version: 66.08
glider: 168
mission: 2
dive: 77
start: 9 27 110 11 45 49
data:
$ID,168
$MISSION,2
$DIVE,77
$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,-3264.2773
$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,39
$R_STBD_OVSHOOT,42
$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
$GPS1,270910,114056,2424.646,12705.162,12,1.8,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.4
$GPS2,270910,114522,2424.565,12705.199,11,3.8,30,-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,351.9,10071,-22.1,-15.152
$D_GRID,5000
$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,-83.88,0.000,2,0.000,0.000,104,1532,3144,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-4.7,13,132,10.12,2.17,-11.23,0.000,4,0.192,0.054,3007,2956,3825,0,0,0,0,0,0
$GC,237,-0.70,-185.1,54.3,-28.6,36,247,0.05,2.22,0.00,0.000,6,0.119,0.053,3029,1563,3827,0,0,0,0,0,0
$GC,579,-0.66,-185.1,141.4,-23.1,97,585,0.00,2.17,0.00,0.000,4,0.000,0.054,3029,157,3829,0,0,0,0,0,0
$GC,640,-0.65,-185.1,156.2,-20.6,105,648,0.05,2.12,0.00,0.000,6,0.135,0.040,3041,1542,3829,0,0,0,0,0,0
$GC,965,-0.65,-185.1,219.0,-19.5,136,969,0.00,2.12,0.00,0.000,4,0.000,0.044,3032,2963,3830,0,0,0,0,0,0
$GC,1007,-0.68,-185.1,226.9,-16.5,139,1015,0.00,2.20,0.00,0.000,6,0.000,0.046,3032,1545,3830,0,0,0,0,0,0
$GC,1332,-0.68,-185.1,289.2,-19.2,170,1336,0.00,2.12,0.00,0.000,4,0.000,0.045,3022,2963,3830,0,0,0,0,0,0
$GC,1360,-0.69,-185.1,294.3,-18.8,172,1364,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,1547,3830,0,0,0,0,0,0
$GC,1684,-0.69,-185.1,353.5,-18.4,202,1688,0.00,2.12,0.00,0.000,4,0.000,0.056,3022,164,3829,0,0,0,0,0,0
$GC,1802,-0.70,-185.1,374.4,-16.5,212,1806,0.00,2.05,0.00,0.000,6,0.000,0.041,3013,1541,3829,0,0,0,0,0,0
$GC,2126,-0.70,-185.1,429.2,-16.4,242,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1543,3828,0,0,0,0,0,0
$GC,2446,-0.71,-185.1,479.8,-16.2,272,2450,0.00,2.10,0.00,0.000,4,0.000,0.057,3013,165,3826,0,0,0,0,0,0
$GC,2467,-0.72,-185.1,483.6,-16.6,273,2475,0.03,2.08,0.00,0.000,6,0.166,0.041,3019,1526,3826,0,0,0,0,0,0
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2591,begin apogee
$GC,2594,-0.18,0.0,501.3,14.5,285,2744,0.47,0.00,140.18,0.849,4,0.099,0.000,3196,1718,3067,0,0,0,0,0,0
$STATE,2745,end apogee,CONTROL_FINISHED_OK
$STATE,2745,begin climb
$GC,2747,0.72,185.1,507.9,0.0,298,2902,0.77,2.22,146.25,0.838,4,0.047,0.047,3498,3105,2312,0,0,0,0,0,0
$GC,3152,0.67,185.1,446.3,19.2,333,3160,0.12,2.20,0.00,0.000,6,0.141,0.043,3467,1705,2304,0,0,0,0,0,0
$GC,3478,0.65,190.7,393.6,14.8,364,3492,0.00,2.25,3.90,0.484,4,0.000,0.054,3477,290,2289,0,0,0,0,0,0
$GC,3718,0.63,197.8,357.8,14.8,385,3730,0.05,2.15,6.70,0.626,6,0.129,0.034,3447,1712,2261,0,0,0,0,0,0
$GC,4049,0.68,252.9,318.1,12.1,416,4101,0.08,2.30,44.62,0.736,4,0.129,0.055,3518,299,2036,0,0,0,0,0,0
$GC,4163,0.65,252.9,296.6,20.4,426,4168,0.20,2.12,0.00,0.000,6,0.134,0.034,3456,1695,2030,0,0,0,0,0,0
$GC,4487,0.65,252.9,244.2,15.9,456,4491,0.00,2.15,0.00,0.000,4,0.000,0.042,3456,3112,2027,0,0,0,0,0,0
$GC,4541,0.65,252.9,235.0,16.5,460,4551,0.00,2.20,0.00,0.000,6,0.000,0.044,3465,1704,2027,0,0,0,0,0,0
$GC,4868,0.65,256.3,183.7,15.0,491,4872,0.00,2.12,0.00,0.000,4,0.000,0.041,3465,3109,2026,0,0,0,0,0,0
$GC,4944,0.68,275.7,172.5,14.1,497,4967,0.00,2.17,17.27,0.616,6,0.000,0.046,3473,1713,1943,0,0,0,0,0,0
$GC,5294,0.72,296.2,121.9,14.0,546,5317,0.00,2.20,17.05,0.581,4,0.000,0.042,3473,3113,1860,0,0,0,0,0,0
$GC,5342,0.77,320.7,115.4,13.8,553,5371,0.08,2.15,20.62,0.580,6,0.117,0.046,3555,1710,1759,0,0,0,0,0,0
$GC,5704,0.82,375.5,52.6,12.1,617,5752,0.15,2.33,41.62,0.554,4,0.148,0.057,3512,287,1537,0,0,0,0,0,0
$GC,5805,1.01,482.6,42.2,9.3,633,5892,0.17,2.17,80.20,0.539,6,0.060,0.033,3625,1720,1099,0,0,0,0,0,0
$STATE,5968,end climb,SURFACE_DEPTH_REACHED
$STATE,5968,begin surface coast
$FINISH,0.6,1.009488
$STATE,5981,end surface coast,CONTROL_FINISHED_OK
$STATE,5981,begin surface
$SM_CCo,5996,67.10,0.442,1,0,620,600.00
$SM_GC,1.43,0.00,0.00,67.10,0.000,0.000,0.442,103,1532,620,-9.84,-0.51,600.00
$IRIDIUM_FIX,2413.38,12706.86,270910,090913
$TT8_MAMPS,0.026964
$HUMID,45.55
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,11.277
$10V_AH,10.5,8.841
$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,21.000,56.950,518.425,67.100,0.000,23.376,35.584,98.711,0.000,0.000,33.932,1569.962,2333.716,585.089,1778.601,83.560,0.000,1295.136,0.000,1583.077,0.000,0.540,0.000
$DEVICE_MAMPS,192.015,60.435,849.150,442.170,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.192,0.000,839.796,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40348,662
$CAP_FILE_SIZE,81574,0
$CFSIZE,260165632,249004032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.307,159.6,1
$GPS,270910,132806,2424.388,12705.490,33,0.9,33,-3.7