version: 66.08
glider: 168
mission: 2
dive: 115
start: 9 30 110 9 45 46
data:
$ID,168
$MISSION,2
$DIVE,115
$N_DIVES,120
$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,0
$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,-3313.1016
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,300910,094134,2428.469,12705.358,11,9.5,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.5
$GPS2,300910,094519,2428.435,12705.328,8,1.2,13,-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,351.9,2950,-22.1,-15.152
$D_GRID,4118
$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,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,93,0.00,0.00,-76.55,0.000,2,0.000,0.000,104,1533,2926,0,0,0,0,0,0
$GC,95,-0.72,-185.1,3.1,-5.4,12,131,10.12,2.22,-16.08,0.000,4,0.190,0.061,3010,2947,3826,0,0,0,0,0,0
$GC,231,-0.67,-185.1,48.3,-30.3,35,239,0.10,2.12,0.00,0.000,6,0.156,0.047,3039,1559,3828,0,0,0,0,0,0
$GC,562,-0.64,-185.1,133.8,-24.4,96,570,0.00,2.17,0.00,0.000,4,0.000,0.054,3039,166,3830,0,0,0,0,0,0
$GC,604,-0.62,-185.1,143.4,-22.4,103,613,0.10,2.05,0.00,0.000,6,0.161,0.038,3060,1541,3830,0,0,0,0,0,0
$GC,938,-0.62,-185.1,207.1,-18.2,137,942,0.00,2.12,0.00,0.000,4,0.000,0.051,3061,159,3831,0,0,0,0,0,0
$GC,968,-0.63,-185.1,212.1,-17.7,139,972,0.00,2.08,0.00,0.000,6,0.000,0.039,3052,1551,3831,0,0,0,0,0,0
$GC,1294,-0.64,-185.1,264.4,-15.0,169,1298,0.00,2.12,0.00,0.000,4,0.000,0.047,3042,2963,3831,0,0,0,0,0,0
$GC,1348,-0.68,-185.1,272.0,-11.5,173,1356,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,1540,3831,0,0,0,0,0,0
$GC,1674,-0.69,-185.1,323.2,-16.3,204,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1540,3831,0,0,0,0,0,0
$GC,1993,-0.71,-185.1,373.3,-14.7,234,1995,0.08,0.00,0.00,0.000,6,0.122,0.000,2954,1540,3829,0,0,0,0,0,0
$GC,2312,-0.67,-185.1,446.4,-23.1,264,2317,0.25,2.17,0.00,0.000,4,0.131,0.044,3032,2965,3828,0,0,0,0,0,0
$GC,2340,-0.67,-185.1,451.7,-17.5,266,2344,0.00,2.17,0.00,0.000,6,0.000,0.049,3032,1544,3828,0,0,0,0,0,0
$GC,2666,-0.69,-185.1,495.4,-13.3,296,2670,0.00,2.12,0.00,0.000,4,0.000,0.057,3032,165,3826,0,0,0,0,0,0
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2702,0.00,0.0,500.1,13.5,298,2851,0.60,0.00,140.50,0.867,4,0.090,0.000,3249,1699,3067,0,0,0,0,0,0
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2853,0.72,185.1,506.2,0.0,311,3008,0.62,2.28,145.77,0.846,4,0.031,0.047,3537,3115,2313,0,0,0,0,0,0
$GC,3132,0.64,185.1,463.0,26.0,335,3137,0.32,2.20,0.00,0.000,6,0.157,0.042,3452,1694,2307,0,0,0,0,0,0
$GC,3458,0.61,185.1,407.1,15.7,365,3462,0.00,2.17,0.00,0.000,4,0.000,0.054,3462,293,2302,0,0,0,0,0,0
$GC,3475,0.58,185.1,404.3,15.2,366,3480,0.10,2.10,0.00,0.000,6,0.166,0.033,3434,1708,2300,0,0,0,0,0,0
$GC,3800,0.63,225.8,362.2,12.9,396,3834,0.08,0.00,31.38,0.768,6,0.119,0.000,3496,1710,2146,0,0,0,0,0,0
$GC,4150,0.59,225.8,295.1,17.9,429,4155,0.17,2.10,0.00,0.000,4,0.141,0.040,3442,3112,2139,0,0,0,0,0,0
$GC,4259,0.64,257.6,278.8,13.4,438,4292,0.00,2.20,25.42,0.718,6,0.000,0.044,3453,1707,2016,0,0,0,0,0,0
$GC,4609,0.64,257.6,227.7,15.3,471,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1707,2007,0,0,0,0,0,0
$GC,4928,0.65,262.2,178.8,14.9,501,4932,0.00,2.20,0.00,0.000,4,0.000,0.055,3463,292,2006,0,0,0,0,0,0
$GC,5013,0.69,278.6,165.9,14.3,508,5037,0.00,2.10,15.98,0.630,6,0.000,0.034,3464,1713,1931,0,0,0,0,0,0
$GC,5359,0.77,335.1,117.8,12.0,561,5414,0.10,2.17,44.85,0.620,4,0.097,0.038,3550,3105,1699,0,0,0,0,0,0
$GC,5469,0.74,335.1,94.0,22.0,579,5477,0.22,2.17,0.00,0.000,6,0.137,0.044,3490,1712,1697,0,0,0,0,0,0
$GC,5800,0.91,433.6,48.5,9.7,640,5882,0.15,2.22,73.60,0.562,4,0.070,0.039,3601,3105,1298,0,0,0,0,0,0
$GC,5922,0.90,433.6,25.4,20.7,659,5931,0.22,2.20,0.00,0.000,6,0.132,0.044,3539,1695,1297,0,0,0,0,0,0
$STATE,6066,end climb,SURFACE_DEPTH_REACHED
$STATE,6066,begin surface coast
$FINISH,0.6,1.011920
$STATE,6089,end surface coast,CONTROL_FINISHED_OK
$STATE,6089,begin surface
$SM_CCo,6105,88.38,0.470,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,88.38,0.000,0.000,0.470,103,1532,621,-9.84,-0.51,600.00
$IRIDIUM_FIX,2418.11,12706.40,300910,070719
$TT8_MAMPS,0.026964
$HUMID,46.41
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.4,15.859
$10V_AH,10.4,11.710
$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,21.650,52.300,477.500,88.375,0.000,25.476,17.333,94.974,0.250,0.000,16.307,1637.407,2405.028,573.094,1725.662,95.929,0.000,1257.973,0.000,1578.294,0.000,0.540,0.000
$DEVICE_MAMPS,189.720,66.555,866.745,470.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.721,0.000,875.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,43634,689
$CAP_FILE_SIZE,80372,0
$CFSIZE,260165632,247267328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.215,171.7,1
$GPS,300910,112950,2428.700,12705.136,10,1.8,10,-3.7