version: 66.08
glider: 168
mission: 2
dive: 188
start: 10 5 110 21 13 29
data:
$ID,168
$MISSION,2
$DIVE,188
$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,-3404.6941
$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,41
$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
$GPS1,051010,210837,2428.618,12705.917,33,1.3,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.3
$GPS2,051010,211302,2428.521,12705.977,11,1.3,11,-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,330.4,3195,-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,-185.1,0.0,0.0,0,85,0.00,0.00,-67.78,0.000,2,0.000,0.000,104,1562,3111,0,0,0,0,0,0
$GC,87,-0.72,-185.1,3.4,-5.1,10,116,10.25,2.20,-12.00,0.000,4,0.194,0.055,3006,2963,3826,0,0,0,0,0,0
$GC,183,-0.68,-185.1,38.5,-27.5,26,192,0.08,2.22,0.00,0.000,6,0.121,0.045,3034,1549,3827,0,0,0,0,0,0
$GC,514,-0.64,-185.1,130.3,-25.9,87,521,0.00,2.12,0.00,0.000,4,0.000,0.051,3034,163,3829,0,0,0,0,0,0
$GC,539,-0.59,-185.1,137.2,-26.1,91,547,0.12,2.08,0.00,0.000,6,0.257,0.037,3061,1559,3829,0,0,0,0,0,0
$GC,874,-0.59,-185.1,202.7,-17.4,127,878,0.00,2.10,0.00,0.000,4,0.000,0.044,3051,2957,3831,0,0,0,0,0,0
$GC,895,-0.60,-185.1,206.8,-16.6,128,904,0.00,2.17,0.00,0.000,6,0.000,0.044,3051,1549,3831,0,0,0,0,0,0
$GC,1222,-0.60,-185.1,260.3,-16.5,159,1226,0.00,2.12,0.00,0.000,4,0.000,0.052,3051,165,3831,0,0,0,0,0,0
$GC,1273,-0.63,-185.1,268.5,-14.8,163,1278,0.00,2.08,0.00,0.000,6,0.000,0.039,3042,1554,3831,0,0,0,0,0,0
$GC,1605,-0.64,-185.1,321.4,-14.8,194,1609,0.00,2.15,0.00,0.000,4,0.000,0.051,3042,157,3831,0,0,0,0,0,0
$GC,1637,-0.65,-185.1,326.8,-15.2,196,1645,0.00,2.12,0.00,0.000,6,0.000,0.040,3033,1550,3831,0,0,0,0,0,0
$GC,1964,-0.65,-185.1,377.5,-15.0,227,1967,0.00,2.12,0.00,0.000,4,0.000,0.047,3022,2959,3829,0,0,0,0,0,0
$GC,2051,-0.69,-185.1,388.6,-11.4,234,2059,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,1551,3829,0,0,0,0,0,0
$GC,2379,-0.69,-185.1,437.0,-15.8,265,2383,0.00,2.12,0.00,0.000,4,0.000,0.054,3022,166,3828,0,0,0,0,0,0
$GC,2422,-0.70,-185.1,444.3,-15.1,268,2430,0.00,2.10,0.00,0.000,6,0.000,0.039,3013,1542,3827,0,0,0,0,0,0
$GC,2748,-0.70,-185.1,492.8,-14.4,299,2753,0.05,2.17,0.00,0.000,4,0.233,0.046,3017,2970,3826,0,0,0,0,0,0
$GC,2791,-0.75,-185.1,498.1,-10.2,302,2799,0.00,2.22,0.00,0.000,6,0.000,0.047,3018,1542,3826,0,0,0,0,0,0
$STATE,2818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2818,begin apogee
$GC,2822,0.00,0.0,500.8,10.4,305,2974,0.62,0.00,140.88,0.877,4,0.093,0.000,3251,1716,3067,0,0,0,0,0,0
$STATE,2975,end apogee,CONTROL_FINISHED_OK
