version: 66.08
glider: 168
mission: 2
dive: 114
start: 9 30 110 7 51 17
data:
$ID,168
$MISSION,2
$DIVE,114
$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,-3311.8474
$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,43
$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
$GPS1,300910,074708,2428.320,12705.677,8,1.5,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.4
$GPS2,300910,075050,2428.274,12705.671,11,1.5,11,-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,343.3,3390,-22.1,-15.152
$D_GRID,4118
$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,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.30,0.000,2,0.000,0.000,104,1528,3151,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.6,-6.5,13,132,10.15,2.20,-10.93,0.000,4,0.191,0.058,3009,2953,3826,0,0,0,0,0,0
$GC,233,-0.68,-185.1,52.1,-27.5,35,240,0.10,2.12,0.00,0.000,6,0.161,0.045,3037,1565,3828,0,0,0,0,0,0
$GC,570,-0.65,-185.1,136.6,-21.1,96,578,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1564,3831,0,0,0,0,0,0
$GC,907,-0.64,-185.1,203.4,-20.5,133,911,0.00,2.12,0.00,0.000,4,0.000,0.051,3037,163,3831,0,0,0,0,0,0
$GC,1025,-0.65,-185.1,224.8,-16.7,143,1030,0.08,2.08,0.00,0.000,6,0.174,0.039,3051,1556,3832,0,0,0,0,0,0
$GC,1352,-0.65,-185.1,276.3,-14.6,173,1356,0.00,2.10,0.00,0.000,4,0.000,0.047,3041,2959,3832,0,0,0,0,0,0
$GC,1408,-0.69,-185.1,283.6,-11.0,177,1415,0.00,2.15,0.00,0.000,6,0.000,0.044,3041,1548,3832,0,0,0,0,0,0
$GC,1733,-0.70,-185.1,328.3,-14.0,208,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1549,3831,0,0,0,0,0,0
$GC,2052,-0.72,-185.1,374.2,-14.9,238,2057,0.08,2.15,0.00,0.000,4,0.124,0.047,2945,2957,3830,0,0,0,0,0,0
$GC,2102,-0.70,-185.1,384.1,-21.1,242,2107,0.25,2.15,0.00,0.000,6,0.119,0.047,3027,1555,3830,0,0,0,0,0,0
$GC,2427,-0.71,-185.1,434.0,-14.1,272,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1555,3829,0,0,0,0,0,0
$GC,2747,-0.73,-185.1,475.8,-12.7,302,2751,0.00,2.12,0.00,0.000,4,0.000,0.058,3028,169,3826,0,0,0,0,0,0
$GC,2791,-0.76,-185.1,481.6,-12.5,305,2798,0.00,2.10,0.00,0.000,6,0.000,0.043,3020,1552,3826,0,0,0,0,0,0
$STATE,2944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2944,begin apogee
$GC,2949,0.00,0.0,500.9,12.2,320,3095,0.62,0.00,140.65,0.871,4,0.097,0.000,3252,1713,3067,0,0,0,0,0,0
$STATE,3096,end apogee,CONTROL_FINISHED_OK
$STATE,3096,begin climb
$GC,3098,0.72,185.1,506.9,0.0,332,3252,0.57,2.28,145.85,0.851,4,0.027,0.047,3517,3104,2313,0,0,0,0,0,0
$GC,3394,0.65,185.1,468.6,20.5,358,3404,0.20,2.22,0.00,0.000,6,0.144,0.043,3463,1700,2306,0,0,0,0,0,0
$GC,3722,0.62,185.1,416.5,15.7,389,3725,0.00,2.17,0.00,0.000,4,0.000,0.054,3473,290,2301,0,0,0,0,0,0
$GC,3739,0.58,185.1,413.3,16.4,390,3744,0.12,2.12,0.00,0.000,6,0.145,0.034,3437,1704,2299,0,0,0,0,0,0
$GC,4064,0.60,208.0,365.6,13.9,420,4089,0.00,2.15,17.05,0.749,4,0.000,0.041,3437,3108,2220,0,0,0,0,0,0
$GC,4149,0.63,233.7,353.1,13.7,427,4181,0.00,2.20,22.00,0.756,6,0.000,0.044,3446,1690,2114,0,0,0,0,0,0
$GC,4496,0.63,233.7,300.0,15.2,460,4500,0.00,2.17,0.00,0.000,4,0.000,0.054,3457,288,2107,0,0,0,0,0,0
$GC,4533,0.63,233.7,294.1,15.7,463,4541,0.00,2.12,0.00,0.000,6,0.000,0.034,3457,1684,2105,0,0,0,0,0,0
$GC,4859,0.62,233.7,244.2,16.5,494,4863,0.00,2.15,0.00,0.000,4,0.000,0.041,3457,3117,2105,0,0,0,0,0,0
$GC,4960,0.62,233.7,228.4,15.5,503,4964,0.00,2.17,0.00,0.000,6,0.000,0.044,3465,1701,2104,0,0,0,0,0,0
$GC,5286,0.62,237.6,179.4,14.9,533,5290,0.00,2.17,0.00,0.000,4,0.000,0.054,3475,293,2103,0,0,0,0,0,0
$GC,5348,0.62,237.6,170.0,15.3,538,5353,0.10,2.10,0.00,0.000,6,0.146,0.034,3443,1706,2102,0,0,0,0,0,0
$GC,5675,0.77,347.3,133.1,9.1,583,5769,0.17,2.17,85.82,0.631,4,0.063,0.037,3563,3109,1652,0,0,0,0,0,0
$GC,5804,0.74,347.3,106.2,25.4,603,5812,0.28,2.22,0.00,0.000,6,0.136,0.046,3489,1691,1649,0,0,0,0,0,0
$GC,6133,0.91,455.9,55.9,9.2,664,6222,0.15,2.25,80.97,0.563,4,0.069,0.054,3607,291,1207,0,0,0,0,0,0
$GC,6256,0.89,455.9,30.7,23.5,683,6263,0.22,2.12,0.00,0.000,6,0.123,0.031,3535,1686,1204,0,0,0,0,0,0
$STATE,6429,end climb,SURFACE_DEPTH_REACHED
$STATE,6429,begin surface coast
$FINISH,0.6,1.008322
$STATE,6452,end surface coast,CONTROL_FINISHED_OK
$STATE,6452,begin surface
$SM_CCo,6468,77.62,0.463,1,0,621,600.00
$SM_GC,1.38,0.00,0.00,77.62,0.000,0.000,0.463,104,1533,621,-9.84,-0.48,600.00
$IRIDIUM_FIX,2418.11,12703.08,300910,050507
$TT8_MAMPS,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.4,15.737
$10V_AH,10.4,11.636
$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,21.450,56.575,492.350,77.625,0.000,27.846,15.326,93.952,0.250,0.000,13.615,1712.884,2594.573,571.903,1816.447,91.058,0.000,1299.485,0.000,1667.233,0.000,0.539,0.000
$DEVICE_MAMPS,191.250,65.025,871.335,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.033,0.000,913.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43536,719
$CAP_FILE_SIZE,84836,0
$CFSIZE,260165632,247308288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198,167.6,1
$GPS,300910,094134,2428.469,12705.358,11,9.5,30,-3.7