version: 66.08
glider: 168
mission: 2
dive: 190
start: 10 6 110 0 53 42
data:
$ID,168
$MISSION,2
$DIVE,190
$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,-3407.3054
$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,38
$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
$GPS1,061010,004855,2428.319,12706.242,39,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.9
$GPS2,061010,005314,2428.258,12706.297,9,1.4,9,-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,327.9,3897,-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,-185.1,0.0,0.0,0,88,0.00,0.00,-70.72,0.000,2,0.000,0.000,104,1554,3210,0,0,0,0,0,0
$GC,90,-0.72,-185.1,3.8,-6.5,11,118,10.35,2.15,-9.88,0.000,4,0.197,0.053,3011,2966,3826,0,0,0,0,0,0
$GC,210,-0.69,-185.1,49.3,-27.6,31,217,0.08,2.20,0.00,0.000,6,0.161,0.045,3032,1550,3827,0,0,0,0,0,0
$GC,548,-0.65,-185.1,142.0,-26.3,92,556,0.00,2.15,0.00,0.000,4,0.000,0.050,3032,166,3829,0,0,0,0,0,0
$GC,588,-0.62,-185.1,152.3,-24.0,98,599,0.08,2.10,0.00,0.000,6,0.132,0.036,3051,1546,3830,0,0,0,0,0,0
$GC,915,-0.61,-185.1,219.4,-19.6,129,919,0.00,2.12,0.00,0.000,4,0.000,0.044,3041,2961,3831,0,0,0,0,0,0
$GC,948,-0.63,-185.1,225.6,-16.1,131,955,0.00,2.17,0.00,0.000,6,0.000,0.042,3041,1551,3831,0,0,0,0,0,0
$GC,1274,-0.63,-185.1,281.1,-17.6,162,1277,0.00,2.10,0.00,0.000,4,0.000,0.052,3041,166,3831,0,0,0,0,0,0
$GC,1328,-0.64,-185.1,290.9,-16.6,166,1338,0.00,2.10,0.00,0.000,6,0.000,0.038,3032,1545,3831,0,0,0,0,0,0
$GC,1654,-0.64,-185.1,345.6,-16.4,197,1658,0.00,2.12,0.00,0.000,4,0.000,0.047,3022,2959,3831,0,0,0,0,0,0
$GC,1675,-0.64,-185.1,349.8,-17.6,198,1686,0.05,2.17,0.00,0.000,6,0.111,0.044,3047,1551,3831,0,0,0,0,0,0
$GC,2004,-0.66,-185.1,397.8,-14.9,229,2008,0.00,2.15,0.00,0.000,4,0.000,0.054,3047,156,3829,0,0,0,0,0,0
$GC,2066,-0.70,-185.1,407.1,-14.4,234,2070,0.00,2.08,0.00,0.000,6,0.000,0.039,3040,1546,3829,0,0,0,0,0,0
$GC,2392,-0.73,-185.1,453.5,-13.3,264,2396,0.08,2.15,0.00,0.000,4,0.124,0.047,2930,2959,3828,0,0,0,0,0,0
$GC,2455,-0.71,-185.1,465.6,-20.7,269,2460,0.30,2.17,0.00,0.000,6,0.117,0.048,3029,1545,3827,0,0,0,0,0,0
$STATE,2704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2704,begin apogee
$GC,2709,0.00,0.0,500.6,12.2,292,2855,0.60,0.00,140.62,0.876,4,0.097,0.000,3253,1721,3068,0,0,0,0,0,0
$STATE,2856,end apogee,CONTROL_FINISHED_OK
$STATE,2856,begin climb
$GC,2857,0.72,185.1,506.2,0.0,304,3013,0.62,2.35,144.45,0.858,4,0.034,0.052,3525,281,2312,0,0,0,0,0,0
$GC,3169,0.66,185.1,461.6,22.6,331,3174,0.22,2.15,0.00,0.000,6,0.148,0.033,3459,1697,2304,0,0,0,0,0,0
$GC,3495,0.63,185.1,406.3,16.4,361,3499,0.00,2.20,0.00,0.000,4,0.000,0.051,3469,287,2302,0,0,0,0,0,0
$GC,3724,0.62,185.1,369.7,15.6,381,3728,0.08,2.10,0.00,0.000,6,0.183,0.034,3449,1697,2299,0,0,0,0,0,0
$GC,4055,0.63,206.6,325.0,14.0,412,4076,0.00,0.00,16.40,0.735,6,0.000,0.000,3449,1699,2224,0,0,0,0,0,0
$GC,4395,0.70,259.9,279.5,12.2,444,4444,0.10,2.25,43.03,0.742,4,0.096,0.041,3524,3108,2005,0,0,0,0,0,0
$GC,4525,0.67,259.9,253.8,19.5,455,4534,0.20,2.22,0.00,0.000,6,0.125,0.043,3466,1702,1999,0,0,0,0,0,0
$GC,4850,0.67,259.9,199.3,17.1,486,4854,0.00,2.17,0.00,0.000,4,0.000,0.051,3477,290,1995,0,0,0,0,0,0
$GC,4873,0.67,259.9,195.5,16.6,488,4877,0.00,2.10,0.00,0.000,6,0.000,0.032,3477,1699,1994,0,0,0,0,0,0
$GC,5199,0.69,276.0,146.6,14.3,520,5213,0.00,0.00,12.02,0.605,6,0.000,0.000,3476,1701,1942,0,0,0,0,0,0
$GC,5536,0.76,331.8,101.9,12.1,582,5586,0.08,2.22,44.12,0.611,4,0.123,0.040,3562,3108,1714,0,0,0,0,0,0
$GC,5614,0.73,331.8,86.6,20.4,594,5623,0.25,2.22,0.00,0.000,6,0.116,0.042,3485,1698,1712,0,0,0,0,0,0
$GC,5947,0.91,440.3,44.1,9.2,655,6035,0.17,2.30,81.50,0.560,4,0.064,0.050,3617,291,1270,0,0,0,0,0,0
$GC,6080,0.89,440.3,17.3,22.2,676,6089,0.22,2.17,0.00,0.000,6,0.115,0.031,3538,1703,1266,0,0,0,0,0,0
$STATE,6157,end climb,SURFACE_DEPTH_REACHED
$STATE,6157,begin surface coast
$FINISH,0.6,1.019183
$STATE,6181,end surface coast,CONTROL_FINISHED_OK
$STATE,6181,begin surface
$SM_CCo,6256,0.00,0.000,0,0,1260,443.75
$SM_GC,1.42,8.30,0.00,0.00,0.015,0.000,0.000,104,1527,1260,-9.70,-0.65,443.75
$IRIDIUM_FIX,2420.48,12706.40,051010,232344
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,24.744
$10V_AH,10.5,17.263
$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,21.775,56.925,482.150,0.000,0.000,29.088,39.474,103.044,0.250,0.000,12.397,1659.629,2476.557,476.220,1802.013,112.845,0.000,1186.372,0.000,1623.655,0.000,0.540,0.000
$DEVICE_MAMPS,196.605,57.375,875.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.798,0.000,880.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43772,694
$CAP_FILE_SIZE,81920,0
$CFSIZE,260165632,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.314,144.8,1
$GPS,061010,023844,2428.072,12706.452,12,1.6,12,-3.7