$STATE,2975,begin climb
$GC,2976,0.72,185.1,504.2,0.0,318,3132,0.62,2.22,145.93,0.863,4,0.032,0.046,3528,3108,2312,0,0,0,0,0,0
$GC,3255,0.65,185.1,461.9,22.8,342,3261,0.28,2.20,0.00,0.000,6,0.157,0.041,3458,1694,2307,0,0,0,0,0,0
$GC,3581,0.63,191.3,411.5,14.8,372,3594,0.00,2.22,4.55,0.554,4,0.000,0.053,3469,296,2287,0,0,0,0,0,0
$GC,3607,0.64,224.6,408.0,13.3,374,3643,0.00,2.10,28.08,0.794,6,0.000,0.032,3469,1696,2152,0,0,0,0,0,0
$GC,3961,0.62,224.6,354.1,15.7,407,3965,0.08,2.17,0.00,0.000,4,0.190,0.041,3448,3106,2145,0,0,0,0,0,0
$GC,4021,0.64,239.8,344.8,14.3,412,4039,0.00,2.15,12.38,0.720,6,0.000,0.043,3457,1695,2090,0,0,0,0,0,0
$GC,4360,0.63,239.8,288.3,16.7,443,4364,0.00,2.17,0.00,0.000,4,0.000,0.053,3469,296,2084,0,0,0,0,0,0
$GC,4432,0.63,239.8,276.7,15.6,449,4436,0.00,2.08,0.00,0.000,6,0.000,0.033,3468,1683,2082,0,0,0,0,0,0
$GC,4760,0.67,283.5,229.7,12.8,479,4800,0.00,2.17,34.60,0.704,4,0.000,0.041,3468,3104,1911,0,0,0,0,0,0
$GC,4850,0.71,301.1,216.3,14.2,486,4871,0.00,2.25,15.40,0.653,6,0.000,0.044,3476,1683,1839,0,0,0,0,0,0
$GC,5199,0.71,301.1,155.5,16.9,519,5203,0.00,2.15,0.00,0.000,4,0.000,0.052,3486,287,1833,0,0,0,0,0,0
$GC,5277,0.72,301.1,142.3,15.2,529,5285,0.00,2.08,0.00,0.000,6,0.000,0.032,3486,1680,1831,0,0,0,0,0,0
$GC,5608,0.79,347.8,95.8,12.6,590,5650,0.08,2.25,36.00,0.603,4,0.124,0.038,3563,3113,1649,0,0,0,0,0,0
$GC,5775,0.79,347.8,62.0,19.3,619,5783,0.22,2.22,0.00,0.000,6,0.133,0.041,3503,1677,1646,0,0,0,0,0,0
$GC,6105,0.99,483.0,27.6,7.7,680,6213,0.20,2.28,100.53,0.549,4,0.056,0.052,3650,294,1096,0,0,0,0,0,0
$STATE,6220,end climb,SURFACE_DEPTH_REACHED
$STATE,6221,begin surface coast
$FINISH,0.5,1.021980
$STATE,6234,end surface coast,CONTROL_FINISHED_OK
$STATE,6234,begin surface
$SM_CCo,6312,0.00,0.000,0,0,1088,485.45
$SM_GC,1.55,8.68,0.00,0.00,0.016,0.000,0.000,106,1554,1088,-9.68,0.14,485.45
$IRIDIUM_FIX,2422.84,12706.40,051010,191929
$TT8_MAMPS,0.026964
$HUMID,46.37
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.4,24.512
$10V_AH,10.5,17.113
$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,21.275,69.225,518.325,0.000,0.000,31.415,38.479,103.651,0.500,0.000,13.662,1677.638,2471.128,511.089,1814.472,113.977,0.000,1243.289,0.000,1634.264,0.000,0.540,0.000
$DEVICE_MAMPS,257.040,56.610,876.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.729,0.000,887.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43652,699
$CAP_FILE_SIZE,85960,0
$CFSIZE,260165632,243970048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.290,145.6,1
$GPS,051010,225926,2428.466,12705.986,11,1.7,11,-3.7