version: 66.08
glider: 168
mission: 2
dive: 35
start: 9 24 110 15 56 35
data:
$ID,168
$MISSION,2
$DIVE,35
$N_DIVES,40
$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,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,365
$N_FILEKB,4
$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,-3206.7007
$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,3278
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$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,38
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2776
$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
$GPS1,240910,155201,2425.791,12705.110,12,1.1,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.5
$GPS2,240910,155608,2425.737,12705.153,9,1.0,9,-3.7
$SPEED_LIMITS,0.262,0.375
$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,351.3,7900,-19.2,-15.152
$D_GRID,4643
$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,-0.94,-243.3,0.0,0.0,0,75,0.00,0.00,-59.20,0.000,2,0.000,0.000,104,1538,3008,0,0,0,0,0,0
$GC,77,-0.94,-243.3,3.2,-5.9,9,106,9.95,2.20,-13.05,0.000,4,0.193,0.054,2965,2950,3770,0,0,0,0,0,0
$GC,142,-0.91,-243.3,31.7,-44.9,19,149,0.10,2.17,0.00,0.000,6,0.165,0.053,2991,1564,3771,0,0,0,0,0,0
$GC,314,-0.88,-243.3,94.7,-33.1,50,323,0.00,2.20,0.00,0.000,4,0.000,0.054,2992,156,3773,0,0,0,0,0,0
$GC,362,-0.85,-243.3,109.9,-30.1,58,371,0.05,2.08,0.00,0.000,6,0.161,0.036,3000,1526,3773,0,0,0,0,0,0
$GC,537,-0.83,-243.3,156.2,-23.5,87,541,0.00,2.10,0.00,0.000,4,0.000,0.050,3000,154,3775,0,0,0,0,0,0
$GC,568,-0.81,-243.3,164.9,-24.7,89,577,0.08,2.10,0.00,0.000,6,0.140,0.037,3018,1538,3776,0,0,0,0,0,0
$GC,737,-0.80,-243.3,200.5,-20.5,105,741,0.00,2.12,0.00,0.000,4,0.000,0.046,3008,2959,3776,0,0,0,0,0,0
$GC,766,-0.79,-243.3,206.7,-20.2,107,771,0.08,2.20,0.00,0.000,6,0.179,0.049,3029,1533,3776,0,0,0,0,0,0
$GC,932,-0.78,-243.3,237.6,-19.7,122,936,0.00,2.10,0.00,0.000,4,0.000,0.054,3029,161,3776,0,0,0,0,0,0
$GC,954,-0.77,-243.3,241.9,-18.9,124,957,0.00,2.08,0.00,0.000,6,0.000,0.038,3020,1546,3776,0,0,0,0,0,0
$GC,1124,-0.76,-243.3,276.2,-20.5,140,1126,0.05,0.00,0.00,0.000,6,0.245,0.000,3033,1548,3776,0,0,0,0,0,0
$GC,1285,-0.75,-243.3,302.5,-15.9,155,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1548,3777,0,0,0,0,0,0
$GC,1443,-0.74,-243.3,328.2,-16.0,170,1447,0.00,2.12,0.00,0.000,4,0.000,0.054,3033,154,3776,0,0,0,0,0,0
$GC,1478,-0.74,-243.3,333.4,-16.1,173,1482,0.00,2.05,0.00,0.000,6,0.000,0.038,3026,1539,3776,0,0,0,0,0,0
$GC,1643,-0.74,-243.3,360.1,-16.0,188,1647,0.08,2.15,0.00,0.000,4,0.194,0.049,3037,2957,3776,0,0,0,0,0,0
$GC,1675,-0.74,-243.3,364.6,-12.5,190,1684,0.00,2.20,0.00,0.000,6,0.000,0.050,3037,1544,3775,0,0,0,0,0,0
$GC,1841,-0.74,-243.3,386.6,-13.6,206,1845,0.00,2.12,0.00,0.000,4,0.000,0.055,3037,157,3775,0,0,0,0,0,0
$GC,1907,-0.74,-243.3,396.2,-13.7,212,1911,0.00,2.05,0.00,0.000,6,0.000,0.039,3029,1541,3774,0,0,0,0,0,0
$GC,2074,-0.74,-243.3,420.6,-14.5,227,2078,0.00,2.12,0.00,0.000,4,0.000,0.055,3029,161,3773,0,0,0,0,0,0
$GC,2091,-0.74,-243.3,423.5,-14.7,228,2096,0.08,2.03,0.00,0.000,6,0.183,0.039,3043,1530,3774,0,0,0,0,0,0
$GC,2258,-0.74,-243.3,444.4,-12.7,243,2262,0.00,2.15,0.00,0.000,4,0.000,0.051,3035,2954,3773,0,0,0,0,0,0
$GC,2291,-0.75,-243.3,448.6,-11.9,245,2298,0.00,2.22,0.00,0.000,6,0.000,0.050,3035,1521,3772,0,0,0,0,0,0
