version: 66.08
glider: 168
mission: 2
dive: 189
start: 10 5 110 23 4 6
data:
$ID,168
$MISSION,2
$DIVE,189
$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,-3406.0474
$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
$GPS1,051010,225926,2428.466,12705.986,11,1.7,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.0
$GPS2,051010,230338,2428.380,12706.039,24,1.9,24,-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,329.9,3474,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,81,0.00,0.00,-64.32,0.000,2,0.000,0.000,106,1555,2982,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.2,-4.7,10,119,10.43,2.17,-15.00,0.000,4,0.200,0.058,3012,2940,3826,0,0,0,0,0,0
$GC,188,-0.68,-185.1,38.6,-32.0,27,195,0.10,2.15,0.00,0.000,6,0.147,0.044,3041,1551,3828,0,0,0,0,0,0
$GC,529,-0.63,-185.1,137.4,-25.2,88,537,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1550,3830,0,0,0,0,0,0
$GC,864,-0.61,-185.1,208.5,-19.7,124,868,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,162,3831,0,0,0,0,0,0
$GC,885,-0.59,-185.1,213.1,-20.9,125,893,0.05,2.10,0.00,0.000,6,0.145,0.037,3063,1548,3831,0,0,0,0,0,0
$GC,1210,-0.60,-185.1,269.0,-17.0,156,1214,0.00,2.12,0.00,0.000,4,0.000,0.050,3062,163,3831,0,0,0,0,0,0
$GC,1231,-0.62,-185.1,272.6,-16.6,157,1238,0.00,2.10,0.00,0.000,6,0.000,0.037,3053,1550,3831,0,0,0,0,0,0
$GC,1557,-0.64,-185.1,323.7,-14.0,188,1561,0.00,2.12,0.00,0.000,4,0.000,0.046,3043,2959,3831,0,0,0,0,0,0
$GC,1586,-0.67,-185.1,327.4,-12.9,190,1590,0.00,2.15,0.00,0.000,6,0.000,0.043,3043,1549,3831,0,0,0,0,0,0
$GC,1911,-0.68,-185.1,371.8,-13.2,220,1915,0.00,2.12,0.00,0.000,4,0.000,0.052,3043,163,3831,0,0,0,0,0,0
$GC,1952,-0.71,-185.1,376.8,-12.3,223,1956,0.00,2.05,0.00,0.000,6,0.000,0.039,3034,1548,3831,0,0,0,0,0,0
$GC,2279,-0.72,-185.1,420.4,-14.2,253,2283,0.00,2.15,0.00,0.000,4,0.000,0.047,3024,2958,3829,0,0,0,0,0,0
$GC,2319,-0.76,-185.1,426.1,-12.1,256,2324,0.08,2.17,0.00,0.000,6,0.118,0.044,2932,1539,3829,0,0,0,0,0,0
$STATE,2621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2621,begin apogee
$GC,2626,0.00,0.0,501.8,25.0,284,2773,0.93,0.00,141.25,0.875,4,0.127,0.000,3246,1716,3067,0,0,0,0,0,0
$STATE,2774,end apogee,CONTROL_FINISHED_OK
$STATE,2774,begin climb
$GC,2775,0.72,185.1,509.9,0.0,296,2926,0.57,0.00,144.80,0.864,6,0.035,0.000,3512,1717,2313,0,0,0,0,0,0
$GC,3241,0.66,185.1,434.1,19.1,339,3246,0.17,2.20,0.00,0.000,4,0.175,0.051,3474,293,2304,0,0,0,0,0,0
$GC,3258,0.60,185.1,430.4,20.0,340,3263,0.10,2.12,0.00,0.000,6,0.152,0.031,3445,1708,2302,0,0,0,0,0,0
$GC,3584,0.66,241.8,386.8,12.0,370,3636,0.05,2.20,44.28,0.803,4,0.165,0.041,3508,3093,2081,0,0,0,0,0,0
$GC,3709,0.63,241.8,364.5,19.0,381,3714,0.22,2.12,0.00,0.000,6,0.142,0.044,3450,1720,2077,0,0,0,0,0,0
$GC,4034,0.63,241.8,311.5,15.5,411,4038,0.00,2.20,0.00,0.000,4,0.000,0.054,3461,293,2072,0,0,0,0,0,0
$GC,4118,0.63,241.8,298.2,15.5,418,4123,0.00,2.12,0.00,0.000,6,0.000,0.033,3461,1709,2069,0,0,0,0,0,0
$GC,4443,0.63,247.2,247.0,14.9,448,4457,0.00,2.15,3.55,0.425,4,0.000,0.042,3461,3099,2060,0,0,0,0,0,0
$GC,4469,0.63,247.2,242.9,16.7,450,4473,0.00,2.12,0.00,0.000,6,0.000,0.044,3469,1700,2059,0,0,0,0,0,0
$GC,4794,0.63,247.2,187.4,17.7,480,4797,0.00,2.17,0.00,0.000,4,0.000,0.052,3479,293,2059,0,0,0,0,0,0
$GC,4822,0.63,247.2,182.6,17.3,482,4827,0.10,2.10,0.00,0.000,6,0.148,0.032,3446,1707,2058,0,0,0,0,0,0
$GC,5150,0.73,312.3,140.1,11.6,519,5211,0.12,2.20,51.50,0.641,4,0.078,0.041,3556,3102,1794,0,0,0,0,0,0
$GC,5224,0.68,312.3,126.1,22.7,530,5233,0.28,2.22,0.00,0.000,6,0.119,0.043,3470,1701,1793,0,0,0,0,0,0
$GC,5558,0.78,364.8,83.2,12.3,591,5606,0.10,2.28,40.47,0.590,4,0.098,0.050,3579,293,1578,0,0,0,0,0,0
$GC,5683,0.77,364.8,58.1,17.6,612,5692,0.22,2.12,0.00,0.000,6,0.100,0.032,3497,1684,1573,0,0,0,0,0,0
$GC,6017,0.97,483.9,28.2,8.6,673,6113,0.20,2.30,87.97,0.546,4,0.056,0.052,3643,289,1094,0,0,0,0,0,0
$STATE,6125,end climb,SURFACE_DEPTH_REACHED
$STATE,6125,begin surface coast
$FINISH,0.5,1.009906
$STATE,6138,end surface coast,CONTROL_FINISHED_OK
$STATE,6138,begin surface
$SM_CCo,6216,0.00,0.000,0,0,1085,486.43
$SM_GC,1.54,8.77,0.00,0.00,0.024,0.000,0.000,103,1549,1085,-9.71,0.00,486.43
$IRIDIUM_FIX,2420.48,12704.51,051010,212156
$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,24.4,24.630
$10V_AH,10.5,17.187
$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,22.500,60.450,513.825,0.000,0.000,29.407,15.232,101.154,0.750,0.000,28.711,1637.132,2495.318,493.699,1744.092,110.851,0.000,1192.190,0.000,1577.718,0.000,0.540,0.000
$DEVICE_MAMPS,200.430,58.140,875.160,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.976,0.000,877.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43630,691
$CAP_FILE_SIZE,82596,0
$CFSIZE,260165632,243924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
$CURRENT,0.335,144.2,1
$GPS,061010,004855,2428.319,12706.242,39,1.3,39,-3.7