version: 66.08
glider: 168
mission: 2
dive: 69
start: 9 26 110 21 0 28
data:
$ID,168
$MISSION,2
$DIVE,69
$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,-3253.4858
$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,32
$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
$GPS1,260910,205550,2423.686,12705.019,10,1.4,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.5
$GPS2,260910,210002,2423.649,12705.002,27,1.1,27,-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,3.1,11762,-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,-83.90,0.000,2,0.000,0.000,104,1535,3133,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.3,-5.3,13,132,10.05,2.17,-11.35,0.000,4,0.189,0.055,3009,2952,3825,0,0,0,0,0,0
$GC,160,-0.50,-185.1,30.8,-44.9,22,169,0.22,2.20,0.00,0.000,6,0.119,0.051,3087,1562,3827,0,0,0,0,0,0
$GC,500,-0.50,-185.1,111.7,-18.8,83,507,0.00,2.10,0.00,0.000,4,0.000,0.046,3078,2951,3829,0,0,0,0,0,0
$GC,541,-0.56,-185.1,119.3,-16.4,90,549,0.00,2.17,0.00,0.000,6,0.000,0.047,3078,1557,3829,0,0,0,0,0,0
$GC,874,-0.59,-185.1,180.5,-16.9,136,878,0.00,2.12,0.00,0.000,4,0.000,0.054,3078,163,3830,0,0,0,0,0,0
$GC,985,-0.68,-185.1,198.9,-15.0,145,993,0.08,2.08,0.00,0.000,6,0.046,0.040,2979,1530,3830,0,0,0,0,0,0
$GC,1311,-0.57,-185.1,279.4,-24.0,176,1316,0.25,2.10,0.00,0.000,4,0.139,0.052,3065,157,3830,0,0,0,0,0,0
$GC,1331,-0.52,-185.1,284.3,-21.4,177,1340,0.08,2.10,0.00,0.000,6,0.118,0.040,3088,1538,3830,0,0,0,0,0,0
$GC,1658,-0.65,-185.1,316.0,-9.9,208,1662,0.15,2.15,0.00,0.000,4,0.070,0.048,2967,2960,3830,0,0,0,0,0,0
$GC,1698,-0.65,-185.1,322.1,-18.1,211,1702,0.25,2.17,0.00,0.000,6,0.119,0.047,3049,1533,3830,0,0,0,0,0,0
$GC,2028,-0.71,-185.1,369.6,-13.5,242,2029,0.10,0.00,0.00,0.000,6,0.097,0.000,2956,1533,3829,0,0,0,0,0,0
$GC,2346,-0.62,-185.1,441.4,-23.0,272,2348,0.30,0.00,0.00,0.000,6,0.132,0.000,3053,1533,3828,0,0,0,0,0,0
$GC,2665,-0.72,-185.1,476.2,-10.1,302,2667,0.10,0.00,0.00,0.000,6,0.094,0.000,2965,1533,3827,0,0,0,0,0,0
$STATE,2803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2803,begin apogee
$GC,2807,-0.11,0.0,500.5,18.8,315,2952,0.70,0.00,139.88,0.854,4,0.114,0.000,3211,1711,3068,0,0,0,0,0,0
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2954,0.72,185.1,507.6,0.0,327,3107,0.75,2.22,145.90,0.838,4,0.048,0.049,3502,3098,2313,0,0,0,0,0,0
$GC,3245,0.60,185.1,471.1,20.4,352,3255,0.20,2.22,0.00,0.000,6,0.134,0.045,3447,1699,2306,0,0,0,0,0,0
$GC,3572,0.57,185.1,422.4,15.2,383,3576,0.00,2.12,0.00,0.000,4,0.000,0.042,3447,3106,2301,0,0,0,0,0,0
$GC,3827,0.57,208.7,384.1,13.9,405,3850,0.05,2.20,17.85,0.756,6,0.151,0.047,3437,1697,2216,0,0,0,0,0,0
$GC,4175,0.60,233.3,337.1,13.8,438,4200,0.00,2.25,20.15,0.741,4,0.000,0.043,3437,3112,2116,0,0,0,0,0,0
$GC,4283,0.63,236.5,321.3,15.0,447,4293,0.00,2.17,4.10,0.492,6,0.000,0.047,3447,1702,2102,0,0,0,0,0,0
$GC,4619,0.64,241.6,270.4,14.9,479,4632,0.00,2.15,5.25,0.549,4,0.000,0.041,3447,3105,2081,0,0,0,0,0,0
$GC,4677,0.67,249.6,261.6,14.7,484,4692,0.00,2.15,8.05,0.620,6,0.000,0.047,3456,1705,2049,0,0,0,0,0,0
$GC,5007,0.71,280.9,214.5,13.4,515,5038,0.08,0.00,25.45,0.671,6,0.129,0.000,3516,1705,1921,0,0,0,0,0,0
$GC,5357,0.64,280.9,145.7,22.1,549,5364,0.20,2.20,0.00,0.000,4,0.140,0.054,3463,285,1915,0,0,0,0,0,0
$GC,5416,0.72,296.6,135.8,14.3,559,5438,0.08,2.15,12.75,0.584,6,0.120,0.034,3546,1719,1858,0,0,0,0,0,0
$GC,5769,0.66,296.6,62.3,16.8,622,5778,0.25,2.12,0.00,0.000,4,0.132,0.041,3458,3102,1855,0,0,0,0,0,0
$GC,5847,0.90,403.3,53.6,9.3,635,5941,0.22,2.10,81.32,0.552,6,0.051,0.045,3590,1720,1420,0,0,0,0,0,0
$STATE,6119,end climb,SURFACE_DEPTH_REACHED
$STATE,6120,begin surface coast
$FINISH,0.6,1.012148
$STATE,6133,end surface coast,CONTROL_FINISHED_OK
$STATE,6133,begin surface
$SM_CCo,6148,105.55,0.468,1,0,620,600.00
$SM_GC,1.34,0.00,0.00,105.55,0.000,0.000,0.468,104,1528,620,-9.84,-0.62,600.00
$IRIDIUM_FIX,2415.74,12701.66,260910,191915
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,24.4,10.315
$10V_AH,10.5,8.236
$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,22.625,47.975,460.700,105.550,0.000,22.777,37.314,92.802,0.000,0.000,31.016,1632.295,2455.891,584.539,1772.476,80.341,0.000,1272.409,0.000,1594.332,0.000,0.539,0.000
$DEVICE_MAMPS,188.955,61.965,853.740,468.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.921,0.000,867.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43631,683
$CAP_FILE_SIZE,81353,0
$CFSIZE,260165632,249364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,5
$CURRENT,0.208,185.3,1
$GPS,260910,224601,2423.776,12704.867,38,1.0,38,-3.7