version: 66.08
glider: 168
mission: 2
dive: 100
start: 9 29 110 6 4 41
data:
$ID,168
$MISSION,2
$DIVE,100
$N_DIVES,115
$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,-3294.281
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,290910,060001,2425.760,12705.434,10,2.0,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.5
$GPS2,290910,060414,2425.696,12705.426,13,1.1,13,-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,351.3,8004,-22.1,-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,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.57,0.000,2,0.000,0.000,104,1535,3133,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-5.2,13,131,10.07,2.20,-11.43,0.000,4,0.189,0.056,3010,2964,3825,0,0,0,0,0,0
$GC,243,-0.68,-185.1,54.5,-27.1,37,251,0.10,2.17,0.00,0.000,6,0.158,0.044,3038,1555,3826,0,0,0,0,0,0
$GC,582,-0.64,-185.1,149.2,-24.7,98,590,0.00,2.15,0.00,0.000,4,0.000,0.052,3038,172,3828,0,0,0,0,0,0
$GC,676,-0.62,-185.1,171.6,-23.2,107,681,0.10,2.05,0.00,0.000,6,0.200,0.039,3057,1543,3829,0,0,0,0,0,0
$GC,1003,-0.62,-185.1,229.9,-16.0,137,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1546,3829,0,0,0,0,0,0
$GC,1321,-0.63,-185.1,281.3,-15.2,167,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1546,3830,0,0,0,0,0,0
$GC,1641,-0.66,-185.1,325.4,-13.1,197,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1546,3829,0,0,0,0,0,0
$GC,1967,-0.69,-185.1,370.4,-13.1,228,1972,0.10,2.17,0.00,0.000,4,0.095,0.047,2946,2966,3828,0,0,0,0,0,0
$GC,2075,-0.67,-185.1,391.4,-20.5,237,2080,0.28,2.15,0.00,0.000,6,0.120,0.047,3037,1543,3828,0,0,0,0,0,0
$GC,2402,-0.69,-185.1,437.8,-13.6,267,2406,0.00,2.12,0.00,0.000,4,0.000,0.054,3038,159,3825,0,0,0,0,0,0
$GC,2442,-0.72,-185.1,443.4,-13.9,270,2446,0.00,2.08,0.00,0.000,6,0.000,0.041,3029,1550,3825,0,0,0,0,0,0
$GC,2767,-0.74,-185.1,486.0,-12.6,300,2770,0.00,2.12,0.00,0.000,4,0.000,0.050,3020,2956,3823,0,0,0,0,0,0
$GC,2795,-0.78,-185.1,489.6,-12.6,302,2800,0.08,2.15,0.00,0.000,6,0.119,0.047,2938,1540,3824,0,0,0,0,0,0
$STATE,2854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2854,begin apogee
$GC,2859,0.00,0.0,500.3,20.2,307,3005,0.90,0.00,139.82,0.862,4,0.117,0.000,3249,1716,3067,0,0,0,0,0,0
$STATE,3006,end apogee,CONTROL_FINISHED_OK
$STATE,3006,begin climb
$GC,3007,0.72,185.1,506.9,0.0,319,3160,0.62,2.22,145.32,0.853,4,0.037,0.047,3516,3098,2313,0,0,0,0,0,0
$GC,3237,0.66,185.1,478.7,22.5,339,3245,0.20,2.22,0.00,0.000,6,0.143,0.044,3462,1705,2307,0,0,0,0,0,0
$GC,3563,0.63,185.1,424.2,15.5,370,3567,0.00,2.20,0.00,0.000,4,0.000,0.054,3473,290,2302,0,0,0,0,0,0
$GC,3611,0.60,185.1,415.9,16.5,374,3621,0.08,2.12,0.00,0.000,6,0.116,0.032,3444,1691,2299,0,0,0,0,0,0
$GC,3938,0.66,244.4,373.6,11.9,405,3990,0.08,2.22,45.88,0.784,4,0.119,0.042,3505,3114,2070,0,0,0,0,0,0
$GC,4063,0.62,244.4,350.4,20.0,416,4068,0.22,2.20,0.00,0.000,6,0.142,0.046,3448,1702,2066,0,0,0,0,0,0
$GC,4387,0.62,244.4,296.9,16.4,446,4391,0.00,2.17,0.00,0.000,4,0.000,0.055,3458,292,2062,0,0,0,0,0,0
$GC,4405,0.62,244.4,294.3,15.9,447,4409,0.00,2.10,0.00,0.000,6,0.000,0.033,3458,1707,2061,0,0,0,0,0,0
$GC,4732,0.62,244.4,244.3,15.7,477,4736,0.00,2.12,0.00,0.000,4,0.000,0.043,3457,3112,2059,0,0,0,0,0,0
$GC,4793,0.62,244.4,233.8,16.0,482,4798,0.08,2.15,0.00,0.000,6,0.192,0.045,3447,1697,2060,0,0,0,0,0,0
$GC,5118,0.62,249.2,185.2,14.9,512,5122,0.00,2.15,0.00,0.000,4,0.000,0.054,3457,293,2058,0,0,0,0,0,0
$GC,5203,0.65,258.3,172.8,14.7,519,5219,0.00,2.05,9.73,0.594,6,0.000,0.034,3457,1689,2015,0,0,0,0,0,0
$GC,5546,0.69,282.8,122.7,13.8,567,5573,0.00,0.00,20.70,0.601,6,0.000,0.000,3457,1689,1913,0,0,0,0,0,0
$GC,5907,0.79,344.9,74.9,11.7,631,5961,0.15,0.00,48.17,0.575,6,0.070,0.000,3566,1689,1660,0,0,0,0,0,0
$STATE,6293,end climb,SURFACE_DEPTH_REACHED
$STATE,6293,begin surface coast
$FINISH,0.5,1.021399
$STATE,6317,end surface coast,CONTROL_FINISHED_OK
$STATE,6317,begin surface
$SM_CCo,6332,134.23,0.493,1,0,621,600.00
$SM_GC,1.30,0.00,0.00,134.23,0.000,0.000,0.493,104,1524,621,-9.84,-0.71,600.00
$IRIDIUM_FIX,2413.38,12706.86,290910,040444
$TT8_MAMPS,0.026215
$HUMID,45.94
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,24.5,14.051
$10V_AH,10.5,10.578
$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,21.375,47.800,409.625,134.225,0.000,40.702,22.026,98.609,0.500,0.000,16.279,1700.728,2585.082,556.005,1811.812,85.532,0.000,1245.064,0.000,1636.260,0.000,0.540,0.000
$DEVICE_MAMPS,199.665,66.555,862.155,493.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.141,0.000,892.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43754,703
$CAP_FILE_SIZE,81202,0
$CFSIZE,260165632,247951360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222,170.5,1
$GPS,290910,075314,2425.913,12705.303,6,2.0,6,-3.7