version: 66.08
glider: 168
mission: 2
dive: 94
start: 9 28 110 19 14 41
data:
$ID,168
$MISSION,2
$DIVE,94
$N_DIVES,105
$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,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,-3286.7456
$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,33
$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
$GPS1,280910,191022,2425.049,12704.999,8,2.1,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.3
$GPS2,280910,191414,2425.032,12705.015,13,1.4,13,-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,355.4,9201,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-83.90,0.000,2,0.000,0.000,104,1533,3181,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.7,-6.7,13,132,10.15,2.22,-10.18,0.000,4,0.192,0.060,3007,2957,3824,0,0,0,0,0,0
$GC,256,-0.70,-185.1,62.9,-25.3,39,263,0.08,2.15,0.00,0.000,6,0.172,0.046,3027,1554,3826,0,0,0,0,0,0
$GC,593,-0.65,-185.1,149.5,-23.7,100,602,0.00,2.15,0.00,0.000,4,0.000,0.052,3028,171,3827,0,0,0,0,0,0
$GC,630,-0.61,-185.1,158.6,-25.2,104,635,0.12,2.05,0.00,0.000,6,0.152,0.040,3055,1541,3828,0,0,0,0,0,0
$GC,961,-0.61,-185.1,220.2,-18.8,135,965,0.00,2.12,0.00,0.000,4,0.000,0.045,3046,2959,3829,0,0,0,0,0,0
$GC,1036,-0.65,-185.1,231.4,-13.1,141,1040,0.00,2.12,0.00,0.000,6,0.000,0.045,3046,1555,3829,0,0,0,0,0,0
$GC,1362,-0.65,-185.1,291.7,-19.1,171,1366,0.00,2.12,0.00,0.000,4,0.000,0.054,3046,157,3828,0,0,0,0,0,0
$GC,1415,-0.67,-185.1,301.7,-16.3,175,1423,0.00,2.10,0.00,0.000,6,0.000,0.040,3037,1537,3828,0,0,0,0,0,0
$GC,1742,-0.68,-185.1,353.7,-14.7,206,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1540,3828,0,0,0,0,0,0
$GC,2061,-0.69,-185.1,396.0,-12.8,236,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1539,3827,0,0,0,0,0,0
$GC,2379,-0.72,-185.1,438.3,-14.1,266,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1539,3826,0,0,0,0,0,0
$GC,2698,-0.74,-185.1,482.1,-14.0,296,2702,0.08,2.17,0.00,0.000,4,0.127,0.050,2943,2959,3823,0,0,0,0,0,0
$GC,2746,-0.73,-185.1,491.5,-19.6,300,2757,0.20,2.20,0.00,0.000,6,0.107,0.049,3014,1549,3823,0,0,0,0,0,0
$STATE,2804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2804,begin apogee
$GC,2808,-0.18,0.0,501.7,17.1,306,2959,0.47,0.00,139.68,0.862,4,0.102,0.000,3192,1713,3068,0,0,0,0,0,0
$STATE,2959,end apogee,CONTROL_FINISHED_OK
$STATE,2960,begin climb
$GC,2961,0.72,185.1,509.1,0.0,319,3115,0.80,2.22,145.52,0.851,4,0.051,0.050,3499,3096,2313,0,0,0,0,0,0
$GC,3345,0.67,185.1,454.1,19.9,353,3349,0.15,2.17,0.00,0.000,6,0.165,0.045,3467,1695,2305,0,0,0,0,0,0
$GC,3675,0.66,207.8,401.6,13.9,384,3700,0.00,2.22,17.42,0.762,4,0.000,0.054,3477,289,2219,0,0,0,0,0,0
$GC,3913,0.64,207.8,363.5,17.0,405,3918,0.08,2.12,0.00,0.000,6,0.168,0.034,3455,1705,2213,0,0,0,0,0,0
$GC,4240,0.62,207.8,312.1,15.4,435,4243,0.00,2.10,0.00,0.000,4,0.000,0.042,3455,3109,2211,0,0,0,0,0,0
$GC,4270,0.61,207.8,307.3,16.3,437,4274,0.08,2.12,0.00,0.000,6,0.194,0.045,3444,1709,2211,0,0,0,0,0,0
$GC,4596,0.66,244.7,261.9,13.1,467,4634,0.08,2.22,29.12,0.711,4,0.122,0.052,3516,285,2068,0,0,0,0,0,0
$GC,4649,0.61,244.7,252.2,19.0,471,4657,0.17,2.17,0.00,0.000,6,0.113,0.034,3453,1706,2066,0,0,0,0,0,0
$GC,4974,0.63,260.0,203.0,14.3,502,4992,0.00,2.12,12.43,0.632,4,0.000,0.041,3453,3109,2007,0,0,0,0,0,0
$GC,5003,0.65,270.3,198.8,14.6,504,5018,0.00,2.15,9.65,0.598,6,0.000,0.044,3462,1704,1965,0,0,0,0,0,0
$GC,5336,0.65,271.4,146.1,15.1,537,5342,0.00,2.12,0.00,0.000,4,0.000,0.041,3462,3106,1960,0,0,0,0,0,0
$GC,5416,0.69,292.5,134.3,14.0,551,5444,0.00,2.15,18.48,0.604,6,0.000,0.045,3470,1714,1873,0,0,0,0,0,0
$GC,5777,0.77,344.5,85.4,12.3,615,5824,0.10,0.00,40.45,0.580,6,0.098,0.000,3553,1714,1662,0,0,0,0,0,0
$GC,6156,0.80,363.8,16.3,14.1,682,6179,0.15,2.22,14.73,0.505,4,0.145,0.054,3513,294,1585,0,0,0,0,0,0
$GC,6193,0.89,420.1,11.9,12.1,687,6248,0.08,2.15,43.55,0.520,6,0.116,0.033,3585,1724,1354,0,0,0,0,0,0
$STATE,6253,end climb,SURFACE_DEPTH_REACHED
$STATE,6253,begin surface coast
$FINISH,0.8,1.021845
$STATE,6273,end surface coast,CONTROL_FINISHED_OK
$STATE,6273,begin surface
$SM_CCo,6288,98.40,0.476,1,0,621,600.00
$SM_GC,1.41,0.00,0.00,98.40,0.000,0.000,0.476,104,1536,621,-9.84,-0.37,600.00
$IRIDIUM_FIX,2415.74,12704.97,280910,171724
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.70
$XPDR_PINGS,3
$24V_AH,24.4,13.327
$10V_AH,10.5,10.135
$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,21.350,52.225,471.025,98.400,0.000,22.810,24.879,98.081,0.750,0.000,16.487,1667.037,2511.165,583.287,1791.890,85.851,0.000,1294.914,0.000,1628.858,0.000,0.541,0.000
$DEVICE_MAMPS,194.310,60.435,862.155,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.731,0.000,887.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,43714,699
$CAP_FILE_SIZE,83229,0
$CFSIZE,260165632,248217600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.195,171.9,1
$GPS,280910,210225,2425.259,12705.009,36,1.4,36,-3.7