version: 66.08
glider: 168
mission: 2
dive: 223
start: 10 8 110 13 23 6
data:
$ID,168
$MISSION,2
$DIVE,223
$N_DIVES,230
$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,-3448.728
$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,42
$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
$GPS1,081010,131824,2428.203,12707.659,36,1.4,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.9
$GPS2,081010,132238,2428.174,12707.713,8,1.8,8,-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,315.7,5686,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,88,0.00,0.00,-71.47,0.000,2,0.000,0.000,104,1531,3129,0,0,0,0,0,0
$GC,90,-0.72,-185.1,3.3,-4.3,10,122,10.25,2.20,-11.45,0.000,4,0.192,0.052,3016,2946,3823,0,0,0,0,0,0
$GC,298,-0.68,-185.1,65.7,-26.9,47,307,0.03,2.17,0.00,0.000,6,0.147,0.046,3028,1563,3825,0,0,0,0,0,0
$GC,624,-0.64,-185.1,144.9,-23.2,108,632,0.08,0.00,0.00,0.000,6,0.204,0.000,3049,1562,3827,0,0,0,0,0,0
$GC,957,-0.64,-185.1,208.6,-16.6,169,964,0.00,2.15,0.00,0.000,4,0.000,0.052,3049,164,3829,0,0,0,0,0,0
$GC,1025,-0.67,-185.1,220.3,-15.5,181,1033,0.00,2.10,0.00,0.000,6,0.000,0.038,3041,1559,3828,0,0,0,0,0,0
$GC,1356,-0.67,-185.1,280.3,-17.8,242,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1562,3829,0,0,0,0,0,0
$GC,1687,-0.67,-185.1,334.4,-15.5,284,1691,0.00,2.10,0.00,0.000,4,0.000,0.045,3031,2956,3828,0,0,0,0,0,0
$GC,1716,-0.70,-185.1,338.6,-15.3,286,1720,0.00,2.15,0.00,0.000,6,0.000,0.045,3031,1555,3828,0,0,0,0,0,0
$GC,2041,-0.71,-185.1,388.5,-14.1,316,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1555,3827,0,0,0,0,0,0
$GC,2361,-0.73,-185.1,431.7,-12.9,346,2365,0.00,2.15,0.00,0.000,4,0.000,0.057,3031,165,3826,0,0,0,0,0,0
$GC,2406,-0.75,-185.1,437.8,-13.1,350,2410,0.00,2.10,0.00,0.000,6,0.000,0.040,3023,1557,3825,0,0,0,0,0,0
$GC,2731,-0.77,-185.1,484.2,-15.1,380,2736,0.08,2.17,0.00,0.000,4,0.125,0.047,2906,2965,3824,0,0,0,0,0,0
$GC,2779,-0.74,-185.1,493.9,-21.5,384,2789,0.30,2.20,0.00,0.000,6,0.109,0.046,3012,1559,3824,0,0,0,0,0,0
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2815,begin apogee
$GC,2819,0.00,0.0,500.6,18.5,388,2966,0.65,0.00,141.35,0.877,4,0.096,0.000,3253,1715,3068,0,0,0,0,0,0
$STATE,2967,end apogee,CONTROL_FINISHED_OK
$STATE,2967,begin climb
$GC,2969,0.72,185.1,508.0,0.0,400,3124,0.57,0.00,145.70,0.865,6,0.033,0.000,3524,1716,2312,0,0,0,0,0,0
$GC,3442,0.65,185.1,429.5,20.9,443,3446,0.22,2.22,0.00,0.000,4,0.168,0.048,3469,284,2304,0,0,0,0,0,0
$GC,3484,0.62,185.1,420.6,17.7,446,3494,0.05,2.15,0.00,0.000,6,0.142,0.031,3450,1700,2302,0,0,0,0,0,0
$GC,3813,0.64,208.3,374.5,13.9,477,3839,0.00,2.15,17.83,0.763,4,0.000,0.041,3450,3105,2218,0,0,0,0,0,0
$GC,3918,0.66,226.4,359.1,14.2,486,3942,0.00,2.17,16.02,0.746,6,0.000,0.043,3460,1701,2144,0,0,0,0,0,0
$GC,4260,0.66,226.4,304.3,16.0,518,4264,0.00,2.15,0.00,0.000,4,0.000,0.041,3460,3110,2138,0,0,0,0,0,0
$GC,4282,0.67,232.9,300.9,14.8,520,4295,0.00,2.15,5.85,0.591,6,0.000,0.042,3468,1705,2117,0,0,0,0,0,0
$GC,4622,0.67,243.2,249.4,14.6,581,4637,0.00,2.25,9.57,0.647,4,0.000,0.052,3478,294,2075,0,0,0,0,0,0
$GC,4677,0.70,263.4,241.3,14.0,590,4699,0.00,2.15,17.30,0.687,6,0.000,0.032,3478,1713,1994,0,0,0,0,0,0
$GC,5024,0.70,263.4,190.6,15.2,653,5031,0.00,2.20,0.00,0.000,4,0.000,0.053,3483,290,1987,0,0,0,0,0,0
$GC,5085,0.70,263.6,181.0,15.1,664,5093,0.00,2.15,0.00,0.000,6,0.000,0.032,3484,1710,1986,0,0,0,0,0,0
$GC,5416,0.75,307.2,133.1,12.8,725,5461,0.00,2.28,34.92,0.638,4,0.000,0.052,3491,293,1813,0,0,0,0,0,0
$GC,5474,0.77,320.7,125.1,14.4,733,5491,0.00,2.15,11.65,0.576,6,0.000,0.031,3491,1702,1759,0,0,0,0,0,0
$GC,5810,0.85,372.5,76.4,12.3,795,5857,0.10,2.22,40.55,0.593,4,0.099,0.038,3587,3110,1548,0,0,0,0,0,0
$GC,5915,0.85,372.5,56.9,18.2,811,5924,0.20,2.22,0.00,0.000,6,0.113,0.041,3526,1700,1545,0,0,0,0,0,0
$GC,6242,0.96,434.4,15.4,11.8,872,6295,0.10,2.30,47.12,0.542,4,0.090,0.051,3636,282,1296,0,0,0,0,0,0
$STATE,6301,end climb,SURFACE_DEPTH_REACHED
$STATE,6302,begin surface coast
$FINISH,0.6,1.021959
$STATE,6315,end surface coast,CONTROL_FINISHED_OK
$STATE,6315,begin surface
$SM_CCo,6393,0.00,0.000,0,0,1287,436.88
$SM_GC,1.30,8.68,0.00,0.00,0.024,0.000,0.000,102,1557,1287,-9.68,0.23,436.88
$IRIDIUM_FIX,2418.11,12706.40,081010,111116
$TT8_MAMPS,0.026964
$HUMID,47.04
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.4,28.526
$10V_AH,10.5,20.463
$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,21.300,56.575,487.875,0.000,0.000,25.017,24.799,110.081,0.250,0.000,11.374,2088.654,1668.907,479.224,2287.905,131.644,0.000,1302.091,0.000,2129.163,0.000,0.540,0.000
$DEVICE_MAMPS,204.255,62.730,877.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.263,0.000,1485.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334144
$DATA_FILE_SIZE,53576,882
$CAP_FILE_SIZE,89436,0
$CFSIZE,260165632,242159616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.306,138.9,1
$GPS,081010,151036,2428.068,12707.748,12,1.1,23,-3.7