version: 66.08
glider: 168
mission: 2
dive: 97
start: 9 29 110 0 39 46
data:
$ID,168
$MISSION,2
$DIVE,97
$N_DIVES,110
$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,0
$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,-3290.5139
$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,37
$R_STBD_OVSHOOT,43
$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
$GPS1,290910,003506,2425.466,12705.496,33,0.9,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.9
$GPS2,290910,003919,2425.424,12705.539,10,1.1,15,-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,344.8,8524,-22.1,-15.152
$D_GRID,4219
$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,-84.32,0.000,2,0.000,0.000,104,1537,3153,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.3,-5.1,13,132,10.10,2.15,-11.05,0.000,4,0.190,0.052,3008,2955,3823,0,0,0,0,0,0
$GC,248,-0.70,-185.1,57.6,-28.2,38,257,0.05,2.20,0.00,0.000,6,0.132,0.047,3028,1556,3826,0,0,0,0,0,0
$GC,589,-0.65,-185.1,155.5,-24.7,97,593,0.08,2.15,0.00,0.000,4,0.209,0.054,3048,161,3827,0,0,0,0,0,0
$GC,618,-0.60,-185.1,163.2,-25.6,99,623,0.08,2.08,0.00,0.000,6,0.183,0.040,3059,1537,3827,0,0,0,0,0,0
$GC,944,-0.60,-185.1,224.7,-20.0,129,948,0.00,2.15,0.00,0.000,4,0.000,0.046,3050,2964,3828,0,0,0,0,0,0
$GC,1021,-0.64,-185.1,238.0,-13.7,135,1028,0.00,2.17,0.00,0.000,6,0.000,0.045,3050,1555,3828,0,0,0,0,0,0
$GC,1346,-0.64,-185.1,299.5,-20.2,166,1350,0.00,2.12,0.00,0.000,4,0.000,0.055,3050,158,3828,0,0,0,0,0,0
$GC,1433,-0.66,-185.1,315.1,-15.7,173,1441,0.00,2.10,0.00,0.000,6,0.000,0.040,3041,1537,3829,0,0,0,0,0,0
$GC,1759,-0.67,-185.1,368.9,-16.5,204,1763,0.00,2.10,0.00,0.000,4,0.000,0.054,3041,158,3828,0,0,0,0,0,0
$GC,1781,-0.68,-185.1,372.6,-17.1,206,1785,0.00,2.10,0.00,0.000,6,0.000,0.041,3032,1557,3829,0,0,0,0,0,0
$GC,2113,-0.69,-185.1,422.2,-14.0,237,2117,0.00,2.12,0.00,0.000,4,0.000,0.049,3022,2963,3827,0,0,0,0,0,0
$GC,2157,-0.73,-185.1,428.6,-13.1,240,2166,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,1547,3827,0,0,0,0,0,0
$GC,2485,-0.74,-185.1,480.2,-16.3,271,2489,0.00,2.15,0.00,0.000,4,0.000,0.057,3021,156,3825,0,0,0,0,0,0
$GC,2505,-0.76,-185.1,484.3,-16.5,272,2516,0.00,2.12,0.00,0.000,6,0.000,0.041,3012,1548,3825,0,0,0,0,0,0
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2606,begin apogee
$GC,2611,0.00,0.0,500.3,16.4,282,2756,0.65,0.00,140.05,0.861,4,0.101,0.000,3249,1711,3068,0,0,0,0,0,0
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2758,0.72,185.1,508.3,0.0,294,2914,0.62,2.22,145.77,0.840,4,0.037,0.049,3516,3097,2313,0,0,0,0,0,0
$GC,2997,0.66,185.1,480.6,22.7,314,3006,0.20,2.22,0.00,0.000,6,0.146,0.043,3462,1696,2307,0,0,0,0,0,0
$GC,3326,0.63,185.1,426.7,16.6,345,3329,0.00,2.15,0.00,0.000,4,0.000,0.041,3462,3105,2302,0,0,0,0,0,0
$GC,3368,0.60,185.1,418.3,18.0,348,3379,0.08,2.20,0.00,0.000,6,0.145,0.044,3445,1696,2301,0,0,0,0,0,0
$GC,3697,0.63,222.4,369.6,13.1,379,3733,0.00,2.20,28.62,0.767,4,0.000,0.042,3446,3106,2160,0,0,0,0,0,0
$GC,3835,0.68,262.1,351.2,13.0,391,3875,0.05,2.15,32.45,0.756,6,0.166,0.045,3517,1708,1998,0,0,0,0,0,0
$GC,4202,0.63,262.1,273.5,22.7,425,4207,0.22,2.22,0.00,0.000,4,0.151,0.051,3460,286,1988,0,0,0,0,0,0
$GC,4278,0.64,262.1,259.4,15.7,431,4285,0.00,2.15,0.00,0.000,6,0.000,0.033,3460,1702,1985,0,0,0,0,0,0
$GC,4603,0.65,267.1,208.4,14.9,462,4607,0.00,2.20,0.00,0.000,4,0.000,0.054,3469,284,1984,0,0,0,0,0,0
$GC,4647,0.68,293.8,202.3,13.7,466,4676,0.00,2.12,24.08,0.658,6,0.000,0.034,3469,1707,1870,0,0,0,0,0,0
$GC,4995,0.69,303.5,152.9,14.6,498,5008,0.00,2.20,8.38,0.559,4,0.000,0.042,3469,3112,1830,0,0,0,0,0,0
$GC,5031,0.70,303.5,147.2,15.4,502,5040,0.00,2.20,0.00,0.000,6,0.000,0.045,3477,1706,1829,0,0,0,0,0,0
$GC,5372,0.73,316.8,97.6,14.4,563,5393,0.00,2.25,11.80,0.552,4,0.000,0.054,3486,293,1775,0,0,0,0,0,0
$GC,5457,0.83,377.1,86.1,11.8,577,5513,0.10,2.10,47.20,0.580,6,0.095,0.033,3581,1699,1528,0,0,0,0,0,0
$GC,5848,0.80,377.1,6.9,20.9,645,5855,0.22,2.15,0.00,0.000,4,0.129,0.039,3507,3110,1522,0,0,0,0,0,0
$STATE,5873,end climb,SURFACE_DEPTH_REACHED
$STATE,5873,begin surface coast
$FINISH,0.5,1.005640
$STATE,5889,end surface coast,CONTROL_FINISHED_OK
$STATE,5889,begin surface
$SM_CCo,5906,115.38,0.475,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,115.38,0.000,0.000,0.475,104,1536,621,-9.84,-0.40,600.00
$IRIDIUM_FIX,2415.74,12704.97,280910,222224
$TT8_MAMPS,0.026964
$HUMID,45.11
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.5,13.695
$10V_AH,10.5,10.352
$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,20.700,65.350,438.350,115.375,0.000,29.367,41.334,90.530,0.500,0.000,17.801,1578.808,2327.625,589.043,1710.655,89.017,0.000,1270.698,0.000,1531.680,0.000,0.541,0.000
$DEVICE_MAMPS,208.845,63.495,860.625,475.065,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.570,0.000,826.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40263,652
$CAP_FILE_SIZE,81896,0
$CFSIZE,260165632,248090624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.237,154.6,1
$GPS,290910,022101,2425.512,12705.547,7,1.6,12,-3.7