version: 66.08
glider: 168
mission: 2
dive: 187
start: 10 5 110 19 22 5
data:
$ID,168
$MISSION,2
$DIVE,187
$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,-3403.436
$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,42
$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
$GPS1,051010,191714,2428.550,12705.738,13,2.0,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.5
$GPS2,051010,192138,2428.464,12705.790,14,2.0,14,-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,335.5,3141,-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,-185.1,0.0,0.0,0,76,0.00,0.00,-58.62,0.000,2,0.000,0.000,104,1533,3138,0,0,0,0,0,0
$GC,78,-0.72,-185.1,3.6,-6.2,9,107,10.38,2.17,-11.18,0.000,4,0.197,0.057,3007,2951,3827,0,0,0,0,0,0
$GC,196,-0.68,-185.1,49.3,-29.6,29,203,0.10,2.15,0.00,0.000,6,0.155,0.043,3035,1555,3828,0,0,0,0,0,0
$GC,525,-0.64,-185.1,141.2,-25.8,90,533,0.00,2.15,0.00,0.000,4,0.000,0.050,3035,172,3830,0,0,0,0,0,0
$GC,573,-0.60,-185.1,153.3,-25.5,97,578,0.12,2.08,0.00,0.000,6,0.146,0.037,3065,1548,3831,0,0,0,0,0,0
$GC,899,-0.60,-185.1,213.5,-16.1,127,903,0.00,2.15,0.00,0.000,4,0.000,0.045,3055,2960,3833,0,0,0,0,0,0
$GC,930,-0.62,-185.1,218.9,-15.4,129,938,0.00,2.20,0.00,0.000,6,0.000,0.042,3055,1538,3833,0,0,0,0,0,0
$GC,1257,-0.62,-185.1,267.4,-14.3,160,1261,0.00,2.10,0.00,0.000,4,0.000,0.051,3055,166,3833,0,0,0,0,0,0
$GC,1285,-0.63,-185.1,271.6,-15.1,162,1289,0.00,2.05,0.00,0.000,6,0.000,0.038,3046,1542,3833,0,0,0,0,0,0
$GC,1611,-0.64,-185.1,320.4,-15.3,192,1614,0.00,2.12,0.00,0.000,4,0.000,0.050,3045,161,3832,0,0,0,0,0,0
$GC,1652,-0.66,-185.1,326.6,-15.1,195,1656,0.00,2.05,0.00,0.000,6,0.000,0.038,3037,1536,3832,0,0,0,0,0,0
$GC,1982,-0.67,-185.1,379.1,-15.8,226,1986,0.00,2.15,0.00,0.000,4,0.000,0.047,3027,2962,3831,0,0,0,0,0,0
$GC,2088,-0.71,-185.1,392.2,-11.5,235,2092,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,1527,3831,0,0,0,0,0,0
$GC,2415,-0.72,-185.1,439.2,-15.2,265,2418,0.00,2.10,0.00,0.000,4,0.000,0.054,3026,161,3829,0,0,0,0,0,0
$GC,2476,-0.75,-185.1,448.4,-13.2,270,2480,0.00,2.05,0.00,0.000,6,0.000,0.040,3017,1533,3829,0,0,0,0,0,0
$GC,2802,-0.76,-185.1,494.7,-14.4,300,2806,0.00,2.17,0.00,0.000,4,0.000,0.048,3008,2957,3828,0,0,0,0,0,0
$STATE,2837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2837,begin apogee
$GC,2843,0.00,0.0,500.3,14.1,303,2994,0.65,0.00,141.45,0.879,4,0.085,0.000,3254,1690,3068,0,0,0,0,0,0
$STATE,2995,end apogee,CONTROL_FINISHED_OK
$STATE,2995,begin climb
