version: 66.08
glider: 168
mission: 2
dive: 170
start: 10 4 110 12 25 9
data:
$ID,168
$MISSION,2
$DIVE,170
$N_DIVES,180
$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,-3382.1074
$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,32
$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
$GPS1,041010,122006,2428.735,12705.007,26,1.4,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.9
$GPS2,041010,122443,2428.651,12704.986,11,1.4,29,-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,350.2,2498,-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,-185.1,0.0,0.0,0,99,0.00,0.00,-81.03,0.000,2,0.000,0.000,104,1541,3075,0,0,0,0,0,0
$GC,101,-0.72,-185.1,3.4,-5.4,12,130,10.12,2.22,-12.27,0.000,4,0.189,0.058,3010,2952,3825,0,0,0,0,0,0
$GC,202,-0.69,-185.1,40.7,-26.0,29,209,0.08,2.17,0.00,0.000,6,0.173,0.045,3030,1550,3827,0,0,0,0,0,0
$GC,530,-0.64,-185.1,140.3,-26.7,90,537,0.05,0.00,0.00,0.000,6,0.256,0.000,3043,1549,3829,0,0,0,0,0,0
$GC,863,-0.63,-185.1,213.3,-19.8,125,867,0.00,2.12,0.00,0.000,4,0.000,0.050,3043,161,3831,0,0,0,0,0,0
$GC,893,-0.61,-185.1,219.3,-21.0,127,897,0.08,2.05,0.00,0.000,6,0.179,0.037,3056,1542,3831,0,0,0,0,0,0
$GC,1219,-0.62,-185.1,271.8,-15.5,157,1223,0.00,2.12,0.00,0.000,4,0.000,0.050,3056,158,3830,0,0,0,0,0,0
$GC,1258,-0.65,-185.1,278.4,-15.5,160,1262,0.00,2.08,0.00,0.000,6,0.000,0.039,3050,1549,3830,0,0,0,0,0,0
$GC,1590,-0.66,-185.1,329.2,-16.5,191,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1551,3830,0,0,0,0,0,0
$GC,1910,-0.68,-185.1,377.9,-14.0,221,1914,0.00,2.10,0.00,0.000,4,0.000,0.053,3050,166,3829,0,0,0,0,0,0
$GC,1928,-0.70,-185.1,380.8,-14.5,222,1932,0.00,2.05,0.00,0.000,6,0.000,0.040,3041,1542,3828,0,0,0,0,0,0
$GC,2253,-0.72,-185.1,424.0,-13.6,252,2258,0.08,2.15,0.00,0.000,4,0.125,0.046,2925,2959,3827,0,0,0,0,0,0
$GC,2334,-0.68,-185.1,440.7,-21.6,259,2343,0.32,2.17,0.00,0.000,6,0.120,0.046,3032,1543,3827,0,0,0,0,0,0
$GC,2659,-0.70,-185.1,489.9,-15.6,290,2663,0.00,2.12,0.00,0.000,4,0.000,0.057,3032,169,3825,0,0,0,0,0,0
$GC,2687,-0.72,-185.1,494.1,-16.0,292,2691,0.00,2.08,0.00,0.000,6,0.000,0.041,3023,1554,3825,0,0,0,0,0,0
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2739,0.00,0.0,501.4,15.1,296,2887,0.62,0.00,140.77,0.877,4,0.095,0.000,3256,1716,3068,0,0,0,0,0,0
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2889,0.72,185.1,508.5,0.0,308,3045,0.60,2.25,145.75,0.863,4,0.031,0.048,3533,3107,2312,0,0,0,0,0,0
$GC,3092,0.65,185.1,487.9,22.9,325,3097,0.30,2.20,0.00,0.000,6,0.147,0.042,3455,1699,2309,0,0,0,0,0,0
$GC,3419,0.62,185.1,430.9,16.9,355,3423,0.00,2.17,0.00,0.000,4,0.000,0.053,3466,292,2302,0,0,0,0,0,0
$GC,3437,0.60,185.1,427.4,17.1,356,3442,0.08,2.10,0.00,0.000,6,0.178,0.031,3445,1707,2299,0,0,0,0,0,0
$GC,3762,0.61,205.8,376.6,14.0,386,3787,0.00,2.17,15.43,0.751,4,0.000,0.041,3445,3106,2229,0,0,0,0,0,0
$GC,3857,0.61,205.8,362.2,15.2,394,3866,0.00,2.20,0.00,0.000,6,0.000,0.044,3455,1706,2227,0,0,0,0,0,0
$GC,4184,0.62,222.4,313.2,14.2,425,4208,0.00,2.25,14.18,0.717,4,0.000,0.054,3465,294,2160,0,0,0,0,0,0
$GC,4279,0.63,231.3,297.9,14.7,433,4292,0.00,2.12,8.20,0.646,6,0.000,0.033,3465,1692,2125,0,0,0,0,0,0
$GC,4611,0.62,231.3,247.3,15.5,464,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1695,2120,0,0,0,0,0,0
$GC,4930,0.61,231.3,200.4,15.2,494,4934,0.08,2.17,0.00,0.000,4,0.195,0.054,3456,292,2120,0,0,0,0,0,0
$GC,4947,0.61,231.3,197.6,15.5,495,4951,0.00,2.08,0.00,0.000,6,0.000,0.032,3455,1700,2118,0,0,0,0,0,0
$GC,5274,0.65,256.4,152.4,13.8,525,5305,0.00,2.17,20.80,0.636,4,0.000,0.041,3455,3108,2021,0,0,0,0,0,0
$GC,5328,0.71,292.2,145.1,13.2,532,5364,0.03,2.20,29.15,0.635,6,0.102,0.044,3531,1703,1875,0,0,0,0,0,0
$GC,5687,0.70,292.2,78.6,17.9,597,5694,0.20,2.12,0.00,0.000,4,0.138,0.037,3466,3110,1868,0,0,0,0,0,0
$GC,5703,0.69,292.2,76.1,16.9,599,5711,0.00,2.15,0.00,0.000,6,0.000,0.043,3467,1701,1867,0,0,0,0,0,0
$GC,6033,0.93,435.3,43.5,7.3,660,6148,0.22,2.25,105.95,0.567,4,0.051,0.051,3607,295,1293,0,0,0,0,0,0
$GC,6194,0.91,435.3,13.9,21.0,685,6201,0.22,2.12,0.00,0.000,6,0.122,0.029,3536,1711,1289,0,0,0,0,0,0
$STATE,6254,end climb,SURFACE_DEPTH_REACHED
$STATE,6254,begin surface coast
$FINISH,0.8,1.021827
$STATE,6273,end surface coast,CONTROL_FINISHED_OK
$STATE,6273,begin surface
$SM_CCo,6288,89.78,0.478,1,0,622,600.00
$SM_GC,1.32,0.00,0.00,89.78,0.000,0.000,0.478,104,1538,622,-9.84,-0.37,600.00
$IRIDIUM_FIX,2420.48,12706.40,041010,101024
$TT8_MAMPS,0.028462
$HUMID,46.92
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.4,22.469
$10V_AH,10.5,15.776
$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,21.425,60.675,480.225,89.775,0.000,23.705,44.841,96.311,0.250,0.000,31.993,1673.836,2516.893,586.378,1790.894,104.634,0.000,1288.105,0.000,1595.210,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,62.730,876.690,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.505,0.000,887.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43687,699
$CAP_FILE_SIZE,85258,0
$CFSIZE,260165632,244781056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.282,176.3,1
$GPS,041010,141239,2428.641,12704.783,11,3.1,30,-3.7