version: 66.08
glider: 168
mission: 2
dive: 110
start: 9 30 110 0 32 59
data:
$ID,168
$MISSION,2
$DIVE,110
$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,-3306.8264
$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,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
$GPS1,300910,002830,2427.835,12705.823,34,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.5
$GPS2,300910,003231,2427.778,12705.864,10,1.0,10,-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,343.4,4365,-22.1,-15.152
$D_GRID,1000
$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,-83.75,0.000,2,0.000,0.000,104,1534,3161,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-5.0,13,131,10.12,2.17,-11.00,0.000,4,0.191,0.056,3007,2951,3825,0,0,0,0,0,0
$GC,247,-0.70,-185.1,56.2,-27.8,38,256,0.05,2.17,0.00,0.000,6,0.132,0.047,3026,1568,3827,0,0,0,0,0,0
$GC,593,-0.66,-185.1,154.0,-25.4,99,598,0.05,2.15,0.00,0.000,4,0.246,0.053,3039,164,3829,0,0,0,0,0,0
$GC,610,-0.62,-185.1,158.6,-24.9,100,615,0.10,2.08,0.00,0.000,6,0.159,0.038,3060,1541,3829,0,0,0,0,0,0
$GC,934,-0.62,-185.1,216.6,-17.9,130,938,0.00,2.12,0.00,0.000,4,0.000,0.045,3050,2959,3830,0,0,0,0,0,0
$GC,979,-0.66,-185.1,223.3,-14.1,134,983,0.00,2.12,0.00,0.000,6,0.000,0.044,3050,1554,3830,0,0,0,0,0,0
$GC,1304,-0.66,-185.1,280.4,-16.8,164,1307,0.00,2.12,0.00,0.000,4,0.000,0.054,3050,168,3830,0,0,0,0,0,0
$GC,1344,-0.67,-185.1,287.0,-17.0,167,1348,0.00,2.08,0.00,0.000,6,0.000,0.041,3041,1556,3830,0,0,0,0,0,0
$GC,1671,-0.68,-185.1,340.3,-15.4,197,1675,0.00,2.15,0.00,0.000,4,0.000,0.054,3041,161,3829,0,0,0,0,0,0
$GC,1723,-0.70,-185.1,348.1,-14.5,201,1727,0.00,2.08,0.00,0.000,6,0.000,0.041,3032,1548,3829,0,0,0,0,0,0
$GC,2050,-0.71,-185.1,394.2,-13.4,231,2053,0.00,2.15,0.00,0.000,4,0.000,0.048,3023,2961,3828,0,0,0,0,0,0
$GC,2094,-0.75,-185.1,399.9,-11.1,234,2102,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,1556,3828,0,0,0,0,0,0
$GC,2420,-0.76,-185.1,447.7,-16.0,265,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1556,3826,0,0,0,0,0,0
$GC,2739,-0.77,-185.1,496.7,-15.3,295,2744,0.08,2.15,0.00,0.000,4,0.124,0.050,2924,2959,3824,0,0,0,0,0,0
$STATE,2758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2758,begin apogee
$GC,2764,0.00,0.0,500.9,17.4,296,2911,0.93,0.00,139.80,0.859,4,0.106,0.000,3253,1690,3068,0,0,0,0,0,0
$STATE,2912,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin climb
$GC,2913,0.72,185.1,508.7,0.0,309,3068,0.62,2.28,144.52,0.850,4,0.034,0.055,3530,294,2313,0,0,0,0,0,0
$GC,3106,0.65,185.1,490.9,21.5,325,3114,0.20,2.20,0.00,0.000,6,0.145,0.031,3465,1709,2307,0,0,0,0,0,0
$GC,3431,0.62,185.1,433.5,17.4,356,3435,0.00,2.10,0.00,0.000,4,0.000,0.042,3465,3106,2303,0,0,0,0,0,0
$GC,3526,0.59,185.1,416.8,17.3,364,3531,0.12,2.17,0.00,0.000,6,0.166,0.044,3440,1697,2302,0,0,0,0,0,0
$GC,3857,0.65,238.5,369.7,12.2,395,3906,0.08,2.25,41.90,0.776,4,0.120,0.041,3507,3106,2094,0,0,0,0,0,0
$GC,3976,0.61,238.5,347.3,19.6,405,3981,0.22,2.17,0.00,0.000,6,0.145,0.044,3450,1716,2091,0,0,0,0,0,0
$GC,4302,0.63,255.2,297.6,14.2,435,4327,0.00,2.30,13.40,0.689,4,0.000,0.055,3460,283,2026,0,0,0,0,0,0
$GC,4410,0.66,266.4,281.7,14.5,444,4430,0.00,2.17,9.82,0.648,6,0.000,0.034,3460,1707,1980,0,0,0,0,0,0
$GC,4747,0.66,266.4,228.7,15.8,476,4751,0.00,2.20,0.00,0.000,4,0.000,0.054,3470,293,1976,0,0,0,0,0,0
$GC,4768,0.66,266.4,225.1,16.1,477,4776,0.00,2.12,0.00,0.000,6,0.000,0.033,3470,1697,1975,0,0,0,0,0,0
$GC,5094,0.68,286.5,177.8,14.0,508,5119,0.00,2.17,16.23,0.627,4,0.000,0.041,3470,3104,1899,0,0,0,0,0,0
$GC,5181,0.73,312.4,165.7,13.7,515,5212,0.00,2.15,21.75,0.626,6,0.000,0.044,3478,1708,1793,0,0,0,0,0,0
$GC,5540,0.76,332.3,112.2,14.1,570,5563,0.08,2.28,16.05,0.578,4,0.125,0.053,3570,290,1712,0,0,0,0,0,0
$GC,5633,0.73,332.3,93.0,24.0,585,5640,0.28,2.12,0.00,0.000,6,0.121,0.032,3479,1709,1709,0,0,0,0,0,0
$GC,5972,0.96,469.5,53.7,7.6,646,6087,0.22,2.22,102.30,0.558,4,0.053,0.037,3614,3109,1151,0,0,0,0,0,0
$GC,6156,0.96,469.5,14.3,20.9,675,6163,0.22,2.15,0.00,0.000,6,0.134,0.044,3551,1727,1149,0,0,0,0,0,0
$STATE,6217,end climb,SURFACE_DEPTH_REACHED
$STATE,6218,begin surface coast
$FINISH,0.8,1.021745
$STATE,6238,end surface coast,CONTROL_FINISHED_OK
$STATE,6238,begin surface
$SM_CCo,6253,71.62,0.457,1,0,622,600.00
$SM_GC,1.43,0.00,0.00,71.62,0.000,0.000,0.457,104,1527,622,-9.84,-0.65,600.00
$IRIDIUM_FIX,2415.74,12237.71,290910,222245
$TT8_MAMPS,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,15.255
$10V_AH,10.4,11.334
$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,21.800,65.050,505.775,71.625,0.000,30.970,16.337,105.248,0.000,0.000,12.853,1644.475,2486.995,588.104,1774.023,92.853,0.000,1306.993,0.000,1603.008,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,55.845,859.095,456.705,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.838,0.000,875.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43605,689
$CAP_FILE_SIZE,85299,0
$CFSIZE,260165632,247488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.192,152.6,1
$GPS,300910,021934,2428.133,12705.836,9,4.3,28,-3.7