version: 66.08
glider: 168
mission: 2
dive: 150
start: 10 3 110 0 27 26
data:
$ID,168
$MISSION,2
$DIVE,150
$N_DIVES,160
$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,-3357.0181
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,031010,002220,2429.917,12705.121,9,1.3,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.8
$GPS2,031010,002645,2429.873,12705.154,12,1.3,12,-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,332.0,351,-27.6,-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,-0.76,-118.9,0.0,0.0,0,100,0.00,0.00,-83.05,0.000,2,0.000,0.000,104,1541,3119,0,0,0,0,0,0
$GC,102,-0.84,-185.1,3.2,-4.6,13,131,10.02,2.22,-11.70,0.000,4,0.190,0.054,2973,2959,3826,0,0,0,0,0,0
$GC,223,-0.83,-185.1,51.8,-30.3,33,230,0.00,2.20,0.00,0.000,6,0.000,0.047,2972,1551,3827,0,0,0,0,0,0
$GC,558,-0.79,-185.1,164.2,-30.6,90,563,0.10,2.15,0.00,0.000,4,0.187,0.052,2998,164,3830,0,0,0,0,0,0
$GC,625,-0.77,-185.1,182.6,-25.4,96,629,0.08,2.05,0.00,0.000,6,0.194,0.037,3008,1540,3830,0,0,0,0,0,0
$GC,949,-0.77,-185.1,257.2,-22.6,126,953,0.00,2.12,0.00,0.000,4,0.000,0.044,2998,2958,3830,0,0,0,0,0,0
$GC,1003,-0.81,-185.1,268.5,-18.0,130,1012,0.00,2.20,0.00,0.000,6,0.000,0.047,2998,1544,3830,0,0,0,0,0,0
$GC,1331,-0.82,-185.1,339.3,-21.2,161,1335,0.00,2.12,0.00,0.000,4,0.000,0.054,2998,163,3830,0,0,0,0,0,0
$GC,1374,-0.85,-185.1,349.4,-20.6,164,1383,0.00,2.10,0.00,0.000,6,0.000,0.040,2988,1537,3830,0,0,0,0,0,0
$GC,1700,-0.86,-185.1,418.5,-20.9,195,1704,0.00,2.15,0.00,0.000,4,0.000,0.046,2978,2965,3830,0,0,0,0,0,0
$GC,1762,-0.91,-185.1,430.0,-15.9,200,1767,0.08,2.20,0.00,0.000,6,0.121,0.047,2885,1539,3830,0,0,0,0,0,0
$STATE,2013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2013,begin apogee
$GC,2017,0.00,0.0,501.0,28.9,223,2164,1.05,0.00,141.20,0.865,4,0.124,0.000,3245,1714,3068,0,0,0,0,0,0
$STATE,2165,end apogee,CONTROL_FINISHED_OK
$STATE,2165,begin climb
$GC,2166,0.84,185.1,511.6,0.0,235,2321,0.68,0.00,145.43,0.853,6,0.030,0.000,3571,1714,2312,0,0,0,0,0,0
$GC,2638,0.78,185.1,428.0,23.3,278,2643,0.22,2.10,0.00,0.000,4,0.166,0.036,3506,3103,2304,0,0,0,0,0,0
$GC,2820,0.77,185.1,392.6,18.0,294,2829,0.05,2.20,0.00,0.000,6,0.160,0.042,3498,1695,2302,0,0,0,0,0,0
$GC,3149,0.77,185.1,340.4,16.2,325,3152,0.00,2.15,0.00,0.000,4,0.000,0.041,3498,3114,2299,0,0,0,0,0,0
$GC,3269,0.77,185.1,318.8,17.0,335,3277,0.00,2.15,0.00,0.000,6,0.000,0.043,3508,1726,2298,0,0,0,0,0,0
$GC,3595,0.76,185.1,263.3,17.6,366,3599,0.00,2.20,0.00,0.000,4,0.000,0.052,3519,286,2295,0,0,0,0,0,0
$GC,3649,0.75,185.1,252.8,20.2,370,3658,0.08,2.15,0.00,0.000,6,0.141,0.032,3492,1715,2293,0,0,0,0,0,0
$GC,3978,0.76,191.3,199.6,14.6,401,3982,0.00,2.10,0.00,0.000,4,0.000,0.041,3492,3112,2293,0,0,0,0,0,0
$GC,4099,0.78,197.3,181.5,14.6,411,4112,0.00,2.15,7.90,0.572,6,0.000,0.043,3501,1704,2262,0,0,0,0,0,0
$GC,4436,0.79,202.4,134.3,14.7,451,4451,0.00,2.22,5.45,0.490,4,0.000,0.053,3512,292,2241,0,0,0,0,0,0
$GC,4479,0.81,220.0,128.0,13.6,458,4501,0.00,2.15,15.55,0.596,6,0.000,0.032,3512,1721,2170,0,0,0,0,0,0
$GC,4837,0.93,295.2,89.2,8.7,521,4904,0.12,2.12,58.70,0.597,4,0.080,0.037,3607,3106,1862,0,0,0,0,0,0
$GC,4933,0.92,295.2,74.1,18.0,536,4942,0.20,2.17,0.00,0.000,6,0.131,0.042,3549,1731,1860,0,0,0,0,0,0
$GC,5278,0.99,330.6,29.5,12.1,597,5313,0.08,2.25,26.85,0.538,4,0.119,0.049,3635,286,1719,0,0,0,0,0,0
$GC,5398,0.98,330.6,6.7,20.8,617,5405,0.22,2.15,0.00,0.000,6,0.143,0.031,3566,1719,1715,0,0,0,0,0,0
$STATE,5415,end climb,SURFACE_DEPTH_REACHED
$STATE,5415,begin surface coast
$FINISH,0.9,1.021667
$STATE,5428,end surface coast,CONTROL_FINISHED_OK
$STATE,5428,begin surface
$SM_CCo,5443,144.10,0.490,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,144.10,0.000,0.000,0.490,103,1534,621,-9.84,-0.42,600.00
$IRIDIUM_FIX,2422.84,12704.51,021010,222245
$TT8_MAMPS,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,24.5,20.037
$10V_AH,10.5,14.287
$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,21.400,52.325,401.075,144.100,0.000,27.338,52.158,97.027,0.750,0.000,14.859,1508.387,2057.323,578.831,1645.946,95.279,0.000,1218.620,0.000,1461.869,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,62.730,865.215,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.994,0.000,788.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40320,622
$CAP_FILE_SIZE,75573,0
$CFSIZE,260165632,245702656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.230,143.6,1
$GPS,031010,020154,2429.895,12705.135,22,1.0,40,-3.7