version: 66.08
glider: 168
mission: 2
dive: 276
start: 10 12 110 15 4 42
data:
$ID,168
$MISSION,2
$DIVE,276
$N_DIVES,276
$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,-3515.3452
$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,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
$GPS1,121010,150002,2429.834,12707.273,9,1.3,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-80.0
$GPS2,121010,150414,2429.824,12707.360,10,1.3,10,-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,274.7,3991,-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,-185.1,0.0,0.0,0,81,0.00,0.00,-62.92,0.000,2,0.000,0.000,104,1530,3162,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.5,-5.2,9,114,10.10,2.12,-10.73,0.000,4,0.187,0.062,3019,178,3825,0,0,0,0,0,0
$GC,249,-0.64,-185.1,67.4,-36.4,38,257,0.10,2.08,0.00,0.000,6,0.119,0.037,3046,1533,3827,0,0,0,0,0,0
$GC,574,-0.62,-185.1,143.2,-20.0,99,582,0.00,2.20,0.00,0.000,4,0.000,0.042,3037,2961,3829,0,0,0,0,0,0
$GC,638,-0.64,-185.1,153.6,-13.7,110,646,0.00,2.17,0.00,0.000,6,0.000,0.041,3036,1554,3830,0,0,0,0,0,0
$GC,979,-0.63,-185.1,213.8,-19.6,171,985,0.00,2.10,0.00,0.000,4,0.000,0.050,3037,166,3831,0,0,0,0,0,0
$GC,1004,-0.61,-185.1,218.9,-19.5,175,1012,0.10,2.05,0.00,0.000,6,0.155,0.037,3059,1551,3831,0,0,0,0,0,0
$GC,1345,-0.64,-185.1,270.0,-14.0,236,1353,0.00,2.17,0.00,0.000,4,0.000,0.047,3050,2953,3831,0,0,0,0,0,0
$GC,1405,-0.70,-185.1,277.3,-10.0,246,1413,0.05,2.15,0.00,0.000,6,0.059,0.042,2952,1557,3831,0,0,0,0,0,0
$GC,1737,-0.65,-185.1,356.7,-25.5,286,1739,0.30,0.00,0.00,0.000,6,0.129,0.000,3049,1557,3831,0,0,0,0,0,0
$GC,2056,-0.68,-185.1,402.6,-12.5,316,2060,0.00,2.15,0.00,0.000,4,0.000,0.053,3049,168,3830,0,0,0,0,0,0
$GC,2120,-0.74,-185.1,410.1,-11.1,321,2125,0.10,2.10,0.00,0.000,6,0.090,0.038,2944,1564,3830,0,0,0,0,0,0
$GC,2447,-0.69,-185.1,480.8,-23.2,351,2452,0.25,2.10,0.00,0.000,4,0.125,0.042,3022,2957,3829,0,0,0,0,0,0
$GC,2509,-0.74,-185.1,490.0,-10.8,356,2513,0.00,2.12,0.00,0.000,6,0.000,0.043,3022,1565,3829,0,0,0,0,0,0
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2603,0.00,0.0,501.2,13.2,364,2759,0.62,0.00,143.02,0.886,4,0.090,0.000,3256,1717,3067,0,0,0,0,0,0
$STATE,2759,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin climb
$GC,2761,0.72,185.1,507.8,0.0,377,2916,0.57,2.30,145.57,0.874,4,0.032,0.050,3517,285,2312,0,0,0,0,0,0
$GC,2975,0.66,185.1,488.0,19.9,395,2979,0.17,2.15,0.00,0.000,6,0.140,0.029,3466,1706,2308,0,0,0,0,0,0
$GC,3305,0.65,200.3,437.8,14.3,426,3323,0.00,2.15,12.73,0.767,4,0.000,0.038,3466,3101,2250,0,0,0,0,0,0
$GC,3460,0.64,200.3,412.2,18.0,439,3464,0.08,2.12,0.00,0.000,6,0.190,0.041,3456,1710,2248,0,0,0,0,0,0
$GC,3787,0.63,207.6,361.9,14.8,469,3800,0.00,2.28,6.70,0.653,4,0.000,0.050,3467,284,2220,0,0,0,0,0,0
$GC,3849,0.63,211.5,351.7,14.9,474,3858,0.00,2.15,4.75,0.559,6,0.000,0.031,3467,1711,2205,0,0,0,0,0,0
$GC,4178,0.64,234.6,304.1,13.9,505,4203,0.00,2.20,20.10,0.750,4,0.000,0.040,3467,3109,2111,0,0,0,0,0,0
$GC,4311,0.68,260.0,285.5,13.8,525,4340,0.00,2.15,21.67,0.734,6,0.000,0.041,3475,1716,2006,0,0,0,0,0,0
$GC,4672,0.68,260.0,230.9,15.6,589,4680,0.00,2.22,0.00,0.000,4,0.000,0.051,3486,286,1998,0,0,0,0,0,0
$GC,4698,0.68,260.0,226.9,15.3,593,4705,0.08,2.15,0.00,0.000,6,0.168,0.031,3462,1725,1997,0,0,0,0,0,0
$GC,5039,0.71,280.8,180.5,14.0,654,5063,0.08,2.15,16.50,0.653,4,0.119,0.038,3556,3104,1923,0,0,0,0,0,0
$GC,5088,0.67,280.8,171.5,21.0,661,5095,0.32,2.12,0.00,0.000,6,0.131,0.041,3462,1721,1922,0,0,0,0,0,0
$GC,5419,0.74,320.5,123.8,13.0,722,5458,0.10,2.30,32.38,0.632,4,0.095,0.050,3577,293,1760,0,0,0,0,0,0
$GC,5504,0.69,320.5,106.8,21.4,735,5513,0.30,2.15,0.00,0.000,6,0.112,0.029,3473,1716,1756,0,0,0,0,0,0
$GC,5833,0.82,390.7,67.6,11.3,796,5893,0.12,2.20,54.10,0.593,4,0.078,0.037,3587,3099,1474,0,0,0,0,0,0
$GC,5940,0.81,390.7,47.7,20.6,812,5950,0.22,2.20,0.00,0.000,6,0.106,0.043,3509,1714,1472,0,0,0,0,0,0
$GC,6270,0.97,481.8,14.1,10.2,873,6338,0.15,0.00,64.97,0.549,2,0.067,0.000,3633,1713,1122,0,0,0,0,0,0
$STATE,6339,end climb,SURFACE_DEPTH_REACHED
$STATE,6339,begin surface coast
$FINISH,0.6,1.020208
$STATE,6351,end surface coast,CONTROL_FINISHED_OK
$STATE,6351,begin surface
$SM_CCo,6428,0.00,0.000,0,0,1116,478.58
$SM_GC,1.40,8.73,0.00,0.00,0.022,0.000,0.000,104,1540,1116,-9.69,-0.25,478.58
$IRIDIUM_FIX,2420.48,12706.40,121010,131348
$TT8_MAMPS,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.3,34.678
$10V_AH,10.4,25.839
$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,22.550,60.975,522.500,0.000,0.000,25.184,19.468,108.898,0.250,0.000,12.917,2099.094,1636.028,497.919,2307.201,148.293,0.000,1332.471,0.000,2155.100,0.000,0.539,0.000
$DEVICE_MAMPS,190.485,61.965,885.870,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.397,0.000,1506.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53707,884
$CAP_FILE_SIZE,93692,0
$CFSIZE,260165632,239362048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.331, 94.7,1
$GPS,121010,165301,2429.858,12707.743,36,1.2,36,-3.7