version: 66.08
glider: 168
mission: 2
dive: 106
start: 9 29 110 17 8 17
data:
$ID,168
$MISSION,2
$DIVE,106
$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,-3301.8091
$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,48
$R_STBD_OVSHOOT,40
$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
$GPS1,290910,170400,2427.320,12705.825,39,1.1,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.3
$GPS2,290910,170750,2427.289,12705.858,14,2.0,14,-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,336.2,5225,-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,-185.1,0.0,0.0,0,101,0.00,0.00,-84.05,0.000,2,0.000,0.000,104,1525,3144,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.1,-4.1,13,133,10.07,2.20,-11.32,0.000,4,0.190,0.054,3011,2959,3824,0,0,0,0,0,0
$GC,282,-0.68,-185.1,66.3,-29.3,44,292,0.05,2.17,0.00,0.000,6,0.129,0.046,3031,1568,3826,0,0,0,0,0,0
$GC,623,-0.64,-185.1,156.1,-24.7,103,628,0.05,2.15,0.00,0.000,4,0.245,0.051,3045,163,3828,0,0,0,0,0,0
$GC,688,-0.64,-185.1,170.7,-18.5,108,699,0.00,2.08,0.00,0.000,6,0.000,0.037,3037,1533,3828,0,0,0,0,0,0
$GC,1015,-0.63,-185.1,237.5,-21.5,139,1019,0.00,2.15,0.00,0.000,4,0.000,0.046,3026,2964,3828,0,0,0,0,0,0
$GC,1055,-0.64,-185.1,245.0,-17.4,142,1059,0.08,2.15,0.00,0.000,6,0.167,0.044,3051,1541,3828,0,0,0,0,0,0
$GC,1387,-0.65,-185.1,297.3,-14.6,173,1391,0.00,2.12,0.00,0.000,4,0.000,0.045,3042,2956,3828,0,0,0,0,0,0
$GC,1408,-0.67,-185.1,300.8,-14.5,174,1416,0.00,2.15,0.00,0.000,6,0.000,0.045,3042,1562,3828,0,0,0,0,0,0
$GC,1735,-0.68,-185.1,348.0,-15.6,205,1739,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,161,3828,0,0,0,0,0,0
$GC,1755,-0.68,-185.1,351.9,-16.2,206,1764,0.00,2.12,0.00,0.000,6,0.000,0.039,3033,1556,3828,0,0,0,0,0,0
$GC,2083,-0.70,-185.1,401.3,-14.9,237,2087,0.00,2.15,0.00,0.000,4,0.000,0.053,3033,159,3826,0,0,0,0,0,0
$GC,2140,-0.72,-185.1,409.8,-13.8,241,2146,0.00,2.08,0.00,0.000,6,0.000,0.041,3024,1553,3826,0,0,0,0,0,0
$GC,2465,-0.74,-185.1,454.9,-13.3,272,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1556,3825,0,0,0,0,0,0
$GC,2784,-0.76,-185.1,497.9,-13.7,302,2788,0.00,2.12,0.00,0.000,4,0.000,0.050,3014,2959,3822,0,0,0,0,0,0
$STATE,2801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2801,begin apogee
$GC,2807,0.00,0.0,500.6,14.3,303,2952,0.62,0.00,139.75,0.867,4,0.085,0.000,3253,1698,3068,0,0,0,0,0,0
$STATE,2953,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2955,0.72,185.1,508.1,0.0,315,3111,0.62,2.28,144.73,0.848,4,0.035,0.054,3516,293,2311,0,0,0,0,0,0
$GC,3182,0.66,185.1,485.9,20.6,334,3192,0.15,2.17,0.00,0.000,6,0.132,0.033,3465,1698,2305,0,0,0,0,0,0
$GC,3511,0.63,185.1,431.1,16.9,365,3515,0.00,2.15,0.00,0.000,4,0.000,0.043,3466,3109,2302,0,0,0,0,0,0
$GC,3642,0.61,185.1,407.3,18.8,376,3650,0.08,2.17,0.00,0.000,6,0.142,0.044,3449,1713,2301,0,0,0,0,0,0
$GC,3968,0.62,202.3,359.1,14.2,407,3986,0.00,2.28,13.10,0.728,4,0.000,0.054,3459,289,2242,0,0,0,0,0,0
$GC,4089,0.62,212.4,341.3,14.6,417,4104,0.00,2.12,9.40,0.684,6,0.000,0.034,3459,1702,2200,0,0,0,0,0,0
$GC,4432,0.64,234.2,291.7,14.0,449,4456,0.00,2.15,18.50,0.718,4,0.000,0.041,3460,3107,2112,0,0,0,0,0,0
$GC,4483,0.63,236.7,283.6,15.0,453,4492,0.00,2.22,3.30,0.400,6,0.000,0.043,3468,1691,2103,0,0,0,0,0,0
$GC,4809,0.62,238.3,231.9,15.1,484,4814,0.08,2.17,0.00,0.000,4,0.204,0.043,3449,3111,2100,0,0,0,0,0,0
$GC,4856,0.69,284.2,225.2,12.6,488,4901,0.00,2.20,38.15,0.694,6,0.000,0.044,3458,1697,1908,0,0,0,0,0,0
$GC,5217,0.73,306.9,172.6,13.9,522,5243,0.10,2.28,18.33,0.632,4,0.100,0.054,3547,285,1815,0,0,0,0,0,0
$GC,5266,0.68,306.9,163.0,22.2,526,5271,0.25,2.12,0.00,0.000,6,0.135,0.033,3469,1692,1812,0,0,0,0,0,0
$GC,5593,0.70,306.9,108.0,15.5,580,5601,0.00,2.17,0.00,0.000,4,0.000,0.042,3469,3110,1809,0,0,0,0,0,0
$GC,5629,0.78,350.7,103.1,12.7,586,5671,0.05,2.22,34.22,0.596,6,0.057,0.044,3556,1686,1637,0,0,0,0,0,0
$GC,5993,0.77,350.7,31.4,15.2,652,6002,0.20,2.20,0.00,0.000,4,0.135,0.052,3499,290,1630,0,0,0,0,0,0
$GC,6015,0.80,362.6,28.4,14.5,655,6031,0.00,2.12,9.50,0.492,6,0.000,0.032,3499,1710,1589,0,0,0,0,0,0
$STATE,6270,end climb,SURFACE_DEPTH_REACHED
$STATE,6270,begin surface coast
$FINISH,0.7,1.001807
$STATE,6305,end surface coast,CONTROL_FINISHED_OK
$STATE,6305,begin surface
$SM_CCo,6320,124.50,0.483,1,0,620,600.00
$SM_GC,1.35,0.00,0.00,124.50,0.000,0.000,0.483,104,1530,620,-9.84,-0.57,600.00
$IRIDIUM_FIX,2418.11,12708.29,290910,151519
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,14.764
$10V_AH,10.4,11.031
$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,20.600,65.050,428.975,124.500,0.000,29.124,18.048,95.929,0.250,0.000,15.482,1723.091,2484.540,594.839,1804.457,87.096,0.000,1304.553,0.000,1644.998,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,58.140,866.745,483.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.396,0.000,897.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43704,708
$CAP_FILE_SIZE,86943,0
$CFSIZE,260165632,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235,156.2,1
$GPS,290910,185632,2427.383,12705.809,10,2.0,10,-3.7