version: 66.08
glider: 168
mission: 2
dive: 71
start: 9 27 110 0 42 10
data:
$ID,168
$MISSION,2
$DIVE,71
$N_DIVES,80
$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,-8
$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,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,-3256.1841
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,270910,003744,2423.838,12704.897,10,1.6,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.5
$GPS2,270910,004144,2423.771,12704.928,11,1.6,11,-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,3.0,11537,-22.1,-15.152
$D_GRID,4924
$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,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.12,0.000,2,0.000,0.000,104,1541,3112,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.1,-4.2,13,131,10.20,2.22,-11.85,0.000,4,0.195,0.055,3007,2961,3826,0,0,0,0,0,0
$GC,182,-0.67,-185.1,37.2,-33.3,26,190,0.08,2.22,0.00,0.000,6,0.122,0.048,3034,1555,3828,0,0,0,0,0,0
$GC,522,-0.62,-185.1,140.0,-28.3,87,530,0.08,2.17,0.00,0.000,4,0.210,0.054,3054,159,3829,0,0,0,0,0,0
$GC,573,-0.61,-185.1,154.2,-23.2,94,582,0.00,2.10,0.00,0.000,6,0.000,0.039,3045,1537,3830,0,0,0,0,0,0
$GC,900,-0.61,-185.1,219.1,-16.7,125,904,0.00,2.12,0.00,0.000,4,0.000,0.054,3045,161,3831,0,0,0,0,0,0
$GC,962,-0.63,-185.1,229.4,-15.1,130,966,0.00,2.08,0.00,0.000,6,0.000,0.040,3036,1552,3831,0,0,0,0,0,0
$GC,1286,-0.63,-185.1,286.1,-17.1,160,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1555,3831,0,0,0,0,0,0
$GC,1605,-0.63,-185.1,342.3,-15.7,190,1610,0.05,2.15,0.00,0.000,4,0.244,0.049,3039,2959,3831,0,0,0,0,0,0
$GC,1642,-0.67,-185.1,347.6,-13.1,193,1649,0.00,2.17,0.00,0.000,6,0.000,0.047,3039,1534,3831,0,0,0,0,0,0
$GC,1968,-0.68,-185.1,393.6,-13.3,224,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1534,3829,0,0,0,0,0,0
$GC,2287,-0.71,-185.1,434.9,-12.5,254,2291,0.00,2.10,0.00,0.000,4,0.000,0.059,3039,168,3828,0,0,0,0,0,0
$GC,2314,-0.74,-185.1,438.4,-12.5,256,2323,0.05,2.10,0.00,0.000,6,0.061,0.042,2954,1540,3828,0,0,0,0,0,0
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2608,-0.18,0.0,500.1,21.1,284,2760,0.68,0.00,140.20,0.851,4,0.118,0.000,3190,1708,3068,0,0,0,0,0,0
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin climb
$GC,2763,0.72,185.1,506.7,0.0,297,2917,0.80,2.25,145.95,0.830,4,0.057,0.049,3492,3100,2313,0,0,0,0,0,0
$GC,3139,0.67,185.1,456.9,17.8,330,3144,0.12,2.20,0.00,0.000,6,0.170,0.044,3468,1692,2306,0,0,0,0,0,0
$GC,3463,0.64,185.1,400.7,18.0,360,3467,0.00,2.17,0.00,0.000,4,0.000,0.055,3479,290,2301,0,0,0,0,0,0
$GC,3647,0.61,185.1,368.8,17.8,376,3652,0.12,2.10,0.00,0.000,6,0.143,0.034,3441,1707,2297,0,0,0,0,0,0
$GC,3972,0.67,245.8,325.1,11.8,406,4024,0.10,2.17,46.45,0.744,4,0.097,0.040,3508,3112,2064,0,0,0,0,0,0
$GC,4159,0.64,245.8,291.1,19.8,422,4164,0.20,2.17,0.00,0.000,6,0.148,0.045,3458,1705,2060,0,0,0,0,0,0
$GC,4483,0.64,245.8,236.5,16.5,452,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1705,2054,0,0,0,0,0,0
$GC,4803,0.69,294.0,188.0,12.5,482,4845,0.05,2.25,36.90,0.656,4,0.173,0.054,3521,286,1867,0,0,0,0,0,0
$GC,4968,0.67,294.0,159.2,17.6,496,4972,0.17,2.12,0.00,0.000,6,0.137,0.032,3466,1705,1862,0,0,0,0,0,0
$GC,5304,0.77,360.4,116.7,11.5,551,5365,0.10,2.17,50.67,0.603,4,0.099,0.038,3551,3094,1596,0,0,0,0,0,0
$GC,5399,0.75,360.4,98.1,22.1,566,5408,0.20,2.20,0.00,0.000,6,0.120,0.047,3491,1714,1594,0,0,0,0,0,0
$GC,5743,0.96,487.9,57.9,8.2,627,5844,0.20,2.38,94.30,0.543,4,0.059,0.056,3627,282,1078,0,0,0,0,0,0
$GC,5941,0.92,487.9,11.4,27.5,659,5948,0.28,2.10,0.00,0.000,6,0.137,0.031,3541,1692,1073,0,0,0,0,0,0
$STATE,5977,end climb,SURFACE_DEPTH_REACHED
$STATE,5977,begin surface coast
$FINISH,0.6,1.009776
$STATE,5989,end surface coast,CONTROL_FINISHED_OK
$STATE,5990,begin surface
$SM_CCo,6005,63.20,0.432,1,0,621,600.00
$SM_GC,1.41,0.00,0.00,63.20,0.000,0.000,0.432,103,1529,621,-9.84,-0.59,600.00
$IRIDIUM_FIX,2413.38,12641.31,260910,222212
$TT8_MAMPS,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,10.563
$10V_AH,10.5,8.386
$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,21.850,48.200,514.475,63.200,0.000,30.642,16.592,104.905,0.250,0.000,14.455,1578.514,2355.102,562.821,1749.463,82.223,0.000,1262.699,0.000,1576.827,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,65.790,851.445,432.225,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.980,0.000,847.395,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,40203,667
$CAP_FILE_SIZE,79118,0
$CFSIZE,260165632,249278464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.215,173.7,1
$GPS,270910,022437,2423.834,12705.029,39,1.0,39,-3.7