version: 66.08
glider: 168
mission: 2
dive: 163
start: 10 3 110 23 40 54
data:
$ID,168
$MISSION,2
$DIVE,163
$N_DIVES,170
$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,-3373.3286
$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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,031010,233630,2429.271,12705.713,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.2
$GPS2,031010,234026,2429.229,12705.763,13,1.0,13,-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,323.4,1921,-22.1,-15.152
$D_GRID,1000
$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,-185.1,0.0,0.0,0,100,0.00,0.00,-83.03,0.000,2,0.000,0.000,104,1544,3125,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.3,-5.1,13,132,10.02,2.20,-11.60,0.000,4,0.186,0.050,3011,2966,3826,0,0,0,0,0,0
$GC,233,-0.70,-185.1,48.5,-27.0,35,240,0.08,2.20,0.00,0.000,6,0.167,0.045,3031,1547,3828,0,0,0,0,0,0
$GC,570,-0.66,-185.1,140.8,-24.5,96,579,0.00,2.15,0.00,0.000,4,0.000,0.051,3032,166,3830,0,0,0,0,0,0
$GC,634,-0.65,-185.1,155.6,-19.6,105,642,0.05,2.08,0.00,0.000,6,0.127,0.037,3045,1531,3830,0,0,0,0,0,0
$GC,960,-0.64,-185.1,220.9,-19.6,136,964,0.00,2.08,0.00,0.000,4,0.000,0.050,3045,165,3831,0,0,0,0,0,0
$GC,988,-0.63,-185.1,226.8,-20.8,138,992,0.00,2.08,0.00,0.000,6,0.000,0.038,3037,1542,3831,0,0,0,0,0,0
$GC,1312,-0.63,-185.1,288.9,-18.3,168,1316,0.00,2.15,0.00,0.000,4,0.000,0.044,3026,2962,3831,0,0,0,0,0,0
$GC,1344,-0.64,-185.1,294.8,-16.5,170,1354,0.05,2.20,0.00,0.000,6,0.108,0.044,3052,1541,3831,0,0,0,0,0,0
$GC,1673,-0.66,-185.1,342.2,-14.9,201,1677,0.00,2.10,0.00,0.000,4,0.000,0.054,3053,162,3830,0,0,0,0,0,0
$GC,1735,-0.69,-185.1,352.4,-14.7,206,1740,0.08,2.08,0.00,0.000,6,0.121,0.040,2963,1538,3830,0,0,0,0,0,0
$GC,2060,-0.65,-185.1,429.9,-24.3,236,2065,0.25,2.15,0.00,0.000,4,0.127,0.044,3042,2961,3829,0,0,0,0,0,0
$GC,2145,-0.72,-185.1,441.4,-10.3,243,2150,0.08,2.20,0.00,0.000,6,0.117,0.047,2947,1533,3829,0,0,0,0,0,0
$STATE,2415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2415,begin apogee
$GC,2420,0.00,0.0,501.1,21.6,268,2567,0.88,0.00,141.10,0.864,4,0.113,0.000,3251,1711,3068,0,0,0,0,0,0
$STATE,2567,end apogee,CONTROL_FINISHED_OK
$STATE,2568,begin climb
$GC,2569,0.72,185.1,507.6,0.0,280,2725,0.62,2.25,145.95,0.857,4,0.033,0.047,3529,3104,2312,0,0,0,0,0,0
$GC,2896,0.65,185.1,456.0,22.9,308,2906,0.25,2.22,0.00,0.000,6,0.140,0.041,3458,1693,2305,0,0,0,0,0,0
$GC,3224,0.62,185.1,403.0,15.6,339,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1693,2301,0,0,0,0,0,0
$GC,3542,0.64,217.8,356.2,13.4,369,3572,0.00,2.17,24.90,0.765,4,0.000,0.037,3458,3111,2179,0,0,0,0,0,0
$GC,3651,0.64,217.8,339.8,15.7,378,3655,0.00,2.20,0.00,0.000,6,0.000,0.044,3467,1696,2176,0,0,0,0,0,0
$GC,3976,0.62,217.8,287.5,15.9,408,3980,0.00,2.15,0.00,0.000,4,0.000,0.054,3478,293,2172,0,0,0,0,0,0
$GC,4004,0.60,217.8,282.9,17.3,410,4009,0.12,2.10,0.00,0.000,6,0.139,0.033,3440,1699,2170,0,0,0,0,0,0
$GC,4329,0.64,253.6,240.1,13.2,440,4366,0.05,2.15,28.08,0.698,4,0.165,0.039,3505,3110,2033,0,0,0,0,0,0
$GC,4424,0.62,253.6,223.2,18.4,448,4429,0.20,2.17,0.00,0.000,6,0.139,0.044,3451,1709,2031,0,0,0,0,0,0
$GC,4749,0.65,267.2,173.3,14.4,478,4766,0.00,2.25,11.18,0.607,4,0.000,0.054,3462,294,1977,0,0,0,0,0,0
$GC,4833,0.67,267.2,159.9,15.5,485,4840,0.00,2.12,0.00,0.000,6,0.000,0.031,3462,1699,1973,0,0,0,0,0,0
$GC,5169,0.77,335.0,112.2,11.4,540,5231,0.12,0.00,53.05,0.612,6,0.078,0.000,3567,1702,1700,0,0,0,0,0,0
$GC,5564,0.75,335.0,34.0,17.2,609,5572,0.25,2.17,0.00,0.000,4,0.130,0.050,3490,293,1693,0,0,0,0,0,0
$GC,5591,0.77,343.9,30.0,14.7,613,5606,0.00,2.08,6.75,0.464,6,0.000,0.031,3490,1697,1665,0,0,0,0,0,0
$STATE,5905,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FINISH,0.8,1.021869
$STATE,5946,end surface coast,CONTROL_FINISHED_OK
$STATE,5946,begin surface
$SM_CCo,5961,133.02,0.496,1,0,621,600.00
$SM_GC,1.39,0.00,0.00,133.02,0.000,0.000,0.496,104,1532,621,-9.84,-0.54,600.00
$IRIDIUM_FIX,2420.48,12703.08,031010,212116
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,21.607
$10V_AH,10.4,15.252
$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,21.325,52.175,411.000,133.025,0.000,30.401,18.746,96.186,0.250,0.000,16.207,1637.403,2311.036,571.156,1730.817,100.321,0.000,1245.934,0.000,1575.845,0.000,0.540,0.000
$DEVICE_MAMPS,185.895,60.435,863.685,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.670,0.000,857.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43705,676
$CAP_FILE_SIZE,80157,0
$CFSIZE,260165632,245108736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.267,144.8,1
$GPS,041010,012320,2429.080,12705.586,10,1.7,10,-3.7