version: 66.08
glider: 168
mission: 2
dive: 109
start: 9 29 110 22 42 47
data:
$ID,168
$MISSION,2
$DIVE,109
$N_DIVES,120
$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,-3305.5718
$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,44
$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
$GPS1,290910,223820,2427.722,12705.766,10,1.5,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.2
$GPS2,290910,224220,2427.687,12705.807,14,1.5,14,-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,341.0,4494,-22.1,-15.152
$D_GRID,1000
$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,-83.57,0.000,2,0.000,0.000,104,1529,3148,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-4.8,13,133,10.12,2.17,-11.10,0.000,4,0.190,0.056,3011,2953,3825,0,0,0,0,0,0
$GC,267,-0.68,-185.1,60.8,-25.6,41,275,0.08,2.15,0.00,0.000,6,0.166,0.044,3030,1561,3826,0,0,0,0,0,0
$GC,605,-0.64,-185.1,150.5,-24.4,102,610,0.05,2.15,0.00,0.000,4,0.251,0.051,3044,158,3829,0,0,0,0,0,0
$GC,654,-0.63,-185.1,162.4,-21.7,106,663,0.03,2.10,0.00,0.000,6,0.174,0.037,3046,1541,3829,0,0,0,0,0,0
$GC,981,-0.63,-185.1,226.0,-17.7,137,985,0.00,2.12,0.00,0.000,4,0.000,0.045,3037,2958,3829,0,0,0,0,0,0
$GC,1020,-0.64,-185.1,232.7,-15.6,140,1023,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,1553,3829,0,0,0,0,0,0
$GC,1344,-0.64,-185.1,286.6,-15.9,170,1348,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,168,3829,0,0,0,0,0,0
$GC,1409,-0.65,-185.1,297.5,-16.3,175,1416,0.00,2.10,0.00,0.000,6,0.000,0.039,3028,1550,3829,0,0,0,0,0,0
$GC,1734,-0.65,-185.1,356.4,-18.4,206,1738,0.00,2.12,0.00,0.000,4,0.000,0.048,3018,2958,3829,0,0,0,0,0,0
$GC,1761,-0.67,-185.1,361.3,-18.2,208,1770,0.05,2.17,0.00,0.000,6,0.105,0.046,3044,1554,3829,0,0,0,0,0,0
$GC,2086,-0.69,-185.1,409.4,-13.6,239,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1554,3828,0,0,0,0,0,0
$GC,2406,-0.73,-185.1,449.3,-11.7,269,2408,0.10,0.00,0.00,0.000,6,0.095,0.000,2946,1554,3826,0,0,0,0,0,0
$STATE,2637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2637,begin apogee
$GC,2641,0.00,0.0,500.2,23.5,291,2786,0.88,0.00,139.95,0.862,4,0.114,0.000,3251,1716,3068,0,0,0,0,0,0
$STATE,2787,end apogee,CONTROL_FINISHED_OK
$STATE,2787,begin climb
$GC,2789,0.72,185.1,507.7,0.0,303,2944,0.62,2.22,145.48,0.849,4,0.035,0.047,3523,3104,2313,0,0,0,0,0,0
$GC,3192,0.65,185.1,441.4,23.4,338,3201,0.22,2.20,0.00,0.000,6,0.151,0.043,3462,1703,2305,0,0,0,0,0,0
$GC,3521,0.63,189.9,388.6,14.9,369,3525,0.00,2.20,0.00,0.000,4,0.000,0.053,3472,287,2301,0,0,0,0,0,0
$GC,3775,0.65,225.1,351.4,13.2,391,3810,0.00,2.12,30.40,0.757,6,0.000,0.034,3472,1691,2149,0,0,0,0,0,0
$GC,4129,0.62,225.1,297.2,15.4,424,4134,0.08,2.17,0.00,0.000,4,0.190,0.054,3462,292,2143,0,0,0,0,0,0
$GC,4178,0.62,229.5,289.5,14.9,428,4188,0.00,2.12,3.65,0.440,6,0.000,0.034,3462,1689,2132,0,0,0,0,0,0
$GC,4504,0.62,237.6,240.4,14.7,459,4517,0.00,2.22,8.00,0.607,4,0.000,0.042,3462,3114,2099,0,0,0,0,0,0
$GC,4540,0.62,238.0,234.6,15.1,462,4545,0.08,2.17,0.00,0.000,6,0.194,0.044,3450,1690,2099,0,0,0,0,0,0
$GC,4865,0.65,260.1,190.3,13.9,492,4890,0.00,2.17,19.23,0.644,4,0.000,0.041,3450,3107,2006,0,0,0,0,0,0
$GC,4927,0.69,281.4,181.7,14.0,497,4952,0.05,2.17,17.77,0.629,6,0.168,0.044,3520,1691,1920,0,0,0,0,0,0
$GC,5272,0.67,281.4,117.1,15.9,546,5281,0.17,2.22,0.00,0.000,4,0.147,0.053,3474,287,1914,0,0,0,0,0,0
$GC,5305,0.68,290.4,112.4,14.7,551,5321,0.00,2.12,7.50,0.524,6,0.000,0.033,3475,1707,1884,0,0,0,0,0,0
$GC,5655,0.86,401.9,74.1,9.0,613,5749,0.15,2.17,85.50,0.578,4,0.070,0.037,3582,3110,1425,0,0,0,0,0,0
$GC,5812,0.87,401.9,44.8,18.2,638,5821,0.17,2.25,0.00,0.000,6,0.113,0.046,3527,1702,1422,0,0,0,0,0,0
$STATE,6120,end climb,SURFACE_DEPTH_REACHED
$STATE,6120,begin surface coast
$FINISH,0.7,1.011840
$STATE,6145,end surface coast,CONTROL_FINISHED_OK
$STATE,6145,begin surface
$SM_CCo,6160,102.55,0.475,1,0,622,600.00
$SM_GC,1.45,0.00,0.00,102.55,0.000,0.000,0.475,105,1535,622,-9.84,-0.42,600.00
$IRIDIUM_FIX,2420.48,12706.40,290910,202007
$TT8_MAMPS,0.026964
$HUMID,44.92
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,15.130
$10V_AH,10.5,11.258
$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,21.075,52.375,457.475,102.550,0.000,29.899,26.235,95.428,0.250,0.000,17.570,1674.434,2385.435,570.998,1804.001,87.049,0.000,1278.657,0.000,1636.240,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,65.025,862.155,475.065,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.127,0.000,885.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43658,697
$CAP_FILE_SIZE,81674,0
$CFSIZE,260165632,247541760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.205,159.2,1
$GPS,300910,002830,2427.835,12705.823,34,0.9,39,-3.7