version: 66.08
glider: 168
mission: 2
dive: 156
start: 10 3 110 10 59 17
data:
$ID,168
$MISSION,2
$DIVE,156
$N_DIVES,165
$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,-3364.543
$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,37
$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
$GPS1,031010,105456,2428.948,12705.109,9,1.8,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.1
$GPS2,031010,105850,2428.875,12705.155,15,1.8,15,-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,342.4,2100,-22.1,-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,-0.72,-185.1,0.0,0.0,0,102,0.00,0.00,-84.78,0.000,2,0.000,0.000,104,1537,3211,0,0,0,0,0,0
$GC,104,-0.72,-185.1,3.9,-7.7,13,133,10.10,2.17,-9.57,0.000,4,0.188,0.054,3009,2953,3825,0,0,0,0,0,0
$GC,207,-0.70,-185.1,46.0,-28.3,30,216,0.03,2.20,0.00,0.000,6,0.149,0.046,3021,1555,3827,0,0,0,0,0,0
$GC,548,-0.65,-185.1,138.0,-24.8,91,555,0.08,0.00,0.00,0.000,6,0.207,0.000,3042,1555,3830,0,0,0,0,0,0
$GC,876,-0.64,-185.1,204.5,-19.5,126,877,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1554,3831,0,0,0,0,0,0
$GC,1195,-0.64,-185.1,262.0,-16.8,156,1199,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,157,3831,0,0,0,0,0,0
$GC,1294,-0.67,-185.1,277.9,-13.6,164,1303,0.00,2.12,0.00,0.000,6,0.000,0.039,3036,1550,3831,0,0,0,0,0,0
$GC,1619,-0.67,-185.1,332.5,-17.0,195,1623,0.00,2.12,0.00,0.000,4,0.000,0.046,3026,2964,3831,0,0,0,0,0,0
$GC,1649,-0.68,-185.1,337.2,-16.1,197,1653,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,1558,3830,0,0,0,0,0,0
$GC,1976,-0.68,-185.1,387.3,-14.1,227,1980,0.00,2.15,0.00,0.000,4,0.000,0.055,3026,165,3830,0,0,0,0,0,0
$GC,2029,-0.69,-185.1,395.3,-14.1,231,2033,0.00,2.10,0.00,0.000,6,0.000,0.041,3017,1568,3829,0,0,0,0,0,0
$GC,2359,-0.69,-185.1,443.0,-14.8,262,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1571,3827,0,0,0,0,0,0
$GC,2678,-0.70,-185.1,493.0,-15.9,292,2682,0.00,2.10,0.00,0.000,4,0.000,0.048,3008,2960,3826,0,0,0,0,0,0
$STATE,2726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2733,0.00,0.0,500.6,14.0,296,2884,0.65,0.00,140.50,0.876,4,0.086,0.000,3254,1691,3067,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2886,0.72,185.1,508.9,0.0,308,3042,0.60,2.30,145.60,0.868,4,0.031,0.046,3532,3115,2312,0,0,0,0,0,0
$GC,3184,0.65,185.1,468.2,22.9,334,3189,0.28,2.20,0.00,0.000,6,0.151,0.044,3461,1699,2306,0,0,0,0,0,0
$GC,3510,0.62,185.1,413.2,16.1,364,3513,0.00,2.15,0.00,0.000,4,0.000,0.040,3461,3122,2301,0,0,0,0,0,0
$GC,3558,0.60,185.1,404.4,17.4,368,3567,0.08,2.22,0.00,0.000,6,0.142,0.044,3443,1700,2301,0,0,0,0,0,0
$GC,3885,0.66,239.6,360.2,12.2,399,3934,0.08,2.20,42.17,0.790,4,0.120,0.037,3507,3119,2089,0,0,0,0,0,0
$GC,3939,0.61,239.6,350.9,18.5,403,3948,0.22,2.22,0.00,0.000,6,0.142,0.044,3448,1704,2088,0,0,0,0,0,0
$GC,4264,0.61,239.6,301.6,15.7,434,4268,0.00,2.20,0.00,0.000,4,0.000,0.054,3459,290,2081,0,0,0,0,0,0
$GC,4304,0.61,239.6,295.3,16.8,437,4308,0.00,2.15,0.00,0.000,6,0.000,0.034,3459,1717,2078,0,0,0,0,0,0
$GC,4634,0.61,239.6,236.7,18.3,468,4638,0.00,2.10,0.00,0.000,4,0.000,0.042,3459,3109,2077,0,0,0,0,0,0
$GC,4674,0.61,239.6,229.5,18.1,471,4678,0.08,2.15,0.00,0.000,6,0.189,0.044,3446,1701,2077,0,0,0,0,0,0
$GC,5004,0.62,239.6,178.9,15.3,502,5007,0.00,2.15,0.00,0.000,4,0.000,0.054,3457,294,2076,0,0,0,0,0,0
$GC,5081,0.71,298.7,168.3,11.9,508,5137,0.05,2.12,44.65,0.663,6,0.062,0.034,3555,1702,1849,0,0,0,0,0,0
$GC,5458,0.67,298.7,87.0,18.5,569,5465,0.25,2.15,0.00,0.000,4,0.135,0.037,3467,3113,1842,0,0,0,0,0,0
$GC,5563,0.88,411.5,74.7,9.0,588,5656,0.15,2.20,84.68,0.589,6,0.033,0.044,3580,1709,1389,0,0,0,0,0,0
$STATE,5951,end climb,SURFACE_DEPTH_REACHED
$STATE,5951,begin surface coast
$FINISH,0.5,1.008475
$STATE,5964,end surface coast,CONTROL_FINISHED_OK
$STATE,5964,begin surface
$SM_CCo,5979,101.00,0.493,1,0,621,600.00
$SM_GC,1.35,0.00,0.00,101.00,0.000,0.000,0.493,103,1544,621,-9.84,-0.17,600.00
$IRIDIUM_FIX,2418.11,12706.40,031010,090908
$TT8_MAMPS,0.026964
$HUMID,47.44
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,24.4,20.761
$10V_AH,10.5,14.727
$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,21.075,52.025,457.600,101.000,0.000,23.127,15.685,96.812,0.250,0.000,18.413,1577.691,2395.993,568.327,1689.800,100.861,0.000,1243.778,0.000,1537.543,0.000,0.539,0.000
$DEVICE_MAMPS,207.315,70.380,875.925,492.660,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.317,0.000,837.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40350,659
$CAP_FILE_SIZE,77010,0
$CFSIZE,260165632,245432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.308,168.3,1
$GPS,031010,124155,2428.605,12704.983,37,1.9,37,-3.7