version: 66.08
glider: 168
mission: 2
dive: 167
start: 10 4 110 6 54 34
data:
$ID,168
$MISSION,2
$DIVE,167
$N_DIVES,180
$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,-3378.3464
$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,49
$R_STBD_OVSHOOT,46
$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
$GPS1,041010,065002,2429.564,12705.313,10,1.4,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.5
$GPS2,041010,065407,2429.498,12705.354,9,1.6,14,-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,324.8,1105,-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,-185.1,0.0,0.0,0,96,0.00,0.00,-79.07,0.000,2,0.000,0.000,104,1525,2999,0,0,0,0,0,0
$GC,99,-0.72,-185.1,3.4,-6.0,12,128,10.18,2.25,-13.90,0.000,4,0.191,0.058,3010,2946,3826,0,0,0,0,0,0
$GC,196,-0.67,-185.1,42.0,-33.2,28,204,0.08,2.17,0.00,0.000,6,0.120,0.047,3038,1572,3828,0,0,0,0,0,0
$GC,537,-0.63,-185.1,141.4,-24.1,89,543,0.00,2.17,0.00,0.000,4,0.000,0.052,3039,161,3830,0,0,0,0,0,0
$GC,584,-0.62,-185.1,152.5,-21.1,96,589,0.10,2.08,0.00,0.000,6,0.159,0.039,3060,1544,3830,0,0,0,0,0,0
$GC,909,-0.62,-185.1,214.0,-18.6,126,913,0.00,2.12,0.00,0.000,4,0.000,0.045,3050,2960,3830,0,0,0,0,0,0
$GC,941,-0.64,-185.1,220.0,-17.2,128,950,0.00,2.17,0.00,0.000,6,0.000,0.044,3050,1556,3830,0,0,0,0,0,0
$GC,1268,-0.64,-185.1,281.1,-18.3,159,1272,0.00,2.12,0.00,0.000,4,0.000,0.055,3050,165,3830,0,0,0,0,0,0
$GC,1330,-0.66,-185.1,291.2,-15.0,164,1334,0.00,2.10,0.00,0.000,6,0.000,0.040,3041,1557,3830,0,0,0,0,0,0
$GC,1656,-0.67,-185.1,342.4,-14.3,194,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1559,3830,0,0,0,0,0,0
$GC,1975,-0.68,-185.1,390.9,-14.1,224,1979,0.00,2.15,0.00,0.000,4,0.000,0.048,3032,2964,3828,0,0,0,0,0,0
$GC,2003,-0.71,-185.1,395.0,-13.8,226,2012,0.00,2.20,0.00,0.000,6,0.000,0.047,3032,1550,3829,0,0,0,0,0,0
$GC,2331,-0.73,-185.1,442.8,-13.7,257,2335,0.00,2.17,0.00,0.000,4,0.000,0.056,3031,159,3827,0,0,0,0,0,0
$GC,2388,-0.76,-185.1,451.2,-13.0,261,2395,0.00,2.10,0.00,0.000,6,0.000,0.041,3022,1546,3827,0,0,0,0,0,0
$GC,2713,-0.77,-185.1,497.7,-13.9,292,2718,0.08,2.15,0.00,0.000,4,0.125,0.050,2911,2959,3825,0,0,0,0,0,0
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2736,0.00,0.0,500.4,14.5,293,2882,0.95,0.00,140.65,0.876,4,0.110,0.000,3247,1686,3068,0,0,0,0,0,0
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2884,0.72,185.1,507.4,0.0,305,3039,0.57,0.00,145.32,0.861,6,0.031,0.000,3515,1686,2312,0,0,0,0,0,0
$GC,3355,0.66,185.1,432.6,19.7,348,3360,0.17,2.17,0.00,0.000,4,0.161,0.039,3464,3116,2304,0,0,0,0,0,0
$GC,3489,0.66,201.5,412.0,14.3,360,3507,0.00,2.17,13.02,0.753,6,0.000,0.044,3475,1705,2246,0,0,0,0,0,0
$GC,3828,0.63,201.5,356.8,16.1,391,3830,0.08,0.00,0.00,0.000,6,0.199,0.000,3455,1705,2240,0,0,0,0,0,0
$GC,4146,0.62,203.6,309.3,15.0,421,4150,0.00,2.17,0.00,0.000,4,0.000,0.054,3465,289,2237,0,0,0,0,0,0
$GC,4234,0.64,220.2,295.6,14.2,428,4254,0.00,2.15,15.05,0.716,6,0.000,0.033,3465,1717,2170,0,0,0,0,0,0
$GC,4571,0.63,220.2,242.7,16.9,460,4575,0.00,2.10,0.00,0.000,4,0.000,0.041,3465,3115,2166,0,0,0,0,0,0
$GC,4630,0.63,220.2,232.0,17.4,465,4639,0.05,2.20,0.00,0.000,6,0.148,0.043,3454,1705,2166,0,0,0,0,0,0
$GC,4956,0.67,257.6,183.8,13.1,496,4994,0.00,2.28,30.12,0.672,4,0.000,0.054,3464,293,2016,0,0,0,0,0,0
$GC,5032,0.76,313.7,174.1,12.1,502,5089,0.08,2.15,44.35,0.659,6,0.044,0.031,3569,1704,1786,0,0,0,0,0,0
$GC,5415,0.72,313.7,86.6,20.9,560,5424,0.25,2.15,0.00,0.000,4,0.138,0.037,3482,3105,1779,0,0,0,0,0,0
$GC,5493,0.85,388.3,75.8,11.1,573,5562,0.10,2.12,56.47,0.588,6,0.090,0.044,3572,1710,1481,0,0,0,0,0,0
$GC,5898,0.84,390.4,9.7,15.0,643,5906,0.17,2.22,0.00,0.000,4,0.141,0.054,3526,295,1474,0,0,0,0,0,0
$STATE,5945,end climb,SURFACE_DEPTH_REACHED
$STATE,5945,begin surface coast
$FINISH,0.7,1.021782
$STATE,5969,end surface coast,CONTROL_FINISHED_OK
$STATE,5969,begin surface
$SM_CCo,5986,109.55,0.490,1,0,621,600.00
$SM_GC,1.28,0.00,0.00,109.55,0.000,0.000,0.490,104,1544,621,-9.85,-0.17,600.00
$IRIDIUM_FIX,2420.48,12706.40,041010,050524
$TT8_MAMPS,0.026964
$HUMID,46.41
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,22.106
$10V_AH,10.4,15.548
$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,21.200,55.750,445.000,109.550,0.000,24.286,17.871,107.070,0.000,0.000,16.784,1582.027,2417.932,573.874,1683.819,102.379,0.000,1240.040,0.000,1517.913,0.000,0.539,0.000
$DEVICE_MAMPS,198.900,58.140,875.925,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.241,0.000,832.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40333,655
$CAP_FILE_SIZE,79527,0
$CFSIZE,260165632,244928512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.296,149.9,1
$GPS,041010,083730,2429.329,12705.188,39,0.9,39,-3.7