version: 66.08
glider: 168
mission: 2
dive: 159
start: 10 3 110 16 26 40
data:
$ID,168
$MISSION,2
$DIVE,159
$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,-3368.3083
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,031010,162154,2428.765,12705.347,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-80.0
$GPS2,031010,162613,2428.702,12705.411,9,1.1,14,-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,349.1,2502,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.20,0.000,2,0.000,0.000,104,1541,3129,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-5.0,13,132,10.10,2.15,-11.40,0.000,4,0.188,0.051,3010,2957,3824,0,0,0,0,0,0
$GC,237,-0.69,-185.1,50.3,-25.7,36,246,0.05,2.20,0.00,0.000,6,0.132,0.047,3030,1560,3826,0,0,0,0,0,0
$GC,579,-0.65,-185.1,139.7,-25.5,97,585,0.00,2.15,0.00,0.000,4,0.000,0.052,3030,162,3827,0,0,0,0,0,0
$GC,659,-0.61,-185.1,159.1,-22.5,108,663,0.12,2.10,0.00,0.000,6,0.147,0.038,3060,1553,3828,0,0,0,0,0,0
$GC,983,-0.61,-185.1,218.8,-17.6,138,987,0.00,2.12,0.00,0.000,4,0.000,0.046,3051,2964,3829,0,0,0,0,0,0
$GC,1056,-0.66,-185.1,229.6,-13.6,144,1060,0.00,2.15,0.00,0.000,6,0.000,0.044,3051,1544,3829,0,0,0,0,0,0
$GC,1380,-0.66,-185.1,282.9,-17.7,174,1384,0.00,2.10,0.00,0.000,4,0.000,0.052,3051,166,3829,0,0,0,0,0,0
$GC,1443,-0.69,-185.1,293.0,-16.1,179,1446,0.00,2.08,0.00,0.000,6,0.000,0.040,3042,1556,3829,0,0,0,0,0,0
$GC,1773,-0.70,-185.1,350.3,-18.3,210,1777,0.00,2.12,0.00,0.000,4,0.000,0.047,3033,2965,3828,0,0,0,0,0,0
$GC,1814,-0.74,-185.1,356.8,-15.4,213,1819,0.08,2.15,0.00,0.000,6,0.117,0.046,2940,1548,3828,0,0,0,0,0,0
$GC,2140,-0.68,-185.1,442.3,-25.5,243,2145,0.28,2.12,0.00,0.000,4,0.138,0.054,3035,162,3827,0,0,0,0,0,0
$GC,2170,-0.66,-185.1,448.9,-20.4,245,2174,0.00,2.08,0.00,0.000,6,0.000,0.041,3026,1550,3827,0,0,0,0,0,0
$GC,2496,-0.68,-185.1,494.3,-13.7,275,2500,0.00,2.12,0.00,0.000,4,0.000,0.049,3017,2959,3825,0,0,0,0,0,0
$STATE,2538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2538,begin apogee
$GC,2544,0.00,0.0,500.4,12.9,278,2690,0.62,0.00,140.35,0.871,4,0.081,0.000,3256,1701,3068,0,0,0,0,0,0
$STATE,2691,end apogee,CONTROL_FINISHED_OK
$STATE,2691,begin climb
$GC,2692,0.72,185.1,507.5,0.0,290,2848,0.60,2.30,145.02,0.857,4,0.030,0.054,3538,286,2312,0,0,0,0,0,0
$GC,2940,0.65,185.1,478.3,22.7,311,2945,0.28,2.17,0.00,0.000,6,0.157,0.031,3458,1717,2306,0,0,0,0,0,0
$GC,3267,0.62,185.1,420.7,17.7,341,3271,0.00,2.10,0.00,0.000,4,0.000,0.041,3458,3105,2303,0,0,0,0,0,0
$GC,3350,0.60,185.1,405.8,17.2,348,3355,0.10,2.15,0.00,0.000,6,0.177,0.042,3441,1702,2302,0,0,0,0,0,0
$GC,3682,0.65,233.2,357.1,12.5,379,3730,0.08,2.28,37.45,0.783,4,0.121,0.054,3520,296,2115,0,0,0,0,0,0
$GC,3790,0.60,233.2,336.5,20.1,388,3800,0.22,2.15,0.00,0.000,6,0.123,0.031,3443,1703,2111,0,0,0,0,0,0
$GC,4117,0.70,309.3,298.6,11.0,419,4189,0.10,2.22,59.53,0.748,4,0.095,0.039,3530,3103,1805,0,0,0,0,0,0
$GC,4237,0.68,309.3,274.4,21.7,429,4242,0.22,2.17,0.00,0.000,6,0.136,0.044,3470,1711,1802,0,0,0,0,0,0
$GC,4562,0.68,309.3,209.6,19.2,459,4566,0.00,2.20,0.00,0.000,4,0.000,0.054,3481,292,1797,0,0,0,0,0,0
$GC,4651,0.68,309.3,191.1,19.9,466,4659,0.00,2.12,0.00,0.000,6,0.000,0.032,3481,1693,1794,0,0,0,0,0,0
$GC,4981,0.68,309.3,134.2,15.9,505,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1695,1793,0,0,0,0,0,0
$GC,5319,0.80,383.2,85.1,11.1,566,5381,0.10,0.00,54.67,0.594,6,0.096,0.000,3576,1695,1504,0,0,0,0,0,0
$GC,5713,0.79,383.2,17.5,17.7,635,5720,0.22,2.17,0.00,0.000,4,0.129,0.051,3510,290,1497,0,0,0,0,0,0
$GC,5795,0.99,493.4,7.9,9.1,649,5837,0.17,2.10,36.25,0.525,2,0.060,0.033,3629,1696,1298,0,0,0,0,0,0
$STATE,5838,end climb,SURFACE_DEPTH_REACHED
$STATE,5838,begin surface coast
$FINISH,0.6,1.021177
$STATE,5855,end surface coast,CONTROL_FINISHED_OK
$STATE,5855,begin surface
$SM_CCo,5871,90.88,0.058,0,0,622,600.00
$SM_GC,1.32,0.00,0.00,90.88,0.000,0.000,0.058,103,1536,622,-9.85,-0.40,600.00
$IRIDIUM_FIX,2420.48,12703.08,031010,141422
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,21.126
$10V_AH,10.5,14.951
$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,22.025,55.975,473.275,90.875,0.000,23.704,37.642,102.209,0.250,0.000,17.340,1576.880,2264.564,569.338,1725.496,99.272,0.000,1253.146,0.000,1542.685,0.000,0.540,0.000
$DEVICE_MAMPS,188.190,64.260,870.570,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.523,0.000,834.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40290,658
$CAP_FILE_SIZE,79600,0
$CFSIZE,260165632,245288960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,159.4,1
$GPS,031010,180650,2429.016,12705.549,12,1.6,12,-3.7