version: 66.08
glider: 168
mission: 2
dive: 82
start: 9 27 110 21 3 28
data:
$ID,168
$MISSION,2
$DIVE,82
$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,-3270.9329
$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,32
$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
$GPS1,270910,205524,2424.001,12705.155,37,1.4,37,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.6
$GPS2,270910,210301,2423.932,12705.178,12,1.3,12,-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,1.6,11242,-22.1,-15.152
$D_GRID,4924
$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,-83.70,0.000,2,0.000,0.000,105,1535,3153,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-5.3,13,131,10.12,2.17,-10.88,0.000,4,0.192,0.057,3005,2954,3825,0,0,0,0,0,0
$GC,144,-0.49,-185.1,24.7,-53.8,19,152,0.30,2.20,0.00,0.000,6,0.151,0.048,3096,1548,3826,0,0,0,0,0,0
$GC,482,-0.49,-185.1,109.2,-18.2,80,490,0.00,2.15,0.00,0.000,4,0.000,0.053,3096,167,3827,0,0,0,0,0,0
$GC,548,-0.52,-185.1,120.1,-15.5,91,555,0.00,2.08,0.00,0.000,6,0.000,0.041,3088,1541,3828,0,0,0,0,0,0
$GC,884,-0.54,-185.1,174.9,-14.8,138,887,0.00,2.15,0.00,0.000,4,0.000,0.047,3078,2962,3829,0,0,0,0,0,0
$GC,933,-0.61,-185.1,181.6,-11.2,142,942,0.05,2.20,0.00,0.000,6,0.063,0.046,2993,1545,3828,0,0,0,0,0,0
$GC,1260,-0.56,-185.1,258.4,-23.5,173,1265,0.25,2.12,0.00,0.000,4,0.138,0.053,3081,165,3829,0,0,0,0,0,0
$GC,1349,-0.62,-185.1,271.6,-10.8,180,1359,0.05,2.10,0.00,0.000,6,0.063,0.041,2993,1541,3829,0,0,0,0,0,0
$GC,1675,-0.59,-185.1,339.5,-20.5,211,1679,0.22,2.15,0.00,0.000,4,0.136,0.045,3055,2966,3828,0,0,0,0,0,0
$GC,1707,-0.62,-185.1,345.1,-14.5,213,1714,0.00,2.20,0.00,0.000,6,0.000,0.048,3055,1552,3827,0,0,0,0,0,0
$GC,2032,-0.65,-185.1,384.3,-12.6,244,2036,0.00,2.12,0.00,0.000,4,0.000,0.057,3055,166,3826,0,0,0,0,0,0
$GC,2070,-0.70,-185.1,389.0,-11.8,247,2078,0.08,2.10,0.00,0.000,6,0.122,0.041,2970,1574,3826,0,0,0,0,0,0
$GC,2395,-0.67,-185.1,455.9,-20.4,278,2399,0.22,2.10,0.00,0.000,4,0.129,0.047,3033,2957,3825,0,0,0,0,0,0
$GC,2432,-0.72,-185.1,461.9,-13.6,281,2439,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,1550,3825,0,0,0,0,0,0
$STATE,2735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2735,begin apogee
$GC,2739,-0.18,0.0,500.7,12.5,310,2883,0.43,0.00,139.50,0.857,4,0.103,0.000,3193,1711,3068,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2885,0.72,185.1,506.9,0.0,322,3041,0.80,2.25,146.32,0.833,4,0.052,0.050,3498,3096,2312,0,0,0,0,0,0
$GC,3286,0.67,185.1,449.5,18.4,357,3291,0.15,2.15,0.00,0.000,6,0.164,0.044,3466,1696,2304,0,0,0,0,0,0
$GC,3612,0.68,213.8,399.1,13.6,387,3639,0.00,2.20,21.98,0.756,4,0.000,0.041,3466,3113,2195,0,0,0,0,0,0
$GC,3868,0.66,213.8,356.9,17.3,410,3877,0.00,2.20,0.00,0.000,6,0.000,0.045,3476,1714,2191,0,0,0,0,0,0
$GC,4195,0.64,213.8,300.6,16.4,441,4200,0.08,2.08,0.00,0.000,4,0.205,0.042,3457,3105,2187,0,0,0,0,0,0
$GC,4347,0.66,229.5,276.6,14.3,454,4367,0.00,2.15,12.50,0.669,6,0.000,0.046,3466,1725,2131,0,0,0,0,0,0
$GC,4685,0.70,271.8,229.7,12.8,486,4724,0.00,2.28,33.58,0.681,4,0.000,0.057,3477,297,1960,0,0,0,0,0,0
$GC,4797,0.72,286.6,213.3,14.3,496,4814,0.00,2.15,12.93,0.629,6,0.000,0.033,3477,1719,1899,0,0,0,0,0,0
$GC,5134,0.72,286.6,157.5,16.1,527,5138,0.00,2.20,0.00,0.000,4,0.000,0.055,3487,296,1893,0,0,0,0,0,0
$GC,5154,0.72,286.6,153.8,16.2,528,5163,0.00,2.15,0.00,0.000,6,0.000,0.033,3487,1714,1892,0,0,0,0,0,0
$GC,5485,0.73,296.1,101.0,14.6,587,5499,0.00,2.10,7.95,0.523,4,0.000,0.040,3487,3112,1860,0,0,0,0,0,0
$GC,5560,0.75,301.2,89.5,14.9,600,5575,0.00,2.17,5.53,0.462,6,0.000,0.047,3495,1721,1840,0,0,0,0,0,0
$GC,5899,0.91,409.7,46.2,9.2,662,5989,0.15,2.17,82.80,0.553,4,0.072,0.040,3597,3116,1396,0,0,0,0,0,0
$GC,6002,0.89,409.7,28.7,18.9,677,6010,0.22,2.20,0.00,0.000,6,0.138,0.044,3535,1720,1394,0,0,0,0,0,0
$STATE,6165,end climb,SURFACE_DEPTH_REACHED
$STATE,6166,begin surface coast
$FINISH,0.6,0.997496
$STATE,6189,end surface coast,CONTROL_FINISHED_OK
$STATE,6189,begin surface
$SM_CCo,6204,101.90,0.467,1,0,621,600.00
$SM_GC,1.33,0.00,0.00,101.90,0.000,0.000,0.467,104,1534,621,-9.84,-0.45,600.00
$IRIDIUM_FIX,2415.74,12706.86,270910,191928
$TT8_MAMPS,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,11.881
$10V_AH,10.5,9.226
$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,21.525,60.950,463.075,101.900,0.000,89.804,48.463,105.394,0.250,0.000,13.029,1711.531,2444.473,584.836,1953.867,87.628,0.000,1324.034,0.000,1690.303,0.000,0.540,0.000
$DEVICE_MAMPS,205.020,65.790,856.800,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.497,0.000,903.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43581,711
$CAP_FILE_SIZE,87333,0
$CFSIZE,260165632,248766464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.214,180.3,1
$GPS,270910,224926,2424.049,12704.972,12,1.8,12,-3.7