version: 66.08
glider: 168
mission: 2
dive: 79
start: 9 27 110 15 20 47
data:
$ID,168
$MISSION,2
$DIVE,79
$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,-3266.9802
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,270910,151626,2424.320,12705.515,13,1.7,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.6
$GPS2,270910,152020,2424.249,12705.519,12,1.2,12,-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,346.8,10686,-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,-83.53,0.000,2,0.000,0.000,104,1536,3122,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.1,-3.8,13,131,10.07,2.25,-11.73,0.000,4,0.190,0.057,3007,2960,3826,0,0,0,0,0,0
$GC,193,-0.68,-185.1,40.7,-32.9,28,203,0.08,2.22,0.00,0.000,6,0.123,0.050,3035,1560,3828,0,0,0,0,0,0
$GC,535,-0.65,-185.1,141.7,-22.8,89,542,0.00,2.15,0.00,0.000,4,0.000,0.053,3035,153,3830,0,0,0,0,0,0
$GC,562,-0.61,-185.1,147.6,-22.9,93,569,0.10,2.12,0.00,0.000,6,0.157,0.041,3055,1549,3830,0,0,0,0,0,0
$GC,896,-0.61,-185.1,212.3,-17.2,125,900,0.00,2.12,0.00,0.000,4,0.000,0.049,3046,2959,3831,0,0,0,0,0,0
$GC,961,-0.66,-185.1,222.3,-12.0,130,970,0.00,2.17,0.00,0.000,6,0.000,0.046,3046,1555,3831,0,0,0,0,0,0
$GC,1288,-0.66,-185.1,277.2,-17.2,161,1292,0.00,2.15,0.00,0.000,4,0.000,0.056,3046,162,3831,0,0,0,0,0,0
$GC,1330,-0.68,-185.1,284.7,-15.5,164,1340,0.00,2.12,0.00,0.000,6,0.000,0.040,3037,1555,3831,0,0,0,0,0,0
$GC,1657,-0.68,-185.1,337.1,-15.9,195,1661,0.00,2.15,0.00,0.000,4,0.000,0.054,3037,159,3831,0,0,0,0,0,0
$GC,1696,-0.69,-185.1,343.5,-15.8,198,1700,0.00,2.08,0.00,0.000,6,0.000,0.040,3028,1555,3831,0,0,0,0,0,0
$GC,2021,-0.70,-185.1,395.5,-15.6,228,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1558,3830,0,0,0,0,0,0
$GC,2340,-0.71,-185.1,442.6,-14.8,258,2344,0.00,2.12,0.00,0.000,4,0.000,0.050,3019,2963,3828,0,0,0,0,0,0
$GC,2390,-0.75,-185.1,449.4,-12.2,262,2394,0.00,2.15,0.00,0.000,6,0.000,0.049,3019,1553,3828,0,0,0,0,0,0
$GC,2715,-0.77,-185.1,495.4,-13.8,292,2719,0.00,2.15,0.00,0.000,4,0.000,0.059,3019,168,3826,0,0,0,0,0,0
$STATE,2746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2746,begin apogee
$GC,2752,-0.18,0.0,500.4,15.4,294,2901,0.50,0.00,140.43,0.848,4,0.098,0.000,3197,1701,3067,0,0,0,0,0,0
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2901,begin climb
$GC,2903,0.72,185.1,507.5,0.0,307,3058,0.77,2.28,146.23,0.845,4,0.047,0.048,3499,3113,2312,0,0,0,0,0,0
$GC,3249,0.66,185.1,461.8,20.3,337,3254,0.17,2.20,0.00,0.000,6,0.161,0.044,3459,1690,2305,0,0,0,0,0,0
$GC,3576,0.64,185.1,409.4,15.7,367,3580,0.00,2.15,0.00,0.000,4,0.000,0.041,3459,3120,2300,0,0,0,0,0,0
$GC,3829,0.61,185.1,369.7,15.4,389,3833,0.08,2.17,0.00,0.000,6,0.198,0.045,3451,1697,2299,0,0,0,0,0,0
$GC,4155,0.63,207.4,324.8,13.9,419,4180,0.00,2.22,16.33,0.718,4,0.000,0.055,3462,278,2220,0,0,0,0,0,0
$GC,4236,0.62,207.4,312.3,15.3,426,4241,0.00,2.12,0.00,0.000,6,0.000,0.034,3462,1705,2217,0,0,0,0,0,0
$GC,4561,0.62,219.3,264.1,14.5,456,4574,0.00,0.00,10.38,0.649,6,0.000,0.000,3462,1707,2173,0,0,0,0,0,0
$GC,4891,0.62,228.5,215.6,14.6,487,4903,0.00,2.17,8.30,0.597,4,0.000,0.042,3462,3109,2136,0,0,0,0,0,0
$GC,4926,0.62,228.5,209.5,16.7,490,4931,0.08,2.17,0.00,0.000,6,0.193,0.045,3450,1688,2136,0,0,0,0,0,0
$GC,5251,0.67,261.6,165.1,13.3,520,5289,0.08,2.22,27.30,0.632,4,0.122,0.041,3520,3108,2000,0,0,0,0,0,0
$GC,5363,0.65,261.6,145.7,18.0,531,5371,0.22,2.20,0.00,0.000,6,0.140,0.045,3460,1693,1995,0,0,0,0,0,0
$GC,5702,0.75,326.3,100.7,11.6,592,5757,0.10,2.30,49.78,0.586,4,0.096,0.055,3556,285,1736,0,0,0,0,0,0
$GC,5788,0.72,326.3,86.5,20.6,605,5795,0.25,2.15,0.00,0.000,6,0.122,0.034,3475,1697,1733,0,0,0,0,0,0
$GC,6128,0.95,468.6,54.0,7.3,666,6243,0.22,2.28,105.57,0.545,4,0.053,0.054,3617,293,1156,0,0,0,0,0,0
$GC,6256,0.92,468.6,30.0,23.5,685,6264,0.22,2.15,0.00,0.000,6,0.131,0.030,3547,1704,1153,0,0,0,0,0,0
$STATE,6397,end climb,SURFACE_DEPTH_REACHED
$STATE,6397,begin surface coast
$FINISH,0.7,1.009039
$STATE,6416,end surface coast,CONTROL_FINISHED_OK
$STATE,6416,begin surface
$SM_CCo,6431,72.82,0.452,1,0,621,600.00
$SM_GC,1.23,0.00,0.00,72.82,0.000,0.000,0.452,104,1529,621,-9.84,-0.62,600.00
$IRIDIUM_FIX,2415.74,12708.29,270910,131320
$TT8_MAMPS,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.5,11.520
$10V_AH,10.6,8.993
$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,21.350,61.400,504.300,72.825,0.000,30.116,16.885,101.775,0.250,0.000,15.047,1700.139,2553.798,583.521,1837.311,84.516,0.000,1318.901,0.000,1672.604,0.000,0.540,0.000
$DEVICE_MAMPS,198.135,58.905,848.385,452.115,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.200,0.000,905.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,43625,713
$CAP_FILE_SIZE,85970,0
$CFSIZE,260165632,248905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.304,170.2,1
$GPS,270910,171031,2424.030,12705.323,40,1.6,40,-3.7