version: 66.08
glider: 168
mission: 2
dive: 90
start: 9 28 110 11 52 45
data:
$ID,168
$MISSION,2
$DIVE,90
$N_DIVES,100
$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,-3281.6304
$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,49
$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
$GPS1,280910,114808,2425.077,12704.878,9,1.3,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.1
$GPS2,280910,115219,2425.030,12704.896,13,1.2,30,-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,358.8,9207,-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,-83.65,0.000,2,0.000,0.000,104,1527,3163,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.6,-5.9,13,132,10.12,2.22,-10.70,0.000,4,0.191,0.058,3011,2962,3825,0,0,0,0,0,0
$GC,223,-0.66,-185.1,50.8,-33.2,33,231,0.10,2.15,0.00,0.000,6,0.158,0.047,3039,1566,3826,0,0,0,0,0,0
$GC,562,-0.62,-185.1,146.1,-24.8,94,570,0.00,2.17,0.00,0.000,4,0.000,0.051,3039,165,3828,0,0,0,0,0,0
$GC,654,-0.62,-185.1,166.9,-20.2,104,658,0.10,2.05,0.00,0.000,6,0.164,0.040,3060,1541,3828,0,0,0,0,0,0
$GC,978,-0.62,-185.1,224.3,-18.1,134,982,0.00,2.12,0.00,0.000,4,0.000,0.047,3051,2959,3829,0,0,0,0,0,0
$GC,1020,-0.64,-185.1,231.3,-15.2,137,1028,0.00,2.17,0.00,0.000,6,0.000,0.045,3051,1552,3829,0,0,0,0,0,0
$GC,1345,-0.64,-185.1,284.0,-16.7,168,1349,0.00,2.15,0.00,0.000,4,0.000,0.047,3043,2959,3829,0,0,0,0,0,0
$GC,1374,-0.66,-185.1,288.5,-16.3,170,1378,0.00,2.15,0.00,0.000,6,0.000,0.047,3043,1552,3829,0,0,0,0,0,0
$GC,1698,-0.67,-185.1,343.0,-16.7,200,1702,0.00,2.10,0.00,0.000,4,0.000,0.056,3042,166,3828,0,0,0,0,0,0
$GC,1731,-0.68,-185.1,349.0,-17.0,202,1740,0.00,2.10,0.00,0.000,6,0.000,0.041,3035,1542,3827,0,0,0,0,0,0
$GC,2058,-0.69,-185.1,404.4,-15.6,233,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1545,3827,0,0,0,0,0,0
$GC,2377,-0.71,-185.1,451.6,-14.3,263,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1545,3826,0,0,0,0,0,0
$GC,2696,-0.74,-185.1,490.4,-11.1,293,2698,0.08,0.00,0.00,0.000,6,0.125,0.000,2948,1545,3824,0,0,0,0,0,0
$STATE,2756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2757,begin apogee
$GC,2761,-0.18,0.0,501.2,19.4,299,2911,0.70,0.00,139.95,0.861,4,0.117,0.000,3193,1714,3067,0,0,0,0,0,0
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin climb
$GC,2913,0.72,185.1,505.4,0.0,312,3070,0.77,2.22,145.52,0.837,4,0.043,0.047,3501,3100,2312,0,0,0,0,0,0
$GC,3308,0.67,185.1,448.8,16.4,346,3318,0.12,2.20,0.00,0.000,6,0.142,0.044,3469,1698,2305,0,0,0,0,0,0
$GC,3635,0.63,185.1,401.0,15.4,377,3639,0.00,2.17,0.00,0.000,4,0.000,0.054,3480,292,2300,0,0,0,0,0,0
$GC,3831,0.60,187.6,369.6,15.0,394,3835,0.12,2.10,0.00,0.000,6,0.144,0.034,3442,1711,2296,0,0,0,0,0,0
$GC,4155,0.67,252.9,329.2,11.6,424,4213,0.10,2.35,51.75,0.757,4,0.097,0.054,3522,284,2036,0,0,0,0,0,0
$GC,4229,0.62,252.9,316.7,17.5,430,4238,0.20,2.20,0.00,0.000,6,0.125,0.033,3453,1704,2032,0,0,0,0,0,0
$GC,4556,0.64,270.4,269.2,14.2,461,4580,0.00,2.20,13.68,0.675,4,0.000,0.041,3453,3110,1964,0,0,0,0,0,0
$GC,4653,0.69,295.4,255.0,13.8,469,4683,0.00,2.17,21.58,0.689,6,0.000,0.046,3461,1713,1861,0,0,0,0,0,0
$GC,5000,0.69,295.4,197.7,18.0,502,5004,0.00,2.12,0.00,0.000,4,0.000,0.041,3462,3112,1855,0,0,0,0,0,0
$GC,5045,0.71,295.4,190.0,16.4,506,5049,0.00,2.12,0.00,0.000,6,0.000,0.045,3470,1724,1855,0,0,0,0,0,0
$GC,5372,0.72,295.4,134.4,15.7,544,5381,0.00,2.25,0.00,0.000,4,0.000,0.055,3480,295,1853,0,0,0,0,0,0
$GC,5449,0.76,315.8,123.4,14.0,557,5470,0.00,2.10,15.68,0.591,6,0.000,0.032,3480,1724,1779,0,0,0,0,0,0
$GC,5799,0.92,427.7,77.9,9.0,620,5895,0.20,2.35,84.75,0.575,4,0.058,0.054,3611,293,1323,0,0,0,0,0,0
$GC,5962,0.90,427.7,46.8,18.2,646,5970,0.20,2.20,0.00,0.000,6,0.110,0.034,3539,1713,1317,0,0,0,0,0,0
$STATE,6246,end climb,SURFACE_DEPTH_REACHED
$STATE,6246,begin surface coast
$FINISH,0.8,0.998132
$STATE,6262,end surface coast,CONTROL_FINISHED_OK
$STATE,6262,begin surface
$SM_CCo,6277,91.03,0.463,1,0,621,600.00
$SM_GC,1.32,0.00,0.00,91.03,0.000,0.000,0.463,104,1534,621,-9.84,-0.45,600.00
$IRIDIUM_FIX,2415.74,12703.08,280910,090914
$TT8_MAMPS,0.026964
$HUMID,45.39
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,12.842
$10V_AH,10.5,9.834
$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,21.100,52.650,472.900,91.025,0.000,26.480,15.695,100.207,0.250,0.000,32.911,1664.875,2493.351,580.556,1814.101,86.082,0.000,1293.924,0.000,1635.072,0.000,0.540,0.000
$DEVICE_MAMPS,191.250,62.730,860.625,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.890,0.000,887.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,43656,700
$CAP_FILE_SIZE,81702,0
$CFSIZE,260165632,248401920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210,163.2,1
$GPS,280910,134007,2425.178,12705.030,33,1.1,33,-3.7