version: 66.08
glider: 168
mission: 2
dive: 91
start: 9 28 110 13 44 52
data:
$ID,168
$MISSION,2
$DIVE,91
$N_DIVES,105
$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,-8
$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,-3282.98
$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,36
$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
$GPS1,280910,134007,2425.178,12705.030,33,1.1,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.5
$GPS2,280910,134425,2425.106,12705.047,10,1.7,15,-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,352.9,9065,-22.1,-15.152
$D_GRID,4517
$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,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.60,0.000,2,0.000,0.000,105,1534,3136,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.2,-4.3,13,131,10.15,2.25,-11.38,0.000,4,0.192,0.059,3008,2956,3825,0,0,0,0,0,0
$GC,254,-0.69,-185.1,60.7,-29.4,39,262,0.10,2.12,0.00,0.000,6,0.148,0.047,3037,1563,3827,0,0,0,0,0,0
$GC,597,-0.65,-185.1,153.1,-24.6,100,600,0.00,2.15,0.00,0.000,4,0.000,0.059,3038,165,3828,0,0,0,0,0,0
$GC,675,-0.64,-185.1,172.8,-22.8,106,684,0.05,2.10,0.00,0.000,6,0.148,0.038,3048,1541,3828,0,0,0,0,0,0
$GC,1003,-0.64,-185.1,235.6,-18.7,137,1007,0.00,2.12,0.00,0.000,4,0.000,0.046,3038,2960,3829,0,0,0,0,0,0
$GC,1046,-0.66,-185.1,243.2,-14.7,140,1055,0.00,2.17,0.00,0.000,6,0.000,0.046,3038,1554,3829,0,0,0,0,0,0
$GC,1373,-0.66,-185.1,302.8,-19.9,171,1377,0.00,2.12,0.00,0.000,4,0.000,0.047,3030,2962,3829,0,0,0,0,0,0
$GC,1405,-0.66,-185.1,309.5,-18.9,173,1412,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,1560,3829,0,0,0,0,0,0
$GC,1730,-0.66,-185.1,367.6,-17.6,204,1734,0.00,2.12,0.00,0.000,4,0.000,0.057,3030,166,3828,0,0,0,0,0,0
$GC,1832,-0.68,-185.1,383.5,-15.3,213,1836,0.00,2.08,0.00,0.000,6,0.000,0.041,3020,1556,3828,0,0,0,0,0,0
$GC,2157,-0.68,-185.1,436.1,-16.3,243,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1559,3827,0,0,0,0,0,0
$GC,2477,-0.69,-185.1,487.5,-15.7,273,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1558,3825,0,0,0,0,0,0
$STATE,2561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2561,begin apogee
$GC,2565,-0.18,0.0,500.7,15.7,281,2710,0.47,0.00,140.25,0.855,4,0.106,0.000,3194,1718,3068,0,0,0,0,0,0
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2713,0.72,185.1,507.6,0.0,293,2866,0.75,0.00,145.38,0.836,6,0.049,0.000,3493,1719,2312,0,0,0,0,0,0
$GC,3183,0.67,185.1,431.8,19.7,336,3187,0.10,2.10,0.00,0.000,4,0.186,0.040,3467,3107,2304,0,0,0,0,0,0
$GC,3240,0.65,185.1,421.6,18.0,341,3245,0.08,2.17,0.00,0.000,6,0.195,0.044,3458,1692,2304,0,0,0,0,0,0
$GC,3566,0.67,222.1,374.5,13.1,371,3602,0.00,2.20,29.00,0.757,4,0.000,0.053,3469,293,2160,0,0,0,0,0,0
$GC,3638,0.68,239.4,364.6,14.2,377,3663,0.00,2.12,14.68,0.711,6,0.000,0.033,3469,1694,2091,0,0,0,0,0,0
$GC,3980,0.66,239.4,310.7,15.3,409,3984,0.00,2.15,0.00,0.000,4,0.000,0.043,3469,3106,2085,0,0,0,0,0,0
$GC,4001,0.64,239.4,306.7,16.2,410,4011,0.05,2.20,0.00,0.000,6,0.148,0.044,3459,1698,2085,0,0,0,0,0,0
$GC,4330,0.66,254.2,257.9,14.3,441,4347,0.00,2.22,12.15,0.655,4,0.000,0.041,3458,3115,2030,0,0,0,0,0,0
$GC,4430,0.69,273.6,242.6,14.1,449,4452,0.00,2.17,16.65,0.666,6,0.000,0.044,3466,1691,1951,0,0,0,0,0,0
$GC,4777,0.69,273.6,189.7,16.0,482,4781,0.00,2.15,0.00,0.000,4,0.000,0.041,3467,3106,1945,0,0,0,0,0,0
$GC,4843,0.73,286.2,179.3,14.5,487,4863,0.00,2.15,10.57,0.597,6,0.000,0.044,3475,1696,1899,0,0,0,0,0,0
$GC,5184,0.74,289.8,128.7,15.0,532,5194,0.00,2.25,3.83,0.399,4,0.000,0.054,3486,284,1886,0,0,0,0,0,0
$GC,5242,0.79,311.9,120.8,13.9,541,5270,0.08,2.10,19.17,0.594,6,0.122,0.033,3581,1707,1795,0,0,0,0,0,0
$GC,5607,0.81,354.0,43.7,12.8,605,5648,0.22,2.15,32.75,0.551,4,0.135,0.042,3508,3106,1622,0,0,0,0,0,0
$GC,5700,0.96,436.6,33.7,10.6,620,5768,0.10,2.20,62.42,0.539,6,0.041,0.044,3598,1706,1287,0,0,0,0,0,0
$STATE,5857,end climb,SURFACE_DEPTH_REACHED
$STATE,5857,begin surface coast
$FINISH,0.6,1.009068
$STATE,5869,end surface coast,CONTROL_FINISHED_OK
$STATE,5869,begin surface
$SM_CCo,5885,88.72,0.462,1,0,621,600.00
$SM_GC,1.35,0.00,0.00,88.72,0.000,0.000,0.462,104,1528,621,-9.84,-0.62,600.00
$IRIDIUM_FIX,2415.74,12704.97,280910,111120
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,24.5,12.964
$10V_AH,10.5,9.906
$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,20.750,52.250,486.850,88.725,0.000,27.288,36.419,101.176,0.750,0.000,17.863,1543.384,2351.641,578.143,1686.160,92.683,0.000,1249.475,0.000,1507.181,0.000,0.541,0.000
$DEVICE_MAMPS,195.075,64.260,855.270,462.060,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.292,0.000,821.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40262,648
$CAP_FILE_SIZE,79327,0
$CFSIZE,260165632,248360960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.255,155.4,1
$GPS,280910,152515,2425.315,12705.065,8,1.6,9,-3.7