version: 66.08
glider: 168
mission: 2
dive: 75
start: 9 27 110 8 4 22
data:
$ID,168
$MISSION,2
$DIVE,75
$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,-3261.5762
$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,32
$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
$GPS1,270910,080004,2424.813,12705.062,10,2.5,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.3
$GPS2,270910,080355,2424.766,12705.044,10,1.3,15,-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,353.9,9693,-22.1,-15.152
$D_GRID,4517
$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,-0.72,-185.1,0.0,0.0,0,93,0.00,0.00,-76.75,0.000,2,0.000,0.000,104,1544,2932,0,0,0,0,0,0
$GC,95,-0.72,-185.1,3.2,-5.7,12,131,10.10,2.20,-15.88,0.000,4,0.190,0.057,3008,2952,3826,0,0,0,0,0,0
$GC,193,-0.69,-185.1,39.3,-32.6,28,202,0.05,2.20,0.00,0.000,6,0.135,0.047,3028,1557,3827,0,0,0,0,0,0
$GC,535,-0.65,-185.1,138.6,-24.0,89,543,0.05,2.17,0.00,0.000,4,0.244,0.054,3041,155,3829,0,0,0,0,0,0
$GC,595,-0.64,-185.1,151.3,-20.4,99,600,0.08,2.08,0.00,0.000,6,0.182,0.040,3052,1539,3830,0,0,0,0,0,0
$GC,920,-0.64,-185.1,207.4,-17.2,129,924,0.00,2.15,0.00,0.000,4,0.000,0.046,3043,2960,3830,0,0,0,0,0,0
$GC,982,-0.67,-185.1,217.0,-13.8,134,986,0.00,2.15,0.00,0.000,6,0.000,0.046,3042,1546,3830,0,0,0,0,0,0
$GC,1306,-0.67,-185.1,276.1,-19.0,164,1310,0.00,2.15,0.00,0.000,4,0.000,0.047,3035,2964,3830,0,0,0,0,0,0
$GC,1350,-0.70,-185.1,283.8,-16.0,168,1354,0.00,2.15,0.00,0.000,6,0.000,0.047,3035,1551,3830,0,0,0,0,0,0
$GC,1674,-0.70,-185.1,343.5,-18.1,198,1678,0.00,2.12,0.00,0.000,4,0.000,0.055,3035,166,3830,0,0,0,0,0,0
$GC,1791,-0.72,-185.1,362.9,-15.8,208,1799,0.00,2.10,0.00,0.000,6,0.000,0.041,3025,1541,3829,0,0,0,0,0,0
$GC,2118,-0.73,-185.1,411.8,-14.2,239,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1544,3828,0,0,0,0,0,0
$GC,2436,-0.74,-185.1,451.6,-12.9,269,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1544,3827,0,0,0,0,0,0
$GC,2755,-0.77,-185.1,495.1,-13.7,299,2760,0.08,2.15,0.00,0.000,4,0.126,0.057,2941,168,3826,0,0,0,0,0,0
$STATE,2783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2783,begin apogee
$GC,2789,-0.18,0.0,500.8,20.2,301,2939,0.75,0.00,140.00,0.858,4,0.119,0.000,3192,1703,3067,0,0,0,0,0,0
$STATE,2940,end apogee,CONTROL_FINISHED_OK
$STATE,2940,begin climb
$GC,2942,0.72,185.1,509.5,0.0,314,3098,0.80,2.28,146.00,0.837,4,0.057,0.049,3493,3111,2312,0,0,0,0,0,0
$GC,3346,0.67,185.1,450.4,19.2,349,3354,0.10,2.22,0.00,0.000,6,0.139,0.044,3469,1698,2305,0,0,0,0,0,0
$GC,3672,0.64,185.1,394.9,15.8,380,3676,0.00,2.20,0.00,0.000,4,0.000,0.055,3479,290,2301,0,0,0,0,0,0
$GC,3867,0.60,185.1,365.1,16.1,397,3872,0.12,2.12,0.00,0.000,6,0.145,0.034,3442,1711,2296,0,0,0,0,0,0
$GC,4194,0.66,240.8,324.3,12.1,427,4241,0.08,0.00,42.45,0.748,6,0.122,0.000,3501,1714,2085,0,0,0,0,0,0
$GC,4557,0.63,240.8,254.5,20.2,461,4562,0.17,2.10,0.00,0.000,4,0.141,0.041,3446,3109,2078,0,0,0,0,0,0
$GC,4596,0.63,240.8,247.1,16.9,464,4599,0.00,2.15,0.00,0.000,6,0.000,0.045,3455,1709,2078,0,0,0,0,0,0
$GC,4928,0.63,244.3,195.6,15.0,495,4932,0.00,2.12,0.00,0.000,4,0.000,0.041,3456,3113,2075,0,0,0,0,0,0
$GC,5025,0.66,263.7,181.7,14.1,503,5049,0.00,2.15,17.80,0.635,6,0.000,0.045,3464,1702,1990,0,0,0,0,0,0
$GC,5369,0.71,295.2,131.9,13.4,546,5406,0.05,2.20,25.27,0.612,4,0.176,0.041,3519,3109,1863,0,0,0,0,0,0
$GC,5464,0.70,295.2,114.6,18.9,561,5472,0.17,2.17,0.00,0.000,6,0.147,0.046,3475,1716,1861,0,0,0,0,0,0
$GC,5802,0.86,405.9,73.3,9.1,622,5892,0.15,2.35,83.88,0.569,4,0.072,0.056,3591,293,1412,0,0,0,0,0,0
$GC,5994,0.85,405.9,37.6,18.2,653,6001,0.22,2.15,0.00,0.000,6,0.122,0.032,3517,1711,1405,0,0,0,0,0,0
$STATE,6259,end climb,SURFACE_DEPTH_REACHED
$STATE,6259,begin surface coast
$FINISH,0.6,1.021817
$STATE,6283,end surface coast,CONTROL_FINISHED_OK
$STATE,6283,begin surface
$SM_CCo,6298,101.07,0.462,1,0,622,600.00
$SM_GC,1.41,0.00,0.00,101.07,0.000,0.000,0.462,104,1538,622,-9.84,-0.34,600.00
$IRIDIUM_FIX,2413.38,12703.55,270910,060644
$TT8_MAMPS,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,11.032
$10V_AH,10.5,8.693
$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,21.225,52.475,455.400,101.075,0.000,24.092,14.008,99.879,0.250,0.000,17.779,1691.370,2494.927,563.760,1815.668,85.497,0.000,1275.272,0.000,1658.158,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,66.555,857.565,462.060,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.139,0.000,895.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43747,705
$CAP_FILE_SIZE,81456,0
$CFSIZE,260165632,249094144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,161.2,1
$GPS,270910,095206,2424.945,12705.124,8,1.3,24,-3.7