$GC,2459,-0.75,-243.3,468.3,-12.4,261,2462,0.00,2.08,0.00,0.000,4,0.000,0.056,3035,163,3772,0,0,0,0,0,0
$GC,2497,-0.75,-243.3,473.5,-12.4,264,2507,0.00,2.05,0.00,0.000,6,0.000,0.039,3026,1513,3772,0,0,0,0,0,0
$GC,2663,-0.75,-243.3,494.0,-12.1,280,2667,0.00,2.20,0.00,0.000,4,0.000,0.050,3018,2960,3771,0,0,0,0,0,0
$GC,2711,-0.76,-243.3,499.5,-10.4,284,2722,0.03,2.22,0.00,0.000,6,0.143,0.049,3033,1525,3771,0,0,0,0,0,0
$STATE,2726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2730,-0.17,0.0,501.2,10.1,286,2921,0.50,0.00,185.15,0.843,4,0.103,0.000,3221,1716,2776,0,0,0,0,0,0
$STATE,2922,end apogee,CONTROL_FINISHED_OK
$STATE,2922,begin climb
$GC,2923,0.94,243.3,506.3,0.0,302,3125,0.98,2.22,192.93,0.814,4,0.049,0.047,3596,3103,1784,0,0,0,0,0,0
$GC,3292,0.91,243.3,410.8,31.4,334,3297,0.12,2.20,0.00,0.000,6,0.192,0.046,3574,1688,1778,0,0,0,0,0,0
$GC,3459,0.88,243.3,355.5,32.6,349,3463,0.00,2.17,0.00,0.000,4,0.000,0.052,3584,292,1775,0,0,0,0,0,0
$GC,3592,0.85,243.3,311.5,27.9,360,3601,0.10,2.12,0.00,0.000,6,0.138,0.030,3550,1708,1772,0,0,0,0,0,0
$GC,3758,0.83,243.3,261.9,29.0,376,3761,0.00,2.10,0.00,0.000,4,0.000,0.038,3550,3115,1771,0,0,0,0,0,0
$GC,3795,0.80,243.3,250.8,28.6,379,3804,0.08,2.20,0.00,0.000,6,0.148,0.047,3534,1703,1771,0,0,0,0,0,0
$GC,3964,0.78,243.3,206.5,27.5,395,3968,0.00,2.10,0.00,0.000,4,0.000,0.039,3534,3112,1770,0,0,0,0,0,0
$GC,4020,0.76,243.3,191.2,24.5,399,4027,0.10,2.17,0.00,0.000,6,0.184,0.046,3517,1698,1770,0,0,0,0,0,0
$GC,4186,0.74,243.3,151.7,22.9,415,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1698,1770,0,0,0,0,0,0
$GC,4349,0.73,243.3,117.3,18.0,444,4357,0.00,2.17,0.00,0.000,4,0.000,0.054,3528,299,1769,0,0,0,0,0,0
$GC,4403,0.72,243.3,107.7,18.0,453,4411,0.08,2.05,0.00,0.000,6,0.177,0.030,3507,1718,1769,0,0,0,0,0,0
$GC,4577,0.72,250.0,78.6,14.9,484,4585,0.00,0.00,4.18,0.397,6,0.000,0.000,3507,1720,1755,0,0,0,0,0,0
$GC,4752,0.77,291.2,53.6,13.4,515,4793,0.05,0.00,33.53,0.547,6,0.176,0.000,3562,1720,1586,0,0,0,0,0,0
$GC,4960,0.76,291.2,21.8,16.1,551,4967,0.15,2.20,0.00,0.000,4,0.144,0.053,3525,296,1582,0,0,0,0,0,0
$GC,5019,0.85,359.3,13.7,12.3,561,5080,0.08,2.05,51.47,0.515,6,0.121,0.029,3589,1705,1309,0,0,0,0,0,0
$STATE,5090,end climb,SURFACE_DEPTH_REACHED
$STATE,5090,begin surface coast
$FINISH,0.5,1.021895
$STATE,5109,end surface coast,CONTROL_FINISHED_OK
$STATE,5109,begin surface
$SM_CCo,5124,5.00,0.066,0,0,1288,365.01
$SM_GC,2.26,0.00,0.00,5.00,0.000,0.000,0.066,104,1504,1288,-9.92,-1.30,365.01
$IRIDIUM_FIX,2420.48,12706.40,240910,141431
$TT8_MAMPS,0.026964
$HUMID,47.32
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,6.590
$10V_AH,10.5,6.000
$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,21.175,77.400,467.250,5.000,0.000,25.047,42.803,97.105,0.000,0.000,12.242,1433.011,1834.394,489.427,1564.604,72.112,0.000,1155.826,0.000,1381.430,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,56.610,843.030,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.572,0.000,730.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,37129,575
$CAP_FILE_SIZE,90149,0
$CFSIZE,260165632,250830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,161.7,1
$GPS,240910,172325,2425.947,12705.177,29,1.4,46,-3.7