version: 66.08
glider: 168
mission: 2
dive: 185
start: 10 5 110 15 40 53
data:
$ID,168
$MISSION,2
$DIVE,185
$N_DIVES,200
$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,-3400.9272
$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,31
$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
$GPS1,051010,153636,2428.163,12705.527,10,1.1,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.7
$GPS2,051010,154026,2428.094,12705.545,10,1.4,10,-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,350.0,3647,-22.1,-15.152
$D_GRID,4118
$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,-185.1,0.0,0.0,0,75,0.00,0.00,-58.55,0.000,2,0.000,0.000,104,1546,3145,0,0,0,0,0,0
$GC,77,-0.72,-185.1,3.6,-6.2,9,106,10.20,2.15,-10.93,0.000,4,0.193,0.051,3009,2954,3826,0,0,0,0,0,0
$GC,120,-0.49,-185.1,24.0,-49.4,15,127,0.28,2.17,0.00,0.000,6,0.138,0.043,3094,1547,3827,0,0,0,0,0,0
$GC,458,-0.50,-185.1,106.2,-17.5,76,466,0.00,2.15,0.00,0.000,4,0.000,0.051,3094,169,3830,0,0,0,0,0,0
$GC,524,-0.54,-185.1,117.8,-15.8,87,531,0.00,2.05,0.00,0.000,6,0.000,0.039,3086,1541,3830,0,0,0,0,0,0
$GC,857,-0.56,-185.1,174.4,-14.9,134,861,0.00,2.15,0.00,0.000,4,0.000,0.046,3076,2958,3831,0,0,0,0,0,0
$GC,902,-0.62,-185.1,179.7,-10.5,138,906,0.08,2.15,0.00,0.000,6,0.121,0.043,2985,1552,3831,0,0,0,0,0,0
$GC,1227,-0.58,-185.1,253.1,-21.5,168,1231,0.25,2.12,0.00,0.000,4,0.134,0.051,3071,163,3832,0,0,0,0,0,0
$GC,1285,-0.63,-185.1,262.0,-11.8,173,1289,0.08,2.08,0.00,0.000,6,0.116,0.039,2978,1555,3832,0,0,0,0,0,0
$GC,1611,-0.59,-185.1,338.8,-22.9,203,1615,0.25,2.12,0.00,0.000,4,0.134,0.044,3056,2964,3832,0,0,0,0,0,0
$GC,1663,-0.65,-185.1,347.5,-12.0,207,1667,0.00,2.12,0.00,0.000,6,0.000,0.044,3056,1555,3832,0,0,0,0,0,0
$GC,1991,-0.69,-185.1,390.1,-12.9,237,1996,0.10,2.15,0.00,0.000,4,0.093,0.054,2946,168,3832,0,0,0,0,0,0
$GC,2023,-0.65,-185.1,396.5,-20.7,239,2031,0.30,2.12,0.00,0.000,6,0.119,0.041,3040,1557,3831,0,0,0,0,0,0
$GC,2349,-0.68,-185.1,440.0,-11.3,270,2353,0.00,2.12,0.00,0.000,4,0.000,0.047,3031,2967,3830,0,0,0,0,0,0
$GC,2422,-0.73,-185.1,447.3,-8.9,276,2426,0.00,2.12,0.00,0.000,6,0.000,0.045,3031,1560,3830,0,0,0,0,0,0
$GC,2747,-0.76,-185.1,487.9,-13.7,306,2752,0.08,2.17,0.00,0.000,4,0.119,0.056,2926,166,3828,0,0,0,0,0,0
$STATE,2799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2799,begin apogee
$GC,2806,0.00,0.0,500.1,25.4,310,2958,0.95,0.00,141.55,0.884,4,0.115,0.000,3246,1701,3066,0,0,0,0,0,0
$STATE,2959,end apogee,CONTROL_FINISHED_OK
$STATE,2959,begin climb
