version: 66.08
glider: 168
mission: 2
dive: 93
start: 9 28 110 17 27 6
data:
$ID,168
$MISSION,2
$DIVE,93
$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,-3285.4905
$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,38
$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
$GPS1,280910,172024,2425.167,12705.060,40,0.9,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.9
$GPS2,280910,172640,2425.090,12705.059,11,3.3,30,-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,353.0,9095,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.18,0.000,2,0.000,0.000,104,1535,3173,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.7,-6.4,13,131,10.12,2.20,-10.43,0.000,4,0.192,0.062,3008,2952,3826,0,0,0,0,0,0
$GC,247,-0.69,-185.1,61.4,-28.4,38,256,0.05,2.17,0.00,0.000,6,0.130,0.047,3029,1566,3827,0,0,0,0,0,0
$GC,593,-0.64,-185.1,158.2,-25.2,97,598,0.08,2.15,0.00,0.000,4,0.202,0.051,3050,161,3829,0,0,0,0,0,0
$GC,647,-0.62,-185.1,171.7,-22.3,101,655,0.00,2.10,0.00,0.000,6,0.000,0.037,3041,1539,3829,0,0,0,0,0,0
$GC,973,-0.61,-185.1,233.1,-18.9,132,977,0.08,2.17,0.00,0.000,4,0.207,0.047,3051,2960,3829,0,0,0,0,0,0
$GC,1062,-0.65,-185.1,244.5,-10.2,140,1066,0.00,2.12,0.00,0.000,6,0.000,0.044,3051,1551,3829,0,0,0,0,0,0
$GC,1386,-0.65,-185.1,295.3,-16.8,170,1390,0.00,2.15,0.00,0.000,4,0.000,0.047,3042,2959,3829,0,0,0,0,0,0
$GC,1414,-0.67,-185.1,299.6,-15.8,172,1418,0.00,2.12,0.00,0.000,6,0.000,0.046,3042,1555,3829,0,0,0,0,0,0
$GC,1739,-0.68,-185.1,349.0,-13.6,202,1743,0.00,2.12,0.00,0.000,4,0.000,0.055,3042,167,3827,0,0,0,0,0,0
$GC,1793,-0.71,-185.1,356.5,-12.4,206,1802,0.00,2.12,0.00,0.000,6,0.000,0.041,3036,1556,3828,0,0,0,0,0,0
$GC,2121,-0.73,-185.1,397.0,-11.6,237,2122,0.08,0.00,0.00,0.000,6,0.127,0.000,2951,1558,3826,0,0,0,0,0,0
$GC,2438,-0.69,-185.1,463.5,-21.3,267,2443,0.25,2.12,0.00,0.000,4,0.135,0.047,3029,2959,3825,0,0,0,0,0,0
$GC,2482,-0.74,-185.1,470.4,-11.8,270,2490,0.00,2.20,0.00,0.000,6,0.000,0.049,3029,1552,3825,0,0,0,0,0,0
$STATE,2730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2735,-0.18,0.0,500.5,12.0,294,2886,0.45,0.00,139.57,0.856,4,0.099,0.000,3198,1711,3067,0,0,0,0,0,0
$STATE,2886,end apogee,CONTROL_FINISHED_OK
$STATE,2886,begin climb
$GC,2888,0.72,185.1,505.3,0.0,307,3042,0.77,2.22,145.25,0.847,4,0.046,0.049,3501,3100,2313,0,0,0,0,0,0
$GC,3247,0.67,185.1,454.7,19.4,338,3256,0.12,2.22,0.00,0.000,6,0.139,0.044,3470,1695,2306,0,0,0,0,0,0
$GC,3574,0.64,185.1,401.9,15.7,369,3578,0.00,2.12,0.00,0.000,4,0.000,0.041,3470,3105,2301,0,0,0,0,0,0
$GC,3828,0.61,185.1,358.7,16.3,391,3836,0.08,2.20,0.00,0.000,6,0.145,0.045,3452,1698,2300,0,0,0,0,0,0
$GC,4154,0.66,237.2,313.5,12.3,422,4201,0.00,2.22,39.38,0.744,4,0.000,0.043,3452,3101,2100,0,0,0,0,0,0
$GC,4273,0.68,256.0,297.2,14.1,432,4294,0.00,2.20,16.05,0.694,6,0.000,0.045,3458,1709,2023,0,0,0,0,0,0
$GC,4611,0.68,256.0,244.2,16.7,464,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1709,2016,0,0,0,0,0,0
$GC,4930,0.70,273.4,195.2,14.2,494,4954,0.05,2.20,13.65,0.629,4,0.177,0.042,3510,3106,1952,0,0,0,0,0,0
$GC,5013,0.68,273.4,181.3,17.4,501,5017,0.17,2.15,0.00,0.000,6,0.146,0.046,3467,1710,1951,0,0,0,0,0,0
$GC,5340,0.71,303.5,133.9,13.5,542,5375,0.00,2.28,24.40,0.607,4,0.000,0.054,3477,292,1829,0,0,0,0,0,0
$GC,5437,0.77,329.9,120.5,13.7,558,5466,0.05,2.15,21.33,0.588,6,0.060,0.034,3573,1702,1722,0,0,0,0,0,0
$GC,5800,0.75,329.9,38.8,17.1,622,5808,0.25,2.15,0.00,0.000,4,0.130,0.040,3485,3097,1716,0,0,0,0,0,0
$GC,5859,0.95,445.0,32.6,8.8,632,5954,0.17,2.17,86.03,0.542,6,0.031,0.045,3602,1702,1252,0,0,0,0,0,0
$STATE,6015,end climb,SURFACE_DEPTH_REACHED
$STATE,6015,begin surface coast
$FINISH,0.5,1.008739
$STATE,6028,end surface coast,CONTROL_FINISHED_OK
$STATE,6028,begin surface
$SM_CCo,6043,84.43,0.470,1,0,621,600.00
$SM_GC,1.26,0.00,0.00,84.43,0.000,0.000,0.470,103,1532,621,-9.84,-0.48,600.00
$IRIDIUM_FIX,2418.11,12706.40,280910,171710
$TT8_MAMPS,0.026964
$HUMID,46.10
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.5,13.206
$10V_AH,10.5,10.058
$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,21.275,52.550,485.650,84.425,0.000,63.643,49.088,95.373,0.250,0.000,33.628,1569.672,2482.862,575.873,1808.779,84.376,0.000,1275.745,0.000,1565.188,0.000,0.541,0.000
$DEVICE_MAMPS,206.550,64.260,856.035,470.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.961,0.000,837.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40295,659
$CAP_FILE_SIZE,80924,0
$CFSIZE,260165632,248274944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.230,168.1,1
$GPS,280910,191022,2425.049,12704.999,8,2.1,27,-3.7