version: 66.08
glider: 168
mission: 2
dive: 158
start: 10 3 110 14 37 28
data:
$ID,168
$MISSION,2
$DIVE,158
$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,-3367.0535
$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,34
$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
$GPS1,031010,143114,2428.438,12705.059,11,1.3,11,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.1
$GPS2,031010,143702,2428.336,12705.129,10,1.3,10,-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,0.5,3089,-22.1,-15.152
$D_GRID,4118
$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,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.18,0.000,2,0.000,0.000,104,1533,3166,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.7,-6.6,13,131,10.18,2.17,-10.50,0.000,4,0.191,0.050,3009,2963,3825,0,0,0,0,0,0
$GC,233,-0.70,-185.1,53.1,-24.9,35,240,0.08,2.15,0.00,0.000,6,0.175,0.044,3029,1555,3826,0,0,0,0,0,0
$GC,570,-0.66,-185.1,143.4,-26.2,96,579,0.00,2.17,0.00,0.000,4,0.000,0.053,3029,161,3829,0,0,0,0,0,0
$GC,635,-0.62,-185.1,160.3,-25.2,103,643,0.10,2.08,0.00,0.000,6,0.158,0.038,3051,1548,3829,0,0,0,0,0,0
$GC,960,-0.62,-185.1,222.2,-19.5,134,964,0.00,2.12,0.00,0.000,4,0.000,0.045,3041,2962,3829,0,0,0,0,0,0
$GC,1014,-0.66,-185.1,232.1,-16.3,138,1023,0.00,2.17,0.00,0.000,6,0.000,0.044,3041,1562,3830,0,0,0,0,0,0
$GC,1343,-0.66,-185.1,290.4,-17.5,169,1346,0.00,2.17,0.00,0.000,4,0.000,0.055,3041,153,3830,0,0,0,0,0,0
$GC,1427,-0.68,-185.1,304.6,-14.1,176,1430,0.00,2.10,0.00,0.000,6,0.000,0.041,3037,1552,3830,0,0,0,0,0,0
$GC,1758,-0.68,-185.1,357.3,-16.3,207,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1555,3829,0,0,0,0,0,0
$GC,2079,-0.70,-185.1,405.7,-14.7,237,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1555,3828,0,0,0,0,0,0
$GC,2405,-0.72,-185.1,452.1,-13.6,268,2409,0.00,2.12,0.00,0.000,4,0.000,0.050,3027,2958,3825,0,0,0,0,0,0
$GC,2469,-0.77,-185.1,459.9,-11.5,273,2474,0.08,2.17,0.00,0.000,6,0.119,0.047,2930,1543,3825,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2650,0.00,0.0,501.1,26.0,289,2796,0.93,0.00,140.40,0.872,4,0.114,0.000,3252,1721,3067,0,0,0,0,0,0
$STATE,2797,end apogee,CONTROL_FINISHED_OK
$STATE,2797,begin climb
$GC,2799,0.72,185.1,511.2,0.0,301,2950,0.57,0.00,145.18,0.861,6,0.034,0.000,3518,1721,2313,0,0,0,0,0,0
$GC,3276,0.65,185.1,432.8,21.4,345,3278,0.20,0.00,0.00,0.000,6,0.160,0.000,3458,1722,2305,0,0,0,0,0,0
$GC,3595,0.63,185.1,380.1,16.3,375,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1722,2301,0,0,0,0,0,0
$GC,3915,0.63,197.7,331.3,14.5,405,3930,0.00,2.30,9.38,0.685,4,0.000,0.053,3469,288,2261,0,0,0,0,0,0
$GC,3975,0.61,202.1,321.8,14.9,410,3985,0.05,2.15,4.78,0.541,6,0.126,0.033,3448,1704,2244,0,0,0,0,0,0
$GC,4301,0.71,278.1,281.1,11.0,441,4374,0.10,2.25,60.72,0.740,4,0.096,0.040,3526,3111,1932,0,0,0,0,0,0
$GC,4429,0.68,278.1,256.6,19.5,452,4434,0.22,2.20,0.00,0.000,6,0.138,0.044,3468,1713,1929,0,0,0,0,0,0
$GC,4754,0.68,278.1,203.6,16.3,482,4758,0.00,2.20,0.00,0.000,4,0.000,0.054,3478,293,1923,0,0,0,0,0,0
$GC,4820,0.68,278.1,192.9,15.8,488,4824,0.00,2.12,0.00,0.000,6,0.000,0.034,3478,1718,1922,0,0,0,0,0,0
$GC,5145,0.72,312.3,142.7,13.3,522,5180,0.00,2.15,26.10,0.629,4,0.000,0.041,3478,3101,1794,0,0,0,0,0,0
$GC,5198,0.76,333.6,135.4,14.0,530,5226,0.00,2.20,17.80,0.602,6,0.000,0.043,3485,1702,1706,0,0,0,0,0,0
$GC,5552,0.88,413.2,86.3,10.8,594,5620,0.15,2.25,60.72,0.589,4,0.070,0.050,3605,293,1381,0,0,0,0,0,0
$GC,5723,0.86,413.2,48.2,22.0,623,5730,0.25,2.10,0.00,0.000,6,0.120,0.031,3523,1698,1374,0,0,0,0,0,0
$STATE,6050,end climb,SURFACE_DEPTH_REACHED
$STATE,6050,begin surface coast
$FINISH,0.8,1.021758
$STATE,6072,end surface coast,CONTROL_FINISHED_OK
$STATE,6072,begin surface
$SM_CCo,6087,97.95,0.486,1,0,621,600.00
$SM_GC,1.42,0.00,0.00,97.95,0.000,0.000,0.486,103,1541,621,-9.84,-0.25,600.00
$IRIDIUM_FIX,2420.48,12704.51,031010,141430
$TT8_MAMPS,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,21.011
$10V_AH,10.5,14.878
$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,21.125,43.850,465.075,97.950,0.000,60.708,33.107,102.201,0.250,0.000,13.269,1627.279,2483.283,565.845,1774.607,100.069,0.000,1244.182,0.000,1572.754,0.000,0.540,0.000
$DEVICE_MAMPS,191.250,66.555,872.100,485.775,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.077,0.000,872.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43714,688
$CAP_FILE_SIZE,77636,0
$CFSIZE,260165632,245338112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.158,167.0,1
$GPS,031010,162154,2428.765,12705.347,40,1.1,40,-3.7