version: 66.08
glider: 168
mission: 2
dive: 84
start: 9 28 110 0 42 47
data:
$ID,168
$MISSION,2
$DIVE,84
$N_DIVES,95
$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,-3273.6333
$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,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
$GPS1,280910,003837,2424.146,12705.125,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.4
$GPS2,280910,004220,2424.102,12705.147,10,1.6,10,-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,359.5,10926,-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,15,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-84.00,0.000,2,0.000,0.000,104,1532,3139,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.2,-4.0,13,132,10.15,2.17,-11.38,0.000,4,0.192,0.055,3011,2951,3825,0,0,0,0,0,0
$GC,183,-0.67,-185.1,37.9,-33.8,26,191,0.05,2.20,0.00,0.000,6,0.127,0.050,3031,1566,3827,0,0,0,0,0,0
$GC,524,-0.63,-185.1,140.7,-28.0,87,531,0.08,2.17,0.00,0.000,4,0.204,0.053,3051,152,3829,0,0,0,0,0,0
$GC,550,-0.59,-185.1,147.9,-26.7,91,557,0.08,2.08,0.00,0.000,6,0.183,0.039,3063,1541,3829,0,0,0,0,0,0
$GC,883,-0.59,-185.1,214.3,-17.3,123,887,0.00,2.12,0.00,0.000,4,0.000,0.052,3063,157,3830,0,0,0,0,0,0
$GC,939,-0.62,-185.1,223.1,-14.2,127,946,0.00,2.08,0.00,0.000,6,0.000,0.039,3055,1551,3830,0,0,0,0,0,0
$GC,1264,-0.63,-185.1,277.5,-16.7,158,1268,0.00,2.15,0.00,0.000,4,0.000,0.054,3055,155,3829,0,0,0,0,0,0
$GC,1309,-0.65,-185.1,285.0,-16.6,161,1316,0.00,2.05,0.00,0.000,6,0.000,0.040,3047,1535,3830,0,0,0,0,0,0
$GC,1634,-0.67,-185.1,338.8,-16.2,192,1638,0.00,2.17,0.00,0.000,4,0.000,0.048,3037,2964,3829,0,0,0,0,0,0
$GC,1666,-0.70,-185.1,343.9,-14.7,194,1675,0.00,2.22,0.00,0.000,6,0.000,0.047,3037,1529,3829,0,0,0,0,0,0
$GC,1994,-0.72,-185.1,393.6,-15.2,225,1998,0.00,2.17,0.00,0.000,4,0.000,0.048,3033,2954,3828,0,0,0,0,0,0
$GC,2033,-0.77,-185.1,399.0,-12.0,228,2038,0.10,2.17,0.00,0.000,6,0.092,0.047,2941,1534,3828,0,0,0,0,0,0
$GC,2365,-0.71,-185.1,477.5,-22.5,259,2367,0.28,0.00,0.00,0.000,6,0.141,0.000,3026,1533,3827,0,0,0,0,0,0
$STATE,2520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2520,begin apogee
$GC,2524,-0.18,0.0,500.2,12.6,274,2675,0.45,0.00,139.85,0.847,4,0.100,0.000,3194,1701,3067,0,0,0,0,0,0
$STATE,2676,end apogee,CONTROL_FINISHED_OK
$STATE,2676,begin climb
$GC,2677,0.72,185.1,505.6,0.0,287,2831,0.80,2.28,145.90,0.838,4,0.051,0.049,3501,3105,2312,0,0,0,0,0,0
$GC,2989,0.67,185.1,462.2,18.7,314,2999,0.12,2.22,0.00,0.000,6,0.141,0.044,3470,1699,2305,0,0,0,0,0,0
$GC,3315,0.63,185.1,408.1,15.3,345,3319,0.00,2.12,0.00,0.000,4,0.000,0.041,3470,3112,2300,0,0,0,0,0,0
$GC,3566,0.62,197.9,368.3,14.5,367,3587,0.08,2.20,9.40,0.683,6,0.145,0.045,3453,1701,2260,0,0,0,0,0,0
$GC,3903,0.65,229.6,323.5,13.4,399,3939,0.00,2.20,25.65,0.735,4,0.000,0.041,3453,3105,2132,0,0,0,0,0,0
$GC,4074,0.65,229.6,297.8,16.2,414,4083,0.00,2.20,0.00,0.000,6,0.000,0.046,3462,1713,2128,0,0,0,0,0,0
$GC,4402,0.66,243.8,249.0,14.4,445,4419,0.00,2.22,12.07,0.653,4,0.000,0.054,3473,285,2073,0,0,0,0,0,0
$GC,4520,0.68,261.6,231.0,14.2,455,4544,0.00,2.12,15.27,0.653,6,0.000,0.033,3473,1710,2000,0,0,0,0,0,0
$GC,4861,0.73,300.5,181.6,13.0,487,4898,0.00,2.33,30.98,0.642,4,0.000,0.056,3483,286,1841,0,0,0,0,0,0
$GC,4965,0.75,312.8,166.9,14.5,496,4981,0.00,2.10,10.77,0.579,6,0.000,0.032,3483,1694,1791,0,0,0,0,0,0
$GC,5302,0.76,312.8,113.4,15.6,548,5310,0.00,2.15,0.00,0.000,4,0.000,0.041,3482,3100,1786,0,0,0,0,0,0
$GC,5370,0.82,335.8,103.5,13.9,560,5398,0.05,2.20,18.42,0.568,6,0.058,0.047,3563,1698,1697,0,0,0,0,0,0
$GC,5719,0.84,362.3,43.1,13.7,624,5747,0.15,2.17,21.05,0.529,4,0.153,0.040,3516,3112,1588,0,0,0,0,0,0
$GC,5776,0.98,442.2,36.5,10.8,633,5846,0.15,2.17,60.62,0.535,6,0.068,0.044,3617,1695,1264,0,0,0,0,0,0
$STATE,5927,end climb,SURFACE_DEPTH_REACHED
$STATE,5927,begin surface coast
$FINISH,0.6,1.002243
$STATE,5938,end surface coast,CONTROL_FINISHED_OK
$STATE,5938,begin surface
$SM_CCo,5953,85.82,0.463,1,0,621,600.00
$SM_GC,1.40,0.00,0.00,85.82,0.000,0.000,0.463,104,1541,621,-9.84,-0.25,600.00
$IRIDIUM_FIX,2413.38,12708.29,270910,222243
$TT8_MAMPS,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,12.121
$10V_AH,10.5,9.374
$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,21.150,56.950,490.000,85.825,0.000,25.323,15.416,95.964,0.250,0.000,13.320,1578.423,2288.337,596.326,1733.430,87.895,0.000,1303.293,0.000,1580.311,0.000,0.539,0.000
$DEVICE_MAMPS,204.255,68.085,846.855,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.031,0.000,837.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,40342,660
$CAP_FILE_SIZE,82360,0
$CFSIZE,260165632,248680448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.242,167.4,1
$GPS,280910,022436,2424.118,12705.181,13,1.2,29,-3.7