version: 66.08
glider: 168
mission: 2
dive: 74
start: 9 27 110 6 11 16
data:
$ID,168
$MISSION,2
$DIVE,74
$N_DIVES,80
$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,-3260.2256
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,270910,060637,2424.437,12704.866,25,1.0,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.6
$GPS2,270910,061050,2424.386,12704.858,13,1.1,13,-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,1.2,10400,-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,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.38,0.000,2,0.000,0.000,104,1539,3173,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.8,-6.4,13,131,10.15,2.15,-10.40,0.000,4,0.194,0.053,3009,2955,3824,0,0,0,0,0,0
$GC,179,-0.67,-185.1,36.2,-32.9,25,186,0.10,2.17,0.00,0.000,6,0.156,0.049,3036,1552,3825,0,0,0,0,0,0
$GC,516,-0.64,-185.1,128.5,-24.3,86,524,0.00,2.15,0.00,0.000,4,0.000,0.052,3037,169,3828,0,0,0,0,0,0
$GC,582,-0.61,-185.1,143.9,-22.9,97,590,0.10,2.08,0.00,0.000,6,0.156,0.041,3058,1541,3828,0,0,0,0,0,0
$GC,909,-0.61,-185.1,198.5,-15.5,130,913,0.00,2.15,0.00,0.000,4,0.000,0.045,3049,2961,3829,0,0,0,0,0,0
$GC,953,-0.64,-185.1,204.7,-13.8,134,957,0.00,2.15,0.00,0.000,6,0.000,0.045,3049,1542,3828,0,0,0,0,0,0
$GC,1277,-0.64,-185.1,255.9,-17.1,164,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1541,3829,0,0,0,0,0,0
$GC,1597,-0.66,-185.1,308.6,-16.3,194,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1541,3828,0,0,0,0,0,0
$GC,1916,-0.67,-185.1,356.5,-14.9,224,1920,0.00,2.17,0.00,0.000,4,0.000,0.050,3040,2961,3827,0,0,0,0,0,0
$GC,1983,-0.72,-185.1,365.0,-11.0,230,1988,0.08,2.15,0.00,0.000,6,0.119,0.047,2956,1549,3826,0,0,0,0,0,0
$GC,2308,-0.68,-185.1,436.7,-21.4,260,2312,0.25,2.12,0.00,0.000,4,0.138,0.057,3042,165,3826,0,0,0,0,0,0
$GC,2384,-0.71,-185.1,448.7,-12.9,266,2393,0.00,2.10,0.00,0.000,6,0.000,0.041,3037,1542,3825,0,0,0,0,0,0
$GC,2712,-0.74,-185.1,490.1,-13.1,297,2716,0.08,2.15,0.00,0.000,4,0.125,0.047,2940,2963,3823,0,0,0,0,0,0
$GC,2750,-0.73,-185.1,497.3,-19.2,300,2755,0.25,2.17,0.00,0.000,6,0.122,0.049,3021,1544,3823,0,0,0,0,0,0
$STATE,2770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2770,begin apogee
$GC,2774,-0.18,0.0,501.2,18.7,302,2925,0.45,0.00,139.57,0.849,4,0.102,0.000,3190,1719,3067,0,0,0,0,0,0
$STATE,2925,end apogee,CONTROL_FINISHED_OK
$STATE,2926,begin climb
$GC,2927,0.72,185.1,508.8,0.0,315,3083,0.80,2.22,145.48,0.839,4,0.052,0.047,3497,3101,2313,0,0,0,0,0,0
$GC,3253,0.67,185.1,466.2,19.7,343,3261,0.12,2.22,0.00,0.000,6,0.142,0.044,3466,1698,2306,0,0,0,0,0,0
$GC,3579,0.63,185.1,413.0,16.3,374,3583,0.00,2.17,0.00,0.000,4,0.000,0.055,3476,291,2301,0,0,0,0,0,0
$GC,3754,0.60,185.1,383.3,16.1,389,3763,0.08,2.12,0.00,0.000,6,0.123,0.034,3447,1696,2297,0,0,0,0,0,0
$GC,4081,0.61,209.6,337.0,13.8,420,4106,0.00,2.12,18.20,0.728,4,0.000,0.040,3447,3106,2212,0,0,0,0,0,0
$GC,4144,0.61,212.2,327.5,15.0,425,4152,0.00,2.20,3.75,0.454,6,0.000,0.045,3457,1701,2202,0,0,0,0,0,0
$GC,4470,0.61,221.9,279.2,14.6,456,4482,0.00,0.00,8.73,0.635,6,0.000,0.000,3457,1700,2162,0,0,0,0,0,0
$GC,4799,0.62,243.9,232.9,13.9,487,4825,0.00,2.20,18.67,0.671,4,0.000,0.041,3457,3107,2072,0,0,0,0,0,0
$GC,4926,0.62,243.9,213.0,16.3,498,4930,0.00,2.15,0.00,0.000,6,0.000,0.045,3465,1701,2071,0,0,0,0,0,0
$GC,5250,0.65,267.3,164.4,13.9,528,5276,0.00,2.15,18.83,0.626,4,0.000,0.039,3465,3108,1977,0,0,0,0,0,0
$GC,5373,0.72,310.1,147.9,12.8,539,5415,0.00,2.17,34.28,0.620,6,0.000,0.045,3473,1708,1803,0,0,0,0,0,0
$GC,5748,0.75,322.0,90.5,14.5,605,5764,0.08,2.28,9.80,0.527,4,0.124,0.055,3557,291,1754,0,0,0,0,0,0
$GC,5833,0.72,322.0,72.4,23.1,619,5840,0.25,2.10,0.00,0.000,6,0.128,0.032,3477,1708,1751,0,0,0,0,0,0
$GC,6173,0.93,448.3,35.1,8.2,680,6274,0.20,0.00,94.03,0.532,6,0.058,0.000,3595,1710,1241,0,0,0,0,0,0
$STATE,6345,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,0.7,1.021708
$STATE,6357,end surface coast,CONTROL_FINISHED_OK
$STATE,6357,begin surface
$SM_CCo,6373,84.88,0.458,1,0,622,600.00
$SM_GC,1.40,0.00,0.00,84.88,0.000,0.000,0.458,104,1542,622,-9.84,-0.20,600.00
$IRIDIUM_FIX,2415.74,12704.97,270910,040430
$TT8_MAMPS,0.026964
$HUMID,45.43
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.5,10.913
$10V_AH,10.6,8.616
$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,21.550,52.350,491.325,84.875,0.000,26.086,37.215,99.530,0.250,0.000,16.318,1689.961,2524.422,581.121,1846.761,88.132,0.000,1305.769,0.000,1663.713,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,68.850,849.150,458.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.802,0.000,900.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43723,710
$CAP_FILE_SIZE,84375,0
$CFSIZE,260165632,249131008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,159.3,1
$GPS,270910,080004,2424.813,12705.062,10,2.5,29,-3.7