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,310.9,1556,-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,-185.1,0.0,0.0,0,74,0.00,0.00,-56.53,0.000,2,0.000,0.000,104,1538,3030,0,0,0,0,0,0
$GC,76,-0.72,-185.1,3.1,-4.8,8,108,10.12,2.17,-13.73,0.000,4,0.189,0.054,3007,2953,3824,0,0,0,0,0,0
$GC,184,-0.69,-185.1,39.9,-27.4,26,193,0.05,2.20,0.00,0.000,6,0.123,0.045,3029,1555,3826,0,0,0,0,0,0
$GC,510,-0.65,-185.1,123.3,-25.8,87,518,0.00,2.17,0.00,0.000,4,0.000,0.052,3029,163,3827,0,0,0,0,0,0
$GC,609,-0.65,-185.1,144.1,-17.4,105,618,0.05,2.08,0.00,0.000,6,0.130,0.037,3043,1528,3828,0,0,0,0,0,0
$GC,948,-0.65,-185.1,201.7,-16.1,166,956,0.00,2.20,0.00,0.000,4,0.000,0.045,3033,2953,3829,0,0,0,0,0,0
$GC,1020,-0.69,-185.1,211.7,-12.0,178,1028,0.00,2.17,0.00,0.000,6,0.000,0.042,3033,1545,3829,0,0,0,0,0,0
$GC,1358,-0.69,-185.1,267.0,-15.7,239,1365,0.00,2.12,0.00,0.000,4,0.000,0.051,3033,159,3829,0,0,0,0,0,0
$GC,1429,-0.71,-185.1,277.4,-14.1,251,1435,0.00,2.10,0.00,0.000,6,0.000,0.038,3024,1554,3829,0,0,0,0,0,0
$GC,1761,-0.71,-185.1,328.3,-14.6,295,1765,0.00,2.15,0.00,0.000,4,0.000,0.047,3014,2963,3829,0,0,0,0,0,0
$GC,1792,-0.72,-185.1,332.8,-14.6,297,1796,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,1541,3829,0,0,0,0,0,0
$GC,2118,-0.72,-185.1,385.2,-16.3,327,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1540,3828,0,0,0,0,0,0
$GC,2438,-0.72,-185.1,437.8,-15.9,357,2442,0.00,2.12,0.00,0.000,4,0.000,0.055,3014,168,3826,0,0,0,0,0,0
$GC,2455,-0.72,-185.1,441.0,-15.6,358,2459,0.00,2.08,0.00,0.000,6,0.000,0.039,3005,1541,3826,0,0,0,0,0,0
$GC,2779,-0.72,-185.1,492.1,-16.2,388,2783,0.00,2.15,0.00,0.000,4,0.000,0.047,2995,2959,3825,0,0,0,0,0,0
$STATE,2832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2832,begin apogee
$GC,2838,0.00,0.0,500.4,14.0,392,2987,0.70,0.00,141.65,0.881,4,0.086,0.000,3258,1693,3068,0,0,0,0,0,0
$STATE,2988,end apogee,CONTROL_FINISHED_OK
$STATE,2988,begin climb
$GC,2990,0.72,185.1,507.6,0.0,405,3145,0.60,2.28,145.55,0.866,4,0.031,0.054,3528,288,2312,0,0,0,0,0,0
$GC,3212,0.65,185.1,483.4,21.4,424,3217,0.22,2.20,0.00,0.000,6,0.146,0.032,3462,1719,2307,0,0,0,0,0,0
$GC,3537,0.63,185.1,425.8,16.6,454,3541,0.00,2.12,0.00,0.000,4,0.000,0.041,3462,3114,2303,0,0,0,0,0,0
$GC,3588,0.61,185.1,417.3,16.4,458,3593,0.10,2.20,0.00,0.000,6,0.178,0.042,3446,1691,2302,0,0,0,0,0,0
$GC,3914,0.64,212.1,370.0,13.7,488,3941,0.00,2.22,21.25,0.774,4,0.000,0.052,3456,297,2202,0,0,0,0,0,0
$GC,3959,0.64,224.9,363.5,14.4,492,3975,0.00,2.12,11.73,0.721,6,0.000,0.032,3456,1704,2151,0,0,0,0,0,0
$GC,4298,0.64,224.9,315.6,15.3,523,4302,0.00,2.12,0.00,0.000,4,0.000,0.041,3456,3102,2145,0,0,0,0,0,0
$GC,4406,0.64,224.9,298.0,16.4,533,4413,0.00,2.15,0.00,0.000,6,0.000,0.043,3465,1709,2144,0,0,0,0,0,0
$GC,4747,0.63,224.9,242.7,16.1,594,4755,0.00,2.15,0.00,0.000,4,0.000,0.041,3465,3109,2143,0,0,0,0,0,0
$GC,4802,0.67,259.6,235.2,13.2,603,4837,0.00,2.15,28.08,0.711,6,0.000,0.043,3475,1709,2008,0,0,0,0,0,0
$GC,5168,0.69,280.8,182.8,14.0,668,5191,0.00,2.28,17.05,0.653,4,0.000,0.052,3484,294,1923,0,0,0,0,0,0
$GC,5264,0.71,290.4,168.0,14.6,684,5278,0.00,2.15,8.77,0.586,6,0.000,0.031,3484,1709,1884,0,0,0,0,0,0
$GC,5601,0.75,321.5,116.7,13.4,746,5632,0.00,2.20,25.62,0.622,4,0.000,0.040,3484,3109,1756,0,0,0,0,0,0
$GC,5683,0.86,380.5,105.8,11.9,759,5737,0.08,2.17,46.90,0.620,6,0.044,0.044,3577,1732,1515,0,0,0,0,0,0
$GC,6055,0.85,380.5,33.6,15.5,826,6065,0.17,2.28,0.00,0.000,4,0.137,0.050,3530,294,1507,0,0,0,0,0,0
$GC,6115,0.95,425.7,25.3,12.7,836,6160,0.05,2.17,34.17,0.555,6,0.059,0.030,3606,1735,1332,0,0,0,0,0,0
$STATE,6230,end climb,SURFACE_DEPTH_REACHED
$STATE,6230,begin surface coast
$FINISH,0.6,1.007902
$STATE,6244,end surface coast,CONTROL_FINISHED_OK
$STATE,6244,begin surface
$SM_CCo,6320,0.00,0.000,0,0,1322,428.05
$SM_GC,1.55,8.57,0.00,0.00,0.023,0.000,0.000,104,1526,1322,-9.70,-0.62,428.05
$IRIDIUM_FIX,2422.84,12704.51,091010,131327
$TT8_MAMPS,0.026215
$HUMID,49.56
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.4,30.193
$10V_AH,10.5,21.910
$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,20.725,65.150,480.775,0.000,0.000,24.684,19.295,110.972,0.500,0.000,32.911,2039.740,1723.399,464.843,2243.521,129.091,0.000,1268.353,0.000,2066.913,0.000,0.539,0.000
$DEVICE_MAMPS,188.955,55.080,881.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.228,0.000,1419.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,50548,857
$CAP_FILE_SIZE,89842,0
$CFSIZE,260165632,241418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,124.0,1
$GPS,091010,173138,2429.635,12705.573,12,1.6,12,-3.7