version: 66.08
glider: 168
mission: 2
dive: 140
start: 10 2 110 5 55 35
data:
$ID,168
$MISSION,2
$DIVE,140
$N_DIVES,155
$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,600
$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,-3344.4673
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,021010,055100,2429.576,12705.312,32,1.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.8
$GPS2,021010,055508,2429.543,12705.361,9,1.6,9,-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,320.2,1042,-22.1,-15.152
$D_GRID,4367
$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,-185.1,0.0,0.0,0,100,0.00,0.00,-83.10,0.000,2,0.000,0.000,104,1539,3144,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.5,-5.9,13,132,10.23,2.15,-11.00,0.000,4,0.194,0.052,3010,2955,3825,0,0,0,0,0,0
$GC,270,-0.69,-185.1,63.2,-26.1,42,279,0.05,2.20,0.00,0.000,6,0.125,0.046,3030,1555,3827,0,0,0,0,0,0
$GC,616,-0.64,-185.1,158.6,-25.3,101,621,0.08,2.15,0.00,0.000,4,0.210,0.051,3050,163,3829,0,0,0,0,0,0
$GC,670,-0.63,-185.1,172.1,-19.1,105,678,0.00,2.10,0.00,0.000,6,0.000,0.038,3042,1543,3830,0,0,0,0,0,0
$GC,996,-0.61,-185.1,234.0,-17.7,136,1000,0.00,2.12,0.00,0.000,4,0.000,0.044,3031,2961,3831,0,0,0,0,0,0
$GC,1054,-0.64,-185.1,243.6,-15.5,141,1059,0.08,2.15,0.00,0.000,6,0.161,0.044,3058,1551,3830,0,0,0,0,0,0
$GC,1380,-0.65,-185.1,295.6,-16.4,171,1384,0.00,2.15,0.00,0.000,4,0.000,0.053,3058,163,3830,0,0,0,0,0,0
$GC,1425,-0.68,-185.1,303.0,-14.5,174,1433,0.05,2.12,0.00,0.000,6,0.057,0.040,2960,1556,3830,0,0,0,0,0,0
$GC,1753,-0.63,-185.1,386.5,-22.9,205,1760,0.28,0.00,0.00,0.000,6,0.129,0.000,3050,1558,3830,0,0,0,0,0,0
$GC,2079,-0.66,-185.1,425.4,-11.4,236,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1558,3828,0,0,0,0,0,0
$GC,2398,-0.70,-185.1,461.6,-11.3,266,2402,0.10,2.15,0.00,0.000,4,0.094,0.050,2942,2959,3827,0,0,0,0,0,0
$GC,2442,-0.69,-185.1,468.8,-17.4,269,2449,0.28,2.15,0.00,0.000,6,0.112,0.047,3033,1557,3826,0,0,0,0,0,0
$STATE,2693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2693,begin apogee
$GC,2697,0.00,0.0,501.2,12.2,293,2848,0.57,0.00,140.68,0.873,4,0.092,0.000,3251,1715,3067,0,0,0,0,0,0
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2849,begin climb
$GC,2850,0.72,185.1,508.2,0.0,306,3006,0.60,2.33,144.93,0.855,4,0.031,0.054,3529,292,2312,0,0,0,0,0,0
$GC,3177,0.65,185.1,463.5,19.4,334,3187,0.20,2.15,0.00,0.000,6,0.138,0.033,3465,1695,2304,0,0,0,0,0,0
$GC,3506,0.63,185.1,413.2,15.2,365,3510,0.00,2.17,0.00,0.000,4,0.000,0.053,3475,288,2301,0,0,0,0,0,0
$GC,3702,0.60,185.1,381.8,16.4,382,3706,0.10,2.10,0.00,0.000,6,0.148,0.034,3445,1707,2298,0,0,0,0,0,0
$GC,4027,0.61,196.0,335.0,14.6,412,4041,0.00,2.17,7.75,0.659,4,0.000,0.042,3445,3107,2268,0,0,0,0,0,0
$GC,4057,0.61,196.0,330.0,15.2,414,4066,0.00,2.17,0.00,0.000,6,0.000,0.043,3455,1710,2268,0,0,0,0,0,0
$GC,4385,0.61,203.8,280.7,14.7,445,4398,0.00,2.28,7.55,0.630,4,0.000,0.054,3465,282,2236,0,0,0,0,0,0
$GC,4456,0.63,226.8,270.5,13.9,451,4482,0.00,2.12,19.95,0.708,6,0.000,0.033,3465,1719,2143,0,0,0,0,0,0
$GC,4798,0.67,269.4,223.6,12.8,483,4842,0.00,2.15,33.95,0.693,4,0.000,0.041,3465,3090,1968,0,0,0,0,0,0
$GC,4858,0.69,286.5,214.7,14.2,488,4879,0.00,2.17,15.10,0.645,6,0.000,0.043,3474,1713,1898,0,0,0,0,0,0
$GC,5196,0.69,286.5,160.0,16.9,520,5200,0.00,2.22,0.00,0.000,4,0.000,0.054,3483,285,1892,0,0,0,0,0,0
$GC,5224,0.69,286.5,155.1,18.4,522,5232,0.00,2.15,0.00,0.000,6,0.000,0.032,3483,1703,1891,0,0,0,0,0,0
$GC,5561,0.73,304.6,102.4,14.2,580,5583,0.00,2.15,14.02,0.578,4,0.000,0.038,3483,3104,1826,0,0,0,0,0,0
$GC,5623,0.77,318.6,93.5,14.4,590,5645,0.00,2.15,12.70,0.561,6,0.000,0.044,3492,1728,1768,0,0,0,0,0,0
$GC,5983,0.98,445.1,53.7,8.2,653,6090,0.20,2.35,94.88,0.562,4,0.057,0.053,3636,289,1251,0,0,0,0,0,0
$GC,6175,0.93,445.1,8.0,27.9,684,6184,0.25,2.17,0.00,0.000,6,0.127,0.030,3551,1713,1246,0,0,0,0,0,0
$STATE,6196,end climb,SURFACE_DEPTH_REACHED
$STATE,6196,begin surface coast
$FINISH,1.1,1.021694
$STATE,6209,end surface coast,CONTROL_FINISHED_OK
$STATE,6209,begin surface
$SM_CCo,6224,86.70,0.469,1,0,622,600.00
$SM_GC,1.30,0.00,0.00,86.70,0.000,0.000,0.469,104,1530,622,-9.84,-0.57,600.00
$IRIDIUM_FIX,2418.11,12708.29,021010,040408
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.4,18.833
$10V_AH,10.5,13.535
$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,21.475,56.975,491.500,86.700,0.000,30.343,37.125,95.720,0.250,0.000,12.046,1642.133,2460.444,601.373,1776.009,98.983,0.000,1315.494,0.000,1604.689,0.000,0.539,0.000
$DEVICE_MAMPS,209.610,61.965,872.865,468.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.012,0.000,875.146,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,43736,689
$CAP_FILE_SIZE,83165,0
$CFSIZE,260165632,246136832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.296,150.0,1
$GPS,021010,074155,2429.219,12705.322,10,1.9,27,-3.7