version: 66.08
glider: 168
mission: 2
dive: 39
start: 9 24 110 21 51 42
data:
$ID,168
$MISSION,2
$DIVE,39
$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,-3211.7212
$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,28
$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,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
$GPS1,240910,214701,2426.306,12705.335,6,1.2,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.2
$GPS2,240910,215115,2426.205,12705.374,14,1.4,14,-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,354.4,7056,-19.2,-15.152
$D_GRID,4219
$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,-243.3,0.0,0.0,0,79,0.00,0.00,-62.62,0.000,2,0.000,0.000,104,1542,3122,0,0,0,0,0,0
$GC,81,-0.94,-243.3,3.5,-6.0,9,109,9.98,2.12,-10.48,0.000,4,0.194,0.061,2974,157,3769,0,0,0,0,0,0
$GC,122,-0.86,-243.3,25.3,-55.1,15,130,0.12,2.10,0.00,0.000,6,0.187,0.037,2996,1553,3771,0,0,0,0,0,0
$GC,294,-0.84,-243.3,95.7,-32.9,46,302,0.00,2.17,0.00,0.000,4,0.000,0.056,2996,172,3772,0,0,0,0,0,0
$GC,327,-0.81,-243.3,106.0,-33.9,51,334,0.12,2.05,0.00,0.000,6,0.167,0.036,3020,1562,3773,0,0,0,0,0,0
$GC,500,-0.79,-243.3,149.5,-23.9,82,508,0.00,2.20,0.00,0.000,4,0.000,0.055,3021,162,3774,0,0,0,0,0,0
$GC,514,-0.77,-243.3,153.1,-24.3,84,519,0.08,2.08,0.00,0.000,6,0.186,0.036,3031,1565,3774,0,0,0,0,0,0
$GC,681,-0.76,-243.3,188.0,-20.4,99,685,0.00,2.05,0.00,0.000,4,0.000,0.041,3022,2957,3775,0,0,0,0,0,0
$GC,742,-0.76,-243.3,199.3,-15.6,104,746,0.00,2.10,0.00,0.000,6,0.000,0.044,3022,1570,3775,0,0,0,0,0,0
$GC,909,-0.75,-243.3,231.6,-19.9,119,914,0.08,2.17,0.00,0.000,4,0.197,0.057,3043,157,3775,0,0,0,0,0,0
$GC,929,-0.74,-243.3,236.1,-18.9,120,939,0.00,2.12,0.00,0.000,6,0.000,0.038,3036,1556,3775,0,0,0,0,0,0
$GC,1095,-0.73,-243.3,264.6,-17.8,136,1099,0.00,2.15,0.00,0.000,4,0.000,0.057,3035,165,3775,0,0,0,0,0,0
$GC,1146,-0.73,-243.3,274.3,-19.1,140,1150,0.08,2.10,0.00,0.000,6,0.183,0.039,3048,1564,3775,0,0,0,0,0,0
$GC,1312,-0.73,-243.3,301.4,-16.5,155,1316,0.00,2.08,0.00,0.000,4,0.000,0.042,3038,2962,3775,0,0,0,0,0,0
$GC,1352,-0.73,-243.3,307.4,-14.7,158,1356,0.00,2.12,0.00,0.000,6,0.000,0.044,3038,1559,3775,0,0,0,0,0,0
$GC,1523,-0.73,-243.3,334.2,-15.8,174,1526,0.00,2.15,0.00,0.000,4,0.000,0.058,3038,167,3775,0,0,0,0,0,0
$GC,1608,-0.73,-243.3,347.6,-15.3,181,1612,0.00,2.10,0.00,0.000,6,0.000,0.043,3033,1560,3775,0,0,0,0,0,0
$GC,1774,-0.73,-243.3,371.0,-14.2,196,1778,0.00,2.12,0.00,0.000,4,0.000,0.057,3033,169,3774,0,0,0,0,0,0
$GC,1806,-0.73,-243.3,376.1,-15.4,198,1816,0.05,2.10,0.00,0.000,6,0.135,0.041,3048,1548,3774,0,0,0,0,0,0
$GC,1973,-0.73,-243.3,396.7,-12.1,214,1977,0.00,2.15,0.00,0.000,4,0.000,0.047,3038,2964,3774,0,0,0,0,0,0
$GC,1996,-0.73,-243.3,399.4,-11.9,216,2000,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,1544,3773,0,0,0,0,0,0
$GC,2166,-0.73,-243.3,421.7,-13.5,232,2170,0.00,2.10,0.00,0.000,4,0.000,0.058,3038,167,3772,0,0,0,0,0,0
$GC,2199,-0.73,-243.3,426.4,-13.9,234,2207,0.00,2.10,0.00,0.000,6,0.000,0.041,3037,1549,3772,0,0,0,0,0,0
$GC,2365,-0.73,-243.3,447.2,-12.3,250,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1551,3772,0,0,0,0,0,0
