version: 66.08
glider: 168
mission: 2
dive: 230
start: 10 9 110 2 28 49
data:
$ID,168
$MISSION,2
$DIVE,230
$N_DIVES,232
$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,-3457.5149
$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,34
$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
$GPS1,091010,022322,2429.154,12706.928,12,2.4,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.0
$GPS2,091010,022822,2429.111,12707.014,14,2.5,33,-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,307.7,3772,-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,-185.1,0.0,0.0,0,89,0.00,0.00,-71.70,0.000,2,0.000,0.000,104,1543,3352,0,0,0,0,0,0
$GC,91,-0.72,-185.1,4.3,-7.8,10,116,10.15,2.12,-7.20,0.000,4,0.189,0.058,3011,163,3826,0,0,0,0,0,0
$GC,134,-0.49,-185.1,28.3,-57.4,16,143,0.28,2.10,0.00,0.000,6,0.138,0.033,3091,1546,3827,0,0,0,0,0,0
$GC,461,-0.49,-185.1,106.6,-18.0,77,470,0.00,2.17,0.00,0.000,4,0.000,0.042,3082,2954,3829,0,0,0,0,0,0
$GC,479,-0.50,-185.1,109.4,-16.8,79,487,0.00,2.15,0.00,0.000,6,0.000,0.044,3081,1569,3829,0,0,0,0,0,0
$GC,802,-0.52,-185.1,158.6,-14.8,140,810,0.00,2.17,0.00,0.000,4,0.000,0.051,3081,172,3831,0,0,0,0,0,0
$GC,870,-0.57,-185.1,168.2,-13.1,152,878,0.00,2.08,0.00,0.000,6,0.000,0.038,3074,1537,3831,0,0,0,0,0,0
$GC,1204,-0.59,-185.1,215.1,-13.3,213,1211,0.00,2.15,0.00,0.000,4,0.000,0.047,3065,2961,3831,0,0,0,0,0,0
$GC,1234,-0.63,-185.1,219.2,-13.0,218,1243,0.03,2.20,0.00,0.000,6,0.101,0.045,2982,1545,3831,0,0,0,0,0,0
$GC,1568,-0.60,-185.1,297.0,-23.5,279,1576,0.25,2.12,0.00,0.000,4,0.132,0.052,3069,158,3831,0,0,0,0,0,0
$GC,1608,-0.63,-185.1,305.3,-15.8,283,1615,0.00,2.10,0.00,0.000,6,0.000,0.040,3064,1547,3831,0,0,0,0,0,0
$GC,1934,-0.66,-185.1,349.7,-12.7,314,1939,0.10,2.17,0.00,0.000,4,0.096,0.047,2941,2959,3831,0,0,0,0,0,0
$GC,1953,-0.68,-185.1,352.3,-13.5,315,1958,0.30,2.17,0.00,0.000,6,0.117,0.044,3041,1538,3831,0,0,0,0,0,0
$GC,2280,-0.70,-185.1,397.9,-11.9,345,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1538,3830,0,0,0,0,0,0
$GC,2599,-0.73,-185.1,434.4,-11.9,375,2605,0.08,0.00,0.00,0.000,6,0.122,0.000,2942,1538,3828,0,0,0,0,0,0
$STATE,2912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2913,begin apogee
$GC,2917,0.00,0.0,501.8,22.5,405,3068,0.88,0.00,141.85,0.881,4,0.111,0.000,3249,1715,3068,0,0,0,0,0,0
$STATE,3069,end apogee,CONTROL_FINISHED_OK
$STATE,3069,begin climb
$GC,3071,0.72,185.1,510.5,0.0,418,3227,0.62,2.22,146.02,0.871,4,0.033,0.047,3527,3101,2312,0,0,0,0,0,0
$GC,3394,0.65,185.1,465.3,21.0,446,3399,0.25,2.20,0.00,0.000,6,0.159,0.042,3464,1693,2306,0,0,0,0,0,0
$GC,3719,0.63,185.1,413.4,15.3,476,3723,0.00,2.17,0.00,0.000,4,0.000,0.039,3464,3112,2301,0,0,0,0,0,0
$GC,3970,0.62,201.7,374.4,14.2,498,3990,0.05,2.20,12.57,0.742,6,0.156,0.043,3456,1701,2244,0,0,0,0,0,0
$GC,4308,0.61,201.7,325.7,15.9,530,4312,0.00,2.20,0.00,0.000,4,0.000,0.053,3466,286,2239,0,0,0,0,0,0
$GC,4327,0.59,201.7,322.8,16.1,531,4331,0.10,2.10,0.00,0.000,6,0.155,0.031,3437,1698,2238,0,0,0,0,0,0
$GC,4654,0.65,247.9,277.1,12.6,577,4697,0.08,2.28,36.78,0.745,4,0.124,0.051,3521,294,2056,0,0,0,0,0,0
$GC,4710,0.60,247.9,268.0,17.9,585,4719,0.25,2.12,0.00,0.000,6,0.132,0.031,3443,1696,2053,0,0,0,0,0,0
$GC,5044,0.66,284.5,224.5,13.1,646,5080,0.08,2.22,28.95,0.699,4,0.124,0.041,3519,3102,1907,0,0,0,0,0,0
$GC,5107,0.64,284.5,212.9,20.2,656,5116,0.20,2.22,0.00,0.000,6,0.115,0.044,3459,1701,1906,0,0,0,0,0,0
$GC,5444,0.66,291.8,162.9,14.7,717,5458,0.00,2.25,6.60,0.545,4,0.000,0.052,3469,285,1878,0,0,0,0,0,0
$GC,5559,0.74,330.1,147.7,13.0,737,5598,0.03,2.10,31.25,0.644,6,0.106,0.031,3555,1677,1722,0,0,0,0,0,0
$GC,5917,0.72,330.1,75.3,16.5,802,5924,0.22,0.00,0.00,0.000,6,0.132,0.000,3482,1677,1715,0,0,0,0,0,0
$GC,6241,0.92,448.1,41.7,8.7,863,6337,0.17,2.28,88.55,0.568,4,0.064,0.037,3603,3101,1240,0,0,0,0,0,0
$GC,6351,0.90,448.1,21.7,21.0,878,6360,0.20,2.28,0.00,0.000,6,0.112,0.044,3541,1686,1238,0,0,0,0,0,0
$STATE,6471,end climb,SURFACE_DEPTH_REACHED
$STATE,6471,begin surface coast
$FINISH,0.5,1.021968
$STATE,6495,end surface coast,CONTROL_FINISHED_OK
$STATE,6495,begin surface
$SM_CCo,6571,0.00,0.000,0,0,1230,450.86
$SM_GC,1.41,8.27,0.00,0.00,0.015,0.000,0.000,104,1537,1230,-9.70,-0.34,450.86
$IRIDIUM_FIX,2420.48,12708.29,091010,000029
$TT8_MAMPS,0.026215
$HUMID,47.87
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.4,29.373
$10V_AH,10.5,21.188
$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,22.575,57.050,492.575,0.000,0.000,31.160,37.914,111.502,0.500,0.000,35.480,2140.654,1708.645,486.408,2403.129,139.284,0.000,1331.370,0.000,2203.580,0.000,0.541,0.000
$DEVICE_MAMPS,188.955,74.205,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.975,0.000,1523.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,53622,904
$CAP_FILE_SIZE,93846,0
$CFSIZE,260165632,241782784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,128.6,1
$GPS,091010,041930,2429.042,12707.046,36,2.0,36,-3.7