version: 66.08
glider: 168
mission: 2
dive: 103
start: 9 29 110 11 41 34
data:
$ID,168
$MISSION,2
$DIVE,103
$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,-3298.043
$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,41
$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,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
$GPS1,290910,113656,2426.685,12705.362,10,1.8,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.5
$GPS2,290910,114107,2426.650,12705.396,9,1.8,15,-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,357.5,6241,-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,-83.97,0.000,2,0.000,0.000,104,1535,3166,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.3,-4.7,13,132,10.10,2.20,-10.82,0.000,4,0.190,0.058,3011,2957,3826,0,0,0,0,0,0
$GC,245,-0.69,-185.1,55.2,-28.4,37,252,0.08,2.12,0.00,0.000,6,0.177,0.043,3030,1559,3828,0,0,0,0,0,0
$GC,581,-0.65,-185.1,155.6,-24.4,96,585,0.00,2.15,0.00,0.000,4,0.000,0.052,3030,161,3829,0,0,0,0,0,0
$GC,646,-0.63,-185.1,172.3,-23.4,101,654,0.08,2.12,0.00,0.000,6,0.122,0.038,3050,1548,3830,0,0,0,0,0,0
$GC,971,-0.63,-185.1,234.2,-16.4,132,972,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1550,3830,0,0,0,0,0,0
$GC,1291,-0.64,-185.1,284.1,-15.4,162,1295,0.00,2.15,0.00,0.000,4,0.000,0.047,3041,2968,3830,0,0,0,0,0,0
$GC,1327,-0.66,-185.1,289.0,-14.2,165,1331,0.00,2.15,0.00,0.000,6,0.000,0.044,3041,1555,3830,0,0,0,0,0,0
$GC,1653,-0.67,-185.1,342.7,-15.9,195,1657,0.00,2.12,0.00,0.000,4,0.000,0.047,3033,2959,3830,0,0,0,0,0,0
$GC,1697,-0.71,-185.1,350.0,-14.0,198,1705,0.00,2.15,0.00,0.000,6,0.000,0.046,3033,1569,3829,0,0,0,0,0,0
$GC,2024,-0.72,-185.1,399.6,-15.5,229,2028,0.00,2.15,0.00,0.000,4,0.000,0.054,3033,157,3828,0,0,0,0,0,0
$GC,2143,-0.75,-185.1,416.7,-13.3,239,2147,0.00,2.08,0.00,0.000,6,0.000,0.041,3024,1554,3828,0,0,0,0,0,0
$GC,2471,-0.76,-185.1,465.3,-15.8,269,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1557,3826,0,0,0,0,0,0
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2704,0.00,0.0,500.3,14.4,291,2849,0.62,0.00,139.73,0.865,4,0.096,0.000,3256,1714,3068,0,0,0,0,0,0
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin climb
$GC,2851,0.72,185.1,507.4,0.0,303,3006,0.60,2.22,145.23,0.848,4,0.031,0.047,3535,3104,2312,0,0,0,0,0,0
$GC,3166,0.65,185.1,456.8,22.8,330,3175,0.25,2.22,0.00,0.000,6,0.138,0.043,3464,1698,2306,0,0,0,0,0,0
$GC,3493,0.63,191.5,401.2,14.8,361,3506,0.00,2.20,4.55,0.543,4,0.000,0.054,3474,293,2287,0,0,0,0,0,0
$GC,3532,0.60,202.3,395.0,14.6,364,3548,0.08,2.12,10.20,0.704,6,0.116,0.033,3445,1695,2243,0,0,0,0,0,0
$GC,3868,0.63,234.6,351.6,13.4,395,3903,0.00,2.28,26.52,0.756,4,0.000,0.055,3456,291,2110,0,0,0,0,0,0
$GC,3930,0.63,240.5,342.3,14.8,400,3941,0.00,2.15,5.97,0.591,6,0.000,0.034,3455,1687,2087,0,0,0,0,0,0
$GC,4257,0.62,240.5,291.7,15.6,431,4261,0.00,2.15,0.00,0.000,4,0.000,0.042,3456,3115,2082,0,0,0,0,0,0
$GC,4375,0.62,240.5,273.3,16.2,441,4379,0.00,2.17,0.00,0.000,6,0.000,0.045,3465,1694,2081,0,0,0,0,0,0
$GC,4701,0.61,240.5,219.2,17.2,471,4706,0.08,2.15,0.00,0.000,4,0.209,0.054,3456,292,2079,0,0,0,0,0,0
$GC,4740,0.61,246.2,212.9,14.8,474,4753,0.00,2.08,4.57,0.490,6,0.000,0.034,3456,1699,2064,0,0,0,0,0,0
$GC,5072,0.63,255.3,161.8,14.6,505,5084,0.00,0.00,9.05,0.580,6,0.000,0.000,3456,1701,2026,0,0,0,0,0,0
$GC,5413,0.78,362.0,120.9,9.3,559,5501,0.15,2.25,82.30,0.618,4,0.073,0.051,3575,293,1590,0,0,0,0,0,0
$GC,5575,0.73,362.0,84.5,25.3,585,5583,0.28,2.10,0.00,0.000,6,0.130,0.031,3488,1698,1585,0,0,0,0,0,0
$GC,5916,0.93,473.4,41.2,9.0,646,6005,0.17,2.33,81.65,0.548,4,0.063,0.054,3613,294,1137,0,0,0,0,0,0
$GC,6022,0.90,473.4,19.2,24.9,662,6031,0.20,2.15,0.00,0.000,6,0.114,0.031,3541,1690,1135,0,0,0,0,0,0
$STATE,6114,end climb,SURFACE_DEPTH_REACHED
$STATE,6114,begin surface coast
$FINISH,0.7,0.999655
$STATE,6134,end surface coast,CONTROL_FINISHED_OK
$STATE,6134,begin surface
$SM_CCo,6149,70.93,0.454,1,0,621,600.00
$SM_GC,1.30,0.00,0.00,70.93,0.000,0.000,0.454,104,1523,621,-9.84,-0.76,600.00
$IRIDIUM_FIX,2415.74,12706.86,290910,090934
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.5,14.416
$10V_AH,10.5,10.805
$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,21.075,52.425,509.775,70.925,0.000,25.764,40.098,98.182,0.250,0.000,17.893,1610.192,2453.668,576.580,1759.781,91.076,0.000,1275.596,0.000,1584.575,0.000,0.540,0.000
$DEVICE_MAMPS,208.845,64.260,865.215,453.645,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.406,0.000,865.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43691,681
$CAP_FILE_SIZE,80920,0
$CFSIZE,260165632,247816192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.203,157.2,1
$GPS,290910,132636,2426.987,12705.503,36,1.1,41,-3.7