version: 66.08
glider: 168
mission: 2
dive: 124
start: 10 1 110 1 42 38
data:
$ID,168
$MISSION,2
$DIVE,124
$N_DIVES,135
$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,-3324.3923
$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,29
$R_STBD_OVSHOOT,46
$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
$GPS1,011010,013749,2429.933,12705.309,9,1.6,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.7
$GPS2,011010,014201,2429.881,12705.327,38,1.7,38,-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,320.1,593,-25.8,-15.152
$D_GRID,4367
$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,-0.74,-136.0,0.0,0.0,0,101,0.00,0.00,-83.97,0.000,2,0.000,0.000,104,1558,3166,0,0,0,0,0,0
$GC,103,-0.80,-185.1,3.4,-5.1,13,132,10.10,2.10,-10.75,0.000,4,0.195,0.049,2979,2966,3825,0,0,0,0,0,0
$GC,259,-0.79,-185.1,62.1,-28.1,40,269,0.05,2.20,0.00,0.000,6,0.132,0.044,2997,1556,3826,0,0,0,0,0,0
$GC,597,-0.75,-185.1,172.1,-26.6,94,601,0.00,2.12,0.00,0.000,4,0.000,0.052,2997,157,3829,0,0,0,0,0,0
$GC,631,-0.71,-185.1,181.0,-27.8,97,636,0.12,2.08,0.00,0.000,6,0.156,0.037,3025,1541,3829,0,0,0,0,0,0
$GC,957,-0.71,-185.1,253.5,-21.1,127,961,0.00,2.12,0.00,0.000,4,0.000,0.043,3015,2966,3829,0,0,0,0,0,0
$GC,1040,-0.76,-185.1,268.8,-16.3,134,1045,0.00,2.15,0.00,0.000,6,0.000,0.045,3015,1558,3829,0,0,0,0,0,0
$GC,1365,-0.76,-185.1,334.6,-20.7,164,1369,0.00,2.12,0.00,0.000,4,0.000,0.055,3014,166,3829,0,0,0,0,0,0
$GC,1419,-0.79,-185.1,345.8,-18.8,168,1429,0.00,2.12,0.00,0.000,6,0.000,0.040,3005,1556,3829,0,0,0,0,0,0
$GC,1747,-0.80,-185.1,405.7,-16.3,199,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1559,3829,0,0,0,0,0,0
$GC,2064,-0.82,-185.1,454.6,-15.6,229,2068,0.00,2.12,0.00,0.000,4,0.000,0.048,2995,2965,3828,0,0,0,0,0,0
$GC,2104,-0.86,-185.1,461.0,-14.9,232,2109,0.08,2.15,0.00,0.000,6,0.119,0.047,2919,1556,3827,0,0,0,0,0,0
$STATE,2264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2264,begin apogee
$GC,2268,0.00,0.0,500.6,25.6,247,2415,0.95,0.00,140.48,0.863,4,0.119,0.000,3247,1718,3067,0,0,0,0,0,0
$STATE,2416,end apogee,CONTROL_FINISHED_OK
$STATE,2416,begin climb
$GC,2417,0.80,185.1,510.9,0.0,259,2571,0.70,2.22,145.32,0.851,4,0.035,0.046,3545,3100,2312,0,0,0,0,0,0
$GC,2721,0.75,185.1,471.0,21.9,286,2726,0.22,2.17,0.00,0.000,6,0.170,0.042,3492,1693,2306,0,0,0,0,0,0
$GC,3045,0.72,185.1,409.4,18.4,316,3049,0.00,2.15,0.00,0.000,4,0.000,0.039,3493,3112,2301,0,0,0,0,0,0
$GC,3099,0.70,185.1,398.1,19.8,320,3110,0.05,2.17,0.00,0.000,6,0.165,0.042,3484,1713,2301,0,0,0,0,0,0
$GC,3428,0.69,185.1,342.5,16.1,351,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1713,2297,0,0,0,0,0,0
$GC,3746,0.68,185.1,291.8,15.6,381,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,1713,2295,0,0,0,0,0,0
$GC,4063,0.68,185.1,242.8,15.6,411,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,1713,2293,0,0,0,0,0,0
$GC,4383,0.71,206.2,198.0,13.6,441,4407,0.00,2.15,14.43,0.636,4,0.000,0.040,3484,3102,2226,0,0,0,0,0,0
$GC,4463,0.72,206.2,185.0,16.3,448,4467,0.00,2.15,0.00,0.000,6,0.000,0.043,3493,1704,2226,0,0,0,0,0,0
$GC,4795,0.74,214.0,130.0,14.6,489,4809,0.00,2.10,7.25,0.532,4,0.000,0.038,3493,3105,2196,0,0,0,0,0,0
$GC,4849,0.77,232.3,121.9,13.8,498,4871,0.00,2.15,16.02,0.588,6,0.000,0.043,3501,1717,2121,0,0,0,0,0,0
$GC,5206,0.92,328.7,79.7,8.0,561,5288,0.12,2.33,74.05,0.584,4,0.082,0.051,3606,294,1726,0,0,0,0,0,0
$GC,5313,0.90,328.7,64.3,18.2,577,5320,0.22,2.17,0.00,0.000,6,0.128,0.032,3535,1720,1722,0,0,0,0,0,0
$GC,5651,0.97,353.9,21.2,13.3,638,5680,0.10,2.15,19.23,0.518,4,0.092,0.039,3626,3108,1624,0,0,0,0,0,0
$STATE,5742,end climb,SURFACE_DEPTH_REACHED
$STATE,5742,begin surface coast
$FINISH,0.7,1.021716
$STATE,5755,end surface coast,CONTROL_FINISHED_OK
$STATE,5755,begin surface
$SM_CCo,5772,128.88,0.487,1,0,621,600.00
$SM_GC,1.34,0.00,0.00,128.88,0.000,0.000,0.487,104,1549,621,-9.84,-0.03,600.00
$IRIDIUM_FIX,2422.84,12704.51,300910,232350
$TT8_MAMPS,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,16.924
$10V_AH,10.5,12.366
$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,21.300,47.900,416.775,128.875,0.000,24.657,17.847,95.891,0.250,0.000,40.757,1578.124,2277.488,562.409,1675.060,90.036,0.000,1210.457,0.000,1503.070,0.000,0.540,0.000
$DEVICE_MAMPS,195.075,59.670,862.920,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.755,0.000,832.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40444,655
$CAP_FILE_SIZE,75515,0
$CFSIZE,260165632,246874112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222,140.8,1
$GPS,011010,032150,2429.863,12705.146,10,1.4,10,-3.7