version: 66.08
glider: 168
mission: 2
dive: 184
start: 10 5 110 13 50 11
data:
$ID,168
$MISSION,2
$DIVE,184
$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,-3399.6719
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,051010,134552,2428.259,12705.594,14,3.3,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-79.9
$GPS2,051010,134944,2428.178,12705.613,12,1.2,12,-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,346.3,3529,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,78,0.00,0.00,-61.60,0.000,2,0.000,0.000,105,1539,3203,0,0,0,0,0,0
$GC,81,-0.72,-185.1,3.8,-6.7,9,109,10.25,2.17,-9.70,0.000,4,0.194,0.054,3011,2959,3826,0,0,0,0,0,0
$GC,134,-0.58,-185.1,29.9,-49.0,17,141,0.17,2.17,0.00,0.000,6,0.143,0.046,3063,1551,3827,0,0,0,0,0,0
$GC,472,-0.56,-185.1,114.3,-21.0,78,480,0.00,2.17,0.00,0.000,4,0.000,0.054,3063,162,3829,0,0,0,0,0,0
$GC,542,-0.57,-185.1,128.8,-18.0,90,551,0.03,2.10,0.00,0.000,6,0.173,0.039,3067,1534,3830,0,0,0,0,0,0
$GC,879,-0.57,-185.1,187.4,-17.5,132,883,0.00,2.12,0.00,0.000,4,0.000,0.052,3067,158,3832,0,0,0,0,0,0
$GC,900,-0.57,-185.1,191.6,-18.4,133,907,0.00,2.10,0.00,0.000,6,0.000,0.038,3059,1536,3832,0,0,0,0,0,0
$GC,1226,-0.58,-185.1,245.0,-15.6,164,1229,0.00,2.15,0.00,0.000,4,0.000,0.046,3049,2960,3832,0,0,0,0,0,0
$GC,1267,-0.63,-185.1,251.0,-13.8,167,1271,0.00,2.17,0.00,0.000,6,0.000,0.046,3048,1536,3832,0,0,0,0,0,0
$GC,1598,-0.64,-185.1,302.6,-14.3,198,1602,0.00,2.10,0.00,0.000,4,0.000,0.055,3048,166,3832,0,0,0,0,0,0
$GC,1664,-0.67,-185.1,311.7,-12.0,203,1671,0.00,2.10,0.00,0.000,6,0.000,0.040,3039,1572,3831,0,0,0,0,0,0
$GC,1990,-0.68,-185.1,354.5,-12.6,234,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1574,3831,0,0,0,0,0,0
$GC,2309,-0.70,-185.1,397.7,-13.4,264,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1574,3830,0,0,0,0,0,0
$GC,2628,-0.72,-185.1,444.5,-14.6,294,2632,0.08,2.12,0.00,0.000,4,0.125,0.050,2931,2956,3829,0,0,0,0,0,0
$GC,2685,-0.70,-185.1,455.6,-21.8,299,2689,0.30,2.17,0.00,0.000,6,0.117,0.047,3031,1530,3828,0,0,0,0,0,0
$STATE,2976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2976,begin apogee
$GC,2980,0.00,0.0,500.1,13.7,326,3127,0.57,0.00,141.82,0.881,4,0.094,0.000,3249,1709,3068,0,0,0,0,0,0
$STATE,3128,end apogee,CONTROL_FINISHED_OK
$STATE,3128,begin climb
$GC,3130,0.72,185.1,506.3,0.0,338,3286,0.62,2.25,145.85,0.864,4,0.034,0.048,3522,3104,2312,0,0,0,0,0,0
$GC,3378,0.66,185.1,474.1,23.0,359,3383,0.25,2.20,0.00,0.000,6,0.160,0.043,3460,1698,2307,0,0,0,0,0,0
$GC,3704,0.63,185.1,413.8,17.7,389,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1698,2302,0,0,0,0,0,0
$GC,4025,0.62,196.4,364.9,14.5,419,4038,0.00,2.15,8.40,0.684,4,0.000,0.041,3460,3105,2266,0,0,0,0,0,0
$GC,4087,0.62,213.6,355.1,14.2,424,4108,0.05,2.17,15.32,0.745,6,0.157,0.044,3451,1714,2196,0,0,0,0,0,0
$GC,4425,0.61,215.4,305.6,15.1,456,4429,0.00,2.20,0.00,0.000,4,0.000,0.053,3462,289,2190,0,0,0,0,0,0
$GC,4488,0.61,222.7,296.3,14.8,461,4500,0.00,2.10,7.78,0.648,6,0.000,0.032,3462,1706,2160,0,0,0,0,0,0
$GC,4818,0.62,237.8,247.9,14.3,492,4833,0.00,0.00,13.32,0.682,6,0.000,0.000,3462,1707,2098,0,0,0,0,0,0
$GC,5150,0.62,237.8,197.2,15.4,523,5154,0.00,2.12,0.00,0.000,4,0.000,0.043,3462,3106,2094,0,0,0,0,0,0
$GC,5227,0.65,246.2,184.9,14.7,529,5239,0.00,2.17,7.88,0.591,6,0.000,0.043,3470,1707,2064,0,0,0,0,0,0
$GC,5560,0.71,299.3,138.4,12.2,568,5609,0.00,2.30,42.70,0.644,4,0.000,0.052,3481,289,1846,0,0,0,0,0,0
$GC,5680,0.80,352.7,122.9,12.2,587,5727,0.10,2.12,41.75,0.627,6,0.095,0.032,3587,1707,1629,0,0,0,0,0,0
$GC,6056,0.77,352.7,33.5,19.2,654,6066,0.25,2.22,0.00,0.000,4,0.135,0.048,3511,297,1621,0,0,0,0,0,0
$GC,6101,0.87,401.3,27.2,12.5,661,6144,0.08,2.10,36.85,0.557,6,0.116,0.032,3588,1698,1431,0,0,0,0,0,0
$STATE,6233,end climb,SURFACE_DEPTH_REACHED
$STATE,6233,begin surface coast
$FINISH,0.8,1.021380
$STATE,6249,end surface coast,CONTROL_FINISHED_OK
$STATE,6249,begin surface
$SM_CCo,6325,0.00,0.000,0,0,1422,403.76
$SM_GC,1.65,8.43,0.00,0.00,0.017,0.000,0.000,104,1542,1422,-9.68,-0.17,403.76
$IRIDIUM_FIX,2418.11,12704.97,051010,111146
$TT8_MAMPS,0.026964
$HUMID,49.52
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.4,24.050
$10V_AH,10.5,16.812
$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,21.175,52.275,461.675,0.000,0.000,24.131,19.309,97.425,0.500,0.000,14.890,1650.952,2654.081,444.652,1713.316,105.672,0.000,1116.991,0.000,1566.617,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,64.260,881.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.813,0.000,870.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43674,686
$CAP_FILE_SIZE,80211,0
$CFSIZE,260165632,244154368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273,166.4,1
$GPS,051010,153636,2428.163,12705.527,10,1.1,26,-3.7