version: 66.08
glider: 168
mission: 2
dive: 151
start: 10 3 110 2 6 37
data:
$ID,168
$MISSION,2
$DIVE,151
$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,-3358.2717
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,031010,020154,2429.895,12705.135,22,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.9
$GPS2,031010,020556,2429.844,12705.159,15,1.1,15,-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,326.0,394,-25.2,-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,-142.1,0.0,0.0,0,100,0.00,0.00,-83.20,0.000,2,0.000,0.000,104,1534,3177,0,0,0,0,0,0
$GC,102,-0.79,-185.1,3.8,-6.4,13,131,10.00,2.17,-10.38,0.000,4,0.189,0.054,2985,2963,3825,0,0,0,0,0,0
$GC,249,-0.77,-185.1,61.4,-29.8,38,258,0.05,2.20,0.00,0.000,6,0.135,0.047,3003,1562,3826,0,0,0,0,0,0
$GC,589,-0.73,-185.1,161.9,-26.7,95,591,0.05,0.00,0.00,0.000,6,0.256,0.000,3015,1562,3829,0,0,0,0,0,0
$GC,908,-0.71,-185.1,239.6,-26.0,125,912,0.00,2.15,0.00,0.000,4,0.000,0.052,3016,164,3830,0,0,0,0,0,0
$GC,947,-0.71,-185.1,250.0,-24.3,128,952,0.08,2.08,0.00,0.000,6,0.178,0.040,3028,1552,3830,0,0,0,0,0,0
$GC,1272,-0.72,-185.1,314.6,-18.7,158,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1554,3830,0,0,0,0,0,0
$GC,1591,-0.73,-185.1,371.0,-18.4,188,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1554,3829,0,0,0,0,0,0
$GC,1910,-0.76,-185.1,422.1,-14.8,218,1912,0.08,0.00,0.00,0.000,6,0.123,0.000,2922,1554,3827,0,0,0,0,0,0
$STATE,2226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2226,begin apogee
$GC,2230,0.00,0.0,500.9,24.8,248,2376,0.95,0.00,140.48,0.861,4,0.116,0.000,3250,1716,3068,0,0,0,0,0,0
$STATE,2377,end apogee,CONTROL_FINISHED_OK
$STATE,2377,begin climb
$GC,2379,0.79,185.1,505.1,0.0,260,2534,0.68,2.33,144.38,0.846,4,0.031,0.055,3550,289,2312,0,0,0,0,0,0
$GC,2547,0.73,185.1,488.1,22.3,274,2552,0.22,2.20,0.00,0.000,6,0.149,0.032,3486,1706,2309,0,0,0,0,0,0
$GC,2871,0.71,185.1,424.7,19.3,304,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1708,2304,0,0,0,0,0,0
$GC,3191,0.69,185.1,372.8,16.2,334,3195,0.00,2.12,0.00,0.000,4,0.000,0.041,3485,3110,2301,0,0,0,0,0,0
$GC,3276,0.68,185.1,359.1,17.2,341,3281,0.10,2.15,0.00,0.000,6,0.180,0.042,3468,1693,2301,0,0,0,0,0,0
$GC,3602,0.68,190.3,310.7,14.8,371,3606,0.00,2.15,0.00,0.000,4,0.000,0.041,3468,3113,2297,0,0,0,0,0,0
$GC,3645,0.69,200.4,303.8,14.4,374,3665,0.00,2.20,11.55,0.684,6,0.000,0.042,3478,1691,2249,0,0,0,0,0,0
$GC,3983,0.71,211.4,253.7,14.4,406,3997,0.00,2.22,9.50,0.640,4,0.000,0.052,3489,294,2206,0,0,0,0,0,0
$GC,4045,0.71,211.4,243.7,15.6,411,4053,0.00,2.12,0.00,0.000,6,0.000,0.033,3489,1693,2203,0,0,0,0,0,0
$GC,4371,0.72,220.5,197.8,14.5,442,4385,0.00,2.20,8.45,0.596,4,0.000,0.041,3489,3108,2169,0,0,0,0,0,0
$GC,4502,0.73,220.5,175.3,15.9,453,4509,0.00,2.17,0.00,0.000,6,0.000,0.043,3498,1690,2168,0,0,0,0,0,0
$GC,4835,0.78,257.9,125.9,12.5,499,4877,0.00,2.22,30.62,0.620,4,0.000,0.041,3498,3111,2015,0,0,0,0,0,0
$GC,4912,0.84,280.2,116.3,13.6,511,4941,0.00,2.20,18.23,0.594,6,0.000,0.042,3506,1692,1925,0,0,0,0,0,0
$GC,5274,0.95,339.1,70.8,10.9,575,5329,0.15,2.22,45.40,0.579,4,0.070,0.050,3624,301,1684,0,0,0,0,0,0
$GC,5348,0.92,339.1,57.7,19.7,586,5357,0.22,2.12,0.00,0.000,6,0.125,0.031,3547,1690,1680,0,0,0,0,0,0
$GC,5692,0.97,351.9,10.6,14.2,647,5708,0.00,2.20,10.18,0.483,4,0.000,0.041,3547,3104,1632,0,0,0,0,0,0
$STATE,5742,end climb,SURFACE_DEPTH_REACHED
$STATE,5742,begin surface coast
$FINISH,0.8,1.021516
$STATE,5759,end surface coast,CONTROL_FINISHED_OK
$STATE,5759,begin surface
$SM_CCo,5776,132.27,0.488,1,0,621,600.00
$SM_GC,1.36,0.00,0.00,132.27,0.000,0.000,0.488,104,1541,621,-9.84,-0.25,600.00
$IRIDIUM_FIX,2418.11,12601.99,031010,000048
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.5,20.154
$10V_AH,10.4,14.359
$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,20.875,44.100,418.775,132.275,0.000,22.902,32.517,97.049,0.250,0.000,16.101,1579.153,2294.452,566.943,1652.234,92.544,0.000,1207.265,0.000,1488.783,0.000,0.541,0.000
$DEVICE_MAMPS,255.510,62.730,860.625,488.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.587,0.000,834.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40306,658
$CAP_FILE_SIZE,74252,0
$CFSIZE,260165632,245657600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,130.7,1
$GPS,031010,034556,2430.031,12705.003,9,1.3,9,-3.7