version: 66.08
glider: 168
mission: 2
dive: 241
start: 10 9 110 22 51 22
data:
$ID,168
$MISSION,2
$DIVE,241
$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,-3471.3279
$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
$GPS1,091010,224625,2429.444,12705.409,39,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-79.7
$GPS2,091010,225055,2429.447,12705.489,10,1.0,15,-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,302.5,1315,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-185.1,0.0,0.0,0,81,0.00,0.00,-62.70,0.000,2,0.000,0.000,104,1537,3299,0,0,0,0,0,0
$GC,83,-0.72,-185.1,4.0,-6.8,9,107,10.18,2.17,-8.25,0.000,4,0.190,0.060,3017,168,3826,0,0,0,0,0,0
$GC,237,-0.66,-185.1,64.8,-27.8,36,246,0.08,2.10,0.00,0.000,6,0.132,0.034,3036,1543,3829,0,0,0,0,0,0
$GC,565,-0.64,-185.1,141.1,-21.1,97,573,0.00,2.17,0.00,0.000,4,0.000,0.043,3026,2957,3830,0,0,0,0,0,0
$GC,645,-0.66,-185.1,155.9,-16.2,111,653,0.00,2.15,0.00,0.000,6,0.000,0.043,3026,1553,3831,0,0,0,0,0,0
$GC,987,-0.65,-185.1,225.1,-19.5,172,996,0.08,2.17,0.00,0.000,4,0.190,0.053,3048,172,3833,0,0,0,0,0,0
$GC,1032,-0.66,-185.1,233.0,-17.0,179,1039,0.00,2.10,0.00,0.000,6,0.000,0.038,3040,1563,3833,0,0,0,0,0,0
$GC,1372,-0.67,-185.1,292.1,-16.6,240,1381,0.00,2.15,0.00,0.000,4,0.000,0.046,3031,2958,3833,0,0,0,0,0,0
$GC,1399,-0.68,-185.1,296.5,-16.8,244,1408,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,1572,3833,0,0,0,0,0,0
$GC,1735,-0.69,-185.1,350.9,-16.0,277,1739,0.00,2.17,0.00,0.000,4,0.000,0.053,3031,162,3832,0,0,0,0,0,0
$GC,1755,-0.69,-185.1,355.2,-17.8,278,1764,0.00,2.12,0.00,0.000,6,0.000,0.037,3022,1559,3832,0,0,0,0,0,0
$GC,2084,-0.69,-185.1,412.3,-17.6,309,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1561,3831,0,0,0,0,0,0
$GC,2411,-0.71,-185.1,462.5,-14.2,340,2415,0.00,2.12,0.00,0.000,4,0.000,0.047,3012,2961,3830,0,0,0,0,0,0
$GC,2444,-0.73,-185.1,467.6,-14.2,342,2452,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,1568,3830,0,0,0,0,0,0
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2689,0.00,0.0,500.3,12.8,365,2842,0.65,0.00,142.80,0.883,4,0.092,0.000,3252,1720,3067,0,0,0,0,0,0
$STATE,2843,end apogee,CONTROL_FINISHED_OK
$STATE,2843,begin climb
$GC,2845,0.72,185.1,505.3,0.0,378,3001,0.60,2.33,145.52,0.865,4,0.033,0.054,3517,289,2312,0,0,0,0,0,0
$GC,3084,0.65,185.1,476.6,22.0,398,3093,0.15,2.17,0.00,0.000,6,0.131,0.033,3466,1696,2305,0,0,0,0,0,0
$GC,3412,0.63,190.3,426.5,14.9,429,3424,0.00,2.20,4.15,0.526,4,0.000,0.042,3466,3103,2292,0,0,0,0,0,0
$GC,3483,0.61,190.3,415.0,16.0,435,3487,0.10,2.15,0.00,0.000,6,0.170,0.042,3448,1694,2291,0,0,0,0,0,0
$GC,3813,0.66,233.8,371.3,12.8,466,3854,0.00,2.22,36.33,0.800,4,0.000,0.051,3459,296,2113,0,0,0,0,0,0
$GC,3880,0.69,266.4,362.9,13.4,471,3915,0.00,2.12,27.10,0.777,6,0.000,0.031,3459,1693,1981,0,0,0,0,0,0
$GC,4233,0.70,277.7,309.7,14.5,504,4249,0.08,2.22,9.55,0.682,4,0.121,0.041,3546,3104,1934,0,0,0,0,0,0
$GC,4274,0.65,277.7,302.0,20.7,507,4279,0.30,2.20,0.00,0.000,6,0.133,0.042,3462,1690,1934,0,0,0,0,0,0
$GC,4610,0.68,295.7,250.9,14.2,566,4633,0.00,2.25,15.65,0.695,4,0.000,0.052,3472,293,1861,0,0,0,0,0,0
$GC,4695,0.70,300.7,238.2,14.9,580,4705,0.00,2.12,5.18,0.531,6,0.000,0.031,3472,1688,1842,0,0,0,0,0,0
$GC,5042,0.71,300.7,182.1,16.3,641,5049,0.00,2.17,0.00,0.000,4,0.000,0.052,3481,294,1839,0,0,0,0,0,0
$GC,5079,0.72,300.7,175.9,16.2,647,5086,0.00,2.08,0.00,0.000,6,0.000,0.031,3481,1687,1837,0,0,0,0,0,0
$GC,5415,0.75,316.6,127.4,14.3,708,5432,0.00,0.00,13.52,0.606,6,0.000,0.000,3481,1689,1776,0,0,0,0,0,0
$GC,5751,0.81,347.1,85.5,13.5,770,5783,0.10,2.22,25.30,0.597,4,0.096,0.038,3584,3108,1652,0,0,0,0,0,0
$GC,5813,0.77,347.1,73.2,22.6,779,5822,0.28,2.25,0.00,0.000,6,0.119,0.043,3500,1680,1651,0,0,0,0,0,0
$GC,6140,0.97,470.2,37.3,8.4,840,6243,0.17,2.25,92.90,0.562,4,0.060,0.051,3645,297,1149,0,0,0,0,0,0
$STATE,6293,end climb,SURFACE_DEPTH_REACHED
$STATE,6293,begin surface coast
$FINISH,0.6,1.022136
$STATE,6307,end surface coast,CONTROL_FINISHED_OK
$STATE,6307,begin surface
$SM_CCo,6385,0.00,0.000,0,0,1140,472.94
$SM_GC,1.64,8.60,0.00,0.00,0.016,0.000,0.000,104,1551,1140,-9.69,0.06,472.94
$IRIDIUM_FIX,2422.84,12704.51,091010,212131
$TT8_MAMPS,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.4,30.626
$10V_AH,10.4,22.308
$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,21.350,60.900,518.000,0.000,0.000,30.582,38.390,103.090,0.500,0.000,16.170,2043.156,1707.417,507.780,2271.265,134.413,0.000,1325.161,0.000,2097.727,0.000,0.540,0.000
$DEVICE_MAMPS,189.720,62.730,882.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.627,0.000,1467.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,53763,865
$CAP_FILE_SIZE,89978,0
$CFSIZE,260165632,241209344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,111.0,1
$GPS,101010,003852,2429.698,12705.473,11,2.6,30,-3.7