version: 66.08
glider: 168
mission: 2
dive: 98
start: 9 29 110 2 27 16
data:
$ID,168
$MISSION,2
$DIVE,98
$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,-3291.7693
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,290910,022101,2425.512,12705.547,7,1.6,12,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.3
$GPS2,290910,022650,2425.404,12705.591,13,1.4,13,-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,343.7,8570,-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,13,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,-83.22,0.000,2,0.000,0.000,104,1536,3134,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-4.8,13,131,10.10,2.25,-11.52,0.000,4,0.190,0.058,3011,2959,3826,0,0,0,0,0,0
$GC,237,-0.69,-185.1,53.8,-28.9,36,247,0.05,2.20,0.00,0.000,6,0.121,0.049,3031,1566,3828,0,0,0,0,0,0
$GC,583,-0.64,-185.1,159.3,-28.5,95,587,0.05,2.17,0.00,0.000,4,0.249,0.052,3046,157,3829,0,0,0,0,0,0
$GC,603,-0.59,-185.1,165.8,-26.1,96,614,0.05,2.10,0.00,0.000,6,0.148,0.037,3057,1537,3829,0,0,0,0,0,0
$GC,930,-0.58,-185.1,231.8,-18.8,127,934,0.00,2.15,0.00,0.000,4,0.000,0.046,3048,2965,3830,0,0,0,0,0,0
$GC,970,-0.61,-185.1,238.5,-15.1,130,974,0.00,2.17,0.00,0.000,6,0.000,0.045,3047,1541,3831,0,0,0,0,0,0
$GC,1294,-0.61,-185.1,292.6,-16.4,160,1298,0.00,2.10,0.00,0.000,4,0.000,0.054,3047,165,3830,0,0,0,0,0,0
$GC,1357,-0.63,-185.1,302.0,-14.8,165,1361,0.00,2.05,0.00,0.000,6,0.000,0.041,3038,1542,3831,0,0,0,0,0,0
$GC,1686,-0.63,-185.1,358.0,-16.8,196,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1544,3829,0,0,0,0,0,0
$GC,2006,-0.64,-185.1,405.5,-13.7,226,2010,0.00,2.15,0.00,0.000,4,0.000,0.049,3028,2963,3829,0,0,0,0,0,0
$GC,2077,-0.69,-185.1,414.7,-11.8,232,2087,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,1545,3828,0,0,0,0,0,0
$GC,2404,-0.70,-185.1,463.8,-16.2,263,2407,0.00,2.12,0.00,0.000,4,0.000,0.057,3028,166,3826,0,0,0,0,0,0
$GC,2447,-0.73,-185.1,471.2,-15.7,266,2456,0.00,2.10,0.00,0.000,6,0.000,0.041,3021,1538,3826,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2649,0.00,0.0,500.7,15.1,285,2797,0.62,0.00,140.12,0.861,4,0.099,0.000,3251,1716,3068,0,0,0,0,0,0
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2798,begin climb
$GC,2799,0.72,185.1,508.3,0.0,297,2954,0.62,2.22,145.45,0.845,4,0.035,0.047,3521,3104,2313,0,0,0,0,0,0
$GC,3112,0.66,185.1,463.5,21.2,324,3122,0.20,2.22,0.00,0.000,6,0.150,0.042,3466,1696,2306,0,0,0,0,0,0
$GC,3439,0.62,185.1,411.1,15.9,355,3443,0.00,2.15,0.00,0.000,4,0.000,0.041,3466,3106,2302,0,0,0,0,0,0
$GC,3468,0.59,185.1,406.1,17.0,357,3473,0.12,2.15,0.00,0.000,6,0.166,0.044,3441,1699,2301,0,0,0,0,0,0
$GC,3794,0.65,241.6,362.8,12.1,387,3843,0.05,2.25,43.35,0.771,4,0.168,0.041,3500,3105,2083,0,0,0,0,0,0
$GC,3944,0.61,241.6,334.8,20.5,400,3948,0.20,2.17,0.00,0.000,6,0.148,0.045,3451,1702,2078,0,0,0,0,0,0
$GC,4268,0.64,261.2,282.8,14.1,430,4293,0.00,2.25,15.43,0.692,4,0.000,0.054,3462,296,2001,0,0,0,0,0,0
$GC,4394,0.65,267.2,264.3,14.8,441,4406,0.00,2.10,5.62,0.554,6,0.000,0.033,3462,1699,1978,0,0,0,0,0,0
$GC,4724,0.65,267.2,210.3,17.0,472,4728,0.00,2.20,0.00,0.000,4,0.000,0.054,3471,287,1974,0,0,0,0,0,0
$GC,4773,0.65,267.2,202.2,16.7,476,4777,0.00,2.08,0.00,0.000,6,0.000,0.033,3471,1692,1973,0,0,0,0,0,0
$GC,5105,0.65,267.2,148.8,16.3,507,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1693,1972,0,0,0,0,0,0
$GC,5436,0.70,299.2,100.0,13.4,568,5471,0.00,2.20,25.60,0.592,4,0.000,0.043,3471,3102,1847,0,0,0,0,0,0
$GC,5511,0.78,345.2,90.6,12.6,580,5559,0.05,2.20,36.62,0.585,6,0.061,0.044,3558,1697,1658,0,0,0,0,0,0
$GC,5886,0.77,345.2,27.2,15.9,647,5894,0.20,2.15,0.00,0.000,4,0.132,0.039,3491,3105,1651,0,0,0,0,0,0
$GC,5986,0.96,447.7,16.1,9.5,665,6068,0.17,2.17,75.45,0.529,6,0.060,0.044,3605,1688,1241,0,0,0,0,0,0
$STATE,6073,end climb,SURFACE_DEPTH_REACHED
$STATE,6074,begin surface coast
$FINISH,0.6,1.000743
$STATE,6091,end surface coast,CONTROL_FINISHED_OK
$STATE,6092,begin surface
$SM_CCo,6107,82.12,0.057,0,0,622,600.00
$SM_GC,1.41,0.00,0.00,82.12,0.000,0.000,0.057,104,1531,622,-9.84,-0.57,600.00
$IRIDIUM_FIX,2415.74,12708.29,290910,000021
$TT8_MAMPS,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.5,13.809
$10V_AH,10.5,10.427
$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,21.150,56.750,487.650,82.125,0.000,61.205,42.856,93.756,0.500,0.000,14.479,1620.376,2460.726,578.901,1805.778,86.465,0.000,1285.906,0.000,1589.967,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,64.260,861.390,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.533,0.000,865.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43553,681
$CAP_FILE_SIZE,82457,0
$CFSIZE,260165632,248037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,157.9,1
$GPS,290910,041136,2425.469,12705.479,35,0.9,35,-3.7