version: 66.08
glider: 168
mission: 2
dive: 252
start: 10 10 110 19 1 32
data:
$ID,168
$MISSION,2
$DIVE,252
$N_DIVES,263
$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,-3485.1348
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,101010,185625,2429.607,12705.356,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.6
$GPS2,101010,190056,2429.626,12705.351,11,2.0,11,-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,310.1,910,-22.7,-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,-175.4,0.0,0.0,0,80,0.00,0.00,-62.50,0.000,2,0.000,0.000,104,1544,3133,0,0,0,0,0,0
$GC,82,-0.73,-185.1,3.3,-4.6,9,113,10.12,2.20,-11.60,0.000,4,0.188,0.054,3002,2954,3825,0,0,0,0,0,0
$GC,263,-0.72,-185.1,62.1,-24.4,41,271,0.05,2.20,0.00,0.000,6,0.110,0.044,3023,1551,3827,0,0,0,0,0,0
$GC,587,-0.70,-185.1,141.2,-23.3,102,595,0.00,2.15,0.00,0.000,4,0.000,0.043,3014,2942,3829,0,0,0,0,0,0
$GC,630,-0.71,-185.1,150.2,-19.0,109,637,0.00,2.12,0.00,0.000,6,0.000,0.044,3014,1557,3829,0,0,0,0,0,0
$GC,957,-0.69,-185.1,218.7,-20.7,170,966,0.08,2.20,0.00,0.000,4,0.188,0.054,3037,163,3830,0,0,0,0,0,0
$GC,1022,-0.71,-185.1,230.2,-16.4,181,1029,0.00,2.10,0.00,0.000,6,0.000,0.039,3029,1554,3831,0,0,0,0,0,0
$GC,1353,-0.71,-185.1,287.2,-15.3,242,1362,0.00,2.17,0.00,0.000,4,0.000,0.047,3018,2960,3831,0,0,0,0,0,0
$GC,1397,-0.73,-185.1,293.1,-13.1,249,1404,0.00,2.15,0.00,0.000,6,0.000,0.041,3018,1550,3831,0,0,0,0,0,0
$GC,1729,-0.73,-185.1,347.6,-16.3,284,1733,0.00,2.15,0.00,0.000,4,0.000,0.051,3018,165,3830,0,0,0,0,0,0
$GC,1769,-0.73,-185.1,354.2,-16.7,287,1773,0.00,2.10,0.00,0.000,6,0.000,0.039,3009,1561,3830,0,0,0,0,0,0
$GC,2095,-0.73,-185.1,408.2,-15.6,317,2099,0.00,2.12,0.00,0.000,4,0.000,0.046,2999,2966,3829,0,0,0,0,0,0
$GC,2135,-0.76,-185.1,414.0,-14.0,320,2139,0.00,2.15,0.00,0.000,6,0.000,0.044,2999,1561,3829,0,0,0,0,0,0
$GC,2460,-0.76,-185.1,464.4,-15.1,350,2464,0.00,2.15,0.00,0.000,4,0.000,0.054,2999,166,3828,0,0,0,0,0,0
$GC,2481,-0.76,-185.1,467.0,-15.0,351,2485,0.08,2.08,0.00,0.000,6,0.179,0.040,3013,1557,3828,0,0,0,0,0,0
$STATE,2730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2735,0.00,0.0,501.3,13.4,374,2884,0.65,0.00,143.23,0.884,4,0.092,0.000,3254,1712,3067,0,0,0,0,0,0
$STATE,2885,end apogee,CONTROL_FINISHED_OK
$STATE,2885,begin climb
$GC,2886,0.73,185.1,508.1,0.0,386,3041,0.57,2.25,146.80,0.868,4,0.021,0.045,3537,3090,2312,0,0,0,0,0,0
$GC,3183,0.67,185.1,467.9,20.9,412,3193,0.25,2.20,0.00,0.000,6,0.134,0.041,3465,1695,2306,0,0,0,0,0,0
