version: 66.08
glider: 168
mission: 2
dive: 53
start: 9 25 110 17 28 3
data:
$ID,168
$MISSION,2
$DIVE,53
$N_DIVES,65
$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,1.0275
$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,650
$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,-3230.0593
$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,3278
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$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,40
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3180
$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
$GPS1,250910,172319,2424.398,12705.719,10,1.4,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-79.2
$GPS2,250910,172736,2424.324,12705.740,16,1.2,32,-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,349.3,10586,-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,14,-0.96,-184.9,0.0,0.0,0,82,0.00,0.00,-65.03,0.000,2,0.000,0.000,104,1526,3216,0,0,0,0,0,0
$GC,84,-0.96,-184.9,4.1,-8.0,10,113,9.88,2.20,-11.12,0.000,4,0.192,0.056,2954,2957,3937,0,0,0,0,0,0
$GC,136,-0.92,-184.9,31.6,-51.7,18,145,0.05,2.20,0.00,0.000,6,0.151,0.047,2973,1558,3939,0,0,0,0,0,0
$GC,468,-0.91,-184.9,150.3,-28.0,79,472,0.00,2.15,0.00,0.000,4,0.000,0.053,2973,154,3941,0,0,0,0,0,0
$GC,573,-0.89,-184.9,182.6,-29.1,88,578,0.10,2.03,0.00,0.000,6,0.174,0.038,2991,1520,3941,0,0,0,0,0,0
$GC,898,-0.88,-184.9,267.4,-26.9,118,902,0.00,2.17,0.00,0.000,4,0.000,0.045,2981,2964,3943,0,0,0,0,0,0
$GC,923,-0.87,-184.9,274.2,-23.7,120,933,0.05,2.22,0.00,0.000,6,0.128,0.046,3002,1528,3943,0,0,0,0,0,0
$GC,1251,-0.87,-184.9,342.6,-19.6,151,1255,0.00,2.08,0.00,0.000,4,0.000,0.054,3002,157,3943,0,0,0,0,0,0
$GC,1281,-0.86,-184.9,348.9,-21.6,153,1284,0.00,2.05,0.00,0.000,6,0.000,0.039,2993,1537,3943,0,0,0,0,0,0
$GC,1607,-0.86,-184.9,411.8,-18.4,183,1611,0.00,2.10,0.00,0.000,4,0.000,0.054,2993,155,3942,0,0,0,0,0,0
$GC,1646,-0.85,-184.9,419.8,-19.4,186,1651,0.08,2.03,0.00,0.000,6,0.187,0.039,3004,1523,3942,0,0,0,0,0,0
$GC,1972,-0.86,-184.9,471.6,-15.0,216,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1525,3940,0,0,0,0,0,0
$STATE,2161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2161,begin apogee
$GC,2165,-0.17,0.0,501.2,15.5,234,2316,0.60,0.00,139.32,0.844,4,0.101,0.000,3226,1704,3179,0,0,0,0,0,0
$STATE,2316,end apogee,CONTROL_FINISHED_OK
$STATE,2316,begin climb
$GC,2318,0.96,184.9,508.2,0.0,247,2473,0.95,2.30,143.23,0.833,4,0.036,0.054,3612,284,2425,0,0,0,0,0,0
$GC,2672,0.93,184.9,454.2,24.7,278,2677,0.15,2.15,0.00,0.000,6,0.184,0.031,3572,1711,2418,0,0,0,0,0,0
$GC,2997,0.90,184.9,386.7,19.1,308,3001,0.00,2.20,0.00,0.000,4,0.000,0.050,3582,276,2417,0,0,0,0,0,0
$GC,3120,0.87,184.9,362.3,19.4,319,3129,0.08,2.15,0.00,0.000,6,0.153,0.031,3557,1704,2414,0,0,0,0,0,0
$GC,3447,0.84,184.9,301.9,19.3,350,3451,0.00,2.08,0.00,0.000,4,0.000,0.041,3557,3103,2413,0,0,0,0,0,0
$GC,3703,0.81,184.9,254.7,17.1,373,3707,0.10,2.10,0.00,0.000,6,0.199,0.044,3541,1720,2412,0,0,0,0,0,0
$GC,4033,0.82,207.8,206.5,13.9,404,4058,0.00,2.10,17.23,0.646,4,0.000,0.039,3542,3102,2331,0,0,0,0,0,0
$GC,4304,0.80,207.9,164.1,15.1,428,4314,0.05,2.10,0.00,0.000,6,0.163,0.043,3533,1746,2329,0,0,0,0,0,0
$GC,4633,0.86,267.0,121.3,11.9,480,4688,0.08,2.28,46.33,0.607,4,0.121,0.050,3601,292,2089,0,0,0,0,0,0
$GC,4803,0.84,267.0,89.7,21.3,509,4811,0.17,2.15,0.00,0.000,6,0.151,0.031,3549,1738,2083,0,0,0,0,0,0
$GC,5135,0.99,395.2,44.9,8.1,570,5242,0.12,2.15,96.30,0.537,4,0.082,0.040,3633,3098,1568,0,0,0,0,0,0
$GC,5319,0.98,395.2,13.2,22.3,600,5327,0.15,2.20,0.00,0.000,6,0.138,0.046,3594,1719,1565,0,0,0,0,0,0
$STATE,5364,end climb,SURFACE_DEPTH_REACHED
$STATE,5364,begin surface coast
$FINISH,0.6,1.021855
$STATE,5376,end surface coast,CONTROL_FINISHED_OK
$STATE,5376,begin surface
$SM_CCo,5392,137.38,0.473,1,0,529,650.04
$SM_GC,1.36,0.00,0.00,137.38,0.000,0.000,0.473,104,1530,529,-9.92,-0.51,650.04
$IRIDIUM_FIX,2415.74,12704.97,250910,161632
$TT8_MAMPS,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,8.550
$10V_AH,10.5,7.089
$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,21.175,47.700,442.400,137.375,0.000,23.945,35.968,91.670,0.000,0.000,35.282,1468.660,2023.980,580.451,1667.640,70.443,0.000,1234.525,0.000,1476.344,0.000,0.539,0.000
$DEVICE_MAMPS,198.900,63.495,843.795,472.770,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.187,0.000,773.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,36962,610
$CAP_FILE_SIZE,75268,0
$CFSIZE,260165632,250093568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.242,170.7,1
$GPS,250910,190102,2424.198,12705.544,10,1.6,10,-3.7