version: 66.08
glider: 168
mission: 2
dive: 309
start: 10 15 110 5 35 17
data:
$ID,168
$MISSION,2
$DIVE,309
$N_DIVES,322
$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,-3556.9336
$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,46
$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
$GPS1,151010,053026,2429.709,12713.035,8,1.8,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.6
$GPS2,151010,053449,2429.671,12713.096,9,1.4,14,-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,278.8,13657,-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,-185.1,0.0,0.0,0,88,0.00,0.00,-69.97,0.000,2,0.000,0.000,104,1532,3211,0,0,0,0,0,0
$GC,90,-0.72,-185.1,3.8,-6.2,10,121,10.07,2.22,-9.98,0.000,4,0.184,0.055,3009,2944,3828,0,0,0,0,0,0
$GC,198,-0.69,-185.1,41.5,-24.7,28,206,0.05,2.17,0.00,0.000,6,0.119,0.044,3029,1562,3829,0,0,0,0,0,0
$GC,524,-0.66,-185.1,121.8,-21.8,89,533,0.00,2.17,0.00,0.000,4,0.000,0.050,3029,165,3831,0,0,0,0,0,0
$GC,557,-0.64,-185.1,129.1,-21.3,94,566,0.05,2.10,0.00,0.000,6,0.126,0.039,3044,1534,3831,0,0,0,0,0,0
$GC,889,-0.64,-185.1,187.2,-15.8,155,895,0.00,2.15,0.00,0.000,4,0.000,0.045,3034,2961,3832,0,0,0,0,0,0
$GC,960,-0.68,-185.1,197.1,-12.6,168,968,0.00,2.17,0.00,0.000,6,0.000,0.043,3034,1558,3832,0,0,0,0,0,0
$GC,1294,-0.68,-185.1,248.4,-15.0,229,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1557,3833,0,0,0,0,0,0
$GC,1623,-0.69,-185.1,297.7,-13.2,290,1631,0.00,2.17,0.00,0.000,4,0.000,0.054,3034,169,3832,0,0,0,0,0,0
$GC,1650,-0.70,-185.1,301.3,-14.3,294,1654,0.00,2.10,0.00,0.000,6,0.000,0.041,3026,1566,3832,0,0,0,0,0,0
$GC,1975,-0.71,-185.1,347.8,-14.1,324,1979,0.00,2.12,0.00,0.000,4,0.000,0.047,3017,2965,3832,0,0,0,0,0,0
$GC,2027,-0.75,-185.1,354.3,-11.6,328,2031,0.00,2.12,0.00,0.000,6,0.000,0.043,3017,1560,3832,0,0,0,0,0,0
$GC,2352,-0.75,-185.1,403.6,-15.7,358,2356,0.00,2.15,0.00,0.000,4,0.000,0.052,3017,168,3830,0,0,0,0,0,0
$GC,2372,-0.75,-185.1,407.4,-17.1,359,2379,0.00,2.15,0.00,0.000,6,0.000,0.039,3008,1568,3830,0,0,0,0,0,0
$GC,2698,-0.75,-185.1,459.7,-15.4,390,2702,0.00,2.12,0.00,0.000,4,0.000,0.047,2998,2962,3828,0,0,0,0,0,0
$GC,2720,-0.76,-185.1,463.1,-15.0,392,2724,0.00,2.15,0.00,0.000,6,0.000,0.044,2998,1558,3829,0,0,0,0,0,0
$STATE,2965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2965,begin apogee
$GC,2971,0.00,0.0,500.1,15.5,415,3121,0.70,0.00,143.38,0.894,4,0.093,0.000,3255,1719,3068,0,0,0,0,0,0
$STATE,3122,end apogee,CONTROL_FINISHED_OK
$STATE,3122,begin climb
$GC,3124,0.72,185.1,508.4,0.0,427,3278,0.60,2.30,145.95,0.879,4,0.031,0.051,3522,294,2314,0,0,0,0,0,0
