version: 66.08
glider: 168
mission: 2
dive: 281
start: 10 13 110 0 33 36
data:
$ID,168
$MISSION,2
$DIVE,281
$N_DIVES,290
$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,-3521.7144
$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,32
$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
$GPS1,131010,002537,2430.253,12709.134,36,1.0,36,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-81.0
$GPS2,131010,003308,2430.274,12709.222,19,0.9,19,-3.8
$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,254.6,7132,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,81,0.00,0.00,-64.45,0.000,2,0.000,0.000,104,1538,3336,0,0,0,0,0,0
$GC,84,-0.72,-185.1,4.2,-7.1,9,108,10.23,2.20,-7.45,0.000,4,0.189,0.063,3014,162,3826,0,0,0,0,0,0
$GC,263,-0.66,-185.1,74.6,-26.9,41,271,0.10,2.12,0.00,0.000,6,0.119,0.039,3042,1537,3829,0,0,0,0,0,0
$GC,589,-0.64,-185.1,141.9,-18.5,102,597,0.00,2.20,0.00,0.000,4,0.000,0.044,3032,2960,3832,0,0,0,0,0,0
$GC,687,-0.67,-185.1,158.0,-15.3,119,693,0.00,2.15,0.00,0.000,6,0.000,0.043,3032,1557,3832,0,0,0,0,0,0
$GC,1025,-0.65,-185.1,222.2,-19.6,180,1033,0.00,2.15,0.00,0.000,4,0.000,0.052,3032,174,3832,0,0,0,0,0,0
$GC,1094,-0.65,-185.1,235.6,-18.0,192,1104,0.03,2.10,0.00,0.000,6,0.155,0.040,3038,1546,3833,0,0,0,0,0,0
$GC,1440,-0.66,-185.1,287.1,-14.6,253,1446,0.00,2.17,0.00,0.000,4,0.000,0.048,3028,2963,3832,0,0,0,0,0,0
$GC,1510,-0.72,-185.1,296.3,-10.7,265,1517,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,1558,3832,0,0,0,0,0,0
$GC,1846,-0.73,-185.1,345.9,-16.1,299,1850,0.00,2.15,0.00,0.000,4,0.000,0.054,3028,166,3832,0,0,0,0,0,0
$GC,1912,-0.75,-185.1,357.7,-15.9,304,1921,0.00,2.12,0.00,0.000,6,0.000,0.039,3020,1562,3832,0,0,0,0,0,0
$GC,2240,-0.76,-185.1,405.4,-15.2,335,2244,0.00,2.12,0.00,0.000,4,0.000,0.047,3011,2963,3831,0,0,0,0,0,0
$GC,2330,-0.80,-185.1,417.7,-12.0,342,2339,0.03,2.17,0.00,0.000,6,0.096,0.044,2929,1562,3830,0,0,0,0,0,0
$GC,2657,-0.75,-185.1,489.8,-23.5,373,2660,0.28,0.00,0.00,0.000,6,0.138,0.000,3017,1562,3829,0,0,0,0,0,0
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2724,0.00,0.0,500.8,14.6,379,2874,0.62,0.00,143.05,0.887,4,0.092,0.000,3252,1714,3068,0,0,0,0,0,0
$STATE,2875,end apogee,CONTROL_FINISHED_OK
$STATE,2875,begin climb
$GC,2877,0.72,185.1,508.4,0.0,391,3031,0.62,2.30,145.70,0.877,4,0.033,0.050,3524,292,2313,0,0,0,0,0,0
$GC,3111,0.66,185.1,483.9,19.8,411,3115,0.20,2.12,0.00,0.000,6,0.143,0.028,3465,1699,2308,0,0,0,0,0,0
$GC,3437,0.63,185.1,430.5,16.7,441,3441,0.00,2.12,0.00,0.000,4,0.000,0.040,3465,3097,2304,0,0,0,0,0,0
$GC,3543,0.62,197.0,413.6,14.5,450,3560,0.10,2.15,9.57,0.729,6,0.172,0.041,3447,1698,2265,0,0,0,0,0,0
$GC,3886,0.66,233.8,366.1,13.1,482,3923,0.00,2.22,30.95,0.797,4,0.000,0.040,3447,3097,2113,0,0,0,0,0,0
$GC,4006,0.70,260.3,349.7,13.7,492,4039,0.05,2.15,22.73,0.768,6,0.060,0.041,3538,1731,2003,0,0,0,0,0,0
$GC,4356,0.65,260.3,276.3,22.0,535,4364,0.25,2.22,0.00,0.000,4,0.145,0.048,3465,293,1994,0,0,0,0,0,0
$GC,4430,0.71,299.6,264.4,13.0,548,4471,0.00,2.15,31.25,0.736,6,0.000,0.031,3465,1714,1845,0,0,0,0,0,0
$GC,4794,0.72,299.6,210.0,15.2,614,4802,0.08,0.00,0.00,0.000,6,0.120,0.000,3559,1714,1838,0,0,0,0,0,0
$GC,5125,0.67,299.6,138.8,21.0,675,5133,0.28,0.00,0.00,0.000,6,0.138,0.000,3466,1714,1837,0,0,0,0,0,0
$GC,5449,0.85,416.0,103.1,8.8,736,5547,0.17,0.00,88.72,0.623,6,0.059,0.000,3602,1714,1372,0,0,0,0,0,0
$GC,5868,0.82,416.0,11.1,20.2,809,5878,0.25,2.25,0.00,0.000,4,0.130,0.050,3525,296,1365,0,0,0,0,0,0
$STATE,5923,end climb,SURFACE_DEPTH_REACHED
$STATE,5923,begin surface coast
$FINISH,0.8,1.021807
$STATE,5945,end surface coast,CONTROL_FINISHED_OK
$STATE,5945,begin surface
$SM_CCo,6023,0.00,0.000,0,0,1359,418.97
$SM_GC,1.67,8.25,0.00,0.00,0.018,0.000,0.000,103,1566,1359,-9.71,0.48,418.97
$IRIDIUM_FIX,2418.11,12709.72,131010,000005
$TT8_MAMPS,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.3,35.267
$10V_AH,10.4,26.355
$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,21.525,47.600,471.975,0.000,0.000,53.415,35.239,179.839,0.500,0.000,23.593,1955.140,1624.856,463.396,2296.418,143.610,0.000,1240.421,0.000,2015.038,0.000,0.541,0.000
$DEVICE_MAMPS,188.955,62.730,887.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.595,0.000,1381.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,50239,822
$CAP_FILE_SIZE,86402,0
$CFSIZE,260165632,239108096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3
$CURRENT,0.422, 82.6,1
$GPS,131010,021444,2430.277,12709.909,10,1.4,10,-3.8