version: 66.08
glider: 168
mission: 2
dive: 239
start: 10 9 110 19 30 13
data:
$ID,168
$MISSION,2
$DIVE,239
$N_DIVES,250
$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,-3468.8179
$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,45
$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
$GPS1,091010,192506,2429.897,12705.167,37,1.0,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.9
$GPS2,091010,192944,2429.918,12705.178,14,1.0,14,-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,302.2,335,-27.8,-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,-0.76,-117.2,0.0,0.0,0,80,0.00,0.00,-63.15,0.000,2,0.000,0.000,104,1529,3256,0,0,0,0,0,0
$GC,82,-0.84,-185.1,3.8,-6.1,9,113,10.02,2.25,-8.98,0.000,4,0.190,0.053,2970,2970,3827,0,0,0,0,0,0
$GC,290,-0.86,-185.1,75.4,-21.4,46,298,0.00,2.20,0.00,0.000,6,0.000,0.043,2970,1562,3829,0,0,0,0,0,0
$GC,618,-0.83,-185.1,169.6,-26.6,107,625,0.00,2.12,0.00,0.000,4,0.000,0.041,2959,2957,3831,0,0,0,0,0,0
$GC,645,-0.82,-185.1,176.6,-26.1,111,652,0.10,2.15,0.00,0.000,6,0.148,0.044,2989,1551,3831,0,0,0,0,0,0
$GC,981,-0.82,-185.1,254.3,-23.2,172,990,0.00,2.15,0.00,0.000,4,0.000,0.051,2989,168,3832,0,0,0,0,0,0
$GC,1047,-0.84,-185.1,269.8,-22.8,183,1054,0.00,2.05,0.00,0.000,6,0.000,0.036,2980,1539,3833,0,0,0,0,0,0
$GC,1384,-0.84,-185.1,340.8,-21.4,227,1388,0.00,2.12,0.00,0.000,4,0.000,0.044,2970,2955,3832,0,0,0,0,0,0
$GC,1495,-0.87,-185.1,361.2,-15.8,236,1504,0.00,2.17,0.00,0.000,6,0.000,0.044,2970,1551,3832,0,0,0,0,0,0
$GC,1822,-0.88,-185.1,423.6,-18.2,267,1826,0.00,2.12,0.00,0.000,4,0.000,0.053,2970,159,3831,0,0,0,0,0,0
$GC,1897,-0.90,-185.1,438.7,-19.7,273,1901,0.00,2.10,0.00,0.000,6,0.000,0.039,2960,1552,3831,0,0,0,0,0,0
$STATE,2200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2200,begin apogee
$GC,2205,0.00,0.0,501.5,20.7,301,2357,0.82,0.00,142.88,0.883,4,0.107,0.000,3251,1713,3067,0,0,0,0,0,0
$STATE,2358,end apogee,CONTROL_FINISHED_OK
$STATE,2358,begin climb
$GC,2360,0.84,185.1,510.1,0.0,314,2516,0.73,2.20,145.95,0.867,4,0.026,0.047,3582,3093,2312,0,0,0,0,0,0
$GC,2663,0.79,185.1,457.0,27.6,340,2673,0.28,2.20,0.00,0.000,6,0.149,0.041,3506,1699,2307,0,0,0,0,0,0
$GC,2990,0.77,185.1,390.9,19.9,371,2994,0.00,2.17,0.00,0.000,4,0.000,0.051,3516,286,2301,0,0,0,0,0,0
$GC,3042,0.75,185.1,380.7,18.9,375,3047,0.10,2.10,0.00,0.000,6,0.174,0.031,3489,1694,2298,0,0,0,0,0,0
$GC,3368,0.75,186.4,325.7,15.0,405,3372,0.00,2.10,0.00,0.000,4,0.000,0.041,3489,3102,2298,0,0,0,0,0,0
$GC,3408,0.75,189.4,319.4,14.9,408,3412,0.00,2.17,0.00,0.000,6,0.000,0.042,3499,1688,2297,0,0,0,0,0,0
$GC,3734,0.75,189.4,266.4,17.8,457,3741,0.00,2.15,0.00,0.000,4,0.000,0.041,3499,3102,2296,0,0,0,0,0,0
$GC,3876,0.75,189.4,242.7,16.0,483,3884,0.08,2.17,0.00,0.000,6,0.201,0.042,3492,1687,2296,0,0,0,0,0,0
$GC,4209,0.81,231.2,198.9,11.5,544,4252,0.08,2.17,34.55,0.695,4,0.124,0.047,3586,286,2124,0,0,0,0,0,0
$GC,4315,0.77,231.2,178.9,22.5,561,4323,0.28,2.10,0.00,0.000,6,0.138,0.030,3501,1689,2118,0,0,0,0,0,0
$GC,4643,0.79,233.1,127.1,15.0,622,4650,0.00,2.15,0.00,0.000,4,0.000,0.041,3501,3090,2116,0,0,0,0,0,0
$GC,4716,0.81,237.5,116.0,14.8,635,4732,0.00,2.17,5.50,0.493,6,0.000,0.042,3510,1693,2098,0,0,0,0,0,0
$GC,5053,0.90,284.5,72.3,11.1,697,5100,0.10,2.20,37.75,0.598,4,0.096,0.037,3605,3097,1906,0,0,0,0,0,0
$GC,5340,0.90,284.5,19.9,16.5,748,5348,0.22,2.17,0.00,0.000,6,0.129,0.041,3539,1706,1901,0,0,0,0,0,0
$STATE,5476,end climb,SURFACE_DEPTH_REACHED
$STATE,5476,begin surface coast
$FINISH,0.7,1.022083
$STATE,5500,end surface coast,CONTROL_FINISHED_OK
$STATE,5501,begin surface
$SM_CCo,5517,62.35,0.473,1,0,1436,400.08
$SM_GC,1.41,0.00,0.00,62.35,0.000,0.000,0.473,103,1534,1436,-9.85,-0.45,400.08
$IRIDIUM_FIX,2420.48,12709.72,091010,171702
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.4,30.409
$10V_AH,10.4,22.108
$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,21.100,52.125,366.625,62.350,0.000,29.696,40.970,107.238,0.500,0.000,16.764,1861.639,1327.819,461.166,2096.790,126.589,0.000,1177.621,0.000,1918.300,0.000,0.539,0.000
$DEVICE_MAMPS,201.195,65.790,882.810,472.770,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.855,0.000,1338.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,46962,777
$CAP_FILE_SIZE,79386,0
$CFSIZE,260165632,241328128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130, 99.1,1
$GPS,091010,210408,2430.188,12704.909,13,1.3,13,-3.7