version: 66.08
glider: 168
mission: 2
dive: 191
start: 10 6 110 2 43 5
data:
$ID,168
$MISSION,2
$DIVE,191
$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,-3408.5615
$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,42
$R_STBD_OVSHOOT,40
$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
$GPS1,061010,023844,2428.072,12706.452,12,1.6,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.4
$GPS2,061010,024237,2428.007,12706.492,7,1.7,12,-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,328.5,4466,-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,-64.40,0.000,2,0.000,0.000,104,1528,3167,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.9,-7.1,10,112,10.35,2.20,-10.57,0.000,4,0.197,0.054,3006,2957,3826,0,0,0,0,0,0
$GC,238,-0.70,-185.1,56.7,-26.3,37,247,0.08,2.15,0.00,0.000,6,0.170,0.043,3026,1560,3828,0,0,0,0,0,0
$GC,569,-0.66,-185.1,148.5,-24.8,98,577,0.00,2.17,0.00,0.000,4,0.000,0.051,3026,163,3830,0,0,0,0,0,0
$GC,598,-0.63,-185.1,156.4,-25.1,101,607,0.08,2.08,0.00,0.000,6,0.137,0.035,3045,1537,3830,0,0,0,0,0,0
$GC,924,-0.62,-185.1,220.7,-16.4,132,928,0.00,2.15,0.00,0.000,4,0.000,0.044,3035,2965,3832,0,0,0,0,0,0
$GC,952,-0.62,-185.1,225.6,-17.5,134,957,0.08,2.17,0.00,0.000,6,0.161,0.045,3059,1547,3831,0,0,0,0,0,0
$GC,1278,-0.64,-185.1,269.4,-14.4,164,1282,0.00,2.12,0.00,0.000,4,0.000,0.053,3059,163,3832,0,0,0,0,0,0
$GC,1342,-0.67,-185.1,279.1,-13.7,169,1351,0.00,2.08,0.00,0.000,6,0.000,0.038,3051,1560,3831,0,0,0,0,0,0
$GC,1668,-0.69,-185.1,326.7,-14.5,200,1673,0.08,2.12,0.00,0.000,4,0.122,0.047,2946,2957,3831,0,0,0,0,0,0
$GC,1703,-0.66,-185.1,332.9,-19.8,203,1708,0.30,2.15,0.00,0.000,6,0.119,0.045,3045,1551,3831,0,0,0,0,0,0
$GC,2030,-0.68,-185.1,380.8,-14.0,233,2034,0.00,2.10,0.00,0.000,4,0.000,0.053,3045,166,3830,0,0,0,0,0,0
$GC,2104,-0.71,-185.1,391.2,-13.8,239,2108,0.00,2.05,0.00,0.000,6,0.000,0.040,3037,1546,3830,0,0,0,0,0,0
$GC,2431,-0.74,-185.1,434.7,-12.5,269,2436,0.08,2.17,0.00,0.000,4,0.126,0.048,2929,2958,3828,0,0,0,0,0,0
$GC,2470,-0.71,-185.1,442.0,-20.0,272,2475,0.30,2.17,0.00,0.000,6,0.139,0.047,3026,1544,3828,0,0,0,0,0,0
$GC,2796,-0.73,-185.1,489.8,-14.2,302,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1544,3827,0,0,0,0,0,0
$STATE,2869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2869,begin apogee
$GC,2873,0.00,0.0,500.4,14.4,309,3021,0.60,0.00,141.12,0.882,4,0.100,0.000,3248,1721,3068,0,0,0,0,0,0
$STATE,3021,end apogee,CONTROL_FINISHED_OK
$STATE,3022,begin climb
$GC,3023,0.72,185.1,507.3,0.0,321,3176,0.62,2.22,145.38,0.865,4,0.034,0.046,3522,3100,2312,0,0,0,0,0,0
