version: 66.08
glider: 168
mission: 2
dive: 180
start: 10 5 110 6 39 10
data:
$ID,168
$MISSION,2
$DIVE,180
$N_DIVES,190
$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,-3394.6528
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,051010,063301,2429.805,12705.290,9,1.5,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.1
$GPS2,051010,063844,2429.690,12705.388,9,1.5,9,-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,315.1,870,-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,-185.1,0.0,0.0,0,82,0.00,0.00,-64.80,0.000,2,0.000,0.000,104,1550,3047,0,0,0,0,0,0
$GC,84,-0.72,-185.1,3.1,-4.1,10,113,10.27,2.22,-13.38,0.000,4,0.194,0.054,3010,2965,3825,0,0,0,0,0,0
$GC,143,-0.61,-185.1,26.7,-41.7,19,150,0.15,2.20,0.00,0.000,6,0.147,0.044,3054,1549,3826,0,0,0,0,0,0
$GC,473,-0.57,-185.1,125.0,-26.4,80,480,0.00,2.15,0.00,0.000,4,0.000,0.051,3054,168,3828,0,0,0,0,0,0
$GC,505,-0.54,-185.1,132.5,-23.8,85,513,0.12,2.08,0.00,0.000,6,0.147,0.036,3083,1552,3829,0,0,0,0,0,0
$GC,840,-0.56,-185.1,184.9,-16.7,126,844,0.00,2.12,0.00,0.000,4,0.000,0.050,3084,162,3830,0,0,0,0,0,0
$GC,875,-0.59,-185.1,190.3,-15.4,129,879,0.00,2.08,0.00,0.000,6,0.000,0.037,3078,1547,3830,0,0,0,0,0,0
$GC,1202,-0.61,-185.1,235.6,-13.4,159,1207,0.08,2.17,0.00,0.000,4,0.125,0.047,2962,2963,3830,0,0,0,0,0,0
$GC,1244,-0.59,-185.1,244.0,-19.8,162,1254,0.28,2.17,0.00,0.000,6,0.106,0.044,3061,1551,3830,0,0,0,0,0,0
$GC,1571,-0.61,-185.1,294.5,-15.6,193,1575,0.00,2.12,0.00,0.000,4,0.000,0.053,3061,166,3830,0,0,0,0,0,0
$GC,1592,-0.63,-185.1,298.4,-16.1,194,1601,0.00,2.10,0.00,0.000,6,0.000,0.038,3053,1550,3830,0,0,0,0,0,0
$GC,1921,-0.65,-185.1,349.4,-14.9,225,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1553,3829,0,0,0,0,0,0
$GC,2247,-0.67,-185.1,395.9,-12.4,256,2249,0.08,0.00,0.00,0.000,6,0.122,0.000,2954,1553,3828,0,0,0,0,0,0
$GC,2565,-0.63,-185.1,464.5,-21.9,286,2567,0.30,0.00,0.00,0.000,6,0.125,0.000,3053,1553,3827,0,0,0,0,0,0
$STATE,2881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2881,begin apogee
$GC,2886,0.00,0.0,500.4,10.3,316,3032,0.52,0.00,140.98,0.879,4,0.089,0.000,3254,1711,3068,0,0,0,0,0,0
$STATE,3033,end apogee,CONTROL_FINISHED_OK
$STATE,3033,begin climb
$GC,3034,0.72,185.1,506.4,0.0,328,3185,0.57,0.00,145.15,0.864,6,0.033,0.000,3513,1713,2313,0,0,0,0,0,0
$GC,3501,0.66,185.1,431.5,20.4,371,3506,0.17,2.10,0.00,0.000,4,0.171,0.039,3463,3109,2304,0,0,0,0,0,0
$GC,3740,0.63,185.1,391.3,15.7,392,3745,0.08,2.17,0.00,0.000,6,0.199,0.044,3455,1700,2303,0,0,0,0,0,0
$GC,4065,0.62,186.0,343.7,15.1,422,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1699,2299,0,0,0,0,0,0
$GC,4385,0.63,207.3,297.3,14.0,452,4409,0.00,2.20,16.40,0.726,4,0.000,0.053,3465,295,2221,0,0,0,0,0,0
$GC,4423,0.61,207.3,291.7,15.4,455,4428,0.08,2.12,0.00,0.000,6,0.172,0.032,3445,1708,2219,0,0,0,0,0,0
$GC,4749,0.67,257.9,245.4,12.4,485,4798,0.08,2.15,40.72,0.723,4,0.118,0.040,3512,3104,2015,0,0,0,0,0,0
$GC,4826,0.64,257.9,232.2,18.3,491,4833,0.22,2.20,0.00,0.000,6,0.142,0.043,3455,1688,2010,0,0,0,0,0,0
$GC,5151,0.69,294.5,187.5,13.1,522,5189,0.08,2.22,29.05,0.669,4,0.122,0.039,3545,3102,1865,0,0,0,0,0,0
$GC,5201,0.64,294.5,178.3,20.9,526,5206,0.32,2.20,0.00,0.000,6,0.133,0.044,3454,1699,1864,0,0,0,0,0,0
$GC,5531,0.73,345.6,133.8,12.3,567,5579,0.10,2.20,39.53,0.633,4,0.097,0.050,3555,294,1657,0,0,0,0,0,0
$GC,5680,0.71,345.6,103.3,19.1,592,5688,0.20,2.12,0.00,0.000,6,0.102,0.031,3482,1688,1652,0,0,0,0,0,0
$GC,6024,0.86,435.9,61.9,10.2,653,6098,0.15,2.30,68.00,0.575,4,0.071,0.052,3602,288,1289,0,0,0,0,0,0
$GC,6173,0.84,435.9,30.9,21.4,677,6181,0.25,2.12,0.00,0.000,6,0.122,0.031,3518,1695,1283,0,0,0,0,0,0
$STATE,6374,end climb,SURFACE_DEPTH_REACHED
$STATE,6374,begin surface coast
$FINISH,0.7,1.020373
$STATE,6398,end surface coast,CONTROL_FINISHED_OK
$STATE,6398,begin surface
$SM_CCo,6474,0.00,0.000,0,0,1277,439.33
$SM_GC,1.64,8.30,0.00,0.00,0.024,0.000,0.000,104,1540,1277,-9.68,-0.23,439.33
$IRIDIUM_FIX,2418.11,12703.08,051010,040423
$TT8_MAMPS,0.026215
$HUMID,47.51
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,23.607
$10V_AH,10.5,16.524
$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,22.400,48.000,479.825,0.000,0.000,50.768,41.655,98.481,0.250,0.000,12.497,1711.929,2714.942,469.663,1824.468,106.736,0.000,1167.043,0.000,1627.130,0.000,0.540,0.000
$DEVICE_MAMPS,198.900,64.260,878.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.895,0.000,910.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43522,717
$CAP_FILE_SIZE,82404,0
$CFSIZE,260165632,244330496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309,136.4,1
$GPS,051010,082744,2429.511,12705.426,6,1.9,6,-3.7