version: 66.08
glider: 168
mission: 2
dive: 57
start: 9 26 110 0 16 57
data:
$ID,168
$MISSION,2
$DIVE,57
$N_DIVES,65
$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,190
$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,400
$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,-3235.3616
$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,3255
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$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,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,3180
$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
$GPS1,260910,001226,2424.490,12705.193,9,1.2,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.6
$GPS2,260910,001631,2424.420,12705.231,12,1.2,29,-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,355.9,10342,-22.1,-15.152
$D_GRID,5000
$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,-0.78,-184.9,0.0,0.0,0,68,0.00,0.00,-51.97,0.000,2,0.000,0.000,104,1535,2981,0,0,0,0,0,0
$GC,70,-0.78,-184.9,3.3,-5.3,8,106,10.02,2.20,-16.45,0.000,4,0.192,0.057,2988,2954,3937,0,0,0,0,0,0
$GC,150,-0.77,-184.9,35.1,-36.4,21,158,0.08,2.17,0.00,0.000,6,0.169,0.054,3008,1562,3939,0,0,0,0,0,0
$GC,480,-0.75,-184.9,147.5,-27.8,82,488,0.00,2.17,0.00,0.000,4,0.000,0.054,3009,165,3941,0,0,0,0,0,0
$GC,563,-0.75,-184.9,168.9,-22.2,90,572,0.00,2.10,0.00,0.000,6,0.000,0.039,2999,1540,3941,0,0,0,0,0,0
$GC,890,-0.74,-184.9,249.9,-24.6,121,895,0.08,2.15,0.00,0.000,4,0.198,0.046,3011,2961,3943,0,0,0,0,0,0
$GC,910,-0.73,-184.9,255.4,-22.9,122,919,0.00,2.20,0.00,0.000,6,0.000,0.047,3010,1547,3943,0,0,0,0,0,0
$GC,1238,-0.73,-184.9,322.9,-20.9,153,1242,0.00,2.12,0.00,0.000,4,0.000,0.057,3010,163,3943,0,0,0,0,0,0
$GC,1301,-0.73,-184.9,336.3,-17.9,158,1311,0.05,2.10,0.00,0.000,6,0.129,0.040,3024,1541,3943,0,0,0,0,0,0
$GC,1629,-0.73,-184.9,392.1,-17.3,189,1633,0.00,2.10,0.00,0.000,4,0.000,0.056,3024,163,3942,0,0,0,0,0,0
$GC,1659,-0.74,-184.9,397.1,-17.2,191,1663,0.00,2.05,0.00,0.000,6,0.000,0.041,3016,1540,3942,0,0,0,0,0,0
$GC,1985,-0.74,-184.9,450.3,-15.6,221,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1542,3941,0,0,0,0,0,0
$GC,2304,-0.75,-184.9,496.7,-13.5,251,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1542,3939,0,0,0,0,0,0
$STATE,2331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2332,begin apogee
$GC,2335,-0.12,0.0,501.1,14.1,254,2481,0.52,0.00,139.70,0.848,4,0.099,0.000,3212,1717,3180,0,0,0,0,0,0
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2482,begin climb
$GC,2483,0.78,184.9,507.7,0.0,266,2640,0.80,2.22,144.35,0.849,4,0.047,0.047,3523,3106,2426,0,0,0,0,0,0
$GC,2885,0.76,184.9,456.2,19.5,301,2894,0.10,2.22,0.00,0.000,6,0.168,0.043,3503,1693,2420,0,0,0,0,0,0
$GC,3212,0.74,184.9,398.7,17.2,332,3216,0.00,2.15,0.00,0.000,4,0.000,0.054,3513,292,2415,0,0,0,0,0,0
$GC,3384,0.72,184.9,368.9,16.4,347,3388,0.10,2.10,0.00,0.000,6,0.179,0.033,3486,1716,2411,0,0,0,0,0,0
$GC,3710,0.75,223.1,322.7,13.1,377,3746,0.00,2.10,28.70,0.726,4,0.000,0.041,3486,3105,2271,0,0,0,0,0,0
$GC,3827,0.74,223.1,304.2,16.9,387,3835,0.00,2.15,0.00,0.000,6,0.000,0.045,3496,1717,2269,0,0,0,0,0,0
$GC,4152,0.73,223.1,249.9,17.2,418,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1717,2265,0,0,0,0,0,0
$GC,4472,0.72,223.1,196.4,15.9,448,4476,0.00,2.10,0.00,0.000,4,0.000,0.043,3496,3108,2264,0,0,0,0,0,0
$GC,4706,0.76,259.9,161.4,13.1,469,4740,0.00,2.15,28.75,0.623,6,0.000,0.044,3507,1720,2121,0,0,0,0,0,0
$GC,5066,0.82,316.5,112.1,12.0,527,5121,0.00,2.17,44.28,0.600,4,0.000,0.043,3507,3098,1888,0,0,0,0,0,0
$GC,5176,0.82,319.4,96.5,15.0,545,5183,0.00,2.15,0.00,0.000,6,0.000,0.044,3516,1710,1885,0,0,0,0,0,0
$GC,5503,0.93,403.2,58.1,10.5,606,5578,0.12,2.30,65.55,0.558,4,0.080,0.053,3617,290,1534,0,0,0,0,0,0
$GC,5643,0.92,403.2,32.5,21.7,629,5651,0.22,2.12,0.00,0.000,6,0.134,0.031,3547,1710,1530,0,0,0,0,0,0
$STATE,5817,end climb,SURFACE_DEPTH_REACHED
$STATE,5817,begin surface coast
$FINISH,0.7,1.009381
$STATE,5834,end surface coast,CONTROL_FINISHED_OK
$STATE,5834,begin surface
$SM_CCo,5909,0.00,0.000,0,0,1523,406.46
$SM_GC,1.55,8.30,0.00,0.00,0.018,0.000,0.000,104,1534,1523,-9.69,-0.42,406.46
$IRIDIUM_FIX,2415.74,12703.08,250910,222214
$TT8_MAMPS,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.4,8.984
$10V_AH,10.5,7.376
$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,20.400,47.825,451.325,0.000,0.000,30.904,13.831,96.558,0.250,0.000,32.355,1589.932,2292.242,448.653,1759.640,77.770,0.000,1130.717,0.000,1585.151,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,61.965,849.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.772,0.000,842.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,40363,664
$CAP_FILE_SIZE,76797,0
$CFSIZE,260165632,249913344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228,165.2,1
$GPS,260910,015608,2424.484,12705.209,9,1.8,9,-3.7