version: 66.08
glider: 168
mission: 2
dive: 36
start: 9 24 110 17 27 53
data:
$ID,168
$MISSION,2
$DIVE,36
$N_DIVES,40
$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,-3207.9565
$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,77
$R_STBD_OVSHOOT,51
$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,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
$GPS1,240910,172325,2425.947,12705.177,29,1.4,46,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.7
$GPS2,240910,172726,2425.901,12705.216,12,1.4,12,-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,351.9,7600,-19.2,-15.152
$D_GRID,4643
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.94,-243.3,0.0,0.0,0,75,0.00,0.00,-59.10,0.000,2,0.000,0.000,104,1507,3047,0,0,0,0,0,0
$GC,77,-0.94,-243.3,3.7,-7.5,9,106,9.98,2.25,-11.88,0.000,4,0.194,0.055,2964,2943,3770,0,0,0,0,0,0
$GC,208,-0.92,-243.3,57.4,-31.6,31,215,0.08,2.10,0.00,0.000,6,0.187,0.054,2982,1602,3772,0,0,0,0,0,0
$GC,381,-0.89,-243.3,114.9,-32.6,62,389,0.00,2.15,0.00,0.000,4,0.000,0.054,2983,223,3773,0,0,0,0,0,0
$GC,462,-0.86,-243.3,140.7,-30.7,76,472,0.08,1.98,0.00,0.000,6,0.148,0.037,2999,1527,3774,0,0,0,0,0,0
$GC,632,-0.84,-243.3,184.7,-25.3,94,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1530,3775,0,0,0,0,0,0
$GC,794,-0.82,-243.3,222.3,-22.7,109,798,0.00,2.15,0.00,0.000,4,0.000,0.044,2990,2963,3776,0,0,0,0,0,0
$GC,825,-0.81,-243.3,229.9,-20.9,111,834,0.08,2.12,0.00,0.000,6,0.119,0.048,3020,1597,3776,0,0,0,0,0,0
$GC,993,-0.80,-243.3,261.4,-18.0,127,997,0.00,2.20,0.00,0.000,4,0.000,0.055,3020,165,3776,0,0,0,0,0,0
$GC,1044,-0.79,-243.3,271.5,-19.6,131,1048,0.00,2.05,0.00,0.000,6,0.000,0.038,3011,1548,3776,0,0,0,0,0,0
$GC,1210,-0.78,-243.3,301.6,-17.4,146,1214,0.08,2.12,0.00,0.000,4,0.203,0.047,3021,2956,3776,0,0,0,0,0,0
$GC,1244,-0.77,-243.3,307.2,-16.4,149,1248,0.00,2.15,0.00,0.000,6,0.000,0.051,3021,1551,3776,0,0,0,0,0,0
$GC,1410,-0.77,-243.3,334.4,-16.5,164,1414,0.00,2.12,0.00,0.000,4,0.000,0.055,3021,163,3776,0,0,0,0,0,0
$GC,1495,-0.76,-243.3,349.6,-16.4,171,1499,0.08,2.05,0.00,0.000,6,0.184,0.039,3034,1545,3776,0,0,0,0,0,0
$GC,1660,-0.76,-243.3,374.9,-14.9,186,1664,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,2956,3775,0,0,0,0,0,0
$GC,1679,-0.76,-243.3,377.4,-14.0,187,1683,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,1536,3775,0,0,0,0,0,0
$GC,1844,-0.76,-243.3,402.9,-15.8,202,1848,0.00,2.08,0.00,0.000,4,0.000,0.056,3025,166,3774,0,0,0,0,0,0
$GC,1929,-0.76,-243.3,415.9,-14.9,209,1934,0.08,2.05,0.00,0.000,6,0.179,0.039,3041,1534,3774,0,0,0,0,0,0
$GC,2096,-0.76,-243.3,437.1,-12.1,224,2100,0.00,2.15,0.00,0.000,4,0.000,0.049,3033,2956,3774,0,0,0,0,0,0
$GC,2133,-0.77,-243.3,441.8,-10.8,227,2140,0.00,2.20,0.00,0.000,6,0.000,0.048,3033,1533,3773,0,0,0,0,0,0
$GC,2300,-0.77,-243.3,461.5,-12.5,243,2304,0.00,2.10,0.00,0.000,4,0.000,0.057,3033,166,3772,0,0,0,0,0,0
$GC,2341,-0.77,-243.3,466.8,-12.9,246,2344,0.00,2.03,0.00,0.000,6,0.000,0.039,3024,1521,3772,0,0,0,0,0,0
$GC,2511,-0.77,-243.3,488.3,-12.4,262,2515,0.00,2.17,0.00,0.000,4,0.000,0.050,3016,2955,3772,0,0,0,0,0,0
