version: 66.08
glider: 168
mission: 2
dive: 112
start: 9 30 110 4 12 35
data:
$ID,168
$MISSION,2
$DIVE,112
$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,-3309.3403
$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,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
$GPS1,300910,040819,2428.153,12705.823,9,1.8,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.1
$GPS2,300910,041208,2428.095,12705.825,13,1.7,13,-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,338.5,3792,-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,-185.1,0.0,0.0,0,102,0.00,0.00,-84.20,0.000,2,0.000,0.000,104,1527,3188,0,0,0,0,0,0
$GC,104,-0.72,-185.1,3.7,-6.0,13,133,10.10,2.20,-10.18,0.000,4,0.190,0.054,3008,2961,3824,0,0,0,0,0,0
$GC,235,-0.68,-185.1,54.3,-26.4,35,243,0.10,2.15,0.00,0.000,6,0.163,0.044,3035,1568,3826,0,0,0,0,0,0
$GC,572,-0.64,-185.1,148.0,-21.7,96,581,0.00,2.17,0.00,0.000,4,0.000,0.051,3035,168,3829,0,0,0,0,0,0
$GC,591,-0.61,-185.1,152.9,-22.9,98,601,0.08,2.08,0.00,0.000,6,0.122,0.037,3055,1533,3829,0,0,0,0,0,0
$GC,919,-0.60,-185.1,214.3,-18.8,129,923,0.00,2.17,0.00,0.000,4,0.000,0.045,3046,2965,3830,0,0,0,0,0,0
$GC,958,-0.62,-185.1,221.3,-15.8,132,962,0.00,2.15,0.00,0.000,6,0.000,0.045,3046,1544,3830,0,0,0,0,0,0
$GC,1289,-0.62,-185.1,280.3,-18.0,163,1293,0.00,2.12,0.00,0.000,4,0.000,0.054,3046,159,3830,0,0,0,0,0,0
$GC,1333,-0.64,-185.1,288.5,-16.3,166,1342,0.00,2.10,0.00,0.000,6,0.000,0.040,3037,1538,3830,0,0,0,0,0,0
$GC,1660,-0.64,-185.1,344.9,-17.1,197,1664,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,158,3830,0,0,0,0,0,0
$GC,1677,-0.64,-185.1,348.1,-16.5,198,1682,0.08,2.05,0.00,0.000,6,0.181,0.040,3051,1538,3830,0,0,0,0,0,0
$GC,2002,-0.67,-185.1,392.1,-12.2,228,2006,0.00,2.12,0.00,0.000,4,0.000,0.047,3042,2959,3828,0,0,0,0,0,0
$GC,2075,-0.73,-185.1,399.8,-9.4,234,2080,0.08,2.15,0.00,0.000,6,0.118,0.046,2957,1540,3828,0,0,0,0,0,0
$GC,2407,-0.68,-185.1,468.6,-21.8,265,2412,0.25,2.15,0.00,0.000,4,0.137,0.046,3031,2957,3827,0,0,0,0,0,0
$GC,2436,-0.68,-185.1,474.3,-18.1,267,2440,0.00,2.20,0.00,0.000,6,0.000,0.049,3030,1532,3826,0,0,0,0,0,0
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2638,0.00,0.0,500.6,13.2,285,2783,0.60,0.00,140.05,0.860,4,0.093,0.000,3256,1709,3068,0,0,0,0,0,0
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2786,0.72,185.1,509.1,0.0,297,2940,0.60,2.33,144.82,0.851,4,0.034,0.054,3524,292,2312,0,0,0,0,0,0
$GC,3164,0.65,185.1,457.7,20.1,330,3169,0.22,2.10,0.00,0.000,6,0.161,0.034,3459,1699,2303,0,0,0,0,0,0
$GC,3489,0.63,185.1,403.6,17.1,360,3493,0.00,2.20,0.00,0.000,4,0.000,0.054,3469,290,2301,0,0,0,0,0,0
$GC,3718,0.61,185.1,363.8,17.1,380,3722,0.10,2.10,0.00,0.000,6,0.161,0.033,3441,1696,2297,0,0,0,0,0,0
$GC,4042,0.69,250.3,322.3,11.6,410,4103,0.10,2.28,50.30,0.759,4,0.094,0.054,3523,298,2045,0,0,0,0,0,0
$GC,4150,0.64,250.3,303.5,21.5,419,4155,0.22,2.12,0.00,0.000,6,0.145,0.033,3455,1695,2041,0,0,0,0,0,0
$GC,4476,0.64,250.3,252.0,16.8,449,4480,0.00,2.12,0.00,0.000,4,0.000,0.040,3455,3108,2036,0,0,0,0,0,0
$GC,4505,0.64,250.3,246.8,18.0,451,4509,0.00,2.17,0.00,0.000,6,0.000,0.044,3464,1683,2035,0,0,0,0,0,0
$GC,4830,0.64,250.3,190.6,15.8,481,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1683,2035,0,0,0,0,0,0
$GC,5148,0.73,318.0,148.6,11.4,512,5211,0.08,2.25,51.35,0.634,4,0.124,0.053,3547,290,1769,0,0,0,0,0,0
$GC,5247,0.69,318.0,130.9,20.8,527,5255,0.25,2.12,0.00,0.000,6,0.133,0.031,3470,1696,1766,0,0,0,0,0,0
$GC,5586,0.76,356.8,78.9,13.0,588,5623,0.10,2.22,29.67,0.571,4,0.099,0.040,3562,3113,1612,0,0,0,0,0,0
$GC,5714,0.76,356.8,53.5,16.6,609,5722,0.25,2.20,0.00,0.000,6,0.133,0.044,3493,1698,1610,0,0,0,0,0,0
$GC,6053,0.96,474.9,19.6,8.7,670,6142,0.20,0.00,85.20,0.531,2,0.057,0.000,3626,1698,1141,0,0,0,0,0,0
$STATE,6142,end climb,SURFACE_DEPTH_REACHED
$STATE,6143,begin surface coast
$FINISH,0.6,1.018750
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6157,begin surface
$SM_CCo,6172,72.05,0.057,0,0,622,600.00
$SM_GC,1.34,0.00,0.00,72.05,0.000,0.000,0.057,104,1526,622,-9.84,-0.68,600.00
$IRIDIUM_FIX,2415.74,12704.97,300910,020249
$TT8_MAMPS,0.026964
$HUMID,46.37
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,15.491
$10V_AH,10.5,11.483
$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,22.100,56.650,501.400,72.050,0.000,31.206,15.422,95.096,0.250,0.000,16.303,1631.307,2440.608,560.820,1764.756,90.040,0.000,1274.994,0.000,1609.349,0.000,0.539,0.000
$DEVICE_MAMPS,189.720,59.670,859.860,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.288,0.000,870.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43655,685
$CAP_FILE_SIZE,81950,0
$CFSIZE,260165632,247398400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,159.1,1
$GPS,300910,055746,2428.197,12705.822,11,2.9,30,-3.7