$GC,2526,-0.73,-243.3,467.3,-12.6,265,2530,0.00,2.12,0.00,0.000,4,0.000,0.047,3029,2966,3772,0,0,0,0,0,0
$GC,2544,-0.74,-243.3,469.6,-12.2,266,2548,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,1547,3772,0,0,0,0,0,0
$GC,2711,-0.74,-243.3,490.9,-12.6,281,2715,0.00,2.15,0.00,0.000,4,0.000,0.060,3029,158,3770,0,0,0,0,0,0
$GC,2763,-0.74,-243.3,497.7,-13.1,285,2768,0.08,2.10,0.00,0.000,6,0.171,0.042,3046,1557,3770,0,0,0,0,0,0
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2788,-0.17,0.0,500.6,12.3,287,2978,0.47,0.00,184.75,0.847,4,0.099,0.000,3226,1710,2776,0,0,0,0,0,0
$STATE,2978,end apogee,CONTROL_FINISHED_OK
$STATE,2979,begin climb
$GC,2980,0.94,243.3,507.6,0.0,303,3181,0.95,2.22,192.77,0.823,4,0.046,0.044,3594,3101,1784,0,0,0,0,0,0
$GC,3287,0.91,243.3,430.9,32.5,330,3292,0.12,2.20,0.00,0.000,6,0.189,0.044,3574,1691,1779,0,0,0,0,0,0
$GC,3455,0.88,243.3,376.1,32.5,345,3459,0.00,2.17,0.00,0.000,4,0.000,0.055,3585,293,1776,0,0,0,0,0,0
$GC,3605,0.85,243.3,329.3,27.5,358,3610,0.12,2.10,0.00,0.000,6,0.159,0.037,3549,1696,1772,0,0,0,0,0,0
$GC,3772,0.83,243.3,280.8,28.8,373,3776,0.00,2.15,0.00,0.000,4,0.000,0.041,3549,3116,1771,0,0,0,0,0,0
$GC,3804,0.80,243.3,270.7,27.1,375,3812,0.08,2.20,0.00,0.000,6,0.148,0.047,3533,1719,1771,0,0,0,0,0,0
$GC,3972,0.78,243.3,226.3,28.2,391,3976,0.00,2.20,0.00,0.000,4,0.000,0.055,3544,287,1770,0,0,0,0,0,0
$GC,3992,0.75,243.3,219.3,29.0,392,4003,0.05,2.17,0.00,0.000,6,0.152,0.031,3524,1732,1770,0,0,0,0,0,0
$GC,4158,0.74,243.3,178.7,23.4,408,4162,0.00,2.08,0.00,0.000,4,0.000,0.042,3524,3109,1769,0,0,0,0,0,0
$GC,4239,0.72,243.3,160.8,21.3,415,4243,0.10,2.12,0.00,0.000,6,0.174,0.050,3506,1727,1769,0,0,0,0,0,0
$GC,4410,0.71,243.3,123.4,21.4,441,4417,0.00,2.25,0.00,0.000,4,0.000,0.058,3516,282,1769,0,0,0,0,0,0
$GC,4469,0.71,243.3,111.9,17.8,451,4476,0.00,2.12,0.00,0.000,6,0.000,0.035,3516,1718,1767,0,0,0,0,0,0
$GC,4642,0.70,243.3,82.0,15.3,482,4650,0.00,2.10,0.00,0.000,4,0.000,0.043,3516,3101,1767,0,0,0,0,0,0
$GC,4707,0.79,317.5,73.6,12.0,493,4768,0.00,2.10,55.12,0.565,6,0.000,0.047,3522,1723,1480,0,0,0,0,0,0
$GC,4934,0.89,397.5,46.8,11.8,532,5003,0.12,2.30,60.30,0.528,4,0.083,0.056,3617,293,1153,0,0,0,0,0,0
$GC,5098,0.87,397.5,7.9,25.7,559,5106,0.20,2.15,0.00,0.000,6,0.131,0.032,3554,1735,1149,0,0,0,0,0,0
$STATE,5124,end climb,SURFACE_DEPTH_REACHED
$STATE,5124,begin surface coast
$FINISH,0.6,1.019495
$STATE,5137,end surface coast,CONTROL_FINISHED_OK
$STATE,5138,begin surface
$SM_CCo,5213,0.00,0.000,0,0,1144,400.08
$SM_GC,1.50,8.43,0.00,0.00,0.021,0.000,0.000,105,1536,1144,-9.76,-0.37,400.08
$IRIDIUM_FIX,2418.11,12703.08,240910,202049
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,7.041
$10V_AH,10.5,6.251
$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,21.225,90.325,492.950,0.000,0.000,28.619,35.781,102.515,0.000,0.000,16.880,1408.369,1930.414,501.058,1567.851,73.977,0.000,1180.515,0.000,1377.387,0.000,0.539,0.000
$DEVICE_MAMPS,196.605,66.555,846.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.660,0.000,717.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,33738,565
$CAP_FILE_SIZE,92065,0
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.251,170.5,1
$GPS,240910,231919,2426.307,12705.420,6,1.8,11,-3.7