version: 66.08
glider: 168
mission: 2
dive: 66
start: 9 26 110 15 46 16
data:
$ID,168
$MISSION,2
$DIVE,66
$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,-3249.5291
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,260910,154108,2423.458,12705.126,8,1.8,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-79.8
$GPS2,260910,154550,2423.376,12705.150,14,1.8,14,-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,352.3,12270,-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,-184.9,0.0,0.0,0,76,0.00,0.00,-59.20,0.000,2,0.000,0.000,105,1538,3231,0,0,0,0,0,0
$GC,78,-0.78,-184.9,3.9,-7.0,9,107,10.07,2.17,-10.85,0.000,4,0.193,0.055,2991,2963,3935,0,0,0,0,0,0
$GC,220,-0.77,-184.9,60.2,-26.4,33,227,0.00,2.17,0.00,0.000,6,0.000,0.045,2990,1555,3938,0,0,0,0,0,0
$GC,560,-0.76,-184.9,166.1,-29.4,90,564,0.08,2.15,0.00,0.000,4,0.214,0.054,3008,158,3940,0,0,0,0,0,0
$GC,581,-0.74,-184.9,172.8,-30.8,92,586,0.05,2.08,0.00,0.000,6,0.226,0.037,3012,1553,3941,0,0,0,0,0,0
$GC,913,-0.73,-184.9,253.5,-22.3,123,917,0.00,2.15,0.00,0.000,4,0.000,0.053,3012,157,3942,0,0,0,0,0,0
$GC,956,-0.73,-184.9,264.0,-22.1,126,965,0.00,2.10,0.00,0.000,6,0.000,0.039,3003,1536,3942,0,0,0,0,0,0
$GC,1284,-0.72,-184.9,332.6,-19.8,157,1286,0.08,0.00,0.00,0.000,6,0.204,0.000,3023,1538,3942,0,0,0,0,0,0
$GC,1601,-0.72,-184.9,389.0,-17.3,187,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1538,3941,0,0,0,0,0,0
$GC,1921,-0.73,-184.9,441.8,-15.9,217,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1538,3940,0,0,0,0,0,0
$GC,2239,-0.73,-184.9,487.6,-14.0,247,2242,0.00,2.10,0.00,0.000,4,0.000,0.057,3023,168,3938,0,0,0,0,0,0
$GC,2269,-0.74,-184.9,492.1,-15.0,249,2273,0.00,2.08,0.00,0.000,6,0.000,0.042,3017,1554,3938,0,0,0,0,0,0
$STATE,2327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2327,begin apogee
$GC,2331,-0.12,0.0,500.4,13.7,254,2475,0.52,0.00,139.25,0.850,4,0.101,0.000,3212,1714,3180,0,0,0,0,0,0
$STATE,2476,end apogee,CONTROL_FINISHED_OK
$STATE,2476,begin climb
$GC,2477,0.78,184.9,507.7,0.0,266,2629,0.73,2.25,144.20,0.830,4,0.038,0.047,3523,3096,2426,0,0,0,0,0,0
$GC,2796,0.76,184.9,470.9,21.8,294,2800,0.15,2.20,0.00,0.000,6,0.181,0.044,3495,1693,2421,0,0,0,0,0,0
$GC,3120,0.74,184.9,412.7,17.7,324,3124,0.00,2.15,0.00,0.000,4,0.000,0.040,3495,3112,2416,0,0,0,0,0,0
$GC,3205,0.72,184.9,397.8,18.0,331,3209,0.10,2.15,0.00,0.000,6,0.184,0.044,3479,1699,2415,0,0,0,0,0,0
$GC,3531,0.73,199.8,349.6,14.3,361,3547,0.00,2.17,11.00,0.690,4,0.000,0.041,3479,3105,2365,0,0,0,0,0,0
$GC,3603,0.72,203.7,338.6,14.9,367,3613,0.00,2.15,5.07,0.555,6,0.000,0.045,3489,1711,2348,0,0,0,0,0,0
$GC,3940,0.73,219.3,290.4,14.3,399,3965,0.00,2.20,13.40,0.682,4,0.000,0.041,3489,3117,2284,0,0,0,0,0,0
$GC,3999,0.72,221.9,281.6,15.0,404,4013,0.08,2.15,3.78,0.445,6,0.201,0.045,3481,1723,2274,0,0,0,0,0,0
$GC,4330,0.72,223.5,230.5,15.1,435,4334,0.00,2.22,0.00,0.000,4,0.000,0.054,3492,292,2271,0,0,0,0,0,0
$GC,4373,0.71,223.5,223.2,16.1,438,4381,0.00,2.15,0.00,0.000,6,0.000,0.034,3492,1712,2268,0,0,0,0,0,0
$GC,4700,0.76,274.8,174.9,12.3,469,4748,0.00,2.33,41.78,0.647,4,0.000,0.054,3503,285,2058,0,0,0,0,0,0
$GC,4761,0.79,303.2,166.8,13.6,474,4788,0.00,2.15,22.85,0.617,6,0.000,0.033,3503,1715,1943,0,0,0,0,0,0
$GC,5111,0.79,303.2,105.8,16.3,529,5119,0.00,2.12,0.00,0.000,4,0.000,0.042,3503,3113,1935,0,0,0,0,0,0
$GC,5204,0.79,303.2,91.1,16.0,546,5212,0.00,2.17,0.00,0.000,6,0.000,0.046,3511,1724,1935,0,0,0,0,0,0
$GC,5537,0.91,397.6,46.0,10.0,607,5619,0.10,2.20,71.28,0.548,4,0.095,0.042,3594,3110,1557,0,0,0,0,0,0
$GC,5646,0.90,397.6,30.2,17.8,624,5654,0.17,2.20,0.00,0.000,6,0.118,0.044,3541,1729,1555,0,0,0,0,0,0
$STATE,5850,end climb,SURFACE_DEPTH_REACHED
$STATE,5850,begin surface coast
$FINISH,0.7,1.010937
$STATE,5873,end surface coast,CONTROL_FINISHED_OK
$STATE,5873,begin surface
$SM_CCo,5949,0.00,0.000,0,0,1545,400.82
$SM_GC,1.52,8.38,0.00,0.00,0.023,0.000,0.000,104,1539,1545,-9.71,-0.25,400.82
$IRIDIUM_FIX,2411.01,12703.55,260910,131324
$TT8_MAMPS,0.026964
$HUMID,46.29
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,9.944
$10V_AH,10.5,8.017
$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,20.500,52.475,452.600,0.000,0.000,26.935,43.705,119.633,0.000,0.000,17.268,1601.121,2371.818,439.759,1751.162,79.803,0.000,1106.583,0.000,1538.315,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,65.025,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.225,0.000,844.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40336,665
$CAP_FILE_SIZE,78489,0
$CFSIZE,260165632,249499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.277,173.5,1
$GPS,260910,172636,2423.429,12705.008,38,1.4,38,-3.7