version: 66.08
glider: 168
mission: 2
dive: 67
start: 9 26 110 17 31 17
data:
$ID,168
$MISSION,2
$DIVE,67
$N_DIVES,75
$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,1.02625
$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,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,-3250.8811
$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,0.015
$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,33
$R_STBD_OVSHOOT,40
$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
$GPS1,260910,172636,2423.429,12705.008,38,1.4,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-81.0
$GPS2,260910,173050,2423.362,12705.016,14,1.7,14,-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,358.3,12294,-22.1,-15.152
$D_GRID,4924
$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,14,-0.72,-185.1,0.0,0.0,0,69,0.00,0.00,-52.20,0.000,2,0.000,0.000,104,1541,3079,0,0,0,0,0,0
$GC,71,-0.72,-185.1,3.8,-7.3,8,100,10.07,2.22,-12.23,0.000,4,0.191,0.054,3006,2966,3826,0,0,0,0,0,0
$GC,151,-0.61,-185.1,37.3,-35.0,21,158,0.17,2.20,0.00,0.000,6,0.136,0.050,3060,1550,3828,0,0,0,0,0,0
$GC,481,-0.57,-185.1,123.1,-21.7,82,489,0.00,2.15,0.00,0.000,4,0.000,0.054,3060,169,3829,0,0,0,0,0,0
$GC,523,-0.53,-185.1,132.2,-22.1,89,531,0.10,2.05,0.00,0.000,6,0.161,0.041,3082,1539,3830,0,0,0,0,0,0
$GC,857,-0.56,-185.1,187.1,-15.9,130,861,0.00,2.15,0.00,0.000,4,0.000,0.047,3073,2960,3832,0,0,0,0,0,0
$GC,942,-0.71,-185.1,197.7,-10.4,137,947,0.15,2.15,0.00,0.000,6,0.067,0.047,2960,1546,3832,0,0,0,0,0,0
$GC,1268,-0.58,-185.1,286.7,-27.3,167,1273,0.30,2.10,0.00,0.000,4,0.141,0.054,3062,165,3832,0,0,0,0,0,0
$GC,1310,-0.63,-185.1,296.5,-17.0,170,1319,0.00,2.10,0.00,0.000,6,0.000,0.041,3054,1541,3831,0,0,0,0,0,0
$GC,1637,-0.68,-185.1,342.2,-14.1,201,1639,0.08,0.00,0.00,0.000,6,0.124,0.000,2971,1543,3832,0,0,0,0,0,0
$GC,1955,-0.60,-185.1,411.1,-21.1,231,1960,0.25,2.15,0.00,0.000,4,0.132,0.046,3049,2965,3831,0,0,0,0,0,0
$GC,1985,-0.63,-185.1,416.1,-16.0,233,1989,0.00,2.17,0.00,0.000,6,0.000,0.050,3049,1544,3831,0,0,0,0,0,0
$GC,2311,-0.72,-185.1,452.2,-11.1,263,2316,0.10,2.12,0.00,0.000,4,0.094,0.059,2959,166,3830,0,0,0,0,0,0
$GC,2375,-0.66,-185.1,464.5,-20.1,268,2385,0.25,2.10,0.00,0.000,6,0.115,0.042,3037,1535,3829,0,0,0,0,0,0
$STATE,2646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2646,begin apogee
$GC,2650,-0.11,0.0,500.1,12.1,294,2796,0.47,0.00,140.50,0.843,4,0.099,0.000,3216,1711,3068,0,0,0,0,0,0
$STATE,2797,end apogee,CONTROL_FINISHED_OK
$STATE,2797,begin climb
$GC,2798,0.72,185.1,507.1,0.0,306,2956,0.73,2.25,146.07,0.838,4,0.045,0.047,3502,3107,2312,0,0,0,0,0,0
$GC,2981,0.59,185.1,493.7,20.0,321,2986,0.25,2.22,0.00,0.000,6,0.152,0.043,3441,1696,2309,0,0,0,0,0,0
$GC,3307,0.56,185.1,440.9,15.9,351,3311,0.00,2.15,0.00,0.000,4,0.000,0.041,3441,3119,2302,0,0,0,0,0,0
$GC,3338,0.53,185.1,435.5,15.3,353,3346,0.08,2.22,0.00,0.000,6,0.138,0.045,3424,1703,2302,0,0,0,0,0,0
$GC,3663,0.60,244.3,391.4,11.9,384,3712,0.08,0.00,45.97,0.777,6,0.123,0.000,3485,1703,2072,0,0,0,0,0,0
$GC,4027,0.54,244.3,323.9,19.4,418,4029,0.20,0.00,0.00,0.000,6,0.138,0.000,3422,1703,2063,0,0,0,0,0,0
$GC,4345,0.63,286.9,280.7,12.8,448,4384,0.10,2.25,32.78,0.705,4,0.095,0.042,3498,3116,1898,0,0,0,0,0,0
$GC,4463,0.60,286.9,257.0,21.2,458,4468,0.20,2.20,0.00,0.000,6,0.137,0.047,3446,1702,1895,0,0,0,0,0,0
$GC,4788,0.63,286.9,206.6,15.2,488,4792,0.00,2.17,0.00,0.000,4,0.000,0.057,3456,292,1891,0,0,0,0,0,0
$GC,4861,0.75,338.4,196.8,12.3,494,4909,0.12,2.10,40.38,0.649,6,0.086,0.033,3554,1708,1687,0,0,0,0,0,0
$GC,5234,0.66,338.4,106.5,23.4,543,5241,0.25,2.20,0.00,0.000,4,0.142,0.054,3478,292,1681,0,0,0,0,0,0
$GC,5248,0.58,338.4,102.6,23.7,545,5256,0.15,2.08,0.00,0.000,6,0.128,0.031,3430,1703,1679,0,0,0,0,0,0
$GC,5589,0.92,479.8,73.2,7.4,606,5706,0.28,2.20,105.07,0.560,4,0.050,0.037,3587,3100,1110,0,0,0,0,0,0
$GC,5735,0.92,479.8,39.0,23.3,628,5743,0.12,2.25,0.00,0.000,6,0.112,0.048,3546,1707,1107,0,0,0,0,0,0
$STATE,5941,end climb,SURFACE_DEPTH_REACHED
$STATE,5941,begin surface coast
$FINISH,0.6,1.017471
$STATE,5958,end surface coast,CONTROL_FINISHED_OK
$STATE,5958,begin surface
$SM_CCo,5973,68.95,0.451,1,0,621,600.00
$SM_GC,1.51,0.00,0.00,68.95,0.000,0.000,0.451,103,1535,621,-9.84,-0.42,600.00
$IRIDIUM_FIX,2418.11,12704.97,260910,151523
$TT8_MAMPS,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,10.069
$10V_AH,10.5,8.090
$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,22.950,52.475,510.775,68.950,0.000,25.557,35.883,101.462,0.000,0.000,17.083,1599.248,2361.189,558.579,1716.434,82.697,0.000,1234.921,0.000,1535.215,0.000,0.539,0.000
$DEVICE_MAMPS,191.250,65.790,843.030,451.350,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.599,0.000,847.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,40275,668
$CAP_FILE_SIZE,80882,0
$CFSIZE,260165632,249454592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.243,171.4,1
$GPS,260910,191306,2423.614,12705.099,11,1.0,27,-3.7