version: 66.08
glider: 168
mission: 2
dive: 240
start: 10 9 110 21 9 13
data:
$ID,168
$MISSION,2
$DIVE,240
$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,-3470.0737
$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,43
$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
$GPS1,091010,210408,2430.188,12704.909,13,1.3,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.3
$GPS2,091010,210844,2430.215,12704.960,12,1.8,12,-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,201.8,404,-27.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.76,-117.2,0.0,0.0,0,73,0.00,0.00,-56.10,0.000,2,0.000,0.000,104,1535,3067,0,0,0,0,0,0
$GC,75,-0.84,-185.1,3.3,-5.2,8,106,10.02,2.17,-12.88,0.000,4,0.189,0.053,2968,2948,3824,0,0,0,0,0,0
$GC,272,-0.84,-185.1,64.8,-23.5,43,280,0.00,2.17,0.00,0.000,6,0.000,0.042,2968,1556,3826,0,0,0,0,0,0
$GC,599,-0.81,-185.1,164.8,-26.3,104,607,0.10,2.20,0.00,0.000,4,0.185,0.051,2993,159,3829,0,0,0,0,0,0
$GC,632,-0.80,-185.1,173.3,-25.7,109,639,0.00,2.05,0.00,0.000,6,0.000,0.035,2985,1532,3829,0,0,0,0,0,0
$GC,970,-0.80,-185.1,251.0,-22.8,170,979,0.00,2.17,0.00,0.000,4,0.000,0.042,2974,2951,3830,0,0,0,0,0,0
$GC,1029,-0.84,-185.1,262.5,-17.5,180,1037,0.00,2.20,0.00,0.000,6,0.000,0.045,2974,1539,3829,0,0,0,0,0,0
$GC,1371,-0.84,-185.1,334.7,-20.9,227,1374,0.00,2.12,0.00,0.000,4,0.000,0.054,2974,162,3830,0,0,0,0,0,0
$GC,1436,-0.85,-185.1,349.3,-20.7,232,1446,0.03,2.08,0.00,0.000,6,0.174,0.037,2976,1532,3830,0,0,0,0,0,0
$GC,1763,-0.86,-185.1,417.7,-19.7,263,1767,0.00,2.15,0.00,0.000,4,0.000,0.046,2966,2956,3829,0,0,0,0,0,0
$GC,1848,-0.91,-185.1,432.5,-15.9,270,1852,0.00,2.15,0.00,0.000,6,0.000,0.045,2966,1547,3829,0,0,0,0,0,0
$GC,2173,-0.92,-185.1,492.1,-18.6,300,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1546,3828,0,0,0,0,0,0
$STATE,2213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2213,begin apogee
$GC,2218,0.00,0.0,500.2,19.0,304,2366,0.80,0.00,141.93,0.880,4,0.106,0.000,3249,1717,3068,0,0,0,0,0,0
$STATE,2366,end apogee,CONTROL_FINISHED_OK
$STATE,2366,begin climb
$GC,2368,0.84,185.1,507.5,0.0,316,2524,0.73,2.20,146.12,0.867,4,0.033,0.048,3560,3089,2313,0,0,0,0,0,0
$GC,2728,0.80,185.1,451.3,23.7,347,2733,0.22,2.17,0.00,0.000,6,0.163,0.041,3506,1691,2307,0,0,0,0,0,0
$GC,3054,0.78,185.1,389.9,17.2,377,3058,0.00,2.15,0.00,0.000,4,0.000,0.038,3506,3104,2301,0,0,0,0,0,0
$GC,3161,0.77,185.1,371.1,16.9,386,3165,0.08,2.15,0.00,0.000,6,0.203,0.042,3498,1708,2300,0,0,0,0,0,0
$GC,3485,0.77,185.1,317.1,15.5,416,3489,0.00,2.17,0.00,0.000,4,0.000,0.051,3507,292,2298,0,0,0,0,0,0
$GC,3548,0.77,185.1,306.9,16.8,421,3552,0.00,2.10,0.00,0.000,6,0.000,0.031,3507,1705,2296,0,0,0,0,0,0
$GC,3886,0.77,185.1,253.4,15.3,477,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1707,2295,0,0,0,0,0,0
$GC,4225,0.77,185.1,199.5,15.3,538,4234,0.00,2.12,0.00,0.000,4,0.000,0.041,3507,3098,2295,0,0,0,0,0,0
$GC,4339,0.77,186.3,182.1,15.1,558,4348,0.05,2.17,0.00,0.000,6,0.162,0.043,3499,1696,2294,0,0,0,0,0,0
$GC,4679,0.85,237.1,141.5,10.7,619,4724,0.10,2.25,38.78,0.646,4,0.095,0.050,3600,293,2100,0,0,0,0,0,0
$GC,4801,0.82,237.1,119.1,21.9,639,4810,0.25,2.12,0.00,0.000,6,0.124,0.030,3516,1697,2095,0,0,0,0,0,0
$GC,5128,0.89,275.5,74.3,11.8,700,5166,0.08,2.15,30.27,0.588,4,0.119,0.038,3596,3105,1942,0,0,0,0,0,0
$GC,5322,0.91,291.2,42.9,13.8,734,5346,0.17,2.20,13.38,0.535,6,0.125,0.041,3545,1698,1879,0,0,0,0,0,0
$STATE,5653,end climb,SURFACE_DEPTH_REACHED
$STATE,5653,begin surface coast
$FINISH,0.7,1.022126
$STATE,5681,end surface coast,CONTROL_FINISHED_OK
$STATE,5681,begin surface
$SM_CCo,5697,59.25,0.060,0,0,1437,400.08
$SM_GC,1.90,0.00,0.00,59.25,0.000,0.000,0.060,103,1536,1437,-9.85,-0.40,400.08
$IRIDIUM_FIX,2420.48,12743.36,091010,191933
$TT8_MAMPS,0.026964
$HUMID,47.40
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.4,30.505
$10V_AH,10.5,22.205
$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,20.950,47.900,370.475,59.250,0.000,30.255,39.624,107.060,0.250,0.000,14.699,1925.642,1392.688,436.909,2161.418,129.840,0.000,1174.373,0.000,1986.946,0.000,0.539,0.000
$DEVICE_MAMPS,203.490,65.790,879.750,59.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.693,0.000,1381.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,47043,800
$CAP_FILE_SIZE,80627,0
$CFSIZE,260165632,241278976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182, 97.6,1
$GPS,091010,224625,2429.444,12705.409,39,1.1,39,-3.7