version: 66.08
glider: 168
mission: 2
dive: 105
start: 9 29 110 15 14 47
data:
$ID,168
$MISSION,2
$DIVE,105
$N_DIVES,115
$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,0
$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,8
$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,-3300.5527
$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,0.0070000002
$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,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
$GPS1,290910,151013,2427.116,12705.658,10,1.3,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.3
$GPS2,290910,151420,2427.066,12705.699,14,1.3,14,-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,341.8,5561,-22.1,-15.152
$D_GRID,4321
$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,-84.10,0.000,2,0.000,0.000,104,1541,3164,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.5,-6.1,13,133,10.12,2.17,-10.73,0.000,4,0.190,0.054,3009,2962,3826,0,0,0,0,0,0
$GC,256,-0.69,-185.1,58.2,-26.3,39,263,0.08,2.17,0.00,0.000,6,0.171,0.046,3028,1556,3828,0,0,0,0,0,0
$GC,599,-0.64,-185.1,155.8,-26.0,99,604,0.05,2.15,0.00,0.000,4,0.252,0.053,3041,157,3829,0,0,0,0,0,0
$GC,651,-0.63,-185.1,168.4,-21.4,103,656,0.08,2.08,0.00,0.000,6,0.184,0.038,3054,1538,3830,0,0,0,0,0,0
$GC,981,-0.63,-185.1,231.6,-18.4,134,982,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1541,3830,0,0,0,0,0,0
$GC,1300,-0.64,-185.1,286.2,-17.4,164,1304,0.00,2.12,0.00,0.000,4,0.000,0.045,3044,2959,3831,0,0,0,0,0,0
$GC,1364,-0.69,-185.1,295.9,-13.7,169,1368,0.00,2.15,0.00,0.000,6,0.000,0.044,3044,1548,3830,0,0,0,0,0,0
$GC,1690,-0.70,-185.1,352.1,-17.0,199,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1548,3830,0,0,0,0,0,0
$GC,2010,-0.72,-185.1,400.9,-14.7,229,2015,0.08,2.15,0.00,0.000,4,0.122,0.054,2954,161,3829,0,0,0,0,0,0
$GC,2071,-0.67,-185.1,415.0,-25.5,234,2076,0.30,2.08,0.00,0.000,6,0.135,0.041,3040,1553,3829,0,0,0,0,0,0
$GC,2396,-0.69,-185.1,461.1,-11.8,264,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1556,3828,0,0,0,0,0,0
$GC,2715,-0.73,-185.1,497.3,-11.2,294,2717,0.08,0.00,0.00,0.000,6,0.123,0.000,2949,1556,3826,0,0,0,0,0,0
$STATE,2733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2733,begin apogee
$GC,2737,0.00,0.0,500.2,12.5,296,2883,0.85,0.00,139.82,0.864,4,0.113,0.000,3248,1714,3069,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2886,0.72,185.1,507.4,0.0,308,3039,0.57,2.35,145.00,0.852,4,0.030,0.054,3519,300,2312,0,0,0,0,0,0
$GC,3178,0.66,185.1,471.9,19.7,334,3183,0.20,2.10,0.00,0.000,6,0.155,0.032,3461,1701,2304,0,0,0,0,0,0
$GC,3504,0.64,192.5,421.1,14.7,364,3516,0.00,0.00,5.50,0.603,6,0.000,0.000,3461,1704,2283,0,0,0,0,0,0
$GC,3833,0.64,214.0,372.6,14.0,395,3858,0.00,2.28,18.48,0.750,4,0.000,0.054,3472,292,2194,0,0,0,0,0,0
$GC,3937,0.63,214.0,356.1,16.0,404,3941,0.08,2.12,0.00,0.000,6,0.166,0.034,3449,1697,2191,0,0,0,0,0,0
$GC,4261,0.66,241.3,309.3,13.7,434,4288,0.00,2.20,22.35,0.725,4,0.000,0.044,3449,3115,2084,0,0,0,0,0,0
$GC,4337,0.68,251.8,298.1,14.6,440,4352,0.00,2.22,10.10,0.657,6,0.000,0.044,3457,1698,2041,0,0,0,0,0,0
$GC,4672,0.68,253.8,247.3,15.0,471,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1698,2035,0,0,0,0,0,0
$GC,4992,0.75,310.6,203.0,12.0,501,5043,0.10,2.20,45.92,0.670,4,0.102,0.041,3538,3112,1800,0,0,0,0,0,0
$GC,5116,0.72,310.6,176.5,22.5,512,5121,0.22,2.20,0.00,0.000,6,0.138,0.044,3479,1694,1797,0,0,0,0,0,0
$GC,5447,0.73,310.6,118.0,17.0,558,5455,0.00,2.20,0.00,0.000,4,0.000,0.054,3489,298,1792,0,0,0,0,0,0
$GC,5536,0.76,318.7,103.9,14.7,573,5550,0.00,2.10,6.43,0.497,6,0.000,0.033,3489,1702,1767,0,0,0,0,0,0
$GC,5883,0.84,364.0,59.6,12.7,635,5926,0.10,2.28,35.55,0.565,4,0.095,0.053,3586,291,1582,0,0,0,0,0,0
$GC,5961,0.82,364.0,44.9,19.8,647,5969,0.22,2.10,0.00,0.000,6,0.119,0.033,3511,1682,1579,0,0,0,0,0,0
$GC,6301,0.90,402.0,5.5,13.1,708,6324,0.10,0.00,20.12,0.509,2,0.093,0.000,3600,1685,1472,0,0,0,0,0,0
$STATE,6325,end climb,SURFACE_DEPTH_REACHED
$STATE,6325,begin surface coast
$FINISH,0.6,1.002061
$STATE,6349,end surface coast,CONTROL_FINISHED_OK
$STATE,6349,begin surface
$SM_CCo,6364,109.70,0.058,0,0,621,600.00
$SM_GC,1.41,0.00,0.00,109.70,0.000,0.000,0.058,103,1525,621,-9.84,-0.71,600.00
$IRIDIUM_FIX,2418.11,12708.29,290910,131346
$TT8_MAMPS,0.026964
$HUMID,44.72
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,14.644
$10V_AH,10.5,10.953
$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,21.650,43.850,449.275,109.700,0.000,24.778,40.461,94.339,0.000,0.000,17.509,1724.564,2553.233,550.531,1816.318,91.886,0.000,1246.357,0.000,1648.675,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,69.615,863.685,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.412,0.000,908.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43645,715
$CAP_FILE_SIZE,81994,0
$CFSIZE,260165632,247721984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.229,147.4,1
$GPS,290910,170400,2427.320,12705.825,39,1.1,44,-3.7