version: 66.08
glider: 168
mission: 2
dive: 23
start: 9 23 110 23 20 21
data:
$ID,168
$MISSION,2
$DIVE,23
$N_DIVES,30
$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,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,365
$N_FILEKB,4
$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,-3191.6421
$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,3278
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$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,30
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2776
$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,100
$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
$GPS1,230910,231526,2426.836,12705.127,34,1.9,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.3
$GPS2,230910,231955,2426.710,12705.131,9,1.7,14,-3.7
$SPEED_LIMITS,0.262,0.375
$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,354.9,6096,-19.2,-15.152
$D_GRID,4321
$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,-0.94,-243.3,0.0,0.0,0,75,0.00,0.00,-58.50,0.000,2,0.000,0.000,104,1543,2956,0,0,0,0,0,0
$GC,77,-0.94,-243.3,3.3,-5.5,8,109,10.02,2.12,-13.88,0.000,4,0.195,0.062,2971,162,3770,0,0,0,0,0,0
$GC,143,-0.89,-243.3,34.6,-53.6,18,153,0.08,2.10,0.00,0.000,6,0.167,0.034,2985,1546,3770,0,0,0,0,0,0
$GC,469,-0.87,-243.3,150.5,-30.1,79,476,0.05,2.15,0.00,0.000,4,0.252,0.053,2995,165,3773,0,0,0,0,0,0
$GC,499,-0.84,-243.3,161.3,-32.9,84,507,0.05,2.08,0.00,0.000,6,0.155,0.036,3005,1541,3773,0,0,0,0,0,0
$GC,841,-0.83,-243.3,245.9,-22.3,145,848,0.00,2.08,0.00,0.000,4,0.000,0.039,2995,2954,3775,0,0,0,0,0,0
$GC,878,-0.82,-243.3,253.6,-21.4,151,885,0.08,2.17,0.00,0.000,6,0.174,0.050,3017,1537,3775,0,0,0,0,0,0
$GC,1215,-0.81,-243.3,319.5,-19.6,203,1218,0.00,2.10,0.00,0.000,4,0.000,0.057,3017,169,3775,0,0,0,0,0,0
$GC,1347,-0.80,-243.3,344.0,-17.7,214,1356,0.00,2.05,0.00,0.000,6,0.000,0.044,3009,1508,3775,0,0,0,0,0,0
$GC,1673,-0.80,-243.3,400.0,-16.7,245,1677,0.00,2.17,0.00,0.000,4,0.000,0.047,2999,2963,3774,0,0,0,0,0,0
$GC,1705,-0.79,-243.3,405.6,-15.5,247,1714,0.05,2.22,0.00,0.000,6,0.119,0.049,3023,1527,3774,0,0,0,0,0,0
$GC,2031,-0.79,-243.3,454.4,-15.0,278,2035,0.00,2.10,0.00,0.000,4,0.000,0.061,3023,165,3772,0,0,0,0,0,0
$GC,2120,-0.80,-243.3,467.5,-14.3,286,2124,0.00,2.03,0.00,0.000,6,0.000,0.047,3019,1515,3772,0,0,0,0,0,0
$STATE,2349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2349,begin apogee
$GC,2353,-0.17,0.0,500.7,14.8,307,2544,0.55,0.00,184.48,0.840,4,0.106,0.000,3220,1713,2775,0,0,0,0,0,0
$STATE,2544,end apogee,CONTROL_FINISHED_OK
$STATE,2545,begin climb
$GC,2546,0.94,243.3,508.8,0.0,323,2747,0.98,2.25,192.02,0.811,4,0.053,0.047,3589,3105,1784,0,0,0,0,0,0
$GC,2831,0.92,243.3,441.7,30.0,348,2836,0.12,2.22,0.00,0.000,6,0.183,0.046,3568,1693,1780,0,0,0,0,0,0
$GC,3163,0.89,243.3,341.8,28.2,379,3167,0.00,2.17,0.00,0.000,4,0.000,0.056,3579,288,1775,0,0,0,0,0,0
$GC,3317,0.87,243.3,300.1,24.2,392,3326,0.05,2.12,0.00,0.000,6,0.150,0.035,3560,1688,1772,0,0,0,0,0,0
$GC,3660,0.85,243.3,209.0,27.5,453,3667,0.00,2.15,0.00,0.000,4,0.000,0.041,3560,3115,1771,0,0,0,0,0,0
$GC,3697,0.83,243.3,199.4,25.6,459,3704,0.10,2.17,0.00,0.000,6,0.181,0.049,3543,1694,1771,0,0,0,0,0,0
$GC,4030,0.81,243.3,126.9,21.4,520,4038,0.00,2.17,0.00,0.000,4,0.000,0.044,3542,3110,1769,0,0,0,0,0,0
$GC,4114,0.80,243.3,109.3,21.5,535,4122,0.03,2.17,0.00,0.000,6,0.181,0.049,3539,1717,1769,0,0,0,0,0,0
$GC,4440,0.89,319.2,52.5,12.0,596,4502,0.08,2.20,56.05,0.546,4,0.122,0.042,3597,3108,1473,0,0,0,0,0,0
$GC,4651,0.88,319.2,15.5,17.6,632,4660,0.12,2.17,0.00,0.000,6,0.127,0.047,3559,1724,1469,0,0,0,0,0,0
$STATE,4724,end climb,SURFACE_DEPTH_REACHED
$STATE,4724,begin surface coast
$FINISH,0.6,1.010454
$STATE,4742,end surface coast,CONTROL_FINISHED_OK
$STATE,4742,begin surface
$SM_CCo,4757,25.20,0.333,1,0,1287,365.01
$SM_GC,1.53,0.00,0.00,25.20,0.000,0.000,0.333,105,1536,1287,-9.92,-0.40,365.01
$IRIDIUM_FIX,2418.11,12706.40,230910,212106
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.5,5.260
$10V_AH,10.6,5.082
$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,20.775,47.750,432.550,25.200,0.000,22.044,41.699,118.786,0.250,0.000,16.883,1553.740,1162.114,451.939,1826.523,77.203,0.000,1106.543,0.000,1635.722,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,64.260,839.970,332.775,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.897,0.000,1108.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334168
$DATA_FILE_SIZE,40309,648
$CAP_FILE_SIZE,72729,0
$CFSIZE,260165632,251346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.329,166.7,1
$GPS,240910,004124,2426.535,12705.135,23,1.5,41,-3.7