version: 66.08
glider: 168
mission: 2
dive: 113
start: 9 30 110 6 2 34
data:
$ID,168
$MISSION,2
$DIVE,113
$N_DIVES,120
$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,-3310.5964
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,300910,055746,2428.197,12705.822,11,2.9,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.4
$GPS2,300910,060207,2428.115,12705.828,36,0.9,36,-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,342.5,3759,-22.1,-15.152
$D_GRID,1000
$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,-83.85,0.000,2,0.000,0.000,104,1526,3160,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-5.6,13,132,10.20,2.20,-10.70,0.000,4,0.194,0.060,3008,2948,3825,0,0,0,0,0,0
$GC,202,-0.68,-185.1,44.3,-29.9,29,209,0.10,2.12,0.00,0.000,6,0.161,0.044,3035,1567,3827,0,0,0,0,0,0
$GC,539,-0.64,-185.1,136.6,-23.9,90,546,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1567,3829,0,0,0,0,0,0
$GC,873,-0.62,-185.1,208.6,-22.1,126,877,0.08,2.17,0.00,0.000,4,0.207,0.051,3056,159,3831,0,0,0,0,0,0
$GC,950,-0.64,-185.1,223.0,-15.3,132,959,0.00,2.08,0.00,0.000,6,0.000,0.040,3047,1520,3831,0,0,0,0,0,0
$GC,1275,-0.64,-185.1,279.1,-17.6,163,1279,0.00,2.17,0.00,0.000,4,0.000,0.046,3037,2967,3831,0,0,0,0,0,0
$GC,1308,-0.66,-185.1,284.5,-15.1,165,1315,0.00,2.20,0.00,0.000,6,0.000,0.044,3037,1542,3831,0,0,0,0,0,0
$GC,1633,-0.66,-185.1,334.9,-15.7,196,1637,0.00,2.10,0.00,0.000,4,0.000,0.053,3037,161,3830,0,0,0,0,0,0
$GC,1678,-0.68,-185.1,341.7,-14.9,200,1682,0.00,2.08,0.00,0.000,6,0.000,0.041,3028,1535,3829,0,0,0,0,0,0
$GC,2002,-0.69,-185.1,391.4,-15.3,230,2006,0.00,2.15,0.00,0.000,4,0.000,0.047,3018,2961,3828,0,0,0,0,0,0
$GC,2092,-0.73,-185.1,403.5,-12.6,238,2096,0.00,2.17,0.00,0.000,6,0.000,0.044,3018,1537,3828,0,0,0,0,0,0
$GC,2417,-0.73,-185.1,457.1,-16.0,268,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1536,3826,0,0,0,0,0,0
$STATE,2725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2731,0.00,0.0,501.2,13.0,297,2876,0.62,0.00,140.35,0.866,4,0.099,0.000,3249,1709,3067,0,0,0,0,0,0
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2878,0.72,185.1,506.0,0.0,309,3031,0.62,2.22,145.32,0.844,4,0.034,0.047,3524,3101,2313,0,0,0,0,0,0
$GC,3136,0.65,185.1,471.2,21.4,331,3143,0.25,2.17,0.00,0.000,6,0.163,0.042,3462,1698,2308,0,0,0,0,0,0
$GC,3461,0.62,185.1,417.6,15.4,362,3465,0.00,2.20,0.00,0.000,4,0.000,0.054,3473,284,2302,0,0,0,0,0,0
$GC,3488,0.59,185.1,413.1,15.5,364,3498,0.08,2.15,0.00,0.000,6,0.115,0.034,3444,1694,2300,0,0,0,0,0,0
$GC,3815,0.63,232.5,370.0,12.6,395,3862,0.00,2.25,36.28,0.778,4,0.000,0.042,3444,3110,2119,0,0,0,0,0,0
$GC,3932,0.65,243.4,353.8,14.6,405,3947,0.00,2.20,9.98,0.685,6,0.000,0.044,3453,1691,2075,0,0,0,0,0,0
$GC,4275,0.65,243.4,296.8,16.4,437,4279,0.00,2.17,0.00,0.000,4,0.000,0.054,3464,283,2069,0,0,0,0,0,0
$GC,4373,0.65,243.4,279.6,16.4,445,4381,0.00,2.12,0.00,0.000,6,0.000,0.034,3463,1680,2066,0,0,0,0,0,0
$GC,4699,0.64,243.4,224.4,16.7,476,4703,0.00,2.15,0.00,0.000,4,0.000,0.041,3464,3113,2064,0,0,0,0,0,0
$GC,4747,0.64,243.4,215.8,16.6,480,4758,0.03,2.20,0.00,0.000,6,0.189,0.043,3459,1693,2065,0,0,0,0,0,0
$GC,5073,0.68,281.7,169.6,13.0,511,5109,0.00,2.20,29.60,0.649,4,0.000,0.054,3470,284,1917,0,0,0,0,0,0
$GC,5145,0.69,288.2,159.8,14.8,517,5158,0.00,2.12,6.35,0.522,6,0.000,0.034,3470,1690,1892,0,0,0,0,0,0
$GC,5486,0.72,312.1,110.9,13.8,572,5515,0.00,2.20,19.58,0.594,4,0.000,0.041,3470,3105,1794,0,0,0,0,0,0
$GC,5579,0.79,333.4,97.6,14.0,587,5607,0.10,2.17,17.95,0.576,6,0.093,0.045,3562,1699,1706,0,0,0,0,0,0
$GC,5939,0.79,339.3,28.1,14.8,651,5955,0.20,2.17,5.12,0.422,4,0.134,0.041,3495,3104,1684,0,0,0,0,0,0
$GC,6017,0.97,442.8,19.9,9.5,664,6106,0.15,2.15,78.38,0.533,6,0.031,0.043,3611,1722,1260,0,0,0,0,0,0
$STATE,6112,end climb,SURFACE_DEPTH_REACHED
$STATE,6112,begin surface coast
$FINISH,0.7,1.021668
$STATE,6123,end surface coast,CONTROL_FINISHED_OK
$STATE,6123,begin surface
$SM_CCo,6138,87.10,0.467,1,0,621,600.00
$SM_GC,1.35,0.00,0.00,87.10,0.000,0.000,0.467,103,1525,621,-9.84,-0.68,600.00
$IRIDIUM_FIX,2420.48,12703.08,300910,040433
$TT8_MAMPS,0.026964
$HUMID,47.00
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,24.5,15.614
$10V_AH,10.5,11.558
$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,21.125,56.850,488.900,87.100,0.000,29.465,24.411,96.271,0.750,0.000,38.548,1614.580,2435.842,594.175,1768.919,92.920,0.000,1298.681,0.000,1583.802,0.000,0.539,0.000
$DEVICE_MAMPS,207.315,59.670,865.980,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.254,0.000,862.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43638,680
$CAP_FILE_SIZE,81425,0
$CFSIZE,260165632,247357440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.214,159.2,1
$GPS,300910,074708,2428.320,12705.677,8,1.5,8,-3.7