version: 66.08
glider: 168
mission: 2
dive: 210
start: 10 7 110 13 40 6
data:
$ID,168
$MISSION,2
$DIVE,210
$N_DIVES,225
$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,-3432.4084
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,071010,133527,2427.059,12707.756,7,1.8,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-78.4
$GPS2,071010,133938,2427.004,12707.812,14,1.8,14,-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,325.2,7297,-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,-185.1,0.0,0.0,0,74,0.00,0.00,-56.72,0.000,2,0.000,0.000,104,1556,3081,0,0,0,0,0,0
$GC,76,-0.72,-185.1,3.1,-4.4,8,108,10.25,2.10,-12.68,0.000,4,0.194,0.048,3009,2957,3825,0,0,0,0,0,0
$GC,277,-0.70,-185.1,66.1,-22.0,44,286,0.05,2.20,0.00,0.000,6,0.128,0.044,3029,1549,3827,0,0,0,0,0,0
$GC,603,-0.66,-185.1,151.1,-24.9,105,609,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1549,3829,0,0,0,0,0,0
$GC,932,-0.64,-185.1,224.5,-20.1,166,941,0.08,2.17,0.00,0.000,4,0.203,0.053,3050,166,3830,0,0,0,0,0,0
$GC,1021,-0.65,-185.1,240.1,-16.5,182,1029,0.00,2.10,0.00,0.000,6,0.000,0.038,3042,1545,3831,0,0,0,0,0,0
$GC,1351,-0.65,-185.1,293.1,-15.4,243,1359,0.00,2.15,0.00,0.000,4,0.000,0.046,3031,2959,3831,0,0,0,0,0,0
$GC,1404,-0.69,-185.1,300.4,-12.0,252,1412,0.00,2.15,0.00,0.000,6,0.000,0.042,3031,1561,3831,0,0,0,0,0,0
$GC,1731,-0.69,-185.1,353.5,-17.5,283,1735,0.00,2.12,0.00,0.000,4,0.000,0.046,3021,2962,3831,0,0,0,0,0,0
$GC,1762,-0.70,-185.1,358.8,-17.5,285,1766,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,1561,3831,0,0,0,0,0,0
$GC,2087,-0.70,-185.1,413.6,-16.2,315,2091,0.00,2.12,0.00,0.000,4,0.000,0.054,3021,167,3830,0,0,0,0,0,0
$GC,2139,-0.72,-185.1,422.3,-16.1,319,2143,0.00,2.10,0.00,0.000,6,0.000,0.039,3012,1564,3830,0,0,0,0,0,0
$GC,2465,-0.72,-185.1,479.3,-17.3,349,2469,0.00,2.10,0.00,0.000,4,0.000,0.047,3003,2959,3828,0,0,0,0,0,0
$GC,2504,-0.75,-185.1,485.5,-15.2,352,2508,0.00,2.12,0.00,0.000,6,0.000,0.046,3003,1563,3828,0,0,0,0,0,0
$STATE,2594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2594,begin apogee
$GC,2599,0.00,0.0,500.3,16.7,360,2750,0.68,0.00,141.68,0.877,4,0.098,0.000,3250,1718,3067,0,0,0,0,0,0
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2753,0.72,185.1,508.7,0.0,373,2908,0.62,2.20,145.57,0.864,4,0.034,0.047,3526,3093,2312,0,0,0,0,0,0
$GC,2922,0.65,185.1,495.9,21.7,387,2926,0.28,2.22,0.00,0.000,6,0.151,0.042,3456,1700,2310,0,0,0,0,0,0
$GC,3248,0.62,185.1,438.9,16.0,417,3252,0.00,2.20,0.00,0.000,4,0.000,0.051,3467,290,2302,0,0,0,0,0,0
$GC,3257,0.60,185.1,436.9,15.9,417,3265,0.05,2.12,0.00,0.000,6,0.142,0.030,3447,1695,2301,0,0,0,0,0,0
$GC,3584,0.63,221.1,388.6,13.2,448,3615,0.00,0.00,27.85,0.793,6,0.000,0.000,3447,1697,2166,0,0,0,0,0,0
$GC,3935,0.67,255.0,340.3,13.3,481,3965,0.08,0.00,27.73,0.770,6,0.124,0.000,3514,1697,2027,0,0,0,0,0,0
$GC,4283,0.63,255.0,268.1,21.1,527,4291,0.20,2.15,0.00,0.000,4,0.142,0.038,3452,3106,2020,0,0,0,0,0,0
$GC,4353,0.64,255.0,255.9,15.8,539,4361,0.00,2.17,0.00,0.000,6,0.000,0.044,3462,1700,2018,0,0,0,0,0,0
$GC,4685,0.64,255.0,201.0,15.6,600,4692,0.00,2.22,0.00,0.000,4,0.000,0.054,3472,290,2015,0,0,0,0,0,0
$GC,4762,0.65,255.0,188.3,15.5,614,4770,0.00,2.10,0.00,0.000,6,0.000,0.032,3473,1685,2013,0,0,0,0,0,0
$GC,5089,0.67,270.7,138.9,14.3,675,5106,0.00,2.22,11.60,0.601,4,0.000,0.053,3482,293,1964,0,0,0,0,0,0
$GC,5125,0.70,292.9,134.1,13.9,680,5156,0.00,2.10,19.38,0.621,6,0.000,0.033,3482,1686,1872,0,0,0,0,0,0
$GC,5476,0.77,332.9,88.8,13.0,744,5514,0.00,2.17,31.60,0.603,4,0.000,0.038,3482,3105,1710,0,0,0,0,0,0
$GC,5576,0.90,393.7,75.1,11.8,760,5635,0.12,2.22,48.08,0.590,6,0.036,0.044,3592,1697,1460,0,0,0,0,0,0
$STATE,5934,end climb,SURFACE_DEPTH_REACHED
$STATE,5934,begin surface coast
$FINISH,0.6,1.007206
$STATE,5946,end surface coast,CONTROL_FINISHED_OK
$STATE,5947,begin surface
$SM_CCo,5963,5.05,0.068,0,0,1437,400.08
$SM_GC,2.89,0.00,0.00,5.05,0.000,0.000,0.068,104,1538,1437,-9.84,-0.40,400.08
$IRIDIUM_FIX,2415.74,12708.29,071010,111158
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,27.019
$10V_AH,10.5,19.165
$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,20.950,52.150,453.475,5.050,0.000,25.662,17.959,109.067,0.250,0.000,17.173,1959.379,1556.216,456.074,2136.000,123.844,0.000,1213.752,0.000,1980.188,0.000,0.540,0.000
$DEVICE_MAMPS,203.490,66.555,877.455,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.591,0.000,1391.745,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50362,827
$CAP_FILE_SIZE,83488,0
$CFSIZE,260165632,242843648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.323,144.4,1
$GPS,071010,152037,2426.857,12707.846,26,1.2,26,-3.7