version: 66.08
glider: 168
mission: 2
dive: 96
start: 9 28 110 22 54 29
data:
$ID,168
$MISSION,2
$DIVE,96
$N_DIVES,105
$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,8
$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,-3289.2551
$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,44
$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
$GPS1,280910,225014,2425.430,12705.129,11,2.0,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.8
$GPS2,280910,225402,2425.406,12705.156,12,2.0,12,-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,355.1,8513,-22.1,-15.152
$D_GRID,4219
$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,-84.03,0.000,2,0.000,0.000,104,1525,3164,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-4.9,13,132,10.12,2.20,-10.77,0.000,4,0.191,0.056,3008,2959,3824,0,0,0,0,0,0
$GC,290,-0.69,-185.1,69.6,-26.1,45,297,0.10,2.17,0.00,0.000,6,0.157,0.046,3035,1556,3826,0,0,0,0,0,0
$GC,627,-0.64,-185.1,165.6,-27.4,101,631,0.00,2.12,0.00,0.000,4,0.000,0.053,3036,162,3828,0,0,0,0,0,0
$GC,647,-0.61,-185.1,172.0,-26.6,102,657,0.08,2.10,0.00,0.000,6,0.127,0.037,3056,1537,3828,0,0,0,0,0,0
$GC,975,-0.60,-185.1,238.1,-20.4,133,978,0.00,2.15,0.00,0.000,4,0.000,0.046,3046,2967,3828,0,0,0,0,0,0
$GC,1004,-0.61,-185.1,243.6,-17.5,135,1008,0.00,2.15,0.00,0.000,6,0.000,0.045,3046,1547,3829,0,0,0,0,0,0
$GC,1330,-0.61,-185.1,301.9,-16.3,165,1334,0.00,2.12,0.00,0.000,4,0.000,0.054,3046,162,3828,0,0,0,0,0,0
$GC,1406,-0.63,-185.1,314.6,-15.7,171,1413,0.00,2.10,0.00,0.000,6,0.000,0.039,3037,1540,3829,0,0,0,0,0,0
$GC,1731,-0.64,-185.1,368.5,-16.3,202,1735,0.00,2.15,0.00,0.000,4,0.000,0.048,3027,2966,3828,0,0,0,0,0,0
$GC,1763,-0.66,-185.1,373.5,-14.4,204,1773,0.00,2.22,0.00,0.000,6,0.000,0.047,3027,1536,3828,0,0,0,0,0,0
$GC,2091,-0.67,-185.1,423.5,-15.7,235,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1536,3827,0,0,0,0,0,0
$GC,2417,-0.69,-185.1,473.0,-14.2,266,2421,0.00,2.17,0.00,0.000,4,0.000,0.051,3019,2959,3825,0,0,0,0,0,0
$GC,2468,-0.73,-185.1,479.6,-12.3,270,2472,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,1530,3825,0,0,0,0,0,0
$STATE,2621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2621,begin apogee
$GC,2625,-0.18,0.0,501.4,14.7,284,2770,0.47,0.00,139.95,0.863,4,0.101,0.000,3195,1720,3068,0,0,0,0,0,0
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin climb
$GC,2772,0.72,185.1,507.5,0.0,296,2928,0.80,2.22,145.55,0.843,4,0.051,0.049,3500,3100,2312,0,0,0,0,0,0
$GC,3166,0.67,185.1,452.3,20.0,330,3175,0.12,2.20,0.00,0.000,6,0.139,0.044,3469,1705,2304,0,0,0,0,0,0
$GC,3493,0.64,185.1,396.9,17.0,361,3497,0.00,2.12,0.00,0.000,4,0.000,0.041,3469,3112,2300,0,0,0,0,0,0
$GC,3503,0.60,185.1,394.6,16.5,361,3511,0.10,2.20,0.00,0.000,6,0.140,0.042,3445,1701,2300,0,0,0,0,0,0
$GC,3829,0.65,233.9,351.8,12.5,392,3876,0.00,2.30,37.03,0.768,4,0.000,0.054,3455,289,2113,0,0,0,0,0,0
$GC,4059,0.69,265.3,320.6,13.4,412,4092,0.03,2.15,25.30,0.734,6,0.105,0.033,3520,1699,1985,0,0,0,0,0,0
$GC,4408,0.64,265.3,248.1,21.3,445,4413,0.22,2.17,0.00,0.000,4,0.146,0.051,3462,294,1977,0,0,0,0,0,0
$GC,4425,0.59,265.3,244.3,21.3,446,4430,0.08,2.12,0.00,0.000,6,0.171,0.031,3441,1714,1976,0,0,0,0,0,0
$GC,4750,0.67,316.6,202.3,12.3,476,4799,0.10,2.28,39.90,0.672,4,0.093,0.054,3530,293,1775,0,0,0,0,0,0
$GC,4827,0.63,316.6,187.4,22.1,482,4836,0.20,2.17,0.00,0.000,6,0.122,0.032,3459,1709,1772,0,0,0,0,0,0
$GC,5154,0.66,326.5,137.8,14.6,520,5170,0.00,2.15,7.95,0.543,4,0.000,0.043,3459,3108,1736,0,0,0,0,0,0
$GC,5226,0.73,357.1,127.5,13.5,532,5262,0.05,2.17,25.25,0.602,6,0.062,0.046,3548,1722,1610,0,0,0,0,0,0
$GC,5597,0.74,361.8,52.7,14.9,597,5612,0.20,2.28,4.25,0.390,4,0.130,0.054,3491,288,1592,0,0,0,0,0,0
$GC,5693,0.99,505.3,44.5,7.3,613,5807,0.20,2.10,106.85,0.542,6,0.055,0.033,3613,1696,1007,0,0,0,0,0,0
$STATE,5879,end climb,SURFACE_DEPTH_REACHED
$STATE,5879,begin surface coast
$FINISH,0.5,1.009472
$STATE,5893,end surface coast,CONTROL_FINISHED_OK
$STATE,5893,begin surface
$SM_CCo,5909,55.15,0.434,1,0,621,600.00
$SM_GC,1.31,0.00,0.00,55.15,0.000,0.000,0.434,104,1538,621,-9.84,-0.34,600.00
$IRIDIUM_FIX,2418.11,12704.97,280910,212137
$TT8_MAMPS,0.026964
$HUMID,46.29
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.4,13.574
$10V_AH,10.4,10.280
$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,21.525,57.000,532.025,55.150,0.000,28.981,17.933,92.857,0.250,0.000,15.002,1524.004,2330.927,589.828,1678.476,88.694,0.000,1287.149,0.000,1522.555,0.000,0.540,0.000
$DEVICE_MAMPS,191.250,68.850,862.920,433.755,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.440,0.000,819.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40324,645
$CAP_FILE_SIZE,80867,0
$CFSIZE,260165632,248135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.205,153.0,1
$GPS,290910,003506,2425.466,12705.496,33,0.9,33,-3.7