version: 66.08
glider: 168
mission: 2
dive: 123
start: 9 30 110 23 59 13
data:
$ID,168
$MISSION,2
$DIVE,123
$N_DIVES,135
$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,-3323.1379
$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,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
$GPS1,300910,235444,2429.810,12705.255,8,1.4,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.8
$GPS2,300910,235837,2429.777,12705.304,12,1.2,12,-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,327.2,658,-24.0,-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,14,-0.73,-157.0,0.0,0.0,0,101,0.00,0.00,-83.80,0.000,2,0.000,0.000,104,1528,3176,0,0,0,0,0,0
$GC,103,-0.76,-185.1,3.6,-6.3,13,132,10.12,2.17,-10.48,0.000,4,0.192,0.050,2996,2966,3826,0,0,0,0,0,0
$GC,248,-0.77,-185.1,58.3,-24.6,38,256,0.00,2.20,0.00,0.000,6,0.000,0.045,2996,1566,3828,0,0,0,0,0,0
$GC,585,-0.72,-185.1,163.9,-26.2,94,590,0.10,2.17,0.00,0.000,4,0.192,0.052,3023,156,3829,0,0,0,0,0,0
$GC,622,-0.69,-185.1,173.8,-25.6,97,630,0.03,2.10,0.00,0.000,6,0.173,0.038,3025,1534,3830,0,0,0,0,0,0
$GC,948,-0.68,-185.1,246.8,-21.8,128,952,0.00,2.15,0.00,0.000,4,0.000,0.045,3015,2965,3831,0,0,0,0,0,0
$GC,1050,-0.72,-185.1,263.6,-14.1,137,1055,0.00,2.17,0.00,0.000,6,0.000,0.045,3015,1548,3830,0,0,0,0,0,0
$GC,1377,-0.72,-185.1,327.1,-20.6,167,1381,0.00,2.10,0.00,0.000,4,0.000,0.055,3015,166,3830,0,0,0,0,0,0
$GC,1443,-0.73,-185.1,341.2,-18.5,172,1453,0.00,2.12,0.00,0.000,6,0.000,0.040,3005,1557,3831,0,0,0,0,0,0
$GC,1770,-0.73,-185.1,406.1,-18.8,203,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1559,3829,0,0,0,0,0,0
$GC,2089,-0.74,-185.1,464.1,-18.0,233,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1559,3828,0,0,0,0,0,0
$STATE,2307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2307,begin apogee
$GC,2311,0.00,0.0,500.1,14.3,254,2457,0.68,0.00,140.25,0.861,4,0.100,0.000,3252,1710,3068,0,0,0,0,0,0
$STATE,2457,end apogee,CONTROL_FINISHED_OK
$STATE,2458,begin climb
$GC,2459,0.76,185.1,504.8,0.0,266,2614,0.65,2.22,145.35,0.845,4,0.030,0.047,3554,3103,2312,0,0,0,0,0,0
$GC,2860,0.69,185.1,428.7,24.2,301,2869,0.28,2.20,0.00,0.000,6,0.145,0.042,3476,1702,2305,0,0,0,0,0,0
$GC,3186,0.67,185.1,372.2,16.3,332,3190,0.00,2.20,0.00,0.000,4,0.000,0.053,3486,292,2300,0,0,0,0,0,0
$GC,3357,0.65,185.1,344.1,15.7,347,3362,0.10,2.10,0.00,0.000,6,0.151,0.033,3455,1697,2296,0,0,0,0,0,0
$GC,3683,0.65,185.8,297.7,15.1,377,3687,0.00,2.12,0.00,0.000,4,0.000,0.041,3455,3113,2295,0,0,0,0,0,0
$GC,3721,0.65,185.8,291.6,15.3,380,3725,0.00,2.15,0.00,0.000,6,0.000,0.043,3463,1692,2295,0,0,0,0,0,0
$GC,4052,0.68,211.8,244.8,13.5,411,4077,0.00,2.22,19.20,0.688,4,0.000,0.041,3463,3113,2204,0,0,0,0,0,0
$GC,4115,0.71,231.7,235.9,13.9,416,4138,0.00,2.20,17.30,0.672,6,0.000,0.042,3471,1702,2122,0,0,0,0,0,0
$GC,4464,0.71,231.7,187.1,15.6,449,4468,0.00,2.10,0.00,0.000,4,0.000,0.040,3471,3108,2116,0,0,0,0,0,0
$GC,4529,0.73,231.7,175.5,16.7,454,4538,0.00,2.17,0.00,0.000,6,0.000,0.042,3479,1705,2116,0,0,0,0,0,0
$GC,4857,0.78,262.2,123.3,13.2,502,4892,0.08,2.28,24.00,0.610,4,0.129,0.052,3567,283,1995,0,0,0,0,0,0
$GC,4899,0.74,262.2,115.7,19.2,508,4908,0.22,2.15,0.00,0.000,6,0.117,0.031,3487,1702,1993,0,0,0,0,0,0
$GC,5233,0.90,368.3,75.2,8.3,569,5321,0.15,2.22,80.57,0.577,4,0.070,0.038,3595,3106,1564,0,0,0,0,0,0
$GC,5362,0.89,368.3,55.2,21.4,589,5370,0.22,2.20,0.00,0.000,6,0.134,0.044,3534,1713,1562,0,0,0,0,0,0
$GC,5694,0.96,396.9,9.5,13.3,650,5723,0.08,2.28,21.80,0.503,4,0.114,0.051,3623,290,1448,0,0,0,0,0,0
$STATE,5729,end climb,SURFACE_DEPTH_REACHED
$STATE,5729,begin surface coast
$FINISH,0.8,1.009804
$STATE,5746,end surface coast,CONTROL_FINISHED_OK
$STATE,5746,begin surface
$SM_CCo,5763,109.00,0.058,0,0,622,600.00
$SM_GC,1.36,0.00,0.00,109.00,0.000,0.000,0.058,104,1559,622,-9.84,0.25,600.00
$IRIDIUM_FIX,2420.48,12703.08,300910,222249
$TT8_MAMPS,0.026964
$HUMID,45.11
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.5,16.809
$10V_AH,10.5,12.295
$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,21.275,52.150,448.475,109.000,0.000,23.514,19.646,100.099,0.250,0.000,13.010,1580.137,2187.771,566.592,1705.317,89.709,0.000,1245.319,0.000,1547.407,0.000,0.541,0.000
$DEVICE_MAMPS,192.015,67.320,860.625,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.159,0.000,834.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40421,658
$CAP_FILE_SIZE,77199,0
$CFSIZE,260165632,246919168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,146.7,1
$GPS,011010,013749,2429.933,12705.309,9,1.6,9,-3.7