$GC,2960,0.72,185.1,510.5,0.0,323,3116,0.62,2.28,144.98,0.872,4,0.033,0.054,3515,294,2312,0,0,0,0,0,0
$GC,3130,0.66,185.1,501.8,16.1,337,3135,0.17,2.17,0.00,0.000,6,0.151,0.032,3465,1709,2309,0,0,0,0,0,0
$GC,3457,0.63,185.1,445.8,18.1,367,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1711,2303,0,0,0,0,0,0
$GC,3776,0.60,185.1,389.8,16.4,397,3780,0.08,2.12,0.00,0.000,4,0.208,0.042,3445,3107,2301,0,0,0,0,0,0
$GC,3850,0.59,185.1,377.5,16.0,403,3854,0.00,2.15,0.00,0.000,6,0.000,0.043,3456,1693,2300,0,0,0,0,0,0
$GC,4177,0.57,185.1,325.5,15.2,433,4181,0.08,2.15,0.00,0.000,4,0.207,0.054,3447,293,2298,0,0,0,0,0,0
$GC,4206,0.56,185.1,320.9,15.2,435,4210,0.00,2.08,0.00,0.000,6,0.000,0.033,3447,1695,2296,0,0,0,0,0,0
$GC,4534,0.65,266.1,281.3,10.7,465,4605,0.00,2.25,62.20,0.754,4,0.000,0.043,3447,3101,1982,0,0,0,0,0,0
$GC,4633,0.67,268.9,268.6,15.0,474,4641,0.00,2.25,0.00,0.000,6,0.000,0.043,3455,1693,1978,0,0,0,0,0,0
$GC,4960,0.67,268.9,213.7,17.8,505,4964,0.00,2.17,0.00,0.000,4,0.000,0.053,3466,289,1973,0,0,0,0,0,0
$GC,5016,0.68,268.9,203.9,16.0,509,5022,0.00,2.08,0.00,0.000,6,0.000,0.033,3466,1686,1971,0,0,0,0,0,0
$GC,5340,0.71,289.3,150.3,14.0,540,5367,0.00,2.20,18.00,0.634,4,0.000,0.042,3466,3100,1888,0,0,0,0,0,0
$GC,5418,0.81,348.3,140.5,11.9,552,5473,0.08,2.22,46.88,0.641,6,0.045,0.043,3559,1684,1648,0,0,0,0,0,0
$GC,5804,0.80,348.3,56.1,18.5,620,5814,0.17,2.17,0.00,0.000,4,0.140,0.052,3511,300,1640,0,0,0,0,0,0
$GC,5909,0.92,409.6,42.4,11.8,638,5964,0.08,2.08,46.35,0.567,6,0.047,0.031,3596,1677,1397,0,0,0,0,0,0
$STATE,6103,end climb,SURFACE_DEPTH_REACHED
$STATE,6104,begin surface coast
$FINISH,0.5,1.021939
$STATE,6117,end surface coast,CONTROL_FINISHED_OK
$STATE,6117,begin surface
$SM_CCo,6193,0.00,0.000,0,0,1386,412.59
$SM_GC,1.81,8.50,0.00,0.00,0.021,0.000,0.000,103,1526,1386,-9.68,-0.59,412.59
$IRIDIUM_FIX,2418.11,12706.40,051010,131308
$TT8_MAMPS,0.026215
$HUMID,49.01
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.4,24.161
$10V_AH,10.5,16.885
$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,22.325,64.925,459.950,0.000,0.000,22.476,15.057,102.845,0.250,0.000,13.487,1628.928,2537.853,462.474,1697.396,108.328,0.000,1141.506,0.000,1552.890,0.000,0.541,0.000
$DEVICE_MAMPS,208.080,65.025,883.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.736,0.000,854.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40273,673
$CAP_FILE_SIZE,82869,0
$CFSIZE,260165632,244109312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,162.6,1
$GPS,051010,172506,2428.358,12705.521,10,2.0,26,-3.7