version: 66.08
glider: 168
mission: 2
dive: 68
start: 9 26 110 19 17 52
data:
$ID,168
$MISSION,2
$DIVE,68
$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,-3252.23
$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,42
$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
$GPS1,260910,191306,2423.614,12705.099,11,1.0,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.5
$GPS2,260910,191726,2423.550,12705.085,14,1.3,14,-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,357.2,11947,-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,15,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-83.80,0.000,2,0.000,0.000,104,1536,3173,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.8,-7.2,13,132,10.10,2.17,-10.40,0.000,4,0.191,0.057,3008,2950,3825,0,0,0,0,0,0
$GC,206,-0.63,-185.1,47.4,-31.6,30,214,0.12,2.20,0.00,0.000,6,0.125,0.049,3051,1559,3826,0,0,0,0,0,0
$GC,545,-0.58,-185.1,135.6,-23.1,91,552,0.00,2.15,0.00,0.000,4,0.000,0.054,3052,152,3828,0,0,0,0,0,0
$GC,571,-0.56,-185.1,141.8,-23.7,95,578,0.10,2.10,0.00,0.000,6,0.156,0.042,3073,1533,3829,0,0,0,0,0,0
$GC,904,-0.58,-185.1,202.9,-16.8,130,908,0.00,2.10,0.00,0.000,4,0.000,0.054,3073,161,3829,0,0,0,0,0,0
$GC,932,-0.61,-185.1,207.5,-16.5,132,940,0.00,2.10,0.00,0.000,6,0.000,0.041,3065,1533,3829,0,0,0,0,0,0
$GC,1259,-0.65,-185.1,257.6,-14.3,163,1260,0.08,0.00,0.00,0.000,6,0.123,0.000,2970,1535,3829,0,0,0,0,0,0
$GC,1576,-0.56,-185.1,333.3,-23.6,193,1578,0.32,0.00,0.00,0.000,6,0.128,0.000,3077,1535,3829,0,0,0,0,0,0
$GC,1895,-0.68,-185.1,370.0,-10.4,223,1897,0.12,0.00,0.00,0.000,6,0.080,0.000,2973,1535,3828,0,0,0,0,0,0
$GC,2213,-0.61,-185.1,438.2,-21.9,253,2217,0.25,2.15,0.00,0.000,4,0.132,0.047,3050,2960,3827,0,0,0,0,0,0
$GC,2256,-0.74,-185.1,445.4,-11.6,256,2266,0.08,2.22,0.00,0.000,6,0.047,0.051,2954,1536,3827,0,0,0,0,0,0
$STATE,2526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2530,-0.11,0.0,500.4,20.8,282,2675,0.75,0.00,139.82,0.843,4,0.117,0.000,3217,1711,3068,0,0,0,0,0,0
$STATE,2676,end apogee,CONTROL_FINISHED_OK
$STATE,2676,begin climb
$GC,2677,0.72,185.1,507.8,0.0,294,2832,0.73,2.25,145.68,0.833,4,0.045,0.047,3505,3106,2312,0,0,0,0,0,0
$GC,3016,0.59,185.1,459.0,20.3,323,3023,0.25,2.17,0.00,0.000,6,0.152,0.044,3442,1694,2306,0,0,0,0,0,0
$GC,3341,0.60,211.5,408.4,13.7,354,3368,0.00,2.25,20.42,0.763,4,0.000,0.056,3453,297,2204,0,0,0,0,0,0
$GC,3532,0.64,258.1,382.2,12.6,371,3580,0.00,2.10,37.28,0.770,6,0.000,0.034,3453,1705,2015,0,0,0,0,0,0
$GC,3898,0.62,258.1,321.4,18.0,405,3902,0.00,2.15,0.00,0.000,4,0.000,0.043,3453,3115,2007,0,0,0,0,0,0
$GC,4025,0.62,258.1,298.7,16.7,416,4029,0.00,2.17,0.00,0.000,6,0.000,0.046,3461,1708,2007,0,0,0,0,0,0
$GC,4357,0.62,258.1,237.9,17.9,447,4360,0.00,2.12,0.00,0.000,4,0.000,0.042,3461,3109,2005,0,0,0,0,0,0
$GC,4386,0.62,258.1,232.5,18.6,449,4391,0.08,2.15,0.00,0.000,6,0.192,0.045,3450,1698,2004,0,0,0,0,0,0
$GC,4713,0.74,338.7,189.6,10.7,479,4786,0.12,2.28,61.28,0.653,4,0.083,0.055,3541,300,1684,0,0,0,0,0,0
$GC,4855,0.66,338.7,162.5,21.0,491,4860,0.25,2.10,0.00,0.000,6,0.132,0.032,3462,1701,1681,0,0,0,0,0,0
$GC,5190,0.75,364.2,112.9,13.8,544,5212,0.10,0.00,19.73,0.575,6,0.097,0.000,3547,1704,1583,0,0,0,0,0,0
$GC,5546,0.79,398.5,44.1,13.3,607,5580,0.15,2.17,26.80,0.533,4,0.144,0.042,3499,3112,1442,0,0,0,0,0,0
$GC,5622,1.11,516.2,37.2,8.7,619,5717,0.30,2.20,87.30,0.529,6,0.048,0.045,3657,1687,962,0,0,0,0,0,0
$STATE,5754,end climb,SURFACE_DEPTH_REACHED
$STATE,5754,begin surface coast
$FINISH,1.1,1.021878
$STATE,5763,end surface coast,CONTROL_FINISHED_OK
$STATE,5763,begin surface
$SM_CCo,5778,49.92,0.425,1,0,621,600.00
$SM_GC,1.38,0.00,0.00,49.92,0.000,0.000,0.425,103,1535,621,-9.84,-0.42,600.00
$IRIDIUM_FIX,2413.38,12701.66,260910,171742
$TT8_MAMPS,0.026964
$HUMID,46.29
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.5,10.195
$10V_AH,10.6,8.161
$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,22.675,43.800,538.300,49.925,0.000,27.800,35.520,105.932,0.000,0.000,17.245,1510.807,2253.388,567.287,1696.918,80.119,0.000,1246.478,0.000,1506.523,0.000,0.540,0.000
$DEVICE_MAMPS,192.015,72.675,843.030,425.340,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.401,0.000,814.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40318,641
$CAP_FILE_SIZE,76400,0
$CFSIZE,260165632,249417728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229,179.1,1
$GPS,260910,205550,2423.686,12705.019,10,1.4,10,-3.7