version: 66.08
glider: 168
mission: 2
dive: 137
start: 10 2 110 0 38 19
data:
$ID,168
$MISSION,2
$DIVE,137
$N_DIVES,150
$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,-3340.707
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,021010,003343,2430.217,12705.042,11,1.6,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.6
$GPS2,021010,003750,2430.183,12705.077,10,1.3,10,-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,238.7,363,-27.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.76,-117.2,0.0,0.0,0,100,0.00,0.00,-83.55,0.000,2,0.000,0.000,104,1531,3145,0,0,0,0,0,0
$GC,102,-0.84,-185.1,3.2,-4.5,13,131,10.02,2.12,-11.25,0.000,4,0.191,0.059,2979,158,3825,0,0,0,0,0,0
$GC,223,-0.78,-185.1,58.7,-42.9,33,230,0.12,2.10,0.00,0.000,6,0.176,0.036,3003,1544,3826,0,0,0,0,0,0
$GC,566,-0.76,-185.1,167.9,-26.5,89,569,0.00,2.15,0.00,0.000,4,0.000,0.042,2993,2966,3828,0,0,0,0,0,0
$GC,619,-0.78,-185.1,181.2,-19.6,93,627,0.00,2.17,0.00,0.000,6,0.000,0.044,2993,1566,3829,0,0,0,0,0,0
$GC,945,-0.77,-185.1,261.2,-24.7,124,949,0.00,2.15,0.00,0.000,4,0.000,0.053,2992,161,3829,0,0,0,0,0,0
$GC,1012,-0.78,-185.1,277.6,-22.7,130,1017,0.08,2.10,0.00,0.000,6,0.187,0.038,3003,1556,3830,0,0,0,0,0,0
$GC,1337,-0.79,-185.1,349.8,-22.3,160,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1558,3830,0,0,0,0,0,0
$GC,1656,-0.81,-185.1,415.1,-21.1,190,1660,0.00,2.12,0.00,0.000,4,0.000,0.047,2993,2957,3828,0,0,0,0,0,0
$GC,1674,-0.84,-185.1,418.7,-21.0,191,1678,0.00,2.15,0.00,0.000,6,0.000,0.045,2993,1550,3828,0,0,0,0,0,0
$GC,2001,-0.87,-185.1,478.0,-15.8,221,2006,0.08,2.12,0.00,0.000,4,0.125,0.054,2891,166,3826,0,0,0,0,0,0
$GC,2033,-0.83,-185.1,486.1,-26.3,223,2041,0.28,2.10,0.00,0.000,6,0.132,0.039,2984,1551,3826,0,0,0,0,0,0
$STATE,2101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2101,begin apogee
$GC,2106,0.00,0.0,501.4,20.2,230,2256,0.75,0.00,140.73,0.861,4,0.103,0.000,3253,1716,3067,0,0,0,0,0,0
$STATE,2257,end apogee,CONTROL_FINISHED_OK
$STATE,2257,begin climb
$GC,2258,0.84,185.1,509.7,0.0,242,2414,0.70,2.30,144.40,0.851,4,0.028,0.052,3573,295,2312,0,0,0,0,0,0
$GC,2506,0.79,185.1,478.1,23.2,263,2511,0.22,2.15,0.00,0.000,6,0.154,0.031,3508,1708,2306,0,0,0,0,0,0
$GC,2836,0.77,185.1,409.0,20.3,294,2840,0.00,2.12,0.00,0.000,4,0.000,0.041,3508,3111,2302,0,0,0,0,0,0
$GC,2970,0.76,185.1,382.0,19.5,305,2977,0.10,2.17,0.00,0.000,6,0.181,0.043,3492,1698,2302,0,0,0,0,0,0
$GC,3295,0.76,185.1,325.1,17.0,336,3298,0.00,2.12,0.00,0.000,4,0.000,0.040,3492,3107,2299,0,0,0,0,0,0
$GC,3345,0.76,185.1,315.9,18.6,340,3349,0.00,2.15,0.00,0.000,6,0.000,0.043,3502,1704,2299,0,0,0,0,0,0
$GC,3669,0.76,185.1,258.5,17.4,370,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,1702,2297,0,0,0,0,0,0
$GC,3988,0.78,200.3,210.0,13.8,400,4002,0.00,0.00,10.70,0.629,6,0.000,0.000,3501,1702,2251,0,0,0,0,0,0
$GC,4320,0.82,224.7,163.8,13.0,431,4345,0.00,2.20,20.50,0.639,4,0.000,0.041,3502,3106,2151,0,0,0,0,0,0
$GC,4464,0.86,241.1,142.8,13.7,447,4486,0.00,2.15,14.18,0.603,6,0.000,0.043,3512,1711,2084,0,0,0,0,0,0
$GC,4819,0.96,302.0,96.7,9.9,510,4875,0.15,2.17,47.60,0.597,4,0.070,0.038,3619,3110,1835,0,0,0,0,0,0
$GC,4899,0.94,302.0,84.1,17.6,522,4907,0.22,2.20,0.00,0.000,6,0.135,0.042,3554,1720,1833,0,0,0,0,0,0
$GC,5241,0.99,318.5,32.0,13.7,583,5263,0.05,2.15,12.88,0.509,4,0.168,0.040,3631,3102,1768,0,0,0,0,0,0
$GC,5284,0.98,318.5,24.7,18.6,589,5291,0.25,2.12,0.00,0.000,6,0.148,0.043,3565,1723,1768,0,0,0,0,0,0
$STATE,5419,end climb,SURFACE_DEPTH_REACHED
$STATE,5419,begin surface coast
$FINISH,0.6,1.011854
$STATE,5444,end surface coast,CONTROL_FINISHED_OK
$STATE,5444,begin surface
$SM_CCo,5459,146.50,0.487,1,0,622,600.00
$SM_GC,1.39,0.00,0.00,146.50,0.000,0.000,0.487,104,1534,622,-9.84,-0.48,600.00
$IRIDIUM_FIX,2420.48,12706.40,011010,222233
$TT8_MAMPS,0.026964
$HUMID,45.39
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,18.455
$10V_AH,10.5,13.312
$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,21.425,47.825,390.975,146.500,0.000,23.811,43.984,94.354,0.250,0.000,13.102,1494.600,2119.936,566.531,1598.080,95.901,0.000,1183.776,0.000,1430.698,0.000,0.541,0.000
$DEVICE_MAMPS,191.250,60.435,861.390,487.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.337,0.000,783.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,36989,617
$CAP_FILE_SIZE,74390,0
$CFSIZE,260165632,246288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.197,141.3,1
$GPS,021010,021301,2429.158,12704.795,36,1.9,36,-3.7