version: 66.08
glider: 168
mission: 2
dive: 99
start: 9 29 110 4 15 53
data:
$ID,168
$MISSION,2
$DIVE,99
$N_DIVES,110
$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,-3293.0269
$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,47
$R_STBD_OVSHOOT,40
$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
$GPS1,290910,041136,2425.469,12705.479,35,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.8
$GPS2,290910,041526,2425.401,12705.497,13,1.1,13,-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,347.4,8558,-22.1,-15.152
$D_GRID,4219
$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,-83.55,0.000,2,0.000,0.000,104,1530,3171,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.8,-7.3,13,132,10.02,2.17,-10.57,0.000,4,0.188,0.055,3010,2954,3827,0,0,0,0,0,0
$GC,226,-0.68,-185.1,52.7,-30.7,34,235,0.05,2.17,0.00,0.000,6,0.139,0.045,3030,1563,3828,0,0,0,0,0,0
$GC,567,-0.63,-185.1,148.8,-24.5,95,574,0.08,2.17,0.00,0.000,4,0.207,0.052,3050,161,3830,0,0,0,0,0,0
$GC,604,-0.61,-185.1,157.5,-22.2,99,609,0.05,2.05,0.00,0.000,6,0.225,0.039,3057,1538,3831,0,0,0,0,0,0
$GC,930,-0.61,-185.1,217.8,-17.1,129,934,0.00,2.12,0.00,0.000,4,0.000,0.044,3048,2959,3833,0,0,0,0,0,0
$GC,951,-0.61,-185.1,221.8,-16.5,130,960,0.00,2.17,0.00,0.000,6,0.000,0.044,3047,1548,3832,0,0,0,0,0,0
$GC,1279,-0.61,-185.1,272.9,-14.9,161,1283,0.00,2.12,0.00,0.000,4,0.000,0.053,3047,161,3832,0,0,0,0,0,0
$GC,1331,-0.63,-185.1,280.2,-13.2,165,1335,0.00,2.08,0.00,0.000,6,0.000,0.040,3038,1541,3832,0,0,0,0,0,0
$GC,1657,-0.63,-185.1,327.2,-14.9,195,1661,0.00,2.12,0.00,0.000,4,0.000,0.048,3028,2956,3831,0,0,0,0,0,0
$GC,1688,-0.65,-185.1,331.8,-15.1,197,1692,0.00,2.15,0.00,0.000,6,0.000,0.045,3028,1535,3831,0,0,0,0,0,0
$GC,2014,-0.66,-185.1,388.6,-17.2,227,2018,0.00,2.15,0.00,0.000,4,0.000,0.049,3019,2958,3830,0,0,0,0,0,0
$GC,2067,-0.70,-185.1,397.1,-14.9,231,2071,0.00,2.17,0.00,0.000,6,0.000,0.047,3019,1537,3829,0,0,0,0,0,0
$GC,2393,-0.70,-185.1,451.3,-16.4,261,2397,0.00,2.10,0.00,0.000,4,0.000,0.056,3019,168,3828,0,0,0,0,0,0
$GC,2423,-0.70,-185.1,457.3,-17.7,263,2433,0.03,2.08,0.00,0.000,6,0.167,0.041,3023,1533,3827,0,0,0,0,0,0
$STATE,2727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2727,begin apogee
$GC,2731,0.00,0.0,500.1,12.6,292,2877,0.62,0.00,140.12,0.856,4,0.095,0.000,3256,1713,3068,0,0,0,0,0,0
$STATE,2878,end apogee,CONTROL_FINISHED_OK
$STATE,2878,begin climb
$GC,2880,0.72,185.1,503.8,0.0,304,3034,0.57,2.25,145.48,0.846,4,0.022,0.046,3530,3100,2314,0,0,0,0,0,0
$GC,3199,0.64,185.1,450.0,23.2,332,3210,0.25,2.20,0.00,0.000,6,0.141,0.043,3459,1706,2307,0,0,0,0,0,0
$GC,3528,0.62,188.4,397.6,15.0,363,3532,0.00,2.17,0.00,0.000,4,0.000,0.053,3470,292,2303,0,0,0,0,0,0
$GC,3537,0.59,193.3,395.5,14.9,363,3549,0.08,2.12,6.22,0.624,6,0.131,0.031,3442,1705,2279,0,0,0,0,0,0
$GC,3869,0.66,255.1,353.2,11.8,394,3929,0.08,2.20,49.80,0.768,4,0.121,0.041,3504,3097,2026,0,0,0,0,0,0
$GC,4024,0.62,255.1,323.4,20.3,407,4031,0.22,2.15,0.00,0.000,6,0.146,0.044,3447,1710,2023,0,0,0,0,0,0
$GC,4348,0.64,264.9,272.8,14.6,438,4362,0.00,2.22,7.55,0.610,4,0.000,0.054,3457,286,1987,0,0,0,0,0,0
$GC,4441,0.68,293.6,259.7,13.6,446,4470,0.00,2.10,24.05,0.692,6,0.000,0.034,3458,1699,1870,0,0,0,0,0,0
$GC,4788,0.68,293.6,199.5,17.0,478,4792,0.00,2.17,0.00,0.000,4,0.000,0.054,3467,293,1865,0,0,0,0,0,0
$GC,4816,0.68,293.6,194.7,17.7,480,4820,0.00,2.08,0.00,0.000,6,0.000,0.033,3467,1691,1864,0,0,0,0,0,0
$GC,5141,0.72,321.8,143.6,13.6,514,5169,0.00,0.00,22.15,0.614,6,0.000,0.000,3467,1693,1754,0,0,0,0,0,0
$GC,5501,0.77,353.9,93.1,13.4,578,5537,0.10,2.25,25.42,0.581,4,0.096,0.054,3569,290,1623,0,0,0,0,0,0
$GC,5577,0.74,353.9,77.1,23.3,590,5586,0.22,2.12,0.00,0.000,6,0.109,0.033,3488,1685,1621,0,0,0,0,0,0
$GC,5923,0.93,463.6,32.6,9.1,651,6012,0.17,2.28,82.07,0.545,4,0.063,0.040,3606,3110,1176,0,0,0,0,0,0
$GC,6042,0.92,463.6,8.4,23.5,669,6050,0.22,2.22,0.00,0.000,6,0.132,0.046,3543,1692,1173,0,0,0,0,0,0
$STATE,6071,end climb,SURFACE_DEPTH_REACHED
$STATE,6071,begin surface coast
$FINISH,0.8,1.021814
$STATE,6091,end surface coast,CONTROL_FINISHED_OK
$STATE,6091,begin surface
$SM_CCo,6106,74.50,0.464,1,0,621,600.00
$SM_GC,1.38,0.00,0.00,74.50,0.000,0.000,0.464,104,1535,621,-9.84,-0.42,600.00
$IRIDIUM_FIX,2415.74,12701.66,290910,020253
$TT8_MAMPS,0.026964
$HUMID,46.10
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.5,13.933
$10V_AH,10.5,10.501
$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,21.125,60.875,502.875,74.500,0.000,26.373,15.224,95.422,0.250,0.000,15.847,1616.342,2409.258,579.571,1732.433,92.820,0.000,1287.446,0.000,1577.355,0.000,0.540,0.000
$DEVICE_MAMPS,224.910,65.790,856.035,463.590,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.935,0.000,860.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43560,677
$CAP_FILE_SIZE,83232,0
$CFSIZE,260165632,247992320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190,162.2,1
$GPS,290910,060001,2425.760,12705.434,10,2.0,27,-3.7