version: 66.08
glider: 168
mission: 2
dive: 40
start: 9 24 110 23 24 3
data:
$ID,168
$MISSION,2
$DIVE,40
$N_DIVES,50
$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,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,365
$N_FILEKB,4
$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,-3212.9766
$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,3278
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$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,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2776
$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
$GPS1,240910,231919,2426.307,12705.420,6,1.8,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-79.0
$GPS2,240910,232336,2426.190,12705.438,15,1.7,25,-3.7
$SPEED_LIMITS,0.262,0.375
$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,355.4,7094,-19.2,-15.152
$D_GRID,4321
$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,-0.94,-243.3,0.0,0.0,0,81,0.00,0.00,-64.65,0.000,2,0.000,0.000,105,1539,3033,0,0,0,0,0,0
$GC,83,-0.94,-243.3,3.4,-5.3,10,112,10.00,2.22,-12.68,0.000,4,0.195,0.057,2960,2959,3769,0,0,0,0,0,0
$GC,176,-0.92,-243.3,42.1,-35.1,25,183,0.10,2.17,0.00,0.000,6,0.172,0.050,2986,1552,3772,0,0,0,0,0,0
$GC,348,-0.89,-243.3,108.5,-35.5,56,357,0.00,2.15,0.00,0.000,4,0.000,0.051,2986,168,3773,0,0,0,0,0,0
$GC,382,-0.86,-243.3,119.2,-34.3,61,389,0.10,2.08,0.00,0.000,6,0.184,0.037,3002,1553,3773,0,0,0,0,0,0
$GC,554,-0.84,-243.3,164.1,-25.6,87,556,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1555,3774,0,0,0,0,0,0
$GC,712,-0.82,-243.3,204.9,-25.8,102,716,0.00,2.12,0.00,0.000,4,0.000,0.044,2993,2960,3776,0,0,0,0,0,0
$GC,785,-0.81,-243.3,221.1,-20.8,108,789,0.10,2.15,0.00,0.000,6,0.148,0.050,3024,1565,3776,0,0,0,0,0,0
$GC,955,-0.80,-243.3,257.5,-20.7,124,959,0.00,2.12,0.00,0.000,4,0.000,0.055,3024,167,3777,0,0,0,0,0,0
$GC,999,-0.79,-243.3,267.1,-22.8,127,1006,0.00,2.10,0.00,0.000,6,0.000,0.040,3015,1567,3776,0,0,0,0,0,0
$GC,1166,-0.77,-243.3,299.9,-19.8,143,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1569,3777,0,0,0,0,0,0
$GC,1324,-0.77,-243.3,328.9,-17.4,158,1329,0.08,2.17,0.00,0.000,4,0.202,0.057,3037,165,3777,0,0,0,0,0,0
$GC,1372,-0.76,-243.3,337.3,-16.1,162,1381,0.00,2.15,0.00,0.000,6,0.000,0.041,3032,1571,3777,0,0,0,0,0,0
$GC,1539,-0.76,-243.3,362.0,-15.0,178,1543,0.00,2.08,0.00,0.000,4,0.000,0.047,3022,2959,3776,0,0,0,0,0,0
$GC,1559,-0.76,-243.3,365.3,-14.4,179,1567,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,1570,3776,0,0,0,0,0,0
$GC,1727,-0.76,-243.3,389.8,-15.1,195,1731,0.00,2.15,0.00,0.000,4,0.000,0.057,3022,159,3775,0,0,0,0,0,0
$GC,1766,-0.75,-243.3,396.1,-15.1,198,1770,0.08,2.12,0.00,0.000,6,0.180,0.041,3037,1569,3775,0,0,0,0,0,0
$GC,1936,-0.75,-243.3,418.7,-13.2,214,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1572,3775,0,0,0,0,0,0
$GC,2097,-0.75,-243.3,439.2,-12.8,229,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1572,3774,0,0,0,0,0,0
$GC,2255,-0.76,-243.3,459.9,-12.9,244,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1572,3772,0,0,0,0,0,0
