version: 66.08
glider: 168
mission: 2
dive: 261
start: 10 11 110 11 24 4
data:
$ID,168
$MISSION,2
$DIVE,261
$N_DIVES,263
$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,-3496.5183
$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,67
$R_STBD_OVSHOOT,54
$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
$GPS1,111010,111832,2430.238,12705.440,7,1.5,7,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.2
$GPS2,111010,112331,2430.228,12705.570,14,1.1,31,-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,266.9,1050,-23.3,-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,-166.0,0.0,0.0,0,87,0.00,0.00,-69.38,0.000,2,0.000,0.000,104,1513,3017,0,0,0,0,0,0
$GC,89,-0.75,-185.1,3.1,-4.5,10,120,10.15,2.25,-13.93,0.000,4,0.189,0.050,3001,2951,3826,0,0,0,0,0,0
$GC,243,-0.72,-185.1,53.8,-27.1,37,253,0.05,2.12,0.00,0.000,6,0.126,0.044,3020,1594,3828,0,0,0,0,0,0
$GC,570,-0.69,-185.1,137.1,-24.0,98,578,0.00,2.22,0.00,0.000,4,0.000,0.049,3021,165,3830,0,0,0,0,0,0
$GC,602,-0.66,-185.1,144.7,-23.0,103,610,0.08,2.08,0.00,0.000,6,0.120,0.035,3041,1535,3830,0,0,0,0,0,0
$GC,931,-0.66,-185.1,212.7,-18.6,164,939,0.00,2.17,0.00,0.000,4,0.000,0.043,3031,2949,3831,0,0,0,0,0,0
$GC,1016,-0.71,-185.1,224.8,-12.8,179,1023,0.00,2.12,0.00,0.000,6,0.000,0.042,3031,1555,3831,0,0,0,0,0,0
$GC,1346,-0.72,-185.1,282.5,-17.0,240,1354,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,173,3831,0,0,0,0,0,0
$GC,1383,-0.74,-185.1,288.6,-16.9,246,1391,0.00,2.10,0.00,0.000,6,0.000,0.037,3022,1559,3831,0,0,0,0,0,0
$GC,1717,-0.74,-185.1,345.5,-17.0,283,1721,0.00,2.12,0.00,0.000,4,0.000,0.050,3022,165,3831,0,0,0,0,0,0
$GC,1747,-0.74,-185.1,351.0,-18.8,285,1751,0.00,2.05,0.00,0.000,6,0.000,0.035,3013,1556,3832,0,0,0,0,0,0
$GC,2075,-0.75,-185.1,407.4,-15.9,315,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1558,3830,0,0,0,0,0,0
$GC,2402,-0.76,-185.1,457.8,-13.8,346,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1559,3829,0,0,0,0,0,0
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2713,0.00,0.0,501.4,14.0,375,2863,0.65,0.00,142.95,0.889,4,0.094,0.000,3252,1711,3068,0,0,0,0,0,0
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2865,0.75,185.1,509.9,0.0,387,3019,0.62,2.30,145.73,0.876,4,0.030,0.049,3539,289,2313,0,0,0,0,0,0
$GC,3024,0.68,185.1,499.9,17.3,400,3033,0.20,2.20,0.00,0.000,6,0.130,0.030,3474,1699,2311,0,0,0,0,0,0
$GC,3352,0.65,185.1,441.8,17.8,431,3356,0.00,2.12,0.00,0.000,4,0.000,0.037,3474,3099,2305,0,0,0,0,0,0
$GC,3396,0.63,185.1,432.9,18.3,434,3406,0.08,2.15,0.00,0.000,6,0.133,0.038,3455,1709,2304,0,0,0,0,0,0
$GC,3724,0.67,229.5,385.8,12.4,465,3765,0.00,2.17,35.50,0.811,4,0.000,0.036,3455,3104,2131,0,0,0,0,0,0
$GC,3811,0.72,260.7,374.3,13.2,472,3850,0.08,2.17,26.02,0.783,6,0.116,0.040,3549,1707,2004,0,0,0,0,0,0
$GC,4165,0.67,260.7,295.7,24.3,506,4174,0.25,2.25,0.00,0.000,4,0.150,0.050,3477,293,1995,0,0,0,0,0,0
$GC,4223,0.68,260.7,284.7,17.5,515,4229,0.00,2.12,0.00,0.000,6,0.000,0.034,3478,1700,1993,0,0,0,0,0,0
$GC,4560,0.68,266.5,226.6,14.8,576,4569,0.00,2.20,3.85,0.449,4,0.000,0.040,3478,3115,1981,0,0,0,0,0,0
$GC,4628,0.70,268.8,216.6,15.0,587,4642,0.00,2.17,4.03,0.461,6,0.000,0.042,3486,1706,1971,0,0,0,0,0,0
$GC,4975,0.70,268.8,161.9,15.7,649,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1706,1969,0,0,0,0,0,0
$GC,5304,0.77,313.9,114.6,12.4,710,5350,0.00,2.22,36.72,0.628,4,0.000,0.044,3486,3106,1787,0,0,0,0,0,0
$GC,5435,0.87,345.9,97.2,13.2,731,5467,0.08,2.20,26.30,0.598,6,0.043,0.044,3583,1715,1656,0,0,0,0,0,0
$GC,5786,0.85,345.9,30.5,16.5,795,5794,0.20,2.25,0.00,0.000,4,0.131,0.052,3529,299,1650,0,0,0,0,0,0
$GC,5856,0.98,414.3,21.3,11.0,807,5917,0.08,2.12,52.30,0.552,6,0.046,0.031,3623,1706,1377,0,0,0,0,0,0
$STATE,5945,end climb,SURFACE_DEPTH_REACHED
$STATE,5946,begin surface coast
$FINISH,0.6,1.022042
$STATE,5960,end surface coast,CONTROL_FINISHED_OK
$STATE,5960,begin surface
$SM_CCo,6037,0.00,0.000,0,0,1369,416.76
$SM_GC,1.71,8.65,0.00,0.00,0.022,0.000,0.000,103,1540,1369,-9.70,-0.25,416.76
$IRIDIUM_FIX,2422.84,12907.70,111010,090913
$TT8_MAMPS,0.026964
$HUMID,48.38
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.3,32.896
$10V_AH,10.4,24.318
$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,21.150,52.525,473.400,0.000,0.000,24.786,38.723,111.803,0.250,0.000,34.347,1948.610,1615.889,478.127,2170.936,136.143,0.000,1249.734,0.000,1973.566,0.000,0.539,0.000
$DEVICE_MAMPS,188.955,65.790,888.930,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.073,0.000,1379.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,50243,822
$CAP_FILE_SIZE,84474,0
$CFSIZE,260165632,240168960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257,107.4,1
$GPS,111010,130546,2429.952,12705.497,10,4.2,29,-3.7