$GC,2547,-0.78,-243.3,492.2,-11.4,265,2551,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,1527,3772,0,0,0,0,0,0
$STATE,2617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2617,begin apogee
$GC,2621,-0.17,0.0,500.6,12.3,271,2812,0.57,0.00,185.02,0.838,4,0.103,0.000,3228,1717,2775,0,0,0,0,0,0
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2814,0.94,243.3,505.7,0.0,287,3015,0.95,2.22,192.48,0.819,4,0.048,0.052,3594,3097,1784,0,0,0,0,0,0
$GC,3157,0.91,243.3,418.3,31.9,317,3161,0.12,2.20,0.00,0.000,6,0.188,0.047,3572,1695,1778,0,0,0,0,0,0
$GC,3329,0.88,243.3,361.5,32.4,333,3333,0.00,2.20,0.00,0.000,4,0.000,0.052,3582,288,1775,0,0,0,0,0,0
$GC,3471,0.85,243.3,314.7,30.2,345,3479,0.08,2.15,0.00,0.000,6,0.147,0.031,3556,1716,1772,0,0,0,0,0,0
$GC,3639,0.83,243.3,264.6,31.4,361,3643,0.00,2.10,0.00,0.000,4,0.000,0.040,3555,3110,1771,0,0,0,0,0,0
$GC,3682,0.80,243.3,251.0,27.9,364,3693,0.08,2.15,0.00,0.000,6,0.149,0.046,3539,1733,1771,0,0,0,0,0,0
$GC,3849,0.78,243.3,207.2,27.0,380,3853,0.00,2.05,0.00,0.000,4,0.000,0.039,3538,3106,1770,0,0,0,0,0,0
$GC,3864,0.76,243.3,202.5,27.7,381,3872,0.08,2.10,0.00,0.000,6,0.148,0.041,3522,1743,1770,0,0,0,0,0,0
$GC,4032,0.74,243.3,163.4,23.7,397,4036,0.00,2.05,0.00,0.000,4,0.000,0.038,3522,3109,1770,0,0,0,0,0,0
$GC,4133,0.73,243.3,140.4,21.3,410,4141,0.05,2.10,0.00,0.000,6,0.154,0.047,3511,1758,1770,0,0,0,0,0,0
$GC,4308,0.72,243.3,107.2,19.3,441,4315,0.00,2.25,0.00,0.000,4,0.000,0.053,3521,294,1769,0,0,0,0,0,0
$GC,4400,0.71,243.3,91.7,15.8,457,4407,0.08,2.12,0.00,0.000,6,0.174,0.031,3500,1752,1767,0,0,0,0,0,0
$GC,4572,0.78,302.6,66.6,12.7,488,4627,0.10,2.38,43.85,0.549,4,0.098,0.054,3584,288,1540,0,0,0,0,0,0
$GC,4650,0.76,302.6,51.6,23.1,500,4659,0.17,2.20,0.00,0.000,6,0.115,0.031,3521,1741,1537,0,0,0,0,0,0
$GC,4828,0.87,388.9,31.2,11.5,531,4902,0.12,2.35,64.60,0.519,4,0.077,0.055,3617,304,1189,0,0,0,0,0,0
$GC,4957,0.86,388.9,3.5,21.9,552,4967,0.17,2.17,0.00,0.000,6,0.123,0.033,3556,1727,1185,0,0,0,0,0,0
$STATE,4971,end climb,SURFACE_DEPTH_REACHED
$STATE,4972,begin surface coast
$FINISH,0.6,1.022248
$STATE,4984,end surface coast,CONTROL_FINISHED_OK
$STATE,4984,begin surface
$SM_CCo,5059,0.00,0.000,0,0,1180,391.74
$SM_GC,1.50,8.43,0.00,0.00,0.019,0.000,0.000,103,1536,1180,-9.78,-0.37,391.74
$IRIDIUM_FIX,2415.74,12703.08,240910,151511
$TT8_MAMPS,0.026964
$HUMID,46.73
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.5,6.703
$10V_AH,10.5,6.064
$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,21.425,82.025,485.950,0.000,0.000,28.691,35.391,95.639,0.500,0.000,15.149,1372.963,1847.436,495.003,1525.251,73.541,0.000,1153.745,0.000,1353.238,0.000,0.540,0.000
$DEVICE_MAMPS,202.725,62.730,838.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.389,0.000,705.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33682,556
$CAP_FILE_SIZE,87528,0
$CFSIZE,260165632,250793984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.213,165.4,1
$GPS,240910,185307,2426.080,12705.244,22,1.9,22,-3.7