version: 66.08
glider: 168
mission: 2
dive: 108
start: 9 29 110 20 51 17
data:
$ID,168
$MISSION,2
$DIVE,108
$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,-3304.3196
$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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,290910,204700,2427.428,12705.742,36,1.2,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.1
$GPS2,290910,205050,2427.416,12705.770,11,1.2,11,-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,345.4,4958,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.03,0.000,2,0.000,0.000,104,1540,3111,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.1,-4.2,13,132,10.07,2.22,-11.95,0.000,4,0.190,0.054,3007,2962,3826,0,0,0,0,0,0
$GC,248,-0.70,-185.1,55.2,-25.4,38,257,0.05,2.20,0.00,0.000,6,0.131,0.048,3027,1565,3829,0,0,0,0,0,0
$GC,589,-0.65,-185.1,145.7,-24.9,99,597,0.05,2.17,0.00,0.000,4,0.249,0.052,3040,162,3830,0,0,0,0,0,0
$GC,652,-0.64,-185.1,162.0,-23.5,106,661,0.03,2.12,0.00,0.000,6,0.176,0.038,3043,1553,3831,0,0,0,0,0,0
$GC,979,-0.64,-185.1,230.7,-19.1,137,983,0.00,2.12,0.00,0.000,4,0.000,0.048,3033,2961,3830,0,0,0,0,0,0
$GC,1031,-0.67,-185.1,239.7,-16.2,141,1035,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,1552,3831,0,0,0,0,0,0
$GC,1356,-0.67,-185.1,297.4,-16.4,171,1360,0.00,2.12,0.00,0.000,4,0.000,0.054,3033,166,3831,0,0,0,0,0,0
$GC,1455,-0.68,-185.1,314.9,-16.0,179,1462,0.00,2.08,0.00,0.000,6,0.000,0.039,3023,1547,3831,0,0,0,0,0,0
$GC,1780,-0.68,-185.1,369.4,-16.9,210,1784,0.00,2.15,0.00,0.000,4,0.000,0.048,3014,2961,3831,0,0,0,0,0,0
$GC,1822,-0.70,-185.1,375.4,-14.2,213,1826,0.00,2.17,0.00,0.000,6,0.000,0.045,3014,1536,3830,0,0,0,0,0,0
$GC,2152,-0.70,-185.1,427.3,-15.4,244,2155,0.00,2.08,0.00,0.000,4,0.000,0.055,3013,168,3829,0,0,0,0,0,0
$GC,2193,-0.71,-185.1,433.4,-15.9,247,2197,0.08,2.05,0.00,0.000,6,0.179,0.041,3028,1543,3829,0,0,0,0,0,0
$GC,2519,-0.74,-185.1,476.6,-13.1,277,2523,0.00,2.15,0.00,0.000,4,0.000,0.049,3018,2966,3827,0,0,0,0,0,0
$GC,2594,-0.79,-185.1,485.8,-11.1,283,2599,0.08,2.15,0.00,0.000,6,0.120,0.047,2932,1549,3827,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2669,0.00,0.0,500.1,23.3,289,2816,0.90,0.00,140.57,0.868,4,0.115,0.000,3246,1718,3067,0,0,0,0,0,0
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin climb
$GC,2818,0.72,185.1,509.0,0.0,301,2973,0.62,2.20,145.50,0.851,4,0.037,0.047,3513,3095,2313,0,0,0,0,0,0
$GC,3045,0.66,185.1,485.6,21.5,320,3054,0.17,2.22,0.00,0.000,6,0.149,0.041,3467,1695,2308,0,0,0,0,0,0
$GC,3374,0.62,185.1,430.1,17.0,351,3378,0.08,2.12,0.00,0.000,4,0.213,0.040,3448,3106,2302,0,0,0,0,0,0
$GC,3472,0.60,185.1,413.1,16.8,359,3479,0.00,2.17,0.00,0.000,6,0.000,0.044,3459,1710,2302,0,0,0,0,0,0
$GC,3798,0.61,208.0,362.8,13.9,390,3823,0.00,2.25,17.02,0.744,4,0.000,0.054,3470,296,2219,0,0,0,0,0,0
$GC,3913,0.59,209.4,345.4,15.1,400,3918,0.10,2.10,0.00,0.000,6,0.157,0.034,3442,1697,2215,0,0,0,0,0,0
$GC,4245,0.65,255.5,302.5,12.6,431,4294,0.08,2.22,38.15,0.741,4,0.119,0.043,3504,3109,2024,0,0,0,0,0,0
$GC,4299,0.61,255.5,293.0,18.5,435,4307,0.22,2.20,0.00,0.000,6,0.144,0.044,3447,1690,2023,0,0,0,0,0,0
$GC,4624,0.63,271.6,245.0,14.3,466,4642,0.00,2.25,12.93,0.662,4,0.000,0.055,3457,290,1959,0,0,0,0,0,0
$GC,4698,0.67,289.1,234.1,14.2,472,4719,0.00,2.15,15.12,0.662,6,0.000,0.034,3458,1695,1888,0,0,0,0,0,0
$GC,5036,0.70,308.5,185.6,14.1,504,5061,0.08,2.20,16.02,0.636,4,0.124,0.041,3528,3106,1809,0,0,0,0,0,0
$GC,5110,0.68,308.5,171.0,19.9,510,5120,0.20,2.20,0.00,0.000,6,0.121,0.044,3468,1709,1809,0,0,0,0,0,0
$GC,5442,0.73,335.8,122.1,13.6,558,5472,0.08,2.28,22.17,0.606,4,0.122,0.054,3551,290,1697,0,0,0,0,0,0
$GC,5503,0.70,335.8,111.3,21.4,567,5510,0.25,2.12,0.00,0.000,6,0.120,0.034,3469,1699,1694,0,0,0,0,0,0
$GC,5846,0.83,411.5,64.0,11.0,628,5914,0.15,2.30,57.60,0.574,4,0.072,0.055,3586,292,1388,0,0,0,0,0,0
$GC,6002,0.82,411.5,33.0,18.8,654,6012,0.20,2.12,0.00,0.000,6,0.102,0.032,3512,1681,1383,0,0,0,0,0,0
$STATE,6233,end climb,SURFACE_DEPTH_REACHED
$STATE,6233,begin surface coast
$FINISH,0.7,1.004772
$STATE,6257,end surface coast,CONTROL_FINISHED_OK
$STATE,6258,begin surface
$SM_CCo,6273,99.68,0.476,1,0,622,600.00
$SM_GC,1.29,0.00,0.00,99.68,0.000,0.000,0.476,103,1529,622,-9.84,-0.59,600.00
$IRIDIUM_FIX,2418.11,12706.40,290910,181846
$TT8_MAMPS,0.026964
$HUMID,45.35
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,15.010
$10V_AH,10.4,11.182
$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,21.725,65.500,465.100,99.675,0.000,24.793,15.506,97.147,0.250,0.000,14.654,1688.641,2447.354,595.102,1794.853,96.338,0.000,1316.744,0.000,1643.521,0.000,0.539,0.000
$DEVICE_MAMPS,249.390,67.320,867.510,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.449,0.000,887.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43675,699
$CAP_FILE_SIZE,86720,0
$CFSIZE,260165632,247578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.189,153.4,1
$GPS,290910,223820,2427.722,12705.766,10,1.5,10,-3.7