version: 66.08
glider: 168
mission: 2
dive: 89
start: 9 28 110 9 59 16
data:
$ID,168
$MISSION,2
$DIVE,89
$N_DIVES,100
$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,-3280.2827
$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,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
$GPS1,280910,095507,2424.813,12704.770,40,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.1
$GPS2,280910,095850,2424.771,12704.748,12,1.0,12,-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,4.6,9694,-22.1,-15.152
$D_GRID,4517
$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,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.20,0.000,2,0.000,0.000,104,1535,3164,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.7,-6.8,13,131,10.15,2.17,-10.55,0.000,4,0.192,0.055,3009,2952,3826,0,0,0,0,0,0
$GC,244,-0.69,-185.1,56.0,-25.2,37,252,0.10,2.15,0.00,0.000,6,0.155,0.049,3037,1559,3827,0,0,0,0,0,0
$GC,581,-0.64,-185.1,150.4,-28.3,98,585,0.00,2.15,0.00,0.000,4,0.000,0.055,3038,157,3829,0,0,0,0,0,0
$GC,686,-0.63,-185.1,175.9,-20.9,107,695,0.05,2.10,0.00,0.000,6,0.142,0.040,3048,1535,3829,0,0,0,0,0,0
$GC,1012,-0.63,-185.1,234.4,-16.0,138,1015,0.00,2.15,0.00,0.000,4,0.000,0.047,3039,2963,3830,0,0,0,0,0,0
$GC,1050,-0.66,-185.1,240.3,-13.5,141,1057,0.00,2.20,0.00,0.000,6,0.000,0.046,3039,1544,3830,0,0,0,0,0,0
$GC,1375,-0.66,-185.1,294.1,-18.0,172,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1543,3830,0,0,0,0,0,0
$GC,1694,-0.66,-185.1,349.1,-17.1,202,1698,0.00,2.17,0.00,0.000,4,0.000,0.047,3031,2967,3829,0,0,0,0,0,0
$GC,1743,-0.70,-185.1,356.6,-13.7,206,1751,0.00,2.20,0.00,0.000,6,0.000,0.048,3030,1556,3829,0,0,0,0,0,0
$GC,2070,-0.70,-185.1,403.6,-14.1,237,2074,0.00,2.15,0.00,0.000,4,0.000,0.058,3030,164,3828,0,0,0,0,0,0
$GC,2132,-0.73,-185.1,411.9,-12.1,242,2135,0.00,2.08,0.00,0.000,6,0.000,0.042,3020,1550,3828,0,0,0,0,0,0
$GC,2457,-0.74,-185.1,456.6,-13.2,272,2461,0.00,2.12,0.00,0.000,4,0.000,0.056,3021,163,3826,0,0,0,0,0,0
$GC,2486,-0.76,-185.1,460.7,-14.3,274,2489,0.00,2.08,0.00,0.000,6,0.000,0.041,3012,1550,3826,0,0,0,0,0,0
$STATE,2757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2757,begin apogee
$GC,2761,-0.18,0.0,500.3,14.1,299,2906,0.50,0.00,139.70,0.857,4,0.106,0.000,3195,1710,3068,0,0,0,0,0,0
$STATE,2907,end apogee,CONTROL_FINISHED_OK
$STATE,2907,begin climb
$GC,2908,0.72,185.1,506.5,0.0,311,3061,0.75,0.00,145.50,0.846,6,0.049,0.000,3495,1712,2312,0,0,0,0,0,0
$GC,3378,0.66,185.1,436.3,19.6,354,3382,0.12,2.10,0.00,0.000,4,0.175,0.040,3460,3110,2304,0,0,0,0,0,0
$GC,3524,0.64,185.1,413.0,15.5,367,3528,0.00,2.15,0.00,0.000,6,0.000,0.044,3471,1702,2303,0,0,0,0,0,0
$GC,3851,0.61,185.1,361.1,15.2,397,3856,0.10,2.17,0.00,0.000,4,0.187,0.054,3454,285,2300,0,0,0,0,0,0
$GC,3872,0.58,185.9,357.3,15.1,398,3881,0.03,2.15,0.00,0.000,6,0.155,0.034,3442,1710,2298,0,0,0,0,0,0
$GC,4200,0.64,242.4,318.1,12.1,429,4249,0.00,2.22,44.00,0.754,4,0.000,0.042,3441,3109,2078,0,0,0,0,0,0
$GC,4275,0.64,242.4,307.5,15.2,435,4283,0.00,2.20,0.00,0.000,6,0.000,0.044,3451,1724,2076,0,0,0,0,0,0
$GC,4601,0.65,252.3,260.5,14.6,466,4615,0.00,2.17,8.25,0.620,4,0.000,0.041,3451,3109,2038,0,0,0,0,0,0
$GC,4662,0.67,262.0,251.8,14.6,471,4677,0.00,2.12,9.10,0.623,6,0.000,0.045,3460,1727,2000,0,0,0,0,0,0
$GC,5003,0.67,262.0,198.7,15.3,503,5007,0.00,2.10,0.00,0.000,4,0.000,0.041,3460,3110,1993,0,0,0,0,0,0
$GC,5042,0.68,262.0,192.4,15.3,506,5046,0.00,2.10,0.00,0.000,6,0.000,0.045,3468,1734,1993,0,0,0,0,0,0
$GC,5369,0.73,296.9,147.6,13.2,537,5403,0.05,2.33,27.90,0.621,4,0.177,0.054,3541,292,1856,0,0,0,0,0,0
$GC,5467,0.69,296.9,130.0,20.6,553,5474,0.22,2.15,0.00,0.000,6,0.134,0.032,3470,1739,1853,0,0,0,0,0,0
$GC,5804,0.80,367.8,83.3,11.3,614,5866,0.12,2.30,54.30,0.575,4,0.083,0.054,3578,293,1566,0,0,0,0,0,0
$GC,5969,0.78,367.8,50.1,19.1,641,5976,0.25,2.17,0.00,0.000,6,0.119,0.033,3496,1739,1559,0,0,0,0,0,0
$GC,6308,0.97,477.5,16.0,9.1,702,6384,0.20,0.00,72.68,0.519,2,0.057,0.000,3618,1742,1158,0,0,0,0,0,0
$STATE,6385,end climb,SURFACE_DEPTH_REACHED
$STATE,6385,begin surface coast
$FINISH,0.5,1.021935
$STATE,6398,end surface coast,CONTROL_FINISHED_OK
$STATE,6398,begin surface
$SM_CCo,6414,73.82,0.058,0,0,622,600.00
$SM_GC,1.34,0.00,0.00,73.82,0.000,0.000,0.058,103,1525,622,-9.84,-0.71,600.00
$IRIDIUM_FIX,2415.74,12708.29,280910,080813
$TT8_MAMPS,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.4,12.720
$10V_AH,10.5,9.757
$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,21.350,56.700,501.425,73.825,0.000,25.045,12.752,99.532,0.250,0.000,15.449,1696.510,2578.969,564.051,1798.260,87.548,0.000,1285.055,0.000,1647.996,0.000,0.540,0.000
$DEVICE_MAMPS,192.015,64.260,856.800,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.007,0.000,908.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43551,715
$CAP_FILE_SIZE,83961,0
$CFSIZE,260165632,248442880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,170.6,1
$GPS,280910,114808,2425.077,12704.878,9,1.3,9,-3.7