version: 66.08
glider: 168
mission: 2
dive: 121
start: 9 30 110 20 34 37
data:
$ID,168
$MISSION,2
$DIVE,121
$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,-3320.6326
$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,43
$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
$GPS1,300910,202943,2429.772,12705.012,7,1.7,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.9
$GPS2,300910,203401,2429.728,12705.050,10,1.7,15,-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,345.0,511,-26.9,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.75,-124.5,0.0,0.0,0,100,0.00,0.00,-83.38,0.000,2,0.000,0.000,104,1529,3131,0,0,0,0,0,0
$GC,102,-0.83,-185.1,3.2,-4.5,13,131,10.07,2.25,-11.45,0.000,4,0.193,0.055,2975,2959,3827,0,0,0,0,0,0
$GC,266,-0.83,-185.1,65.9,-25.8,41,272,0.00,2.17,0.00,0.000,6,0.000,0.046,2974,1558,3829,0,0,0,0,0,0
$GC,601,-0.78,-185.1,172.3,-30.0,95,606,0.10,2.15,0.00,0.000,4,0.185,0.053,3000,161,3831,0,0,0,0,0,0
$GC,685,-0.78,-185.1,194.1,-21.6,102,689,0.00,2.08,0.00,0.000,6,0.000,0.041,2991,1541,3832,0,0,0,0,0,0
$GC,1017,-0.77,-185.1,271.4,-24.3,133,1021,0.00,2.12,0.00,0.000,4,0.000,0.044,2981,2962,3833,0,0,0,0,0,0
$GC,1071,-0.80,-185.1,284.1,-20.0,137,1079,0.00,2.20,0.00,0.000,6,0.000,0.047,2981,1550,3833,0,0,0,0,0,0
$GC,1396,-0.80,-185.1,363.8,-24.3,168,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1550,3832,0,0,0,0,0,0
$GC,1715,-0.80,-185.1,432.2,-19.5,198,1719,0.00,2.17,0.00,0.000,4,0.000,0.055,2981,155,3831,0,0,0,0,0,0
$GC,1743,-0.80,-185.1,437.6,-20.0,200,1748,0.10,2.08,0.00,0.000,6,0.168,0.040,2999,1548,3831,0,0,0,0,0,0
$GC,2068,-0.83,-185.1,488.2,-15.0,230,2072,0.00,2.15,0.00,0.000,4,0.000,0.049,2990,2957,3830,0,0,0,0,0,0
$GC,2096,-0.88,-185.1,492.4,-15.1,232,2100,0.08,2.17,0.00,0.000,6,0.119,0.047,2903,1543,3829,0,0,0,0,0,0
$STATE,2142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2143,begin apogee
$GC,2147,0.00,0.0,502.1,21.0,236,2295,1.00,0.00,141.10,0.861,4,0.119,0.000,3248,1720,3068,0,0,0,0,0,0
$STATE,2296,end apogee,CONTROL_FINISHED_OK
$STATE,2296,begin climb
$GC,2297,0.83,185.1,509.9,0.0,248,2453,0.73,2.35,144.95,0.852,4,0.031,0.054,3563,288,2312,0,0,0,0,0,0
$GC,2582,0.77,185.1,469.2,23.4,272,2590,0.17,2.17,0.00,0.000,6,0.139,0.031,3505,1704,2304,0,0,0,0,0,0
$GC,2908,0.75,185.1,404.5,18.3,303,2912,0.00,2.20,0.00,0.000,4,0.000,0.052,3516,286,2301,0,0,0,0,0,0
$GC,3115,0.73,185.1,364.5,18.9,321,3120,0.12,2.10,0.00,0.000,6,0.163,0.032,3481,1708,2298,0,0,0,0,0,0
$GC,3441,0.73,185.1,310.8,16.7,351,3445,0.00,2.08,0.00,0.000,4,0.000,0.041,3480,3104,2296,0,0,0,0,0,0
$GC,3515,0.73,185.1,298.2,16.5,357,3519,0.00,2.12,0.00,0.000,6,0.000,0.043,3490,1702,2296,0,0,0,0,0,0
$GC,3841,0.73,190.9,245.6,14.7,387,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1702,2295,0,0,0,0,0,0
$GC,4160,0.76,211.7,201.0,13.5,417,4186,0.00,2.20,19.33,0.658,4,0.000,0.041,3490,3112,2203,0,0,0,0,0,0
$GC,4358,0.79,221.8,171.9,14.3,434,4372,0.00,2.15,9.52,0.591,6,0.000,0.042,3501,1728,2163,0,0,0,0,0,0
$GC,4697,0.83,244.5,122.2,13.3,482,4726,0.05,2.28,18.70,0.600,4,0.175,0.052,3570,293,2070,0,0,0,0,0,0
$GC,4767,0.81,244.5,109.5,21.4,493,4775,0.20,2.12,0.00,0.000,6,0.137,0.031,3508,1731,2066,0,0,0,0,0,0
$GC,5109,0.91,295.6,63.9,11.0,554,5158,0.10,2.28,40.20,0.568,4,0.096,0.050,3606,286,1860,0,0,0,0,0,0
$GC,5285,0.90,295.6,37.4,16.6,584,5294,0.20,2.17,0.00,0.000,6,0.115,0.032,3535,1716,1854,0,0,0,0,0,0
$STATE,5608,end climb,SURFACE_DEPTH_REACHED
$STATE,5608,begin surface coast
$FINISH,0.8,1.021778
$STATE,5632,end surface coast,CONTROL_FINISHED_OK
$STATE,5633,begin surface
$SM_CCo,5648,158.70,0.466,1,0,622,600.00
$SM_GC,1.41,0.00,0.00,158.70,0.000,0.000,0.466,104,1529,622,-9.84,-0.59,600.00
$IRIDIUM_FIX,2420.48,12706.40,300910,181823
$TT8_MAMPS,0.026964
$HUMID,43.93
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,16.588
$10V_AH,10.5,12.150
$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,21.225,48.275,373.800,158.700,0.000,26.340,44.664,96.385,0.250,0.000,18.763,1576.998,2162.005,559.566,1706.891,88.141,0.000,1206.224,0.000,1523.661,0.000,0.539,0.000
$DEVICE_MAMPS,192.780,56.610,860.625,465.885,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.621,0.000,819.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40406,646
$CAP_FILE_SIZE,75168,0
$CFSIZE,260165632,247009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,158.9,1
$GPS,300910,221237,2429.747,12705.087,33,1.0,33,-3.7