$GC,3425,0.66,185.1,441.0,21.6,357,3430,0.25,2.17,0.00,0.000,6,0.162,0.043,3460,1697,2305,0,0,0,0,0,0
$GC,3751,0.63,185.1,386.8,16.1,387,3755,0.00,2.15,0.00,0.000,4,0.000,0.052,3471,293,2300,0,0,0,0,0,0
$GC,3772,0.61,185.1,382.8,16.3,388,3782,0.05,2.12,0.00,0.000,6,0.127,0.032,3449,1702,2298,0,0,0,0,0,0
$GC,4100,0.59,185.1,332.6,16.2,419,4104,0.00,2.12,0.00,0.000,4,0.000,0.043,3449,3105,2297,0,0,0,0,0,0
$GC,4139,0.58,185.1,325.9,16.2,422,4144,0.08,2.12,0.00,0.000,6,0.196,0.043,3438,1699,2297,0,0,0,0,0,0
$GC,4470,0.61,212.4,278.6,13.7,453,4496,0.00,2.22,19.88,0.722,4,0.000,0.042,3437,3105,2202,0,0,0,0,0,0
$GC,4579,0.68,254.8,263.9,12.8,462,4622,0.05,2.17,34.78,0.728,6,0.065,0.043,3514,1714,2028,0,0,0,0,0,0
$GC,4937,0.63,254.8,195.4,18.9,496,4942,0.20,2.20,0.00,0.000,4,0.156,0.050,3465,293,2021,0,0,0,0,0,0
$GC,4970,0.63,254.8,189.2,17.1,498,4978,0.00,2.15,0.00,0.000,6,0.000,0.033,3465,1706,2018,0,0,0,0,0,0
$GC,5296,0.66,269.1,142.0,14.4,534,5311,0.00,2.28,10.50,0.594,4,0.000,0.052,3473,286,1971,0,0,0,0,0,0
$GC,5331,0.69,284.2,137.2,14.3,539,5353,0.00,2.15,13.75,0.607,6,0.000,0.032,3473,1721,1909,0,0,0,0,0,0
$GC,5679,0.79,348.0,93.9,11.6,602,5735,0.10,2.33,49.88,0.613,4,0.097,0.050,3579,293,1648,0,0,0,0,0,0
$GC,5755,0.74,348.0,79.1,22.4,613,5764,0.28,2.15,0.00,0.000,6,0.119,0.033,3489,1703,1645,0,0,0,0,0,0
$GC,6087,0.89,432.7,39.4,10.5,674,6163,0.15,2.28,63.60,0.564,4,0.069,0.050,3612,304,1301,0,0,0,0,0,0
$GC,6176,0.86,432.7,23.4,21.1,687,6184,0.28,2.12,0.00,0.000,6,0.122,0.031,3525,1703,1299,0,0,0,0,0,0
$STATE,6308,end climb,SURFACE_DEPTH_REACHED
$STATE,6308,begin surface coast
$FINISH,0.6,1.009035
$STATE,6333,end surface coast,CONTROL_FINISHED_OK
$STATE,6333,begin surface
$SM_CCo,6409,0.00,0.000,0,0,1291,435.90
$SM_GC,1.57,8.23,0.00,0.00,0.015,0.000,0.000,104,1530,1291,-9.69,-0.51,435.90
$IRIDIUM_FIX,2415.74,12704.97,061010,000012
$TT8_MAMPS,0.026215
$HUMID,47.48
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,24.4,24.856
$10V_AH,10.4,17.339
$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,22.200,65.350,478.875,0.000,0.000,30.440,14.876,95.852,0.750,0.000,15.488,1729.613,2526.723,475.460,1812.659,109.726,0.000,1200.053,0.000,1658.036,0.000,0.540,0.000
$DEVICE_MAMPS,197.370,60.435,882.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.324,0.000,908.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43619,715
$CAP_FILE_SIZE,88209,0
$CFSIZE,260165632,243830784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274,141.6,1
$GPS,061010,043107,2427.978,12706.438,39,0.9,39,-3.7