$GC,2416,-0.76,-243.3,480.5,-12.9,259,2420,0.00,2.17,0.00,0.000,4,0.000,0.058,3037,154,3772,0,0,0,0,0,0
$GC,2446,-0.76,-243.3,484.5,-13.3,261,2450,0.00,2.12,0.00,0.000,6,0.000,0.042,3036,1572,3772,0,0,0,0,0,0
$STATE,2567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2567,begin apogee
$GC,2571,-0.17,0.0,500.0,12.3,272,2761,0.50,0.00,185.12,0.848,4,0.100,0.000,3224,1718,2775,0,0,0,0,0,0
$STATE,2762,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin climb
$GC,2764,0.94,243.3,507.3,0.0,288,2965,0.95,2.35,191.77,0.818,4,0.043,0.056,3597,289,1783,0,0,0,0,0,0
$GC,3022,0.91,243.3,448.0,29.9,310,3027,0.10,2.15,0.00,0.000,6,0.172,0.035,3571,1695,1778,0,0,0,0,0,0
$GC,3190,0.88,243.3,393.6,33.7,325,3194,0.00,2.22,0.00,0.000,4,0.000,0.054,3582,288,1775,0,0,0,0,0,0
$GC,3310,0.85,243.3,353.3,30.9,335,3318,0.08,2.17,0.00,0.000,6,0.143,0.034,3554,1717,1774,0,0,0,0,0,0
$GC,3477,0.82,243.3,303.1,32.0,351,3481,0.00,2.08,0.00,0.000,4,0.000,0.041,3554,3107,1773,0,0,0,0,0,0
$GC,3509,0.79,243.3,292.6,29.6,353,3518,0.08,2.17,0.00,0.000,6,0.149,0.047,3537,1722,1772,0,0,0,0,0,0
$GC,3678,0.77,243.3,247.0,27.6,369,3682,0.00,2.20,0.00,0.000,4,0.000,0.054,3548,289,1772,0,0,0,0,0,0
$GC,3699,0.74,243.3,239.9,29.1,370,3708,0.08,2.15,0.00,0.000,6,0.144,0.031,3520,1721,1772,0,0,0,0,0,0
$GC,3865,0.72,243.3,199.0,23.5,386,3869,0.00,2.08,0.00,0.000,4,0.000,0.040,3521,3105,1772,0,0,0,0,0,0
$GC,3915,0.71,243.3,187.4,22.6,390,3920,0.10,2.12,0.00,0.000,6,0.177,0.047,3503,1712,1771,0,0,0,0,0,0
$GC,4083,0.69,243.3,150.6,21.9,405,4086,0.00,2.10,0.00,0.000,4,0.000,0.040,3503,3102,1770,0,0,0,0,0,0
$GC,4116,0.68,243.3,143.2,20.3,410,4124,0.00,2.12,0.00,0.000,6,0.000,0.048,3511,1744,1770,0,0,0,0,0,0
$GC,4292,0.67,243.3,110.1,17.1,441,4299,0.08,2.22,0.00,0.000,4,0.209,0.055,3502,290,1770,0,0,0,0,0,0
$GC,4421,0.76,311.1,91.8,12.3,464,4484,0.03,2.12,50.95,0.580,6,0.099,0.032,3563,1709,1506,0,0,0,0,0,0
$GC,4652,0.75,311.1,48.4,16.2,503,4658,0.15,0.00,0.00,0.000,6,0.151,0.000,3516,1709,1502,0,0,0,0,0,0
$GC,4825,0.81,360.3,25.2,13.1,534,4866,0.08,0.00,37.42,0.522,6,0.118,0.000,3588,1709,1306,0,0,0,0,0,0
$STATE,4938,end climb,SURFACE_DEPTH_REACHED
$STATE,4938,begin surface coast
$FINISH,1.0,1.021817
$STATE,4952,end surface coast,CONTROL_FINISHED_OK
$STATE,4952,begin surface
$SM_CCo,4967,5.15,0.066,0,0,1288,365.01
$SM_GC,2.30,0.00,0.00,5.15,0.000,0.000,0.066,104,1535,1288,-9.92,-0.42,365.01
$IRIDIUM_FIX,2418.11,12703.08,240910,212107
$TT8_MAMPS,0.026964
$HUMID,47.24
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.5,7.152
$10V_AH,10.5,6.313
$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,21.100,64.975,465.275,5.150,0.000,24.861,38.843,97.062,0.250,0.000,27.890,1363.467,1824.961,477.420,1504.893,73.244,0.000,1105.633,0.000,1313.994,0.000,0.540,0.000
$DEVICE_MAMPS,208.845,68.085,847.620,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.046,0.000,705.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,33647,555
$CAP_FILE_SIZE,83175,0
$CFSIZE,260165632,250617856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,166.0,1
$GPS,250910,004807,2426.310,12705.545,37,1.1,37,-3.7