version: 66.08
glider: 168
mission: 2
dive: 81
start: 9 27 110 19 6 53
data:
$ID,168
$MISSION,2
$DIVE,81
$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,-3269.678
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,270910,190222,2423.960,12705.176,6,2.7,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.5
$GPS2,270910,190626,2423.915,12705.164,10,1.3,10,-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,1.2,11273,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.55,0.000,2,0.000,0.000,104,1536,3134,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-4.8,13,131,10.15,2.17,-11.30,0.000,4,0.193,0.052,3006,2964,3825,0,0,0,0,0,0
$GC,223,-0.69,-185.1,50.2,-27.3,33,230,0.10,2.20,0.00,0.000,6,0.155,0.050,3034,1562,3827,0,0,0,0,0,0
$GC,560,-0.66,-185.1,142.1,-25.7,94,568,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1562,3829,0,0,0,0,0,0
$GC,890,-0.64,-185.1,223.0,-23.1,127,894,0.00,2.15,0.00,0.000,4,0.000,0.054,3034,154,3830,0,0,0,0,0,0
$GC,933,-0.63,-185.1,232.8,-20.2,130,943,0.05,2.12,0.00,0.000,6,0.128,0.041,3047,1540,3830,0,0,0,0,0,0
$GC,1262,-0.63,-185.1,287.7,-14.7,161,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1542,3829,0,0,0,0,0,0
$GC,1588,-0.64,-185.1,334.6,-14.7,192,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1542,3830,0,0,0,0,0,0
$GC,1906,-0.67,-185.1,380.6,-14.5,222,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1542,3829,0,0,0,0,0,0
$GC,2225,-0.70,-185.1,425.1,-13.5,252,2229,0.08,2.17,0.00,0.000,4,0.124,0.050,2950,2964,3827,0,0,0,0,0,0
$GC,2268,-0.69,-185.1,433.5,-20.7,255,2276,0.25,2.15,0.00,0.000,6,0.121,0.048,3032,1549,3827,0,0,0,0,0,0
$GC,2593,-0.72,-185.1,479.5,-13.1,286,2597,0.00,2.12,0.00,0.000,4,0.000,0.057,3032,158,3825,0,0,0,0,0,0
$GC,2622,-0.74,-185.1,483.2,-13.3,288,2626,0.00,2.12,0.00,0.000,6,0.000,0.041,3024,1563,3825,0,0,0,0,0,0
$STATE,2753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2753,begin apogee
$GC,2758,-0.18,0.0,500.2,12.6,300,2903,0.47,0.00,140.05,0.855,4,0.101,0.000,3201,1713,3068,0,0,0,0,0,0
$STATE,2904,end apogee,CONTROL_FINISHED_OK
$STATE,2904,begin climb
$GC,2905,0.72,185.1,506.0,0.0,312,3062,0.77,2.22,146.12,0.839,4,0.044,0.047,3509,3098,2312,0,0,0,0,0,0
$GC,3222,0.66,185.1,464.1,20.2,339,3230,0.17,2.20,0.00,0.000,6,0.145,0.044,3463,1706,2306,0,0,0,0,0,0
$GC,3548,0.64,188.9,413.9,14.9,370,3552,0.00,2.12,0.00,0.000,4,0.000,0.041,3463,3105,2301,0,0,0,0,0,0
$GC,3803,0.63,197.4,376.5,14.7,392,3817,0.05,2.22,9.15,0.689,6,0.160,0.046,3455,1686,2263,0,0,0,0,0,0
$GC,4137,0.62,197.4,325.8,15.4,423,4141,0.00,2.15,0.00,0.000,4,0.000,0.042,3455,3104,2259,0,0,0,0,0,0
$GC,4271,0.63,219.8,305.6,13.9,434,4295,0.00,2.20,18.83,0.721,6,0.000,0.045,3464,1694,2171,0,0,0,0,0,0
$GC,4613,0.64,232.0,255.2,14.5,466,4630,0.00,2.22,10.23,0.646,4,0.000,0.056,3474,298,2121,0,0,0,0,0,0
$GC,4685,0.63,232.0,243.6,15.8,472,4696,0.05,2.10,0.00,0.000,6,0.120,0.034,3452,1685,2119,0,0,0,0,0,0
$GC,5011,0.65,246.5,194.0,14.4,503,5036,0.00,2.22,12.57,0.628,4,0.000,0.042,3452,3109,2063,0,0,0,0,0,0
$GC,5052,0.67,268.0,187.6,14.0,506,5075,0.00,2.22,17.83,0.636,6,0.000,0.044,3457,1692,1976,0,0,0,0,0,0
$GC,5399,0.78,339.8,143.7,11.2,543,5467,0.12,2.28,56.25,0.623,4,0.083,0.055,3560,297,1680,0,0,0,0,0,0
$GC,5492,0.72,339.8,125.1,26.2,557,5500,0.25,2.10,0.00,0.000,6,0.127,0.032,3480,1693,1677,0,0,0,0,0,0
$GC,5831,0.79,370.6,71.1,13.5,618,5860,0.08,2.22,23.58,0.552,4,0.122,0.040,3559,3110,1556,0,0,0,0,0,0
$GC,5915,0.79,370.6,54.8,20.0,632,5925,0.17,2.25,0.00,0.000,6,0.110,0.047,3505,1694,1554,0,0,0,0,0,0
$GC,6257,0.99,498.2,18.8,8.1,693,6339,0.17,0.00,78.07,0.518,2,0.063,0.000,3622,1693,1127,0,0,0,0,0,0
$STATE,6339,end climb,SURFACE_DEPTH_REACHED
$STATE,6339,begin surface coast
$FINISH,0.5,1.020944
$STATE,6352,end surface coast,CONTROL_FINISHED_OK
$STATE,6353,begin surface
$SM_CCo,6368,70.47,0.058,0,0,622,600.00
$SM_GC,1.33,0.00,0.00,70.47,0.000,0.000,0.058,104,1534,622,-9.84,-0.45,600.00
$IRIDIUM_FIX,2418.11,12704.97,270910,171741
$TT8_MAMPS,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,11.758
$10V_AH,10.5,9.147
$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,21.650,48.400,512.675,70.475,0.000,24.132,35.137,101.074,0.250,0.000,13.128,1673.378,2536.743,579.912,1823.642,84.719,0.000,1307.288,0.000,1650.713,0.000,0.540,0.000
$DEVICE_MAMPS,192.780,71.145,855.270,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.221,0.000,898.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43715,707
$CAP_FILE_SIZE,83428,0
$CFSIZE,260165632,248815616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228,177.6,1
$GPS,270910,205524,2424.001,12705.155,37,1.4,37,-3.7