version: 66.08
glider: 168
mission: 2
dive: 107
start: 9 29 110 19 1 11
data:
$ID,168
$MISSION,2
$DIVE,107
$N_DIVES,120
$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,-3303.0613
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,290910,185632,2427.383,12705.809,10,2.0,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.2
$GPS2,290910,190043,2427.345,12705.825,15,2.0,32,-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,342.2,5110,-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,-84.18,0.000,2,0.000,0.000,104,1531,3164,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-4.7,13,132,10.10,2.17,-10.90,0.000,4,0.190,0.053,3007,2963,3825,0,0,0,0,0,0
$GC,292,-0.72,-185.1,62.3,-19.3,46,300,0.00,2.20,0.00,0.000,6,0.000,0.046,3007,1559,3827,0,0,0,0,0,0
$GC,636,-0.67,-185.1,155.7,-26.4,106,640,0.12,2.15,0.00,0.000,4,0.166,0.054,3044,164,3829,0,0,0,0,0,0
$GC,671,-0.62,-185.1,164.6,-27.0,109,675,0.08,2.05,0.00,0.000,6,0.185,0.038,3054,1545,3830,0,0,0,0,0,0
$GC,996,-0.62,-185.1,222.4,-17.8,139,1000,0.00,2.12,0.00,0.000,4,0.000,0.047,3045,2957,3830,0,0,0,0,0,0
$GC,1049,-0.66,-185.1,230.0,-12.9,143,1053,0.00,2.12,0.00,0.000,6,0.000,0.044,3045,1552,3830,0,0,0,0,0,0
$GC,1379,-0.67,-185.1,284.6,-17.2,174,1383,0.00,2.10,0.00,0.000,4,0.000,0.053,3045,165,3830,0,0,0,0,0,0
$GC,1429,-0.68,-185.1,293.4,-17.5,178,1433,0.00,2.08,0.00,0.000,6,0.000,0.039,3037,1558,3830,0,0,0,0,0,0
$GC,1754,-0.69,-185.1,347.6,-15.9,208,1758,0.00,2.12,0.00,0.000,4,0.000,0.047,3027,2961,3829,0,0,0,0,0,0
$GC,1805,-0.74,-185.1,355.0,-12.8,212,1809,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,1555,3829,0,0,0,0,0,0
$GC,2130,-0.76,-185.1,404.4,-14.0,242,2135,0.08,2.15,0.00,0.000,4,0.122,0.057,2933,169,3827,0,0,0,0,0,0
$GC,2192,-0.71,-185.1,417.6,-23.2,247,2197,0.32,2.10,0.00,0.000,6,0.135,0.042,3027,1562,3827,0,0,0,0,0,0
$GC,2519,-0.73,-185.1,462.8,-12.7,277,2523,0.00,2.10,0.00,0.000,4,0.000,0.049,3018,2957,3826,0,0,0,0,0,0
$GC,2563,-0.78,-185.1,468.2,-10.9,280,2573,0.03,2.17,0.00,0.000,6,0.099,0.047,2942,1556,3825,0,0,0,0,0,0
$STATE,2717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2717,begin apogee
$GC,2721,0.00,0.0,500.7,23.0,295,2866,0.88,0.00,139.62,0.870,4,0.114,0.000,3248,1718,3068,0,0,0,0,0,0
$STATE,2867,end apogee,CONTROL_FINISHED_OK
$STATE,2867,begin climb
$GC,2869,0.72,185.1,508.5,0.0,307,3024,0.62,2.33,144.43,0.850,4,0.035,0.054,3518,290,2312,0,0,0,0,0,0
$GC,3119,0.65,185.1,480.9,21.3,328,3129,0.17,2.17,0.00,0.000,6,0.142,0.032,3461,1696,2305,0,0,0,0,0,0
$GC,3446,0.66,212.4,429.7,13.7,359,3474,0.00,2.20,21.65,0.785,4,0.000,0.042,3461,3098,2202,0,0,0,0,0,0
$GC,3693,0.64,212.4,394.4,15.5,381,3697,0.00,2.15,0.00,0.000,6,0.000,0.045,3472,1699,2198,0,0,0,0,0,0
$GC,4019,0.62,212.4,341.8,16.8,411,4024,0.10,2.20,0.00,0.000,4,0.177,0.054,3454,293,2194,0,0,0,0,0,0
$GC,4093,0.62,212.4,330.5,15.5,417,4097,0.00,2.08,0.00,0.000,6,0.000,0.034,3453,1697,2193,0,0,0,0,0,0
$GC,4419,0.63,230.3,284.4,14.2,447,4444,0.00,2.25,14.02,0.698,4,0.000,0.054,3464,289,2128,0,0,0,0,0,0
$GC,4460,0.65,254.4,278.2,13.8,450,4492,0.00,2.12,20.90,0.710,6,0.000,0.033,3464,1688,2029,0,0,0,0,0,0
$GC,4808,0.65,254.4,222.9,15.9,483,4812,0.00,2.15,0.00,0.000,4,0.000,0.043,3464,3105,2023,0,0,0,0,0,0
$GC,4861,0.66,254.4,214.0,15.8,487,4869,0.00,2.20,0.00,0.000,6,0.000,0.044,3473,1693,2023,0,0,0,0,0,0
$GC,5188,0.68,269.7,163.2,14.3,518,5201,0.00,0.00,11.88,0.610,6,0.000,0.000,3472,1692,1968,0,0,0,0,0,0
$GC,5526,0.71,297.5,117.2,13.6,571,5554,0.00,2.22,22.95,0.607,4,0.000,0.041,3473,3108,1854,0,0,0,0,0,0
$GC,5616,0.80,345.7,104.9,12.5,586,5665,0.08,2.22,37.95,0.603,6,0.045,0.045,3561,1693,1658,0,0,0,0,0,0
$GC,5999,0.83,367.6,30.4,13.9,653,6027,0.15,2.22,17.05,0.530,4,0.145,0.054,3520,300,1568,0,0,0,0,0,0
$GC,6056,0.96,442.4,23.3,11.0,662,6118,0.10,2.12,56.80,0.538,6,0.041,0.031,3610,1699,1263,0,0,0,0,0,0
$STATE,6157,end climb,SURFACE_DEPTH_REACHED
$STATE,6157,begin surface coast
$FINISH,0.5,1.009152
$STATE,6168,end surface coast,CONTROL_FINISHED_OK
$STATE,6168,begin surface
$SM_CCo,6184,88.28,0.469,1,0,621,600.00
$SM_GC,1.30,0.00,0.00,88.28,0.000,0.000,0.469,103,1538,621,-9.84,-0.28,600.00
$IRIDIUM_FIX,2418.11,12708.29,290910,171711
$TT8_MAMPS,0.026964
$HUMID,45.98
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,14.887
$10V_AH,10.5,11.105
$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,21.475,60.900,487.250,88.275,0.000,30.981,16.327,97.605,0.250,0.000,35.102,1635.019,2459.431,581.838,1777.262,89.707,0.000,1297.049,0.000,1600.252,0.000,0.540,0.000
$DEVICE_MAMPS,190.485,60.435,869.805,468.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.755,0.000,862.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43683,680
$CAP_FILE_SIZE,84737,0
$CFSIZE,260165632,247627776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.207,159.7,1
$GPS,290910,204700,2427.428,12705.742,36,1.2,36,-3.7