version: 66.08
glider: 168
mission: 2
dive: 111
start: 9 30 110 2 23 53
data:
$ID,168
$MISSION,2
$DIVE,111
$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,-3308.0854
$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,44
$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
$GPS1,300910,021934,2428.133,12705.836,9,4.3,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-78.9
$GPS2,300910,022326,2428.058,12705.831,13,1.2,13,-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,338.9,3859,-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,-84.15,0.000,2,0.000,0.000,105,1526,3177,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.6,-6.0,13,132,10.05,2.20,-10.48,0.000,4,0.189,0.055,3009,2962,3825,0,0,0,0,0,0
$GC,233,-0.69,-185.1,52.1,-28.7,35,241,0.08,2.17,0.00,0.000,6,0.170,0.047,3028,1562,3826,0,0,0,0,0,0
$GC,572,-0.64,-185.1,152.7,-25.2,95,576,0.08,2.17,0.00,0.000,4,0.207,0.054,3049,164,3829,0,0,0,0,0,0
$GC,604,-0.61,-185.1,161.6,-24.4,97,612,0.03,2.08,0.00,0.000,6,0.177,0.039,3052,1526,3829,0,0,0,0,0,0
$GC,930,-0.60,-185.1,223.2,-20.4,128,933,0.00,2.15,0.00,0.000,4,0.000,0.046,3042,2962,3830,0,0,0,0,0,0
$GC,993,-0.65,-185.1,233.6,-14.6,133,998,0.00,2.15,0.00,0.000,6,0.000,0.045,3042,1544,3830,0,0,0,0,0,0
$GC,1320,-0.65,-185.1,292.4,-17.2,163,1324,0.00,2.12,0.00,0.000,4,0.000,0.054,3042,159,3830,0,0,0,0,0,0
$GC,1373,-0.66,-185.1,300.8,-14.4,167,1377,0.00,2.08,0.00,0.000,6,0.000,0.040,3033,1548,3830,0,0,0,0,0,0
$GC,1702,-0.66,-185.1,352.9,-16.7,198,1706,0.00,2.15,0.00,0.000,4,0.000,0.055,3033,166,3829,0,0,0,0,0,0
$GC,1766,-0.68,-185.1,362.7,-14.7,203,1770,0.00,2.05,0.00,0.000,6,0.000,0.040,3024,1539,3829,0,0,0,0,0,0
$GC,2092,-0.68,-185.1,417.7,-16.7,233,2096,0.00,2.15,0.00,0.000,4,0.000,0.048,3014,2965,3827,0,0,0,0,0,0
$GC,2167,-0.72,-185.1,428.5,-13.3,239,2171,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,1544,3827,0,0,0,0,0,0
$GC,2493,-0.72,-185.1,479.7,-15.5,269,2497,0.00,2.10,0.00,0.000,4,0.000,0.056,3014,166,3825,0,0,0,0,0,0
$GC,2532,-0.73,-185.1,485.9,-14.9,272,2536,0.00,2.08,0.00,0.000,6,0.000,0.041,3008,1542,3825,0,0,0,0,0,0
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2638,0.00,0.0,500.5,14.8,281,2783,0.65,0.00,139.98,0.857,4,0.098,0.000,3248,1713,3067,0,0,0,0,0,0
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2785,0.72,185.1,505.8,0.0,293,2938,0.62,2.22,145.05,0.848,4,0.040,0.047,3509,3099,2313,0,0,0,0,0,0
$GC,3109,0.66,185.1,461.7,18.9,321,3118,0.17,2.20,0.00,0.000,6,0.142,0.043,3462,1705,2307,0,0,0,0,0,0
$GC,3435,0.63,185.9,411.4,15.1,352,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1705,2301,0,0,0,0,0,0
$GC,3755,0.63,200.2,365.0,14.4,382,3771,0.00,2.17,11.18,0.704,4,0.000,0.041,3462,3106,2251,0,0,0,0,0,0
$GC,3881,0.63,213.2,346.1,14.4,393,3898,0.08,2.15,11.57,0.703,6,0.194,0.044,3453,1697,2199,0,0,0,0,0,0
$GC,4216,0.62,213.2,296.0,15.4,424,4220,0.00,2.15,0.00,0.000,4,0.000,0.054,3464,294,2194,0,0,0,0,0,0
$GC,4349,0.62,213.2,274.4,15.9,435,4356,0.00,2.08,0.00,0.000,6,0.000,0.034,3464,1687,2191,0,0,0,0,0,0
$GC,4674,0.65,241.7,226.2,13.6,466,4706,0.00,0.00,23.10,0.675,6,0.000,0.000,3464,1689,2079,0,0,0,0,0,0
$GC,5025,0.67,263.1,180.7,14.0,499,5050,0.00,2.17,17.12,0.630,4,0.000,0.040,3464,3109,1993,0,0,0,0,0,0
$GC,5088,0.69,263.1,170.2,15.3,504,5098,0.00,2.20,0.00,0.000,6,0.000,0.043,3471,1701,1992,0,0,0,0,0,0
$GC,5423,0.73,292.0,118.4,13.6,553,5451,0.00,2.28,23.40,0.596,4,0.000,0.054,3479,289,1876,0,0,0,0,0,0
$GC,5480,0.79,328.2,110.6,13.2,562,5516,0.05,2.12,29.12,0.589,6,0.068,0.032,3565,1686,1728,0,0,0,0,0,0
$GC,5848,0.84,371.2,41.1,12.8,627,5890,0.15,2.17,32.90,0.543,4,0.147,0.039,3516,3106,1552,0,0,0,0,0,0
$GC,6004,1.00,460.1,23.8,10.3,653,6077,0.15,2.22,66.30,0.534,6,0.069,0.043,3605,1672,1191,0,0,0,0,0,0
$STATE,6110,end climb,SURFACE_DEPTH_REACHED
$STATE,6110,begin surface coast
$FINISH,0.6,1.021502
$STATE,6122,end surface coast,CONTROL_FINISHED_OK
$STATE,6122,begin surface
$SM_CCo,6138,78.43,0.464,1,0,621,600.00
$SM_GC,1.45,0.00,0.00,78.43,0.000,0.000,0.464,104,1528,621,-9.84,-0.62,600.00
$IRIDIUM_FIX,2420.48,12709.72,300910,000044
$TT8_MAMPS,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.5,15.376
$10V_AH,10.4,11.408
$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,20.750,56.375,499.725,78.425,0.000,30.805,15.349,97.690,0.500,0.000,15.727,1609.311,2452.289,575.569,1738.904,91.602,0.000,1276.763,0.000,1582.708,0.000,0.540,0.000
$DEVICE_MAMPS,206.550,68.850,856.800,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.471,0.000,852.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40393,672
$CAP_FILE_SIZE,82460,0
$CFSIZE,260165632,247447552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.223,153.0,1
$GPS,300910,040819,2428.153,12705.823,9,1.8,9,-3.7