version: 66.08
glider: 168
mission: 2
dive: 116
start: 9 30 110 11 34 49
data:
$ID,168
$MISSION,2
$DIVE,116
$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,-3314.3577
$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,38
$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
$GPS1,300910,112950,2428.700,12705.136,10,1.8,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.1
$GPS2,300910,113422,2428.641,12705.101,12,2.6,31,-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,357.0,2522,-22.1,-15.152
$D_GRID,4367
$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,-83.25,0.000,2,0.000,0.000,104,1534,3151,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.5,-5.4,13,131,10.10,2.20,-10.93,0.000,4,0.190,0.059,3007,2949,3826,0,0,0,0,0,0
$GC,226,-0.65,-185.1,53.8,-33.3,34,235,0.10,2.17,0.00,0.000,6,0.119,0.047,3044,1569,3828,0,0,0,0,0,0
$GC,567,-0.61,-185.1,141.2,-25.5,95,574,0.00,2.17,0.00,0.000,4,0.000,0.052,3044,157,3831,0,0,0,0,0,0
$GC,639,-0.61,-185.1,157.0,-18.4,105,648,0.05,2.10,0.00,0.000,6,0.134,0.037,3057,1538,3831,0,0,0,0,0,0
$GC,966,-0.62,-185.1,211.8,-15.0,136,970,0.00,2.10,0.00,0.000,4,0.000,0.050,3056,159,3832,0,0,0,0,0,0
$GC,1001,-0.64,-185.1,216.6,-14.0,139,1005,0.00,2.05,0.00,0.000,6,0.000,0.040,3050,1537,3832,0,0,0,0,0,0
$GC,1328,-0.66,-185.1,265.1,-15.3,169,1332,0.00,2.15,0.00,0.000,4,0.000,0.046,3040,2959,3832,0,0,0,0,0,0
$GC,1389,-0.71,-185.1,273.3,-11.1,174,1394,0.00,2.15,0.00,0.000,6,0.000,0.043,3040,1532,3832,0,0,0,0,0,0
$GC,1714,-0.72,-185.1,324.7,-15.7,204,1716,0.08,0.00,0.00,0.000,6,0.120,0.000,2945,1531,3831,0,0,0,0,0,0
$GC,2033,-0.67,-185.1,402.1,-24.5,234,2038,0.25,2.17,0.00,0.000,4,0.135,0.044,3024,2964,3829,0,0,0,0,0,0
$GC,2061,-0.67,-185.1,408.0,-19.8,236,2065,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,1538,3829,0,0,0,0,0,0
$GC,2385,-0.69,-185.1,458.3,-16.0,266,2389,0.00,2.12,0.00,0.000,4,0.000,0.057,3023,162,3828,0,0,0,0,0,0
$GC,2417,-0.72,-185.1,463.7,-15.4,268,2427,0.00,2.10,0.00,0.000,6,0.000,0.041,3018,1535,3828,0,0,0,0,0,0
$STATE,2657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2657,begin apogee
$GC,2661,0.00,0.0,500.3,14.9,291,2808,0.62,0.00,140.50,0.864,4,0.096,0.000,3250,1714,3068,0,0,0,0,0,0
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2809,begin climb
$GC,2810,0.72,185.1,507.3,0.0,303,2963,0.62,2.25,145.55,0.848,4,0.033,0.047,3526,3111,2313,0,0,0,0,0,0
$GC,3031,0.65,185.1,481.0,23.5,322,3036,0.28,2.20,0.00,0.000,6,0.158,0.042,3456,1696,2309,0,0,0,0,0,0
$GC,3356,0.62,185.1,424.3,16.4,352,3360,0.00,2.17,0.00,0.000,4,0.000,0.053,3467,293,2302,0,0,0,0,0,0
$GC,3375,0.59,185.1,421.3,16.0,353,3379,0.10,2.10,0.00,0.000,6,0.158,0.033,3439,1704,2300,0,0,0,0,0,0
$GC,3702,0.63,224.9,377.9,13.0,383,3740,0.00,0.00,30.60,0.776,6,0.000,0.000,3438,1707,2150,0,0,0,0,0,0
$GC,4059,0.67,256.4,330.1,13.4,417,4094,0.10,2.20,25.55,0.744,4,0.096,0.040,3509,3109,2021,0,0,0,0,0,0
$GC,4131,0.62,256.4,316.7,20.1,423,4136,0.22,2.20,0.00,0.000,6,0.143,0.043,3452,1689,2019,0,0,0,0,0,0
$GC,4458,0.63,268.2,265.8,14.5,453,4469,0.00,0.00,9.52,0.643,6,0.000,0.000,3452,1687,1974,0,0,0,0,0,0
$GC,4783,0.66,294.0,217.0,13.7,484,4812,0.00,2.25,21.50,0.669,4,0.000,0.055,3462,289,1868,0,0,0,0,0,0
$GC,4856,0.70,312.0,206.4,14.2,490,4876,0.00,2.12,15.27,0.644,6,0.000,0.033,3462,1687,1796,0,0,0,0,0,0
$GC,5193,0.71,316.4,154.2,14.9,522,5207,0.08,2.22,4.35,0.448,4,0.122,0.054,3547,292,1777,0,0,0,0,0,0
$GC,5227,0.69,316.4,148.1,19.7,525,5234,0.25,2.08,0.00,0.000,6,0.129,0.033,3467,1695,1777,0,0,0,0,0,0
$GC,5566,0.77,365.8,96.7,12.4,586,5615,0.10,2.17,39.28,0.601,4,0.099,0.037,3561,3102,1575,0,0,0,0,0,0
$GC,5688,0.73,365.8,70.1,24.8,606,5697,0.22,2.22,0.00,0.000,6,0.109,0.047,3489,1700,1572,0,0,0,0,0,0
$GC,6030,0.93,480.7,36.5,8.8,667,6126,0.17,2.22,85.05,0.549,4,0.061,0.035,3609,3111,1106,0,0,0,0,0,0
$GC,6196,0.97,480.7,4.6,16.0,693,6203,0.17,2.22,0.00,0.000,6,0.130,0.044,3558,1683,1103,0,0,0,0,0,0
$STATE,6211,end climb,SURFACE_DEPTH_REACHED
$STATE,6211,begin surface coast
$FINISH,0.6,1.021837
$STATE,6235,end surface coast,CONTROL_FINISHED_OK
$STATE,6235,begin surface
$SM_CCo,6251,66.72,0.451,1,0,621,600.00
$SM_GC,1.42,0.00,0.00,66.72,0.000,0.000,0.451,105,1530,621,-9.84,-0.62,600.00
$IRIDIUM_FIX,2418.11,12706.40,300910,090946
$TT8_MAMPS,0.026964
$HUMID,46.57
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,15.986
$10V_AH,10.5,11.786
$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,21.925,56.775,517.175,66.725,0.000,27.592,37.589,96.781,0.250,0.000,35.044,1655.893,2482.585,589.528,1788.735,92.699,0.000,1293.661,0.000,1591.898,0.000,0.539,0.000
$DEVICE_MAMPS,189.720,63.495,864.450,451.350,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.898,0.000,887.792,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43697,699
$CAP_FILE_SIZE,83972,0
$CFSIZE,260165632,247218176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.212,168.1,1
$GPS,300910,132125,2428.838,12705.130,38,1.1,38,-3.7