version: 66.08
glider: 168
mission: 2
dive: 58
start: 9 26 110 2 0 45
data:
$ID,168
$MISSION,2
$DIVE,58
$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,-3237.0261
$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,3215
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,260910,015608,2424.484,12705.209,9,1.8,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-79.1
$GPS2,260910,020019,2424.412,12705.220,12,1.6,12,-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,352.9,10355,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-184.9,0.0,0.0,0,69,0.00,0.00,-52.33,0.000,2,0.000,0.000,104,1533,3030,0,0,0,0,0,0
$GC,71,-0.78,-184.9,3.1,-3.9,8,107,9.90,2.20,-15.52,0.000,4,0.193,0.059,2953,2943,3939,0,0,0,0,0,0
$GC,157,-0.76,-184.9,40.3,-40.1,22,166,0.03,2.17,0.00,0.000,6,0.179,0.048,2964,1562,3941,0,0,0,0,0,0
$GC,501,-0.74,-184.9,173.1,-33.8,78,506,0.05,2.12,0.00,0.000,4,0.259,0.051,2975,162,3943,0,0,0,0,0,0
$GC,536,-0.72,-184.9,183.0,-28.8,81,540,0.08,2.05,0.00,0.000,6,0.199,0.037,2984,1543,3943,0,0,0,0,0,0
$GC,862,-0.70,-184.9,271.5,-27.5,111,866,0.00,2.12,0.00,0.000,4,0.000,0.043,2974,2960,3944,0,0,0,0,0,0
$GC,900,-0.70,-184.9,281.7,-23.4,114,905,0.05,2.15,0.00,0.000,6,0.207,0.048,2990,1552,3944,0,0,0,0,0,0
$GC,1232,-0.69,-184.9,360.0,-22.1,145,1236,0.00,2.12,0.00,0.000,4,0.000,0.056,2990,166,3944,0,0,0,0,0,0
$GC,1306,-0.69,-184.9,376.1,-20.5,151,1310,0.00,2.08,0.00,0.000,6,0.000,0.040,2981,1562,3944,0,0,0,0,0,0
$GC,1632,-0.69,-184.9,444.8,-20.4,181,1636,0.00,2.15,0.00,0.000,4,0.000,0.056,2981,166,3943,0,0,0,0,0,0
$GC,1663,-0.68,-184.9,452.0,-20.9,183,1672,0.05,2.10,0.00,0.000,6,0.148,0.039,2991,1546,3943,0,0,0,0,0,0
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1936,begin apogee
$GC,1940,-0.12,0.0,501.7,17.3,209,2084,0.50,0.00,140.00,0.848,4,0.107,0.000,3174,1706,3180,0,0,0,0,0,0
$STATE,2085,end apogee,CONTROL_FINISHED_OK
$STATE,2085,begin climb
$GC,2086,0.78,184.9,509.2,0.0,221,2242,0.80,2.25,144.15,0.842,4,0.052,0.049,3481,3103,2425,0,0,0,0,0,0
$GC,2455,0.77,184.9,469.3,17.7,253,2459,0.12,2.17,0.00,0.000,6,0.170,0.044,3457,1696,2421,0,0,0,0,0,0
$GC,2782,0.80,223.6,423.5,13.0,283,2817,0.00,2.30,30.45,0.783,4,0.000,0.054,3467,283,2267,0,0,0,0,0,0
$GC,2964,0.80,223.6,396.5,15.8,299,2968,0.00,2.15,0.00,0.000,6,0.000,0.034,3467,1710,2261,0,0,0,0,0,0
$GC,3294,0.79,227.1,344.7,15.0,330,3298,0.00,2.10,0.00,0.000,4,0.000,0.042,3467,3110,2258,0,0,0,0,0,0
$GC,3362,0.78,227.1,334.2,15.4,336,3366,0.00,2.15,0.00,0.000,6,0.000,0.045,3477,1701,2258,0,0,0,0,0,0
$GC,3687,0.80,248.8,286.9,14.0,366,3713,0.00,2.15,19.70,0.694,4,0.000,0.040,3477,3109,2164,0,0,0,0,0,0
$GC,3750,0.80,248.8,276.6,16.6,371,3759,0.05,2.20,0.00,0.000,6,0.151,0.046,3468,1705,2162,0,0,0,0,0,0
$GC,4076,0.80,252.5,227.4,15.0,402,4091,0.00,2.15,3.80,0.428,4,0.000,0.042,3469,3099,2149,0,0,0,0,0,0
$GC,4124,0.79,252.5,219.8,15.8,406,4128,0.00,2.12,0.00,0.000,6,0.000,0.045,3476,1708,2149,0,0,0,0,0,0
$GC,4456,0.81,271.7,169.6,14.1,437,4482,0.00,2.15,16.42,0.610,4,0.000,0.041,3476,3099,2071,0,0,0,0,0,0
$GC,4716,0.83,290.1,131.9,14.1,470,4738,0.00,2.12,15.50,0.586,6,0.000,0.045,3484,1735,1996,0,0,0,0,0,0
$GC,5072,0.90,344.6,83.2,12.2,533,5119,0.08,0.00,42.53,0.578,6,0.125,0.000,3553,1735,1774,0,0,0,0,0,0
$GC,5453,0.91,357.4,21.8,14.4,600,5469,0.15,2.33,9.93,0.475,4,0.142,0.055,3512,289,1722,0,0,0,0,0,0
$GC,5503,1.02,432.0,15.9,11.0,608,5571,0.05,2.20,57.60,0.528,6,0.060,0.033,3582,1737,1416,0,0,0,0,0,0
$STATE,5581,end climb,SURFACE_DEPTH_REACHED
$STATE,5581,begin surface coast
$FINISH,0.6,1.021803
$STATE,5601,end surface coast,CONTROL_FINISHED_OK
$STATE,5601,begin surface
$SM_CCo,5676,0.00,0.000,0,0,1408,434.43
$SM_GC,1.82,8.57,0.00,0.00,0.023,0.000,0.000,104,1530,1408,-9.58,-0.57,434.43
$IRIDIUM_FIX,2415.74,12703.08,260910,000036
$TT8_MAMPS,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,9.093
$10V_AH,10.5,7.445
$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,20.475,52.350,480.075,0.000,0.000,27.330,36.411,97.100,0.250,0.000,15.270,1498.218,2236.100,455.297,1669.045,80.999,0.000,1116.529,0.000,1492.787,0.000,0.540,0.000
$DEVICE_MAMPS,258.570,65.025,848.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.135,0.000,791.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40399,623
$CAP_FILE_SIZE,76594,0
$CFSIZE,260165632,249868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,161.7,1
$GPS,260910,033602,2424.492,12705.185,8,1.2,8,-3.7