version: 66.08
glider: 168
mission: 2
dive: 102
start: 9 29 110 9 52 35
data:
$ID,168
$MISSION,2
$DIVE,102
$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,-3296.7866
$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,42
$R_STBD_OVSHOOT,38
$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
$GPS1,290910,094806,2426.330,12705.312,23,1.0,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.8
$GPS2,290910,095208,2426.298,12705.307,12,1.3,12,-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,358.9,6875,-22.1,-15.152
$D_GRID,4219
$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,-83.50,0.000,2,0.000,0.000,104,1534,3142,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.2,-4.6,13,131,10.07,2.20,-11.30,0.000,4,0.189,0.057,3006,2962,3824,0,0,0,0,0,0
$GC,254,-0.68,-185.1,57.7,-26.9,39,262,0.10,2.17,0.00,0.000,6,0.155,0.047,3034,1564,3826,0,0,0,0,0,0
$GC,592,-0.65,-185.1,146.6,-24.8,100,601,0.00,2.17,0.00,0.000,4,0.000,0.053,3035,168,3829,0,0,0,0,0,0
$GC,678,-0.64,-185.1,166.6,-20.6,108,688,0.05,2.10,0.00,0.000,6,0.133,0.039,3047,1537,3829,0,0,0,0,0,0
$GC,1004,-0.64,-185.1,229.3,-17.6,139,1008,0.00,2.10,0.00,0.000,4,0.000,0.052,3047,158,3829,0,0,0,0,0,0
$GC,1020,-0.64,-185.1,232.7,-18.3,140,1024,0.00,2.08,0.00,0.000,6,0.000,0.039,3039,1551,3829,0,0,0,0,0,0
$GC,1345,-0.64,-185.1,290.9,-16.6,170,1349,0.00,2.15,0.00,0.000,4,0.000,0.049,3028,2960,3829,0,0,0,0,0,0
$GC,1399,-0.67,-185.1,299.4,-13.7,174,1408,0.00,2.17,0.00,0.000,6,0.000,0.045,3028,1552,3829,0,0,0,0,0,0
$GC,1726,-0.67,-185.1,352.4,-15.5,205,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1552,3829,0,0,0,0,0,0
$GC,2045,-0.68,-185.1,401.9,-15.4,235,2049,0.00,2.12,0.00,0.000,4,0.000,0.057,3028,165,3827,0,0,0,0,0,0
$GC,2066,-0.69,-185.1,405.8,-16.2,236,2075,0.00,2.12,0.00,0.000,6,0.000,0.041,3018,1553,3827,0,0,0,0,0,0
$GC,2393,-0.70,-185.1,457.2,-16.3,267,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1556,3825,0,0,0,0,0,0
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2681,0.00,0.0,501.5,14.8,294,2828,0.62,0.00,139.60,0.869,4,0.098,0.000,3250,1712,3068,0,0,0,0,0,0
$STATE,2829,end apogee,CONTROL_FINISHED_OK
$STATE,2829,begin climb
$GC,2830,0.72,185.1,508.2,0.0,306,2986,0.60,2.33,144.40,0.848,4,0.031,0.054,3529,286,2312,0,0,0,0,0,0
$GC,3079,0.65,185.1,475.3,24.1,327,3088,0.22,2.15,0.00,0.000,6,0.155,0.033,3465,1708,2305,0,0,0,0,0,0
$GC,3404,0.62,185.1,416.8,17.4,358,3408,0.00,2.20,0.00,0.000,4,0.000,0.053,3475,287,2302,0,0,0,0,0,0
$GC,3422,0.59,185.1,414.1,16.4,359,3427,0.12,2.12,0.00,0.000,6,0.145,0.034,3439,1699,2301,0,0,0,0,0,0
$GC,3749,0.66,253.2,374.0,11.4,389,3808,0.10,2.25,53.25,0.789,4,0.094,0.041,3509,3105,2034,0,0,0,0,0,0
$GC,3844,0.63,253.2,357.0,20.9,397,3849,0.22,2.17,0.00,0.000,6,0.142,0.044,3452,1707,2032,0,0,0,0,0,0
$GC,4170,0.62,253.2,298.7,18.3,427,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1707,2026,0,0,0,0,0,0
$GC,4489,0.62,253.2,245.6,15.5,457,4493,0.00,2.12,0.00,0.000,4,0.000,0.043,3451,3105,2024,0,0,0,0,0,0
$GC,4540,0.62,253.2,237.5,15.8,461,4544,0.00,2.15,0.00,0.000,6,0.000,0.044,3460,1699,2024,0,0,0,0,0,0
$GC,4870,0.64,272.6,185.9,14.1,492,4894,0.00,2.25,14.50,0.636,4,0.000,0.054,3470,293,1954,0,0,0,0,0,0
$GC,4951,0.68,305.4,174.9,13.4,499,4987,0.00,2.10,26.75,0.649,6,0.000,0.034,3470,1704,1822,0,0,0,0,0,0
$GC,5305,0.72,329.8,119.2,13.8,550,5333,0.00,2.28,19.35,0.600,4,0.000,0.054,3479,290,1722,0,0,0,0,0,0
$GC,5367,0.78,351.5,110.8,14.0,560,5396,0.05,2.12,18.15,0.584,6,0.064,0.033,3570,1683,1634,0,0,0,0,0,0
$GC,5721,0.76,351.5,34.4,16.4,624,5728,0.22,0.00,0.00,0.000,6,0.136,0.000,3497,1684,1628,0,0,0,0,0,0
$STATE,6033,end climb,SURFACE_DEPTH_REACHED
$STATE,6033,begin surface coast
$FINISH,0.7,1.008841
$STATE,6068,end surface coast,CONTROL_FINISHED_OK
$STATE,6068,begin surface
$SM_CCo,6083,126.72,0.485,1,0,621,600.00
$SM_GC,1.38,0.00,0.00,126.72,0.000,0.000,0.485,104,1533,621,-9.84,-0.48,600.00
$IRIDIUM_FIX,2415.74,12708.29,290910,070721
$TT8_MAMPS,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,14.291
$10V_AH,10.5,10.730
$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,20.550,48.075,416.000,126.725,0.000,40.709,19.310,96.763,0.250,0.000,14.491,1645.963,2421.673,576.670,1741.887,85.327,0.000,1249.648,0.000,1574.282,0.000,0.539,0.000
$DEVICE_MAMPS,188.955,67.320,869.040,485.010,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.068,0.000,872.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,43660,688
$CAP_FILE_SIZE,77310,0
$CFSIZE,260165632,247869440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,173.7,1
$GPS,290910,113656,2426.685,12705.362,10,1.8,10,-3.7