version: 66.08
glider: 168
mission: 2
dive: 86
start: 9 28 110 4 17 22
data:
$ID,168
$MISSION,2
$DIVE,86
$N_DIVES,95
$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,4
$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,-3276.3296
$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,42
$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
$GPS1,280910,041302,2424.266,12704.951,7,1.7,7,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.2
$GPS2,280910,041656,2424.206,12704.949,10,1.7,10,-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,0.2,10731,-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,-84.22,0.000,2,0.000,0.000,104,1534,3166,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-5.1,13,132,10.15,2.17,-10.70,0.000,4,0.192,0.056,3008,2950,3825,0,0,0,0,0,0
$GC,202,-0.69,-185.1,44.9,-29.7,29,209,0.10,2.15,0.00,0.000,6,0.161,0.047,3035,1555,3827,0,0,0,0,0,0
$GC,539,-0.64,-185.1,142.2,-25.5,90,547,0.00,2.17,0.00,0.000,4,0.000,0.053,3035,161,3829,0,0,0,0,0,0
$GC,571,-0.60,-185.1,150.6,-27.3,95,579,0.12,2.05,0.00,0.000,6,0.152,0.039,3064,1542,3829,0,0,0,0,0,0
$GC,895,-0.60,-185.1,211.9,-16.8,126,899,0.00,2.10,0.00,0.000,4,0.000,0.051,3064,163,3830,0,0,0,0,0,0
$GC,930,-0.61,-185.1,217.2,-16.2,129,934,0.00,2.05,0.00,0.000,6,0.000,0.038,3055,1541,3830,0,0,0,0,0,0
$GC,1257,-0.62,-185.1,271.2,-15.9,159,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1544,3830,0,0,0,0,0,0
$GC,1577,-0.64,-185.1,319.2,-14.9,189,1580,0.00,2.12,0.00,0.000,4,0.000,0.047,3046,2958,3830,0,0,0,0,0,0
$GC,1607,-0.68,-185.1,323.6,-13.7,191,1611,0.00,2.15,0.00,0.000,6,0.000,0.045,3046,1536,3830,0,0,0,0,0,0
$GC,1933,-0.70,-185.1,372.4,-14.6,221,1938,0.08,2.17,0.00,0.000,4,0.120,0.048,2950,2959,3828,0,0,0,0,0,0
$GC,1995,-0.68,-185.1,384.7,-20.3,226,2000,0.25,2.15,0.00,0.000,6,0.125,0.047,3032,1540,3828,0,0,0,0,0,0
$GC,2320,-0.70,-185.1,434.7,-14.7,256,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1540,3826,0,0,0,0,0,0
$GC,2640,-0.72,-185.1,477.9,-13.6,286,2643,0.00,2.12,0.00,0.000,4,0.000,0.057,3032,163,3825,0,0,0,0,0,0
$GC,2717,-0.76,-185.1,488.6,-13.1,292,2727,0.03,2.10,0.00,0.000,6,0.101,0.042,2959,1537,3825,0,0,0,0,0,0
$STATE,2786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2786,begin apogee
$GC,2790,-0.18,0.0,500.9,19.7,299,2940,0.68,0.00,140.02,0.861,4,0.116,0.000,3195,1717,3068,0,0,0,0,0,0
$STATE,2941,end apogee,CONTROL_FINISHED_OK
$STATE,2941,begin climb
$GC,2942,0.72,185.1,509.1,0.0,312,3100,0.77,2.35,145.20,0.838,4,0.049,0.054,3494,286,2311,0,0,0,0,0,0
$GC,3238,0.68,185.1,475.1,18.9,337,3246,0.08,2.17,0.00,0.000,6,0.119,0.032,3465,1699,2304,0,0,0,0,0,0
$GC,3563,0.65,185.1,422.6,15.5,368,3567,0.00,2.20,0.00,0.000,4,0.000,0.054,3476,290,2301,0,0,0,0,0,0
$GC,3675,0.62,185.1,405.0,15.2,378,3679,0.10,2.12,0.00,0.000,6,0.153,0.034,3446,1711,2299,0,0,0,0,0,0
$GC,4007,0.65,226.0,361.7,12.9,409,4045,0.00,2.20,31.73,0.767,4,0.000,0.043,3446,3108,2146,0,0,0,0,0,0
$GC,4142,0.65,226.0,342.3,15.3,421,4146,0.00,2.17,0.00,0.000,6,0.000,0.045,3456,1701,2143,0,0,0,0,0,0
$GC,4468,0.64,226.0,291.3,15.3,451,4472,0.00,2.15,0.00,0.000,4,0.000,0.042,3456,3112,2139,0,0,0,0,0,0
$GC,4498,0.63,226.0,286.6,16.2,453,4502,0.00,2.15,0.00,0.000,6,0.000,0.046,3464,1709,2138,0,0,0,0,0,0
$GC,4824,0.62,226.0,236.6,15.4,483,4828,0.00,2.17,0.00,0.000,4,0.000,0.055,3474,292,2137,0,0,0,0,0,0
$GC,4886,0.62,226.0,226.2,16.0,488,4890,0.10,2.10,0.00,0.000,6,0.150,0.032,3444,1717,2134,0,0,0,0,0,0
$GC,5211,0.71,289.3,181.8,11.7,518,5271,0.12,2.33,48.67,0.659,4,0.081,0.054,3541,293,1886,0,0,0,0,0,0
$GC,5341,0.67,289.3,157.3,20.1,529,5346,0.25,2.10,0.00,0.000,6,0.133,0.032,3462,1701,1881,0,0,0,0,0,0
$GC,5678,0.73,322.9,112.8,13.3,585,5713,0.08,2.17,26.12,0.597,4,0.124,0.040,3540,3114,1750,0,0,0,0,0,0
$GC,5769,0.71,322.9,94.4,21.8,600,5778,0.20,2.22,0.00,0.000,6,0.122,0.047,3480,1713,1749,0,0,0,0,0,0
$GC,6111,0.89,433.8,47.8,9.1,661,6205,0.17,2.35,83.43,0.548,4,0.063,0.057,3607,286,1297,0,0,0,0,0,0
$GC,6230,0.85,433.8,23.5,23.7,679,6238,0.28,2.12,0.00,0.000,6,0.125,0.031,3520,1699,1294,0,0,0,0,0,0
$STATE,6366,end climb,SURFACE_DEPTH_REACHED
$STATE,6366,begin surface coast
$FINISH,0.6,1.003253
$STATE,6390,end surface coast,CONTROL_FINISHED_OK
$STATE,6390,begin surface
$SM_CCo,6405,89.38,0.460,1,0,621,600.00
$SM_GC,1.21,0.00,0.00,89.38,0.000,0.000,0.460,104,1527,621,-9.84,-0.65,600.00
$IRIDIUM_FIX,2415.74,12659.77,280910,020248
$TT8_MAMPS,0.026964
$HUMID,45.70
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,12.361
$10V_AH,10.5,9.525
$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,21.875,61.125,475.175,89.375,0.000,29.828,14.100,101.516,0.000,0.000,13.165,1697.850,2563.880,577.522,1817.354,92.375,0.000,1304.369,0.000,1656.487,0.000,0.541,0.000
$DEVICE_MAMPS,192.015,63.495,860.625,459.765,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.992,0.000,898.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43701,707
$CAP_FILE_SIZE,86547,0
$CFSIZE,260165632,248582144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.205,180.4,1
$GPS,280910,060654,2424.427,12704.930,37,1.2,37,-3.7