version: 66.08
glider: 168
mission: 2
dive: 201
start: 10 6 110 20 51 14
data:
$ID,168
$MISSION,2
$DIVE,201
$N_DIVES,220
$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,-3421.1111
$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,36
$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
$GPS1,061010,204616,2427.746,12706.649,12,3.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-80.9
$GPS2,061010,205046,2427.668,12706.703,12,3.3,31,-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,330.5,5185,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-185.1,0.0,0.0,0,75,0.00,0.00,-58.03,0.000,2,0.000,0.000,104,1537,3109,0,0,0,0,0,0
$GC,78,-0.72,-185.1,3.1,-3.7,8,109,10.25,2.17,-12.18,0.000,4,0.195,0.053,3006,2963,3824,0,0,0,0,0,0
$GC,200,-0.68,-185.1,47.0,-30.2,29,209,0.08,2.20,0.00,0.000,6,0.117,0.045,3034,1562,3826,0,0,0,0,0,0
$GC,527,-0.65,-185.1,138.2,-26.0,90,535,0.00,2.17,0.00,0.000,4,0.000,0.051,3034,165,3827,0,0,0,0,0,0
$GC,570,-0.62,-185.1,148.9,-24.5,97,578,0.08,2.10,0.00,0.000,6,0.129,0.037,3053,1542,3828,0,0,0,0,0,0
$GC,902,-0.62,-185.1,215.6,-16.3,158,910,0.00,2.17,0.00,0.000,4,0.000,0.044,3044,2961,3830,0,0,0,0,0,0
$GC,923,-0.62,-185.1,218.9,-16.6,161,930,0.00,2.17,0.00,0.000,6,0.000,0.043,3043,1537,3830,0,0,0,0,0,0
$GC,1252,-0.62,-185.1,270.4,-16.1,222,1260,0.00,2.12,0.00,0.000,4,0.000,0.053,3043,170,3830,0,0,0,0,0,0
$GC,1273,-0.62,-185.1,273.8,-16.7,225,1280,0.08,2.05,0.00,0.000,6,0.182,0.037,3057,1550,3830,0,0,0,0,0,0
$GC,1607,-0.64,-185.1,324.3,-15.2,272,1610,0.00,2.12,0.00,0.000,4,0.000,0.051,3057,160,3830,0,0,0,0,0,0
$GC,1635,-0.67,-185.1,329.0,-15.8,274,1644,0.03,2.10,0.00,0.000,6,0.101,0.039,2978,1537,3830,0,0,0,0,0,0
$GC,1961,-0.64,-185.1,399.3,-20.3,305,1966,0.22,2.15,0.00,0.000,4,0.131,0.044,3042,2959,3829,0,0,0,0,0,0
$GC,2004,-0.69,-185.1,406.1,-11.4,308,2012,0.00,2.17,0.00,0.000,6,0.000,0.044,3042,1555,3829,0,0,0,0,0,0
$GC,2332,-0.72,-185.1,446.9,-13.3,339,2337,0.08,2.17,0.00,0.000,4,0.119,0.055,2940,163,3827,0,0,0,0,0,0
$GC,2383,-0.68,-185.1,457.8,-23.8,343,2388,0.32,2.08,0.00,0.000,6,0.125,0.040,3037,1547,3827,0,0,0,0,0,0
$STATE,2674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2679,0.00,0.0,500.8,12.9,370,2825,0.57,0.00,141.35,0.885,4,0.092,0.000,3253,1707,3067,0,0,0,0,0,0
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2828,0.72,185.1,507.6,0.0,382,2984,0.60,2.25,145.85,0.867,4,0.034,0.049,3520,3104,2312,0,0,0,0,0,0
$GC,3031,0.66,185.1,488.0,22.2,399,3036,0.25,2.20,0.00,0.000,6,0.154,0.042,3458,1698,2308,0,0,0,0,0,0
$GC,3357,0.63,185.1,434.7,16.3,429,3361,0.00,2.15,0.00,0.000,4,0.000,0.040,3459,3109,2302,0,0,0,0,0,0
$GC,3374,0.61,185.1,431.6,16.2,430,3378,0.08,2.20,0.00,0.000,6,0.196,0.043,3449,1691,2302,0,0,0,0,0,0
$GC,3699,0.63,215.5,385.3,13.5,460,3725,0.00,0.00,23.35,0.791,6,0.000,0.000,3449,1691,2189,0,0,0,0,0,0
$GC,4042,0.67,251.3,338.2,13.2,492,4079,0.05,2.20,29.08,0.776,4,0.169,0.039,3510,3109,2043,0,0,0,0,0,0
$GC,4104,0.62,251.3,327.5,19.1,497,4108,0.22,2.20,0.00,0.000,6,0.138,0.044,3451,1695,2041,0,0,0,0,0,0
$GC,4431,0.62,251.3,280.3,15.5,539,4439,0.00,2.17,0.00,0.000,4,0.000,0.054,3462,290,2035,0,0,0,0,0,0
$GC,4500,0.63,252.7,269.9,15.1,551,4508,0.00,2.12,0.00,0.000,6,0.000,0.033,3462,1704,2035,0,0,0,0,0,0
$GC,4832,0.64,260.4,217.7,14.7,612,4846,0.00,2.12,7.10,0.595,4,0.000,0.042,3462,3106,2005,0,0,0,0,0,0
$GC,4866,0.64,260.4,212.5,16.3,617,4872,0.00,2.17,0.00,0.000,6,0.000,0.044,3470,1694,2004,0,0,0,0,0,0
$GC,5194,0.71,311.9,167.3,12.3,678,5242,0.00,0.00,41.28,0.669,6,0.000,0.000,3470,1693,1797,0,0,0,0,0,0
$GC,5561,0.80,363.5,118.5,12.3,745,5607,0.12,2.28,40.25,0.626,4,0.082,0.051,3589,293,1585,0,0,0,0,0,0
$GC,5642,0.76,363.5,101.6,25.5,757,5651,0.28,2.15,0.00,0.000,6,0.107,0.031,3492,1696,1582,0,0,0,0,0,0
$GC,5970,0.94,470.4,58.2,9.3,818,6061,0.17,2.22,80.40,0.575,4,0.061,0.037,3623,3100,1148,0,0,0,0,0,0
$GC,6106,0.94,470.4,29.6,21.1,838,6115,0.22,2.22,0.00,0.000,6,0.116,0.045,3554,1713,1145,0,0,0,0,0,0
$STATE,6258,end climb,SURFACE_DEPTH_REACHED
$STATE,6258,begin surface coast
$FINISH,0.8,1.022546
$STATE,6275,end surface coast,CONTROL_FINISHED_OK
$STATE,6275,begin surface
$SM_CCo,6351,0.00,0.000,0,0,1139,473.18
$SM_GC,1.51,8.43,0.00,0.00,0.024,0.000,0.000,104,1534,1139,-9.68,-0.37,473.18
$IRIDIUM_FIX,2420.48,12706.40,061010,191905
$TT8_MAMPS,0.026964
$HUMID,47.75
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.4,26.002
$10V_AH,10.5,18.248
$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,22.125,61.125,508.650,0.000,0.000,25.229,22.549,106.423,0.250,0.000,35.618,2058.384,1699.688,489.068,2259.351,124.597,0.000,1305.748,0.000,2080.399,0.000,0.539,0.000
$DEVICE_MAMPS,195.840,62.730,885.105,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.598,0.000,1440.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53677,869
$CAP_FILE_SIZE,90692,0
$CFSIZE,260165632,243310592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,143.0,1
$GPS,061010,223807,2427.844,12706.712,28,1.2,28,-3.7