version: 66.08
glider: 168
mission: 2
dive: 88
start: 9 28 110 8 10 24
data:
$ID,168
$MISSION,2
$DIVE,88
$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,-3278.9373
$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,39
$R_STBD_OVSHOOT,37
$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
$GPS1,280910,080226,2424.602,12704.866,11,1.6,11,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.9
$GPS2,280910,080958,2424.546,12704.880,9,7.4,28,-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,4.2,10102,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.82,0.000,2,0.000,0.000,104,1524,3149,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.2,-4.8,13,131,10.12,2.20,-11.10,0.000,4,0.191,0.054,3010,2957,3826,0,0,0,0,0,0
$GC,223,-0.67,-185.1,50.3,-33.1,33,230,0.10,2.15,0.00,0.000,6,0.156,0.047,3038,1559,3827,0,0,0,0,0,0
$GC,560,-0.63,-185.1,139.1,-23.7,94,568,0.00,2.17,0.00,0.000,4,0.000,0.052,3038,162,3829,0,0,0,0,0,0
$GC,679,-0.61,-185.1,166.5,-20.9,108,689,0.08,2.10,0.00,0.000,6,0.127,0.040,3057,1536,3829,0,0,0,0,0,0
$GC,1005,-0.61,-185.1,225.0,-17.0,139,1009,0.00,2.15,0.00,0.000,4,0.000,0.047,3048,2965,3829,0,0,0,0,0,0
$GC,1057,-0.65,-185.1,232.7,-13.2,143,1061,0.00,2.15,0.00,0.000,6,0.000,0.046,3048,1548,3829,0,0,0,0,0,0
$GC,1384,-0.66,-185.1,283.9,-14.7,173,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1546,3829,0,0,0,0,0,0
$GC,1702,-0.67,-185.1,331.9,-14.7,203,1706,0.00,2.15,0.00,0.000,4,0.000,0.048,3040,2966,3828,0,0,0,0,0,0
$GC,1754,-0.72,-185.1,338.9,-11.9,207,1759,0.08,2.15,0.00,0.000,6,0.119,0.047,2955,1551,3827,0,0,0,0,0,0
$GC,2081,-0.67,-185.1,418.8,-24.7,237,2085,0.25,2.15,0.00,0.000,4,0.138,0.055,3041,163,3826,0,0,0,0,0,0
$GC,2133,-0.70,-185.1,428.6,-15.5,241,2137,0.00,2.10,0.00,0.000,6,0.000,0.041,3037,1558,3826,0,0,0,0,0,0
$GC,2463,-0.73,-185.1,472.6,-12.3,272,2468,0.08,2.17,0.00,0.000,4,0.126,0.056,2947,165,3824,0,0,0,0,0,0
$GC,2495,-0.70,-185.1,478.4,-18.7,274,2505,0.25,2.10,0.00,0.000,6,0.117,0.041,3025,1545,3824,0,0,0,0,0,0
$STATE,2660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2664,-0.18,0.0,501.2,12.6,290,2814,0.45,0.00,139.62,0.852,4,0.101,0.000,3194,1706,3067,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2817,0.72,185.1,505.9,0.0,303,2971,0.80,2.30,144.68,0.842,4,0.050,0.054,3501,285,2313,0,0,0,0,0,0
$GC,3126,0.67,185.1,466.4,17.9,330,3130,0.12,2.12,0.00,0.000,6,0.149,0.032,3463,1702,2305,0,0,0,0,0,0
$GC,3450,0.64,185.1,418.1,15.4,360,3454,0.00,2.22,0.00,0.000,4,0.000,0.054,3474,283,2302,0,0,0,0,0,0
$GC,3578,0.61,185.1,399.2,15.3,371,3583,0.10,2.12,0.00,0.000,6,0.153,0.034,3445,1711,2299,0,0,0,0,0,0
$GC,3909,0.61,201.2,352.0,14.3,402,3926,0.00,2.12,12.23,0.710,4,0.000,0.041,3445,3113,2246,0,0,0,0,0,0
$GC,3950,0.63,222.2,346.1,14.0,405,3976,0.00,2.17,18.42,0.730,6,0.000,0.044,3454,1693,2162,0,0,0,0,0,0
$GC,4294,0.63,232.9,293.2,14.6,437,4309,0.00,2.22,9.23,0.649,4,0.000,0.042,3454,3108,2117,0,0,0,0,0,0
$GC,4384,0.63,232.9,279.0,16.6,445,4387,0.00,2.15,0.00,0.000,6,0.000,0.045,3461,1706,2116,0,0,0,0,0,0
$GC,4709,0.62,232.9,226.4,15.9,475,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1706,2113,0,0,0,0,0,0
$GC,5029,0.64,255.0,180.6,13.9,505,5054,0.00,2.12,18.15,0.633,4,0.000,0.040,3461,3108,2027,0,0,0,0,0,0
$GC,5169,0.69,283.1,159.0,13.6,517,5201,0.00,2.20,23.15,0.622,6,0.000,0.045,3470,1700,1911,0,0,0,0,0,0
$GC,5522,0.73,307.4,107.7,13.8,576,5550,0.00,2.25,19.12,0.579,4,0.000,0.055,3480,296,1813,0,0,0,0,0,0
$GC,5570,0.78,343.2,101.7,13.2,583,5605,0.08,2.10,28.85,0.579,6,0.124,0.033,3565,1707,1667,0,0,0,0,0,0
$GC,5925,0.77,343.2,28.3,16.3,648,5933,0.22,2.15,0.00,0.000,4,0.136,0.039,3491,3105,1661,0,0,0,0,0,0
$GC,5971,0.91,416.6,22.3,11.1,656,6033,0.12,2.15,55.15,0.536,6,0.035,0.044,3593,1728,1368,0,0,0,0,0,0
$STATE,6077,end climb,SURFACE_DEPTH_REACHED
$STATE,6077,begin surface coast
$FINISH,0.6,1.021789
$STATE,6089,end surface coast,CONTROL_FINISHED_OK
$STATE,6089,begin surface
$SM_CCo,6104,97.97,0.477,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,97.97,0.000,0.000,0.477,103,1534,621,-9.84,-0.42,600.00
$IRIDIUM_FIX,2413.38,12704.97,280910,080844
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,24.5,12.607
$10V_AH,10.5,9.680
$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,21.300,56.675,468.600,97.975,0.000,52.299,37.058,182.185,0.500,0.000,31.702,1623.292,2472.915,574.867,1904.548,96.467,0.000,1277.709,0.000,1591.768,0.000,0.541,0.000
$DEVICE_MAMPS,191.250,64.260,852.210,477.360,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.525,0.000,857.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,43658,675
$CAP_FILE_SIZE,86169,0
$CFSIZE,260165632,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,179.4,1
$GPS,280910,095507,2424.813,12704.770,40,1.0,40,-3.7