version: 66.08
glider: 168
mission: 2
dive: 92
start: 9 28 110 15 30 24
data:
$ID,168
$MISSION,2
$DIVE,92
$N_DIVES,105
$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,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,-3284.2339
$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,38
$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
$GPS1,280910,152515,2425.315,12705.065,8,1.6,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.8
$GPS2,280910,152957,2425.256,12705.079,14,2.7,33,-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,344.8,8787,-22.1,-15.152
$D_GRID,4517
$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,-185.1,0.0,0.0,0,101,0.00,0.00,-83.68,0.000,2,0.000,0.000,104,1528,3166,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.6,-6.0,13,132,10.10,2.17,-10.60,0.000,4,0.192,0.056,3006,2951,3825,0,0,0,0,0,0
$GC,238,-0.67,-185.1,61.1,-33.1,36,248,0.08,2.20,0.00,0.000,6,0.121,0.049,3033,1559,3827,0,0,0,0,0,0
$GC,580,-0.63,-185.1,150.5,-22.6,97,584,0.05,2.17,0.00,0.000,4,0.247,0.054,3047,162,3829,0,0,0,0,0,0
$GC,633,-0.63,-185.1,162.7,-19.4,101,641,0.00,2.10,0.00,0.000,6,0.000,0.040,3038,1535,3829,0,0,0,0,0,0
$GC,959,-0.62,-185.1,231.0,-20.3,132,964,0.05,2.17,0.00,0.000,4,0.246,0.047,3041,2960,3829,0,0,0,0,0,0
$GC,1016,-0.65,-185.1,240.6,-15.2,137,1020,0.00,2.17,0.00,0.000,6,0.000,0.047,3041,1547,3829,0,0,0,0,0,0
$GC,1342,-0.65,-185.1,294.6,-17.6,167,1346,0.00,2.15,0.00,0.000,4,0.000,0.047,3033,2965,3829,0,0,0,0,0,0
$GC,1362,-0.65,-185.1,298.8,-17.8,168,1372,0.00,2.20,0.00,0.000,6,0.000,0.047,3033,1551,3829,0,0,0,0,0,0
$GC,1689,-0.65,-185.1,357.5,-18.9,199,1693,0.00,2.12,0.00,0.000,4,0.000,0.055,3033,163,3828,0,0,0,0,0,0
$GC,1750,-0.66,-185.1,368.7,-17.4,204,1755,0.05,2.08,0.00,0.000,6,0.220,0.041,3039,1548,3828,0,0,0,0,0,0
$GC,2076,-0.68,-185.1,415.3,-12.4,234,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1550,3827,0,0,0,0,0,0
$GC,2394,-0.71,-185.1,449.3,-10.3,264,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1550,3826,0,0,0,0,0,0
$GC,2713,-0.74,-185.1,483.9,-11.8,294,2718,0.10,2.15,0.00,0.000,4,0.096,0.050,2931,2956,3824,0,0,0,0,0,0
$GC,2748,-0.71,-185.1,489.5,-18.9,297,2753,0.30,2.15,0.00,0.000,6,0.122,0.048,3030,1546,3823,0,0,0,0,0,0
$STATE,2817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2817,begin apogee
$GC,2822,-0.18,0.0,500.1,13.2,303,2966,0.43,0.00,139.60,0.860,4,0.099,0.000,3190,1709,3068,0,0,0,0,0,0
$STATE,2967,end apogee,CONTROL_FINISHED_OK
$STATE,2967,begin climb
$GC,2968,0.72,185.1,505.9,0.0,315,3122,0.80,2.25,145.32,0.845,4,0.052,0.050,3496,3097,2313,0,0,0,0,0,0
$GC,3290,0.68,185.1,461.8,18.5,343,3295,0.15,2.17,0.00,0.000,6,0.162,0.045,3464,1698,2306,0,0,0,0,0,0
$GC,3617,0.65,185.1,407.7,15.9,373,3621,0.00,2.17,0.00,0.000,4,0.000,0.054,3475,286,2301,0,0,0,0,0,0
$GC,3837,0.64,201.8,374.0,14.2,392,3859,0.05,2.15,12.35,0.718,6,0.131,0.034,3454,1707,2244,0,0,0,0,0,0
$GC,4176,0.67,241.4,329.6,13.0,424,4213,0.00,2.33,32.05,0.746,4,0.000,0.055,3465,284,2083,0,0,0,0,0,0
$GC,4285,0.69,256.6,314.1,14.3,433,4305,0.00,2.15,12.77,0.685,6,0.000,0.034,3465,1684,2022,0,0,0,0,0,0
$GC,4623,0.68,256.6,261.2,16.7,465,4627,0.00,2.17,0.00,0.000,4,0.000,0.042,3465,3112,2016,0,0,0,0,0,0
$GC,4687,0.68,256.6,249.9,15.7,470,4697,0.00,2.22,0.00,0.000,6,0.000,0.044,3473,1695,2015,0,0,0,0,0,0
$GC,5016,0.68,265.4,200.1,14.7,501,5029,0.00,2.20,7.18,0.566,4,0.000,0.042,3473,3109,1986,0,0,0,0,0,0
$GC,5087,0.69,265.4,189.2,16.1,507,5091,0.00,2.15,0.00,0.000,6,0.000,0.045,3481,1705,1985,0,0,0,0,0,0
$GC,5416,0.69,265.4,136.9,15.2,545,5423,0.00,2.15,0.00,0.000,4,0.000,0.054,3492,291,1982,0,0,0,0,0,0
$GC,5519,0.71,275.3,121.3,14.6,563,5535,0.00,2.10,9.12,0.546,6,0.000,0.034,3492,1705,1945,0,0,0,0,0,0
$GC,5871,0.77,312.5,72.1,13.1,625,5912,0.00,2.17,30.33,0.565,4,0.000,0.042,3492,3104,1792,0,0,0,0,0,0
$GC,6014,0.82,329.8,52.0,14.2,649,6035,0.08,2.15,14.40,0.526,6,0.117,0.044,3568,1711,1722,0,0,0,0,0,0
$STATE,6349,end climb,SURFACE_DEPTH_REACHED
$STATE,6349,begin surface coast
$FINISH,0.7,1.020447
$STATE,6366,end surface coast,CONTROL_FINISHED_OK
$STATE,6366,begin surface
$SM_CCo,6381,138.45,0.489,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,138.45,0.000,0.000,0.489,104,1532,621,-9.84,-0.48,600.00
$IRIDIUM_FIX,2415.74,12706.40,280910,131317
$TT8_MAMPS,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,13.082
$10V_AH,10.5,9.984
$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,20.550,56.875,403.125,138.450,0.000,30.455,39.006,101.648,0.000,0.000,36.925,1729.842,2548.958,569.801,1883.538,89.386,0.000,1277.850,0.000,1670.818,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,64.260,859.860,488.835,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.488,0.000,903.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334120
$DATA_FILE_SIZE,43629,712
$CAP_FILE_SIZE,83969,0
$CFSIZE,260165632,248307712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.253,166.2,1
$GPS,280910,172024,2425.167,12705.060,40,0.9,40,-3.7