$GC,2997,0.72,185.1,505.8,0.0,316,3155,0.60,2.28,144.88,0.867,4,0.034,0.055,3517,295,2311,0,0,0,0,0,0
$GC,3293,0.66,185.1,466.8,21.3,341,3301,0.15,2.17,0.00,0.000,6,0.133,0.032,3466,1706,2304,0,0,0,0,0,0
$GC,3619,0.63,185.1,412.6,16.8,372,3623,0.00,2.10,0.00,0.000,4,0.000,0.042,3466,3106,2302,0,0,0,0,0,0
$GC,3673,0.60,185.1,402.8,17.7,376,3683,0.08,2.20,0.00,0.000,6,0.138,0.043,3449,1699,2301,0,0,0,0,0,0
$GC,4000,0.59,185.1,350.0,16.2,407,4004,0.00,2.15,0.00,0.000,4,0.000,0.042,3449,3108,2299,0,0,0,0,0,0
$GC,4021,0.57,185.1,346.0,16.4,408,4031,0.05,2.17,0.00,0.000,6,0.158,0.042,3438,1704,2299,0,0,0,0,0,0
$GC,4348,0.64,236.6,303.5,12.3,439,4396,0.08,2.17,39.67,0.759,4,0.122,0.039,3505,3109,2102,0,0,0,0,0,0
$GC,4413,0.60,236.6,291.7,19.8,444,4422,0.20,2.22,0.00,0.000,6,0.122,0.044,3445,1704,2100,0,0,0,0,0,0
$GC,4740,0.65,278.4,247.9,12.9,475,4778,0.00,2.28,32.80,0.715,4,0.000,0.054,3455,296,1932,0,0,0,0,0,0
$GC,4811,0.69,304.5,237.8,13.7,481,4843,0.08,2.17,22.40,0.687,6,0.117,0.032,3553,1707,1824,0,0,0,0,0,0
$GC,5160,0.64,304.5,155.0,22.4,514,5165,0.28,2.12,0.00,0.000,4,0.145,0.038,3460,3110,1817,0,0,0,0,0,0
$GC,5219,0.70,326.3,145.3,14.0,521,5246,0.00,2.17,17.17,0.626,6,0.000,0.044,3466,1708,1734,0,0,0,0,0,0
$GC,5582,0.77,364.4,94.0,13.1,585,5623,0.10,2.28,29.90,0.605,4,0.097,0.053,3572,291,1581,0,0,0,0,0,0
$GC,5790,0.77,364.4,52.6,15.9,621,5798,0.22,2.12,0.00,0.000,6,0.110,0.032,3495,1704,1576,0,0,0,0,0,0
$GC,6132,0.96,476.7,22.8,9.0,682,6226,0.17,2.30,83.78,0.549,4,0.062,0.053,3630,301,1122,0,0,0,0,0,0
$STATE,6233,end climb,SURFACE_DEPTH_REACHED
$STATE,6234,begin surface coast
$FINISH,1.0,1.021948
$STATE,6247,end surface coast,CONTROL_FINISHED_OK
$STATE,6247,begin surface
$SM_CCo,6325,0.00,0.000,0,0,1115,479.07
$SM_GC,1.45,8.73,0.00,0.00,0.024,0.000,0.000,104,1562,1115,-9.68,0.34,479.07
$IRIDIUM_FIX,2418.11,12703.08,051010,171719
$TT8_MAMPS,0.026964
$HUMID,46.77
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,24.392
$10V_AH,10.5,17.036
$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,21.975,68.750,512.050,0.000,0.000,27.302,38.813,102.672,0.250,0.000,17.297,1672.491,2498.089,511.790,1806.658,110.974,0.000,1233.732,0.000,1626.136,0.000,0.539,0.000
$DEVICE_MAMPS,197.370,56.610,878.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.037,0.000,887.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,43647,699
$CAP_FILE_SIZE,85062,0
$CFSIZE,260165632,244015104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226,145.6,1
$GPS,051010,210837,2428.618,12705.917,33,1.3,33,-3.7