version: 66.08
glider: 168
mission: 2
dive: 87
start: 9 28 110 6 11 16
data:
$ID,168
$MISSION,2
$DIVE,87
$N_DIVES,100
$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,-3277.6816
$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,41
$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
$GPS1,280910,060654,2424.427,12704.930,37,1.2,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.3
$GPS2,280910,061050,2424.369,12704.912,10,1.6,10,-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,4.3,10429,-22.1,-15.152
$D_GRID,5000
$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,-83.82,0.000,2,0.000,0.000,104,1528,3178,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.7,-6.5,13,132,10.15,2.17,-10.30,0.000,4,0.192,0.055,3007,2952,3824,0,0,0,0,0,0
$GC,205,-0.67,-185.1,46.1,-29.9,30,214,0.08,2.20,0.00,0.000,6,0.130,0.049,3033,1563,3826,0,0,0,0,0,0
$GC,546,-0.64,-185.1,142.6,-24.1,91,553,0.00,2.15,0.00,0.000,4,0.000,0.058,3034,157,3828,0,0,0,0,0,0
$GC,615,-0.60,-185.1,160.5,-25.1,100,619,0.12,2.08,0.00,0.000,6,0.158,0.039,3061,1545,3828,0,0,0,0,0,0
$GC,939,-0.61,-185.1,219.2,-17.1,130,940,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1548,3828,0,0,0,0,0,0
$GC,1258,-0.62,-185.1,270.2,-15.4,160,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1548,3829,0,0,0,0,0,0
$GC,1577,-0.65,-185.1,316.5,-13.7,190,1582,0.08,2.15,0.00,0.000,4,0.122,0.049,2968,2958,3828,0,0,0,0,0,0
$GC,1621,-0.64,-185.1,324.6,-19.4,193,1629,0.25,2.17,0.00,0.000,6,0.121,0.046,3050,1538,3828,0,0,0,0,0,0
$GC,1946,-0.67,-185.1,373.5,-14.7,224,1950,0.00,2.15,0.00,0.000,4,0.000,0.048,3041,2958,3827,0,0,0,0,0,0
$GC,1975,-0.70,-185.1,377.6,-14.0,226,1979,0.00,2.15,0.00,0.000,6,0.000,0.047,3042,1552,3827,0,0,0,0,0,0
$GC,2300,-0.73,-185.1,421.8,-13.7,256,2305,0.08,2.12,0.00,0.000,4,0.122,0.057,2958,168,3825,0,0,0,0,0,0
$GC,2332,-0.70,-185.1,428.2,-20.0,258,2341,0.22,2.10,0.00,0.000,6,0.119,0.041,3026,1543,3825,0,0,0,0,0,0
$GC,2660,-0.72,-185.1,478.1,-14.2,289,2663,0.00,2.10,0.00,0.000,4,0.000,0.054,3026,166,3823,0,0,0,0,0,0
$GC,2699,-0.74,-185.1,483.9,-14.1,292,2703,0.00,2.08,0.00,0.000,6,0.000,0.041,3018,1552,3823,0,0,0,0,0,0
$STATE,2816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2816,begin apogee
$GC,2820,-0.18,0.0,500.9,14.5,303,2965,0.47,0.00,140.02,0.859,4,0.102,0.000,3195,1714,3068,0,0,0,0,0,0
$STATE,2966,end apogee,CONTROL_FINISHED_OK
$STATE,2966,begin climb
$GC,2967,0.72,185.1,507.9,0.0,315,3122,0.77,2.33,145.05,0.839,4,0.047,0.054,3498,289,2311,0,0,0,0,0,0
$GC,3247,0.67,185.1,474.6,19.7,339,3252,0.12,2.12,0.00,0.000,6,0.145,0.032,3460,1699,2304,0,0,0,0,0,0
$GC,3574,0.65,185.1,421.6,15.5,369,3578,0.00,2.20,0.00,0.000,4,0.000,0.054,3471,283,2301,0,0,0,0,0,0
$GC,3705,0.62,185.1,400.1,15.2,380,3715,0.05,2.15,0.00,0.000,6,0.127,0.034,3450,1704,2299,0,0,0,0,0,0
$GC,4032,0.63,206.9,355.2,14.0,411,4057,0.00,2.15,16.52,0.731,4,0.000,0.041,3450,3114,2224,0,0,0,0,0,0
$GC,4103,0.63,211.5,344.9,14.9,417,4116,0.00,2.17,5.30,0.570,6,0.000,0.045,3460,1698,2205,0,0,0,0,0,0
$GC,4433,0.63,219.3,295.2,14.7,448,4448,0.00,2.15,7.62,0.626,4,0.000,0.041,3460,3111,2172,0,0,0,0,0,0
$GC,4526,0.64,230.6,281.6,14.5,456,4544,0.00,2.15,10.65,0.658,6,0.000,0.046,3469,1709,2127,0,0,0,0,0,0
$GC,4869,0.63,234.8,227.5,14.9,488,4883,0.00,2.25,4.25,0.474,4,0.000,0.056,3480,295,2110,0,0,0,0,0,0
$GC,4908,0.61,234.8,221.2,16.5,491,4912,0.12,2.12,0.00,0.000,6,0.140,0.033,3441,1715,2109,0,0,0,0,0,0
$GC,5234,0.69,284.6,182.1,12.4,521,5283,0.10,2.12,40.17,0.652,4,0.095,0.039,3514,3108,1905,0,0,0,0,0,0
$GC,5365,0.67,284.6,157.2,17.8,532,5376,0.15,2.20,0.00,0.000,6,0.125,0.046,3471,1721,1903,0,0,0,0,0,0
$GC,5706,0.70,306.9,109.9,13.9,589,5733,0.00,2.30,17.77,0.582,4,0.000,0.056,3481,286,1815,0,0,0,0,0,0
$GC,5762,0.75,338.4,101.8,13.4,598,5797,0.00,2.17,25.05,0.585,6,0.000,0.034,3481,1712,1688,0,0,0,0,0,0
$GC,6129,0.84,386.0,50.8,12.5,663,6172,0.12,2.33,37.08,0.556,4,0.081,0.054,3589,285,1493,0,0,0,0,0,0
$GC,6202,0.82,386.0,36.2,20.1,674,6210,0.20,2.17,0.00,0.000,6,0.109,0.034,3516,1697,1489,0,0,0,0,0,0
$STATE,6464,end climb,SURFACE_DEPTH_REACHED
$STATE,6464,begin surface coast
$FINISH,0.6,1.014565
$STATE,6492,end surface coast,CONTROL_FINISHED_OK
$STATE,6492,begin surface
$SM_CCo,6508,110.40,0.477,1,0,621,600.00
$SM_GC,1.46,0.00,0.00,110.40,0.000,0.000,0.477,104,1524,621,-9.84,-0.76,600.00
$IRIDIUM_FIX,2415.74,12701.66,280910,040414
$TT8_MAMPS,0.027713
$HUMID,45.07
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.5,12.480
$10V_AH,10.5,9.604
$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,21.400,61.200,449.500,110.400,0.000,30.500,13.539,99.468,0.250,0.000,13.592,1752.390,2587.033,589.168,1854.727,90.144,0.000,1320.904,0.000,1692.794,0.000,0.539,0.000
$DEVICE_MAMPS,192.015,65.025,859.095,476.595,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.460,0.000,920.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,43598,726
$CAP_FILE_SIZE,88500,0
$CFSIZE,260165632,248532992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196,180.1,1
$GPS,280910,080226,2424.602,12704.866,11,1.6,11,-3.7