version: 66.08
glider: 168
mission: 2
dive: 120
start: 9 30 110 18 49 28
data:
$ID,168
$MISSION,2
$DIVE,120
$N_DIVES,130
$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,-3319.3779
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,300910,184507,2429.479,12705.030,38,1.2,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.9
$GPS2,300910,184901,2429.448,12705.036,9,1.2,14,-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,352.5,1023,-22.1,-15.152
$D_GRID,4367
$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,-185.1,0.0,0.0,0,100,0.00,0.00,-83.18,0.000,2,0.000,0.000,104,1534,3146,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.5,-5.5,13,132,10.30,2.17,-11.00,0.000,4,0.198,0.052,3007,2961,3825,0,0,0,0,0,0
$GC,255,-0.69,-185.1,59.9,-23.8,39,262,0.10,2.15,0.00,0.000,6,0.151,0.045,3035,1558,3826,0,0,0,0,0,0
$GC,593,-0.66,-185.1,148.1,-22.7,100,601,0.00,2.17,0.00,0.000,4,0.000,0.053,3035,164,3829,0,0,0,0,0,0
$GC,652,-0.66,-185.1,161.7,-20.7,106,656,0.00,2.08,0.00,0.000,6,0.000,0.040,3027,1536,3829,0,0,0,0,0,0
$GC,977,-0.63,-185.1,237.6,-22.9,136,981,0.10,2.17,0.00,0.000,4,0.193,0.044,3044,2968,3830,0,0,0,0,0,0
$GC,999,-0.62,-185.1,242.5,-21.9,138,1003,0.00,2.17,0.00,0.000,6,0.000,0.045,3044,1548,3830,0,0,0,0,0,0
$GC,1330,-0.62,-185.1,308.3,-19.8,169,1334,0.00,2.12,0.00,0.000,4,0.000,0.054,3044,162,3829,0,0,0,0,0,0
$GC,1385,-0.63,-185.1,319.1,-17.6,173,1392,0.00,2.10,0.00,0.000,6,0.000,0.039,3036,1539,3830,0,0,0,0,0,0
$GC,1711,-0.64,-185.1,373.8,-15.0,204,1715,0.00,2.12,0.00,0.000,4,0.000,0.047,3026,2960,3829,0,0,0,0,0,0
$GC,1790,-0.68,-185.1,384.6,-12.8,210,1798,0.00,2.17,0.00,0.000,6,0.000,0.045,3025,1554,3829,0,0,0,0,0,0
$GC,2118,-0.69,-185.1,435.0,-16.1,241,2122,0.00,2.15,0.00,0.000,4,0.000,0.055,3025,159,3827,0,0,0,0,0,0
$GC,2180,-0.72,-185.1,445.4,-15.1,246,2184,0.00,2.08,0.00,0.000,6,0.000,0.041,3016,1548,3827,0,0,0,0,0,0
$GC,2505,-0.73,-185.1,496.7,-15.6,276,2509,0.00,2.12,0.00,0.000,4,0.000,0.047,3006,2961,3825,0,0,0,0,0,0
$STATE,2524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2524,begin apogee
$GC,2530,0.00,0.0,500.1,14.9,277,2675,0.65,0.00,140.23,0.861,4,0.088,0.000,3251,1689,3067,0,0,0,0,0,0
$STATE,2676,end apogee,CONTROL_FINISHED_OK
$STATE,2676,begin climb
$GC,2678,0.72,185.1,507.0,0.0,289,2830,0.62,2.30,145.50,0.851,4,0.037,0.047,3514,3111,2313,0,0,0,0,0,0
$GC,2978,0.66,185.1,464.9,21.1,315,2987,0.17,2.22,0.00,0.000,6,0.143,0.043,3459,1701,2307,0,0,0,0,0,0
$GC,3304,0.64,185.1,410.5,16.7,346,3308,0.00,2.17,0.00,0.000,4,0.000,0.054,3470,291,2301,0,0,0,0,0,0
$GC,3344,0.61,185.1,404.3,16.4,349,3348,0.10,2.12,0.00,0.000,6,0.156,0.033,3441,1709,2299,0,0,0,0,0,0
$GC,3675,0.67,247.5,360.5,11.7,380,3735,0.10,2.22,48.25,0.774,4,0.094,0.040,3513,3108,2057,0,0,0,0,0,0
$GC,3804,0.64,247.5,336.0,21.6,391,3808,0.22,2.17,0.00,0.000,6,0.145,0.043,3456,1701,2053,0,0,0,0,0,0
$GC,4129,0.64,247.5,281.4,16.3,421,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1700,2049,0,0,0,0,0,0
$GC,4449,0.64,247.5,231.1,15.3,451,4452,0.00,2.10,0.00,0.000,4,0.000,0.040,3455,3106,2047,0,0,0,0,0,0
$GC,4469,0.64,247.5,227.3,15.5,452,4479,0.00,2.17,0.00,0.000,6,0.000,0.042,3461,1708,2047,0,0,0,0,0,0
$GC,4796,0.66,266.5,178.2,14.1,483,4817,0.00,0.00,13.98,0.620,6,0.000,0.000,3461,1707,1980,0,0,0,0,0,0
$GC,5136,0.70,291.9,130.6,13.8,528,5164,0.00,2.22,21.05,0.605,4,0.000,0.053,3472,292,1876,0,0,0,0,0,0
$GC,5215,0.74,301.1,119.5,14.6,541,5230,0.08,2.10,8.38,0.534,6,0.118,0.033,3565,1693,1839,0,0,0,0,0,0
$GC,5554,0.70,301.1,47.3,21.5,603,5562,0.28,2.12,0.00,0.000,4,0.138,0.038,3472,3112,1836,0,0,0,0,0,0
$GC,5638,0.93,431.0,37.6,8.0,618,5745,0.17,2.20,97.85,0.553,6,0.031,0.043,3592,1695,1308,0,0,0,0,0,0
$STATE,5843,end climb,SURFACE_DEPTH_REACHED
$STATE,5843,begin surface coast
$FINISH,0.6,1.019261
$STATE,5854,end surface coast,CONTROL_FINISHED_OK
$STATE,5854,begin surface
$SM_CCo,5869,92.88,0.475,1,0,621,600.00
$SM_GC,1.28,0.00,0.00,92.88,0.000,0.000,0.475,104,1530,621,-9.84,-0.57,600.00
$IRIDIUM_FIX,2420.48,12703.08,300910,161638
$TT8_MAMPS,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.5,16.475
$10V_AH,10.4,12.079
$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,21.400,56.150,475.225,92.875,0.000,30.344,20.760,95.076,0.500,0.000,16.551,1554.361,2313.275,579.182,1675.064,94.158,0.000,1252.304,0.000,1517.926,0.000,0.540,0.000
$DEVICE_MAMPS,198.135,62.730,860.625,475.065,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.592,0.000,829.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40366,654
$CAP_FILE_SIZE,78237,0
$CFSIZE,260165632,247046144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194,157.5,1
$GPS,300910,202943,2429.772,12705.012,7,1.7,12,-3.7