$GC,3381,0.66,185.1,477.6,22.5,449,3386,0.20,2.12,0.00,0.000,6,0.138,0.030,3462,1697,2307,0,0,0,0,0,0
$GC,3709,0.66,208.0,426.4,13.9,479,3734,0.00,2.28,18.67,0.801,4,0.000,0.051,3472,294,2219,0,0,0,0,0,0
$GC,3760,0.66,228.0,419.4,14.1,483,3784,0.00,2.12,17.67,0.789,6,0.000,0.031,3472,1701,2138,0,0,0,0,0,0
$GC,4103,0.64,231.2,367.8,15.0,515,4107,0.00,2.15,0.00,0.000,4,0.000,0.041,3472,3108,2130,0,0,0,0,0,0
$GC,4177,0.64,231.2,354.9,17.3,521,4181,0.10,2.15,0.00,0.000,6,0.171,0.042,3453,1700,2130,0,0,0,0,0,0
$GC,4504,0.64,231.2,304.6,15.2,551,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1700,2127,0,0,0,0,0,0
$GC,4830,0.70,278.6,259.2,12.6,608,4879,0.08,2.22,39.90,0.747,4,0.122,0.050,3560,293,1930,0,0,0,0,0,0
$GC,4916,0.65,278.6,242.8,21.3,621,4923,0.32,2.12,0.00,0.000,6,0.118,0.030,3455,1699,1926,0,0,0,0,0,0
$GC,5256,0.71,314.2,199.7,13.2,682,5293,0.08,2.22,28.62,0.692,4,0.119,0.039,3554,3105,1785,0,0,0,0,0,0
$GC,5329,0.67,314.2,185.3,22.5,693,5336,0.32,2.20,0.00,0.000,6,0.127,0.042,3461,1695,1784,0,0,0,0,0,0
$GC,5669,0.75,356.0,136.7,12.9,754,5709,0.10,2.28,33.50,0.646,4,0.093,0.050,3580,293,1615,0,0,0,0,0,0
$GC,5760,0.72,356.0,116.0,23.0,768,5769,0.28,2.12,0.00,0.000,6,0.109,0.031,3483,1685,1610,0,0,0,0,0,0
$GC,6088,0.88,457.3,70.9,9.6,829,6172,0.15,2.30,77.03,0.602,4,0.067,0.051,3616,293,1201,0,0,0,0,0,0
$GC,6214,0.88,457.3,49.5,16.8,847,6222,0.22,2.12,0.00,0.000,6,0.096,0.030,3533,1675,1198,0,0,0,0,0,0
$GC,6541,0.99,513.6,8.6,12.1,908,6580,0.10,0.00,36.12,0.544,2,0.092,0.000,3632,1678,1006,0,0,0,0,0,0
$STATE,6580,end climb,SURFACE_DEPTH_REACHED
$STATE,6580,begin surface coast
$FINISH,0.5,1.008762
$STATE,6593,end surface coast,CONTROL_FINISHED_OK
$STATE,6593,begin surface
$SM_CCo,6670,0.00,0.000,0,0,1001,507.04
$SM_GC,1.51,8.65,0.00,0.00,0.020,0.000,0.000,103,1523,1001,-9.69,-0.71,507.04
$IRIDIUM_FIX,2418.11,12714.92,151010,030331
$TT8_MAMPS,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.3,38.772
$10V_AH,10.4,29.279
$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,22.075,61.250,540.850,0.000,0.000,23.480,22.794,111.388,0.250,0.000,17.310,2155.430,1747.956,514.344,2363.873,159.174,0.000,1370.990,0.000,2208.599,0.000,0.540,0.000
$DEVICE_MAMPS,184.365,62.730,893.520,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.894,0.000,1531.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,53603,915
$CAP_FILE_SIZE,94309,0
$CFSIZE,260165632,237600768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.278,110.9,1
$GPS,151010,072736,2429.396,12713.133,34,1.2,34,-3.7