version: 66.08
glider: 168
mission: 2
dive: 78
start: 9 27 110 13 32 29
data:
$ID,168
$MISSION,2
$DIVE,78
$N_DIVES,90
$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,-8
$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,600
$N_FILEKB,4
$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,-3265.6279
$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,38
$R_STBD_OVSHOOT,39
$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
$GPS1,270910,132806,2424.388,12705.490,33,0.9,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.5
$GPS2,270910,133202,2424.306,12705.512,14,1.3,14,-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,344.4,10580,-22.1,-15.152
$D_GRID,5000
$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,-185.1,0.0,0.0,0,100,0.00,0.00,-83.68,0.000,2,0.000,0.000,104,1533,3144,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.4,-5.3,13,131,10.12,2.17,-11.07,0.000,4,0.192,0.053,3010,2963,3825,0,0,0,0,0,0
$GC,244,-0.68,-185.1,55.1,-31.0,37,252,0.10,2.20,0.00,0.000,6,0.150,0.051,3039,1563,3826,0,0,0,0,0,0
$GC,582,-0.66,-185.1,149.3,-22.8,98,590,0.00,2.17,0.00,0.000,4,0.000,0.054,3039,167,3828,0,0,0,0,0,0
$GC,623,-0.63,-185.1,160.2,-25.6,102,632,0.05,2.10,0.00,0.000,6,0.147,0.039,3050,1541,3829,0,0,0,0,0,0
$GC,950,-0.63,-185.1,223.7,-18.4,133,954,0.00,2.12,0.00,0.000,4,0.000,0.047,3040,2961,3829,0,0,0,0,0,0
$GC,1011,-0.67,-185.1,233.3,-14.4,138,1015,0.00,2.15,0.00,0.000,6,0.000,0.047,3040,1546,3830,0,0,0,0,0,0
$GC,1335,-0.67,-185.1,293.9,-17.2,168,1339,0.00,2.10,0.00,0.000,4,0.000,0.055,3040,166,3830,0,0,0,0,0,0
$GC,1429,-0.69,-185.1,309.8,-16.6,176,1439,0.00,2.10,0.00,0.000,6,0.000,0.041,3031,1544,3829,0,0,0,0,0,0
$GC,1756,-0.69,-185.1,362.6,-15.8,207,1760,0.00,2.12,0.00,0.000,4,0.000,0.054,3031,165,3829,0,0,0,0,0,0
$GC,1821,-0.72,-185.1,373.0,-14.4,212,1831,0.00,2.10,0.00,0.000,6,0.000,0.041,3022,1538,3828,0,0,0,0,0,0
$GC,2148,-0.73,-185.1,419.9,-13.9,243,2152,0.00,2.15,0.00,0.000,4,0.000,0.049,3013,2962,3827,0,0,0,0,0,0
$GC,2168,-0.75,-185.1,423.2,-13.8,244,2179,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,1536,3827,0,0,0,0,0,0
$GC,2496,-0.76,-185.1,471.0,-14.8,275,2500,0.00,2.10,0.00,0.000,4,0.000,0.060,3013,164,3826,0,0,0,0,0,0
$GC,2528,-0.77,-185.1,476.9,-16.7,277,2536,0.00,2.08,0.00,0.000,6,0.000,0.041,3004,1525,3826,0,0,0,0,0,0
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2686,-0.18,0.0,501.5,16.1,292,2838,0.52,0.00,139.98,0.849,4,0.104,0.000,3197,1717,3067,0,0,0,0,0,0
$STATE,2838,end apogee,CONTROL_FINISHED_OK
$STATE,2838,begin climb
$GC,2840,0.72,185.1,508.6,0.0,305,2995,0.73,0.00,145.48,0.842,6,0.048,0.000,3491,1718,2312,0,0,0,0,0,0
$GC,3310,0.67,185.1,442.3,17.9,348,3315,0.10,2.10,0.00,0.000,4,0.186,0.041,3465,3109,2305,0,0,0,0,0,0
$GC,3388,0.64,185.1,429.8,15.5,355,3392,0.08,2.17,0.00,0.000,6,0.198,0.044,3456,1696,2305,0,0,0,0,0,0
$GC,3718,0.62,188.1,381.2,15.0,386,3722,0.00,2.15,0.00,0.000,4,0.000,0.042,3456,3109,2301,0,0,0,0,0,0
$GC,3762,0.62,205.7,374.5,14.2,389,3783,0.00,2.15,15.98,0.731,6,0.000,0.045,3466,1701,2229,0,0,0,0,0,0
$GC,4100,0.60,205.7,322.8,15.7,421,4105,0.08,2.20,0.00,0.000,4,0.206,0.056,3457,288,2223,0,0,0,0,0,0
$GC,4205,0.64,236.3,307.5,13.5,430,4241,0.00,2.10,24.88,0.719,6,0.000,0.034,3457,1706,2102,0,0,0,0,0,0
$GC,4558,0.67,261.3,258.0,13.8,463,4585,0.00,2.20,20.42,0.679,4,0.000,0.042,3457,3106,2001,0,0,0,0,0,0
$GC,4614,0.69,266.7,249.9,14.9,468,4628,0.00,2.20,5.40,0.526,6,0.000,0.046,3465,1697,1981,0,0,0,0,0,0
$GC,4944,0.69,266.7,193.3,17.0,499,4948,0.00,2.15,0.00,0.000,4,0.000,0.041,3466,3109,1976,0,0,0,0,0,0
$GC,4983,0.69,266.7,186.6,17.3,502,4987,0.00,2.15,0.00,0.000,6,0.000,0.045,3473,1703,1975,0,0,0,0,0,0
$GC,5310,0.72,293.3,140.2,13.7,539,5339,0.00,2.15,21.73,0.602,4,0.000,0.040,3474,3111,1872,0,0,0,0,0,0
$GC,5367,0.76,316.5,132.2,13.9,548,5395,0.03,2.20,19.67,0.588,6,0.104,0.045,3540,1713,1775,0,0,0,0,0,0
$GC,5718,0.78,337.4,69.4,14.0,612,5742,0.15,2.12,15.95,0.541,4,0.148,0.040,3492,3106,1693,0,0,0,0,0,0
$GC,5798,0.96,435.0,59.6,9.8,625,5880,0.17,2.15,74.70,0.558,6,0.060,0.045,3604,1709,1293,0,0,0,0,0,0
$STATE,6066,end climb,SURFACE_DEPTH_REACHED
$STATE,6066,begin surface coast
$FINISH,0.6,1.021867
$STATE,6079,end surface coast,CONTROL_FINISHED_OK
$STATE,6079,begin surface
$SM_CCo,6094,89.35,0.464,1,0,622,600.00
$SM_GC,1.26,0.00,0.00,89.35,0.000,0.000,0.464,104,1535,622,-9.84,-0.40,600.00
$IRIDIUM_FIX,2415.74,12706.40,270910,111101
$TT8_MAMPS,0.026964
$HUMID,45.90
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.5,11.398
$10V_AH,10.5,8.915
$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,20.675,60.625,484.175,89.350,0.000,31.219,15.145,98.387,0.500,0.000,16.760,1606.448,2427.553,591.339,1734.362,81.323,0.000,1297.525,0.000,1566.446,0.000,0.540,0.000
$DEVICE_MAMPS,205.785,61.965,849.150,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.817,0.000,855.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40397,674
$CAP_FILE_SIZE,83084,0
$CFSIZE,260165632,248954880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.299,161.8,1
$GPS,270910,151626,2424.320,12705.515,13,1.7,13,-3.7