version: 66.08
glider: 168
mission: 2
dive: 152
start: 10 3 110 3 50 48
data:
$ID,168
$MISSION,2
$DIVE,152
$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,-3359.5266
$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,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
$GPS1,031010,034556,2430.031,12705.003,9,1.3,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.4
$GPS2,031010,035019,2429.977,12705.053,10,1.3,15,-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,310.9,99,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-117.2,0.0,0.0,0,101,0.00,0.00,-83.43,0.000,2,0.000,0.000,104,1542,3186,0,0,0,0,0,0
$GC,103,-0.84,-185.1,3.7,-6.4,13,132,9.98,2.15,-10.15,0.000,4,0.190,0.051,2964,2962,3824,0,0,0,0,0,0
$GC,246,-0.82,-185.1,62.6,-35.0,37,253,0.10,2.20,0.00,0.000,6,0.154,0.048,2991,1551,3826,0,0,0,0,0,0
$GC,586,-0.79,-185.1,173.5,-28.8,92,590,0.00,2.15,0.00,0.000,4,0.000,0.053,2991,156,3829,0,0,0,0,0,0
$GC,607,-0.76,-185.1,180.1,-27.7,93,616,0.05,2.10,0.00,0.000,6,0.157,0.036,3001,1542,3829,0,0,0,0,0,0
$GC,933,-0.76,-185.1,263.3,-24.5,124,937,0.00,2.12,0.00,0.000,4,0.000,0.043,2991,2964,3829,0,0,0,0,0,0
$GC,987,-0.81,-185.1,275.4,-19.7,128,996,0.00,2.17,0.00,0.000,6,0.000,0.047,2991,1565,3829,0,0,0,0,0,0
$GC,1314,-0.81,-185.1,351.0,-23.3,159,1317,0.00,2.15,0.00,0.000,4,0.000,0.054,2991,154,3829,0,0,0,0,0,0
$GC,1388,-0.82,-185.1,368.9,-23.9,165,1393,0.00,2.12,0.00,0.000,6,0.000,0.039,2981,1564,3829,0,0,0,0,0,0
$GC,1715,-0.83,-185.1,438.6,-19.9,195,1719,0.00,2.12,0.00,0.000,4,0.000,0.044,2970,2968,3828,0,0,0,0,0,0
$GC,1736,-0.85,-185.1,443.5,-19.7,196,1746,0.00,2.17,0.00,0.000,6,0.000,0.046,2970,1560,3827,0,0,0,0,0,0
$STATE,2028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2028,begin apogee
$GC,2033,0.00,0.0,501.7,20.4,224,2185,0.77,0.00,140.35,0.860,4,0.107,0.000,3247,1721,3067,0,0,0,0,0,0
$STATE,2186,end apogee,CONTROL_FINISHED_OK
$STATE,2186,begin climb
$GC,2187,0.84,185.1,509.5,0.0,237,2342,0.73,2.22,145.43,0.851,4,0.034,0.046,3556,3102,2313,0,0,0,0,0,0
$GC,2592,0.80,185.1,436.4,24.2,272,2602,0.17,2.20,0.00,0.000,6,0.146,0.042,3510,1698,2305,0,0,0,0,0,0
$GC,2918,0.78,185.1,375.3,17.1,303,2922,0.00,2.12,0.00,0.000,4,0.000,0.038,3510,3106,2300,0,0,0,0,0,0
$GC,2972,0.77,185.1,365.2,17.9,307,2980,0.05,2.17,0.00,0.000,6,0.164,0.042,3501,1704,2300,0,0,0,0,0,0
$GC,3297,0.77,185.1,308.6,18.0,338,3301,0.00,2.10,0.00,0.000,4,0.000,0.040,3501,3105,2297,0,0,0,0,0,0
$GC,3320,0.76,185.1,304.6,18.1,340,3324,0.00,2.17,0.00,0.000,6,0.000,0.042,3511,1685,2296,0,0,0,0,0,0
$GC,3645,0.75,185.1,244.5,17.5,370,3649,0.08,2.12,0.00,0.000,4,0.219,0.040,3494,3105,2294,0,0,0,0,0,0
$GC,3724,0.76,191.9,232.3,14.6,377,3736,0.00,2.12,3.80,0.441,6,0.000,0.042,3504,1693,2285,0,0,0,0,0,0
$GC,4053,0.76,191.9,184.9,15.7,408,4057,0.00,2.10,0.00,0.000,4,0.000,0.040,3504,3105,2282,0,0,0,0,0,0
$GC,4201,0.79,204.4,163.7,14.1,421,4217,0.00,2.10,11.20,0.597,6,0.000,0.042,3514,1710,2234,0,0,0,0,0,0
$GC,4545,0.88,268.4,119.9,9.6,474,4601,0.08,2.30,50.03,0.616,4,0.122,0.050,3594,286,1972,0,0,0,0,0,0
$GC,4854,0.88,268.4,61.8,16.6,527,4861,0.20,2.15,0.00,0.000,6,0.134,0.030,3530,1728,1963,0,0,0,0,0,0
$GC,5190,0.99,324.3,28.0,10.3,588,5239,0.12,2.25,42.47,0.542,4,0.076,0.050,3638,296,1743,0,0,0,0,0,0
$STATE,5328,end climb,SURFACE_DEPTH_REACHED
$STATE,5328,begin surface coast
$FINISH,1.5,1.021616
$STATE,5333,end surface coast,CONTROL_FINISHED_OK
$STATE,5333,begin surface
$SM_CCo,5351,148.43,0.494,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,148.43,0.000,0.000,0.494,103,1558,621,-9.84,0.23,600.00
$IRIDIUM_FIX,2418.11,12723.44,031010,020206
$TT8_MAMPS,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,20.270
$10V_AH,10.5,14.427
$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,20.950,51.775,393.275,148.425,0.000,27.874,43.161,97.652,0.000,0.000,18.013,1469.923,2024.562,572.285,1631.136,86.709,0.000,1199.845,0.000,1440.985,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,58.905,859.860,494.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.550,0.000,776.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37048,612
$CAP_FILE_SIZE,72402,0
$CFSIZE,260165632,245616640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.283,136.5,1
$GPS,031010,052334,2429.649,12705.038,5,2.8,24,-3.7