version: 66.08
glider: 168
mission: 2
dive: 76
start: 9 27 110 9 56 17
data:
$ID,168
$MISSION,2
$DIVE,76
$N_DIVES,90
$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,-3262.9255
$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,34
$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,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
$GPS1,270910,095206,2424.945,12705.124,8,1.3,24,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.5
$GPS2,270910,095550,2424.900,12705.156,10,1.1,10,-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,351.7,9449,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-83.90,0.000,2,0.000,0.000,103,1539,3183,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.7,-6.6,13,132,10.10,2.17,-10.32,0.000,4,0.190,0.054,3007,2962,3824,0,0,0,0,0,0
$GC,183,-0.68,-185.1,38.8,-31.1,26,191,0.08,2.22,0.00,0.000,6,0.126,0.050,3034,1561,3826,0,0,0,0,0,0
$GC,524,-0.65,-185.1,131.1,-23.8,87,530,0.00,2.17,0.00,0.000,4,0.000,0.054,3034,157,3828,0,0,0,0,0,0
$GC,605,-0.65,-185.1,150.2,-19.8,101,610,0.08,2.08,0.00,0.000,6,0.182,0.041,3046,1547,3829,0,0,0,0,0,0
$GC,931,-0.65,-185.1,215.7,-19.9,131,935,0.00,2.15,0.00,0.000,4,0.000,0.048,3037,2959,3829,0,0,0,0,0,0
$GC,1006,-0.68,-185.1,228.4,-15.0,137,1010,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,1546,3829,0,0,0,0,0,0
$GC,1333,-0.68,-185.1,291.5,-17.7,167,1337,0.00,2.15,0.00,0.000,4,0.000,0.047,3028,2966,3829,0,0,0,0,0,0
$GC,1363,-0.69,-185.1,296.6,-16.8,169,1367,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,1551,3829,0,0,0,0,0,0
$GC,1689,-0.69,-185.1,352.0,-16.6,199,1693,0.00,2.12,0.00,0.000,4,0.000,0.055,3028,164,3828,0,0,0,0,0,0
$GC,1818,-0.71,-185.1,371.2,-14.1,210,1822,0.00,2.05,0.00,0.000,6,0.000,0.040,3018,1544,3828,0,0,0,0,0,0
$GC,2143,-0.71,-185.1,419.2,-14.4,240,2147,0.00,2.12,0.00,0.000,4,0.000,0.047,3009,2958,3826,0,0,0,0,0,0
$GC,2162,-0.72,-185.1,421.6,-14.3,241,2166,0.00,2.17,0.00,0.000,6,0.000,0.047,3009,1541,3826,0,0,0,0,0,0
$GC,2488,-0.72,-185.1,472.9,-15.6,271,2492,0.00,2.12,0.00,0.000,4,0.000,0.057,3009,164,3825,0,0,0,0,0,0
$GC,2571,-0.73,-185.1,486.3,-16.1,278,2576,0.05,2.08,0.00,0.000,6,0.224,0.041,3016,1548,3824,0,0,0,0,0,0
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2671,-0.18,0.0,500.3,14.4,287,2816,0.47,0.00,139.90,0.855,4,0.100,0.000,3193,1710,3067,0,0,0,0,0,0
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin climb
$GC,2818,0.72,185.1,506.8,0.0,299,2973,0.80,2.25,145.88,0.835,4,0.052,0.050,3498,3108,2313,0,0,0,0,0,0
$GC,3209,0.67,185.1,453.0,19.6,333,3214,0.15,2.20,0.00,0.000,6,0.168,0.044,3467,1691,2305,0,0,0,0,0,0
$GC,3539,0.63,185.1,400.6,15.7,364,3543,0.00,2.15,0.00,0.000,4,0.000,0.054,3478,293,2300,0,0,0,0,0,0
$GC,3795,0.60,185.1,358.0,16.6,386,3803,0.08,2.12,0.00,0.000,6,0.119,0.034,3448,1694,2295,0,0,0,0,0,0
$GC,4122,0.66,240.8,314.5,12.1,417,4170,0.00,0.00,42.33,0.737,6,0.000,0.000,3449,1696,2084,0,0,0,0,0,0
$GC,4488,0.67,255.8,260.9,14.3,452,4506,0.08,2.20,12.10,0.655,4,0.128,0.056,3517,293,2024,0,0,0,0,0,0
$GC,4512,0.65,255.8,257.0,16.6,454,4517,0.20,2.10,0.00,0.000,6,0.137,0.031,3455,1694,2023,0,0,0,0,0,0
$GC,4837,0.66,259.7,205.5,14.9,484,4851,0.00,2.17,3.95,0.440,4,0.000,0.042,3456,3099,2009,0,0,0,0,0,0
$GC,4965,0.70,285.6,187.3,13.7,495,4994,0.00,2.15,22.15,0.642,6,0.000,0.045,3464,1692,1902,0,0,0,0,0,0
$GC,5319,0.79,348.2,139.5,11.7,535,5374,0.12,2.25,48.88,0.623,4,0.081,0.037,3552,3112,1646,0,0,0,0,0,0
$GC,5446,0.77,348.2,111.4,22.7,556,5455,0.17,2.25,0.00,0.000,6,0.122,0.050,3501,1709,1643,0,0,0,0,0,0
$GC,5789,0.79,348.2,59.8,15.7,617,5796,0.00,2.22,0.00,0.000,4,0.000,0.057,3510,288,1639,0,0,0,0,0,0
$GC,5936,0.98,460.3,42.9,9.0,643,6031,0.15,2.08,83.03,0.545,6,0.068,0.034,3610,1691,1188,0,0,0,0,0,0
$STATE,6121,end climb,SURFACE_DEPTH_REACHED
$STATE,6121,begin surface coast
$FINISH,0.7,1.011331
$STATE,6133,end surface coast,CONTROL_FINISHED_OK
$STATE,6133,begin surface
$SM_CCo,6149,77.00,0.451,1,0,621,600.00
$SM_GC,1.42,0.00,0.00,77.00,0.000,0.000,0.451,104,1531,621,-9.84,-0.54,600.00
$IRIDIUM_FIX,2415.74,12704.97,270910,080809
$TT8_MAMPS,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.5,11.154
$10V_AH,10.4,8.767
$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,21.150,56.525,498.200,77.000,0.000,25.555,13.463,96.724,0.500,0.000,13.547,1617.379,2432.665,573.275,1765.006,83.102,0.000,1285.505,0.000,1611.721,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,62.730,854.505,451.350,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.215,0.000,857.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,43653,675
$CAP_FILE_SIZE,82181,0
$CFSIZE,260165632,249040896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.277,166.2,1
$GPS,270910,114056,2424.646,12705.162,12,1.8,12,-3.7