version: 66.08
glider: 168
mission: 2
dive: 63
start: 9 26 110 10 34 29
data:
$ID,168
$MISSION,2
$DIVE,63
$N_DIVES,70
$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,-3244.835
$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,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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,260910,102951,2424.485,12705.255,7,2.0,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.0
$GPS2,260910,103402,2424.421,12705.271,12,1.5,12,-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,340.0,10342,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-184.9,0.0,0.0,0,77,0.00,0.00,-59.85,0.000,2,0.000,0.000,104,1560,3101,0,0,0,0,0,0
$GC,79,-0.78,-184.9,3.3,-4.9,9,108,10.05,2.17,-13.48,0.000,4,0.192,0.054,2991,2956,3938,0,0,0,0,0,0
$GC,199,-0.77,-184.9,50.1,-30.6,29,206,0.00,2.20,0.00,0.000,6,0.000,0.048,2991,1547,3940,0,0,0,0,0,0
$GC,536,-0.75,-184.9,161.2,-31.5,87,540,0.08,2.10,0.00,0.000,4,0.218,0.052,3008,161,3942,0,0,0,0,0,0
$GC,556,-0.74,-184.9,168.5,-30.0,88,567,0.00,2.10,0.00,0.000,6,0.000,0.037,2999,1538,3943,0,0,0,0,0,0
$GC,884,-0.73,-184.9,255.1,-25.0,119,886,0.08,0.00,0.00,0.000,6,0.200,0.000,3018,1541,3944,0,0,0,0,0,0
$GC,1202,-0.73,-184.9,320.5,-18.8,149,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1540,3944,0,0,0,0,0,0
$GC,1521,-0.73,-184.9,378.6,-17.5,179,1524,0.00,2.12,0.00,0.000,4,0.000,0.054,3018,158,3943,0,0,0,0,0,0
$GC,1564,-0.73,-184.9,386.3,-15.5,182,1573,0.00,2.10,0.00,0.000,6,0.000,0.039,3010,1542,3943,0,0,0,0,0,0
$GC,1891,-0.73,-184.9,441.1,-16.6,213,1895,0.00,2.12,0.00,0.000,4,0.000,0.046,3001,2962,3942,0,0,0,0,0,0
$GC,1922,-0.73,-184.9,446.7,-16.1,215,1930,0.03,2.20,0.00,0.000,6,0.146,0.047,3016,1545,3942,0,0,0,0,0,0
$GC,2248,-0.74,-184.9,492.6,-14.2,246,2252,0.00,2.12,0.00,0.000,4,0.000,0.057,3016,159,3941,0,0,0,0,0,0
$STATE,2304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2304,begin apogee
$GC,2310,-0.12,0.0,500.7,13.4,251,2456,0.55,0.00,139.73,0.847,4,0.096,0.000,3215,1701,3179,0,0,0,0,0,0
$STATE,2457,end apogee,CONTROL_FINISHED_OK
$STATE,2457,begin climb
$GC,2458,0.78,184.9,509.2,0.0,263,2612,0.77,2.25,144.07,0.836,4,0.047,0.047,3519,3113,2426,0,0,0,0,0,0
$GC,2832,0.76,184.9,466.3,18.4,296,2842,0.10,2.22,0.00,0.000,6,0.161,0.044,3498,1698,2420,0,0,0,0,0,0
$GC,3160,0.74,184.9,412.0,16.1,327,3164,0.00,2.15,0.00,0.000,4,0.000,0.040,3498,3120,2415,0,0,0,0,0,0
$GC,3279,0.73,184.9,393.2,16.2,337,3284,0.10,2.17,0.00,0.000,6,0.188,0.045,3482,1696,2415,0,0,0,0,0,0
$GC,3605,0.74,210.9,348.2,13.7,367,3631,0.00,2.22,19.62,0.728,4,0.000,0.041,3482,3119,2320,0,0,0,0,0,0
$GC,3647,0.75,223.0,341.7,14.5,370,3667,0.00,2.22,11.48,0.676,6,0.000,0.044,3492,1700,2269,0,0,0,0,0,0
$GC,3984,0.74,223.0,280.5,18.7,402,3988,0.00,2.17,0.00,0.000,4,0.000,0.041,3492,3119,2263,0,0,0,0,0,0
$GC,4032,0.73,223.0,271.5,17.8,406,4042,0.05,2.20,0.00,0.000,6,0.165,0.044,3485,1714,2263,0,0,0,0,0,0
$GC,4360,0.75,246.8,223.4,13.8,437,4385,0.00,2.30,18.73,0.650,4,0.000,0.055,3496,284,2173,0,0,0,0,0,0
$GC,4487,0.74,246.8,204.3,15.4,448,4491,0.00,2.15,0.00,0.000,6,0.000,0.034,3495,1714,2168,0,0,0,0,0,0
$GC,4811,0.77,280.2,157.5,13.3,478,4848,0.00,2.17,26.98,0.617,4,0.000,0.042,3496,3110,2035,0,0,0,0,0,0
$GC,4899,0.77,280.2,143.9,16.3,488,4908,0.00,2.20,0.00,0.000,6,0.000,0.045,3505,1713,2034,0,0,0,0,0,0
$GC,5242,0.81,319.0,93.5,13.0,549,5282,0.00,2.17,30.33,0.578,4,0.000,0.043,3505,3100,1878,0,0,0,0,0,0
$GC,5374,0.90,385.8,78.7,11.5,571,5435,0.10,2.12,51.62,0.568,6,0.093,0.047,3585,1722,1606,0,0,0,0,0,0
$GC,5765,0.89,385.8,6.1,20.2,640,5774,0.17,2.25,0.00,0.000,4,0.151,0.055,3541,294,1598,0,0,0,0,0,0
$STATE,5779,end climb,SURFACE_DEPTH_REACHED
$STATE,5779,begin surface coast
$FINISH,1.3,1.021869
$STATE,5791,end surface coast,CONTROL_FINISHED_OK
$STATE,5791,begin surface
$SM_CCo,5807,15.12,0.214,1,0,1548,400.08
$SM_GC,1.45,0.00,0.00,15.12,0.000,0.000,0.214,104,1561,1548,-9.84,0.34,400.08
$IRIDIUM_FIX,2413.38,12704.97,260910,080814
$TT8_MAMPS,0.026964
$HUMID,47.75
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.5,9.632
$10V_AH,10.5,7.801
$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,20.450,56.525,442.550,15.125,0.000,31.207,35.399,95.060,0.250,0.000,15.408,1549.815,2296.671,475.083,1691.709,80.335,0.000,1136.545,0.000,1510.885,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,57.375,846.855,214.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.635,0.000,816.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40336,644
$CAP_FILE_SIZE,77391,0
$CFSIZE,260165632,249643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.293,160.2,1
$GPS,260910,121336,2424.228,12705.180,79,0.8,84,-3.7