version: 66.08
glider: 168
mission: 2
dive: 233
start: 10 9 110 8 12 30
data:
$ID,168
$MISSION,2
$DIVE,233
$N_DIVES,239
$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,-3461.2834
$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,36
$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,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
$GPS1,091010,080731,2429.351,12706.496,40,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.0
$GPS2,091010,081202,2429.314,12706.542,12,1.4,12,-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,309.1,2892,-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,-185.1,0.0,0.0,0,81,0.00,0.00,-64.57,0.000,2,0.000,0.000,104,1532,3131,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.2,-4.0,9,115,10.30,2.22,-11.52,0.000,4,0.194,0.055,3008,2953,3825,0,0,0,0,0,0
$GC,207,-0.69,-185.1,45.8,-26.5,30,215,0.05,2.20,0.00,0.000,6,0.124,0.044,3027,1551,3827,0,0,0,0,0,0
$GC,532,-0.66,-185.1,136.1,-21.4,91,541,0.00,2.15,0.00,0.000,4,0.000,0.051,3027,173,3829,0,0,0,0,0,0
$GC,587,-0.63,-185.1,148.0,-21.2,100,596,0.08,2.05,0.00,0.000,6,0.123,0.037,3047,1520,3830,0,0,0,0,0,0
$GC,919,-0.63,-185.1,211.2,-18.5,161,925,0.00,2.17,0.00,0.000,4,0.000,0.045,3037,2960,3831,0,0,0,0,0,0
$GC,987,-0.66,-185.1,221.5,-13.8,173,993,0.00,2.17,0.00,0.000,6,0.000,0.043,3037,1539,3831,0,0,0,0,0,0
$GC,1314,-0.66,-185.1,279.8,-16.8,234,1322,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,178,3831,0,0,0,0,0,0
$GC,1368,-0.68,-185.1,288.7,-16.8,243,1376,0.00,2.05,0.00,0.000,6,0.000,0.040,3028,1538,3831,0,0,0,0,0,0
$GC,1701,-0.68,-185.1,342.3,-15.6,280,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1541,3830,0,0,0,0,0,0
$GC,2021,-0.69,-185.1,393.5,-15.2,310,2025,0.00,2.15,0.00,0.000,4,0.000,0.047,3018,2956,3829,0,0,0,0,0,0
$GC,2048,-0.71,-185.1,397.6,-14.3,312,2056,0.00,2.20,0.00,0.000,6,0.000,0.047,3018,1549,3829,0,0,0,0,0,0
$GC,2376,-0.72,-185.1,444.1,-13.4,343,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1549,3828,0,0,0,0,0,0
$GC,2702,-0.74,-185.1,488.2,-14.4,374,2706,0.00,2.15,0.00,0.000,4,0.000,0.057,3018,165,3826,0,0,0,0,0,0
$GC,2732,-0.75,-185.1,492.6,-15.0,376,2736,0.00,2.10,0.00,0.000,6,0.000,0.041,3009,1548,3826,0,0,0,0,0,0
$STATE,2790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2790,begin apogee
$GC,2795,0.00,0.0,501.3,15.2,381,2943,0.65,0.00,142.00,0.887,4,0.095,0.000,3249,1711,3068,0,0,0,0,0,0
$STATE,2944,end apogee,CONTROL_FINISHED_OK
$STATE,2944,begin climb
$GC,2946,0.72,185.1,508.8,0.0,393,3102,0.62,2.33,145.90,0.874,4,0.031,0.054,3527,289,2312,0,0,0,0,0,0
$GC,3173,0.65,185.1,484.8,21.7,412,3181,0.20,2.17,0.00,0.000,6,0.135,0.032,3461,1696,2307,0,0,0,0,0,0
$GC,3501,0.63,185.1,432.5,15.5,443,3505,0.00,2.15,0.00,0.000,4,0.000,0.042,3461,3105,2303,0,0,0,0,0,0
$GC,3562,0.61,185.1,422.1,15.8,448,3567,0.10,2.17,0.00,0.000,6,0.180,0.042,3444,1698,2302,0,0,0,0,0,0
$GC,3888,0.62,206.0,378.0,14.0,478,3912,0.00,2.17,16.17,0.776,4,0.000,0.041,3444,3105,2227,0,0,0,0,0,0
$GC,3948,0.62,208.3,369.2,15.0,483,3960,0.00,2.17,3.67,0.476,6,0.000,0.043,3454,1706,2217,0,0,0,0,0,0
$GC,4278,0.64,217.0,320.0,14.7,514,4292,0.00,2.28,8.00,0.673,4,0.000,0.053,3464,286,2182,0,0,0,0,0,0
$GC,4329,0.64,219.0,311.7,15.0,518,4338,0.00,2.15,0.00,0.000,6,0.000,0.033,3465,1699,2180,0,0,0,0,0,0
$GC,4657,0.67,255.5,266.2,13.1,572,4698,0.00,2.28,31.95,0.743,4,0.000,0.054,3474,296,2024,0,0,0,0,0,0
$GC,4775,0.74,301.4,250.6,12.6,592,4818,0.00,2.15,37.15,0.723,6,0.000,0.032,3474,1699,1839,0,0,0,0,0,0
$GC,5142,0.74,301.4,194.7,16.8,658,5150,0.05,0.00,0.00,0.000,6,0.169,0.000,3545,1699,1830,0,0,0,0,0,0
$GC,5471,0.71,301.4,125.3,20.0,719,5480,0.22,2.22,0.00,0.000,4,0.136,0.050,3484,293,1830,0,0,0,0,0,0
$GC,5551,0.78,343.9,113.4,12.8,733,5590,0.03,2.12,32.67,0.627,6,0.103,0.032,3560,1700,1666,0,0,0,0,0,0
$GC,5910,0.84,391.2,54.6,12.6,798,5956,0.15,2.20,36.92,0.583,4,0.141,0.040,3511,3098,1471,0,0,0,0,0,0
$GC,6024,1.05,504.4,43.4,8.9,816,6119,0.17,2.17,85.50,0.568,6,0.033,0.044,3623,1724,1010,0,0,0,0,0,0
$STATE,6204,end climb,SURFACE_DEPTH_REACHED
$STATE,6204,begin surface coast
$FINISH,0.5,1.018568
$STATE,6217,end surface coast,CONTROL_FINISHED_OK
$STATE,6217,begin surface
$SM_CCo,6294,0.00,0.000,0,0,1002,506.79
$SM_GC,1.39,8.57,0.00,0.00,0.015,0.000,0.000,105,1541,1002,-9.71,-0.23,506.79
$IRIDIUM_FIX,2420.48,12709.72,091010,060616
$TT8_MAMPS,0.026964
$HUMID,48.22
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,29.730
$10V_AH,10.4,21.495
$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,21.200,57.000,539.950,0.000,0.000,25.747,40.701,107.210,0.250,0.000,15.371,1983.694,1735.024,522.842,2204.061,128.467,0.000,1333.275,0.000,2026.927,0.000,0.540,0.000
$DEVICE_MAMPS,194.310,65.025,886.635,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.994,0.000,1391.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,50327,847
$CAP_FILE_SIZE,88276,0
$CFSIZE,260165632,241631232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,129.9,1
$GPS,091010,095828,2429.603,12706.192,10,2.1,29,-3.7