version: 66.08
glider: 168
mission: 2
dive: 181
start: 10 5 110 8 32 35
data:
$ID,168
$MISSION,2
$DIVE,181
$N_DIVES,190
$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,400
$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,-3395.9084
$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,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
$GPS1,051010,082744,2429.511,12705.426,6,1.9,6,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.0
$GPS2,051010,083208,2429.422,12705.508,14,1.8,14,-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,320.5,1371,-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,-185.1,0.0,0.0,0,78,0.00,0.00,-60.65,0.000,2,0.000,0.000,104,1544,3059,0,0,0,0,0,0
$GC,80,-0.72,-185.1,3.0,-4.2,9,110,10.20,2.22,-13.15,0.000,4,0.192,0.055,3008,2958,3826,0,0,0,0,0,0
$GC,202,-0.67,-185.1,47.6,-30.7,30,210,0.08,2.20,0.00,0.000,6,0.132,0.044,3035,1553,3828,0,0,0,0,0,0
$GC,535,-0.63,-185.1,138.0,-21.5,91,542,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1553,3830,0,0,0,0,0,0
$GC,869,-0.61,-185.1,214.5,-22.0,127,873,0.08,2.12,0.00,0.000,4,0.209,0.053,3055,166,3832,0,0,0,0,0,0
$GC,911,-0.62,-185.1,224.1,-19.5,130,920,0.00,2.10,0.00,0.000,6,0.000,0.039,3047,1541,3832,0,0,0,0,0,0
$GC,1237,-0.62,-185.1,288.7,-19.1,161,1241,0.00,2.15,0.00,0.000,4,0.000,0.046,3037,2964,3832,0,0,0,0,0,0
$GC,1269,-0.64,-185.1,294.9,-17.8,163,1277,0.00,2.17,0.00,0.000,6,0.000,0.044,3036,1552,3832,0,0,0,0,0,0
$GC,1594,-0.64,-185.1,352.4,-15.9,194,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1552,3832,0,0,0,0,0,0
$GC,1915,-0.65,-185.1,402.8,-14.8,224,1919,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,167,3831,0,0,0,0,0,0
$GC,1982,-0.69,-185.1,412.1,-12.5,230,1986,0.00,2.10,0.00,0.000,6,0.000,0.040,3028,1560,3830,0,0,0,0,0,0
$GC,2308,-0.70,-185.1,455.8,-13.0,260,2312,0.00,2.12,0.00,0.000,4,0.000,0.047,3018,2964,3829,0,0,0,0,0,0
$GC,2340,-0.73,-185.1,460.3,-12.5,262,2349,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,1562,3829,0,0,0,0,0,0
$STATE,2612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2612,begin apogee
$GC,2616,0.00,0.0,500.5,15.1,288,2763,0.62,0.00,141.62,0.879,4,0.096,0.000,3250,1715,3068,0,0,0,0,0,0
$STATE,2764,end apogee,CONTROL_FINISHED_OK
$STATE,2764,begin climb
$GC,2766,0.72,185.1,507.6,0.0,300,2920,0.55,2.35,144.80,0.864,4,0.027,0.054,3512,299,2313,0,0,0,0,0,0
$GC,3105,0.67,185.1,457.7,22.0,330,3110,0.17,2.12,0.00,0.000,6,0.145,0.033,3459,1701,2305,0,0,0,0,0,0
$GC,3430,0.68,211.3,406.1,13.7,360,3456,0.00,2.30,20.90,0.785,4,0.000,0.053,3470,286,2206,0,0,0,0,0,0
$GC,3678,0.67,215.1,370.6,14.9,382,3682,0.00,2.12,0.00,0.000,6,0.000,0.033,3470,1699,2198,0,0,0,0,0,0
$GC,4003,0.65,215.1,316.0,17.8,412,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1700,2197,0,0,0,0,0,0
$GC,4323,0.64,223.8,264.9,14.7,442,4339,0.00,2.17,9.93,0.668,4,0.000,0.041,3471,3105,2155,0,0,0,0,0,0
$GC,4368,0.65,232.8,257.9,14.7,446,4383,0.08,2.15,9.00,0.646,6,0.188,0.043,3459,1697,2118,0,0,0,0,0,0
$GC,4699,0.69,258.5,213.7,13.7,477,4727,0.00,2.22,21.38,0.685,4,0.000,0.042,3459,3108,2013,0,0,0,0,0,0
$GC,4794,0.77,313.2,200.5,12.1,485,4848,0.10,2.15,43.65,0.686,6,0.093,0.042,3558,1716,1790,0,0,0,0,0,0
$GC,5172,0.72,313.2,112.5,25.1,533,5179,0.25,2.22,0.00,0.000,4,0.142,0.050,3484,293,1782,0,0,0,0,0,0
$GC,5265,0.83,375.9,98.7,11.7,549,5320,0.10,2.12,47.85,0.610,6,0.092,0.032,3589,1713,1533,0,0,0,0,0,0
$GC,5654,0.80,375.9,12.4,20.7,617,5662,0.25,2.12,0.00,0.000,4,0.130,0.039,3501,3103,1527,0,0,0,0,0,0
$GC,5714,0.97,463.0,4.3,10.4,627,5737,0.17,2.15,17.15,0.516,2,0.060,0.044,3598,1709,1445,0,0,0,0,0,0
$STATE,5738,end climb,SURFACE_DEPTH_REACHED
$STATE,5738,begin surface coast
$FINISH,0.6,1.021978
$STATE,5766,end surface coast,CONTROL_FINISHED_OK
$STATE,5767,begin surface
$SM_CCo,5782,-0.10,0.000,0,0,1438,400.08
$SM_GC,2.12,0.00,0.00,-0.10,0.000,0.000,0.000,104,1530,1438,-9.84,-0.51,400.08
$IRIDIUM_FIX,2422.84,12706.40,051010,060609
$TT8_MAMPS,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.4,23.718
$10V_AH,10.5,16.593
$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,21.125,48.175,456.275,0.000,0.000,24.531,39.745,103.732,0.250,0.000,16.738,1536.109,2301.823,443.251,1677.697,101.103,0.000,1096.882,0.000,1493.571,0.000,0.539,0.000
$DEVICE_MAMPS,208.845,63.495,878.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.070,0.000,806.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40409,635
$CAP_FILE_SIZE,76277,0
$CFSIZE,260165632,244301824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.335,143.0,1
$GPS,051010,101007,2429.045,12705.578,33,2.0,33,-3.7