version: 66.08
glider: 168
mission: 2
dive: 101
start: 9 29 110 7 57 28
data:
$ID,168
$MISSION,2
$DIVE,101
$N_DIVES,115
$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,-3295.5317
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,290910,075314,2425.913,12705.303,6,2.0,6,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.9
$GPS2,290910,075702,2425.862,12705.296,11,1.5,11,-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,356.1,7680,-22.1,-15.152
$D_GRID,4643
$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,-84.12,0.000,2,0.000,0.000,104,1527,3144,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.2,-4.8,13,132,10.10,2.20,-11.23,0.000,4,0.190,0.056,3006,2951,3825,0,0,0,0,0,0
$GC,224,-0.68,-185.1,49.5,-27.0,33,231,0.10,2.12,0.00,0.000,6,0.161,0.044,3033,1563,3827,0,0,0,0,0,0
$GC,561,-0.64,-185.1,141.7,-24.9,94,569,0.00,2.17,0.00,0.000,4,0.000,0.052,3034,168,3828,0,0,0,0,0,0
$GC,636,-0.61,-185.1,159.7,-22.4,103,644,0.10,2.05,0.00,0.000,6,0.160,0.038,3054,1539,3829,0,0,0,0,0,0
$GC,960,-0.61,-185.1,222.3,-17.4,134,962,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1541,3830,0,0,0,0,0,0
$GC,1280,-0.62,-185.1,271.7,-14.0,164,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1541,3829,0,0,0,0,0,0
$GC,1599,-0.64,-185.1,313.8,-14.4,194,1603,0.00,2.15,0.00,0.000,4,0.000,0.047,3045,2958,3829,0,0,0,0,0,0
$GC,1641,-0.68,-185.1,318.7,-11.6,197,1645,0.00,2.15,0.00,0.000,6,0.000,0.045,3045,1541,3829,0,0,0,0,0,0
$GC,1971,-0.70,-185.1,369.3,-16.4,228,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1541,3829,0,0,0,0,0,0
$GC,2291,-0.72,-185.1,421.1,-15.1,258,2295,0.08,2.17,0.00,0.000,4,0.122,0.048,2950,2962,3827,0,0,0,0,0,0
$GC,2376,-0.71,-185.1,437.0,-19.5,265,2381,0.22,2.15,0.00,0.000,6,0.124,0.049,3024,1551,3827,0,0,0,0,0,0
$GC,2702,-0.73,-185.1,485.1,-12.9,295,2706,0.00,2.15,0.00,0.000,4,0.000,0.057,3024,161,3824,0,0,0,0,0,0
$GC,2764,-0.76,-185.1,492.9,-11.9,300,2768,0.00,2.10,0.00,0.000,6,0.000,0.041,3018,1553,3824,0,0,0,0,0,0
$STATE,2823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2823,begin apogee
$GC,2827,0.00,0.0,500.1,12.4,305,2972,0.62,0.00,139.62,0.865,4,0.099,0.000,3249,1714,3068,0,0,0,0,0,0
$STATE,2973,end apogee,CONTROL_FINISHED_OK
$STATE,2973,begin climb
$GC,2974,0.72,185.1,504.2,0.0,317,3128,0.62,2.33,144.62,0.846,4,0.037,0.054,3509,289,2312,0,0,0,0,0,0
$GC,3190,0.66,185.1,481.5,20.1,335,3198,0.15,2.17,0.00,0.000,6,0.158,0.032,3467,1704,2306,0,0,0,0,0,0
$GC,3515,0.63,185.1,428.5,15.3,366,3519,0.00,2.20,0.00,0.000,4,0.000,0.053,3477,292,2303,0,0,0,0,0,0
$GC,3535,0.59,185.1,425.0,15.4,367,3544,0.10,2.12,0.00,0.000,6,0.121,0.033,3441,1691,2302,0,0,0,0,0,0
$GC,3862,0.65,241.5,385.0,12.1,398,3911,0.08,2.28,44.20,0.793,4,0.120,0.042,3503,3114,2083,0,0,0,0,0,0
$GC,3971,0.61,241.5,365.6,19.0,407,3979,0.15,2.25,0.00,0.000,6,0.132,0.044,3447,1701,2080,0,0,0,0,0,0
$GC,4297,0.61,248.8,316.1,14.8,438,4309,0.00,0.00,6.38,0.609,6,0.000,0.000,3446,1701,2053,0,0,0,0,0,0
$GC,4627,0.61,248.8,267.1,15.3,469,4631,0.00,2.15,0.00,0.000,4,0.000,0.043,3446,3112,2049,0,0,0,0,0,0
$GC,4665,0.62,248.8,261.0,15.8,472,4669,0.00,2.15,0.00,0.000,6,0.000,0.045,3455,1710,2049,0,0,0,0,0,0
$GC,4996,0.62,248.8,208.8,15.6,503,5000,0.00,2.17,0.00,0.000,4,0.000,0.054,3466,290,2048,0,0,0,0,0,0
$GC,5061,0.62,248.8,197.9,16.0,508,5071,0.00,2.12,0.00,0.000,6,0.000,0.033,3466,1705,2046,0,0,0,0,0,0
$GC,5388,0.68,293.3,152.0,12.7,539,5431,0.00,2.28,34.72,0.641,4,0.000,0.055,3476,294,1871,0,0,0,0,0,0
$GC,5476,0.72,317.7,140.3,13.8,552,5504,0.00,2.15,19.67,0.608,6,0.000,0.033,3476,1704,1773,0,0,0,0,0,0
$GC,5835,0.76,338.9,91.0,14.0,616,5858,0.08,2.28,17.17,0.570,4,0.124,0.053,3557,292,1685,0,0,0,0,0,0
$GC,5887,0.73,338.9,81.8,20.6,624,5896,0.20,2.15,0.00,0.000,6,0.112,0.033,3484,1699,1684,0,0,0,0,0,0
$GC,6233,0.85,403.2,37.1,11.6,685,6287,0.12,0.00,49.17,0.546,6,0.080,0.000,3586,1701,1422,0,0,0,0,0,0
$STATE,6425,end climb,SURFACE_DEPTH_REACHED
$STATE,6425,begin surface coast
$FINISH,0.7,1.010793
$STATE,6445,end surface coast,CONTROL_FINISHED_OK
$STATE,6445,begin surface
$SM_CCo,6460,104.47,0.478,1,0,622,600.00
$SM_GC,1.35,0.00,0.00,104.47,0.000,0.000,0.478,104,1534,622,-9.84,-0.48,600.00
$IRIDIUM_FIX,2418.11,12704.97,290910,060623
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.4,14.172
$10V_AH,10.4,10.655
$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,21.125,52.675,455.575,104.475,0.000,25.643,15.241,97.441,0.250,0.000,14.682,1722.925,2618.634,576.522,1802.804,90.379,0.000,1282.815,0.000,1649.785,0.000,0.540,0.000
$DEVICE_MAMPS,190.485,64.260,865.215,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.997,0.000,915.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43726,721
$CAP_FILE_SIZE,83332,0
$CFSIZE,260165632,247902208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168,174.9,1
$GPS,290910,094806,2426.330,12705.312,23,1.0,33,-3.7