$GC,3510,0.64,185.1,416.2,16.2,443,3514,0.00,2.15,0.00,0.000,4,0.000,0.039,3465,3105,2301,0,0,0,0,0,0
$GC,3539,0.62,185.1,411.7,15.9,445,3544,0.10,2.17,0.00,0.000,6,0.181,0.041,3448,1694,2301,0,0,0,0,0,0
$GC,3866,0.65,211.7,365.8,13.6,475,3891,0.00,2.17,20.00,0.776,4,0.000,0.038,3448,3106,2206,0,0,0,0,0,0
$GC,3906,0.66,221.2,359.4,14.6,478,3927,0.00,2.20,9.70,0.701,6,0.000,0.041,3458,1706,2165,0,0,0,0,0,0
$GC,4243,0.66,221.2,308.9,15.3,510,4247,0.00,2.17,0.00,0.000,4,0.000,0.050,3469,293,2160,0,0,0,0,0,0
$GC,4286,0.66,221.2,302.2,15.2,513,4293,0.00,2.10,0.00,0.000,6,0.000,0.031,3469,1697,2157,0,0,0,0,0,0
$GC,4616,0.66,221.2,254.5,15.6,573,4623,0.00,2.12,0.00,0.000,4,0.000,0.041,3469,3104,2156,0,0,0,0,0,0
$GC,4710,0.67,229.7,240.7,14.7,590,4725,0.00,2.17,7.00,0.604,6,0.000,0.042,3479,1702,2130,0,0,0,0,0,0
$GC,5052,0.67,232.1,188.3,15.0,652,5059,0.00,2.20,0.00,0.000,4,0.000,0.049,3489,293,2128,0,0,0,0,0,0
$GC,5088,0.66,239.1,182.5,14.7,658,5104,0.05,2.12,8.88,0.603,6,0.128,0.031,3466,1709,2093,0,0,0,0,0,0
$GC,5426,0.71,271.6,136.6,13.3,720,5456,0.00,0.00,27.02,0.640,6,0.000,0.000,3466,1709,1960,0,0,0,0,0,0
$GC,5775,0.84,352.9,95.9,10.4,784,5850,0.15,2.22,63.78,0.616,4,0.069,0.041,3589,3102,1627,0,0,0,0,0,0
$GC,5939,0.81,352.9,62.2,21.6,810,5947,0.25,2.22,0.00,0.000,6,0.116,0.041,3514,1693,1624,0,0,0,0,0,0
$GC,6267,0.95,434.1,21.5,10.4,871,6336,0.12,2.28,61.58,0.550,4,0.075,0.050,3640,294,1297,0,0,0,0,0,0
$STATE,6359,end climb,SURFACE_DEPTH_REACHED
$STATE,6359,begin surface coast
$FINISH,0.5,1.017597
$STATE,6370,end surface coast,CONTROL_FINISHED_OK
$STATE,6370,begin surface
$SM_CCo,6449,0.00,0.000,0,0,1287,436.63
$SM_GC,1.43,8.75,0.00,0.00,0.024,0.000,0.000,103,1551,1287,-9.70,0.03,436.63
$IRIDIUM_FIX,2422.84,12704.51,101010,171704
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.4,31.863
$10V_AH,10.4,23.424
$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,21.225,64.950,487.975,0.000,0.000,28.017,20.185,116.001,0.250,0.000,14.436,2110.818,1691.095,477.154,2316.673,139.292,0.000,1305.192,0.000,2146.277,0.000,0.540,0.000
$DEVICE_MAMPS,188.190,65.025,884.340,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.916,0.000,1495.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53676,886
$CAP_FILE_SIZE,91128,0
$CFSIZE,260165632,240627712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174,113.1,1
$GPS,101010,205004,2429.883,12705.113,8,6.6,27,-3.7