version: 66.08
glider: 168
mission: 2
dive: 291
start: 10 13 110 19 30 42
data:
$ID,168
$MISSION,2
$DIVE,291
$N_DIVES,302
$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,-3534.3494
$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,35
$R_STBD_OVSHOOT,52
$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
$GPS1,131010,192555,2430.258,12711.134,39,1.1,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-80.9
$GPS2,131010,193014,2430.221,12711.145,11,1.1,11,-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,289.4,10363,-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,-64.40,0.000,2,0.000,0.000,104,1533,3250,0,0,0,0,0,0
$GC,84,-0.72,-185.1,3.9,-6.3,9,115,10.15,2.25,-8.88,0.000,4,0.186,0.057,3007,2941,3826,0,0,0,0,0,0
$GC,182,-0.68,-185.1,43.8,-29.6,25,190,0.08,2.17,0.00,0.000,6,0.116,0.043,3034,1555,3828,0,0,0,0,0,0
$GC,508,-0.65,-185.1,128.5,-22.8,86,516,0.00,2.17,0.00,0.000,4,0.000,0.052,3035,166,3830,0,0,0,0,0,0
$GC,530,-0.62,-185.1,133.7,-23.8,89,538,0.08,2.08,0.00,0.000,6,0.114,0.037,3056,1524,3831,0,0,0,0,0,0
$GC,867,-0.62,-185.1,195.4,-17.1,150,874,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1527,3832,0,0,0,0,0,0
$GC,1207,-0.64,-185.1,248.7,-14.3,211,1214,0.00,2.17,0.00,0.000,4,0.000,0.047,3047,2957,3833,0,0,0,0,0,0
$GC,1237,-0.67,-185.1,253.1,-13.3,216,1246,0.00,2.20,0.00,0.000,6,0.000,0.042,3048,1536,3833,0,0,0,0,0,0
$GC,1576,-0.69,-185.1,304.0,-15.9,275,1580,0.00,2.20,0.00,0.000,4,0.000,0.044,3038,2961,3833,0,0,0,0,0,0
$GC,1608,-0.73,-185.1,309.1,-13.7,277,1616,0.08,2.15,0.00,0.000,6,0.117,0.042,2936,1542,3833,0,0,0,0,0,0
$GC,1934,-0.67,-185.1,387.5,-23.0,308,1936,0.32,0.00,0.00,0.000,6,0.132,0.000,3041,1541,3832,0,0,0,0,0,0
$GC,2253,-0.70,-185.1,429.1,-12.3,338,2257,0.00,2.20,0.00,0.000,4,0.000,0.045,3032,2964,3832,0,0,0,0,0,0
$GC,2285,-0.75,-185.1,433.1,-11.7,340,2295,0.05,2.17,0.00,0.000,6,0.055,0.044,2933,1563,3831,0,0,0,0,0,0
$STATE,2597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2597,begin apogee
$GC,2602,0.00,0.0,502.2,22.1,370,2758,0.90,0.00,143.93,0.891,4,0.109,0.000,3248,1716,3067,0,0,0,0,0,0
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2759,begin climb
$GC,2761,0.72,185.1,511.6,0.0,383,2916,0.62,2.20,147.10,0.874,4,0.031,0.044,3538,3094,2313,0,0,0,0,0,0
$GC,3085,0.65,185.1,459.0,25.4,411,3090,0.30,2.17,0.00,0.000,6,0.149,0.041,3458,1694,2306,0,0,0,0,0,0
$GC,3412,0.63,185.1,400.1,15.7,441,3416,0.00,2.15,0.00,0.000,4,0.000,0.038,3458,3106,2301,0,0,0,0,0,0
$GC,3455,0.62,185.1,392.5,15.9,444,3465,0.05,2.17,0.00,0.000,6,0.152,0.041,3449,1709,2301,0,0,0,0,0,0
$GC,3783,0.65,218.7,346.0,13.3,475,3819,0.00,2.30,25.83,0.780,4,0.000,0.051,3459,286,2175,0,0,0,0,0,0
$GC,3901,0.70,258.4,330.4,13.0,485,3939,0.00,2.10,32.80,0.775,6,0.000,0.031,3459,1699,2014,0,0,0,0,0,0
$GC,4265,0.70,258.4,276.0,16.0,532,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1699,2004,0,0,0,0,0,0
$GC,4607,0.72,268.3,221.3,14.6,593,4622,0.08,2.12,7.80,0.615,4,0.122,0.037,3557,3101,1972,0,0,0,0,0,0
$GC,4640,0.68,268.3,214.9,19.7,598,4648,0.28,2.20,0.00,0.000,6,0.123,0.041,3472,1694,1972,0,0,0,0,0,0
$GC,4981,0.71,288.7,164.3,14.0,659,5009,0.00,2.22,17.38,0.653,4,0.000,0.051,3482,302,1890,0,0,0,0,0,0
$GC,5084,0.75,315.1,150.4,13.7,676,5114,0.00,2.08,22.42,0.648,6,0.000,0.030,3483,1682,1782,0,0,0,0,0,0
$GC,5435,0.79,330.5,96.1,14.3,740,5460,0.08,2.22,13.02,0.582,4,0.122,0.037,3580,3104,1719,0,0,0,0,0,0
$GC,5526,0.77,330.5,76.8,19.8,755,5535,0.25,2.22,0.00,0.000,6,0.118,0.041,3502,1684,1719,0,0,0,0,0,0
$GC,5854,1.01,493.4,39.7,6.2,816,5990,0.20,2.28,123.32,0.570,4,0.054,0.052,3653,297,1053,0,0,0,0,0,0
$GC,6003,0.96,493.4,9.3,26.4,836,6013,0.28,2.15,0.00,0.000,6,0.125,0.028,3561,1706,1052,0,0,0,0,0,0
$STATE,6031,end climb,SURFACE_DEPTH_REACHED
$STATE,6031,begin surface coast
$FINISH,0.5,1.010167
$STATE,6044,end surface coast,CONTROL_FINISHED_OK
$STATE,6044,begin surface
$SM_CCo,6120,0.00,0.000,0,0,1047,495.75
$SM_GC,1.44,8.45,0.00,0.00,0.016,0.000,0.000,103,1540,1047,-9.70,-0.20,495.75
$IRIDIUM_FIX,2420.48,12713.03,131010,171746
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.3,36.522
$10V_AH,10.4,27.393
$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,22.225,52.825,533.600,0.000,0.000,30.527,15.531,110.729,0.250,0.000,14.537,1974.869,1542.517,519.775,2205.124,144.291,0.000,1338.272,0.000,2048.958,0.000,0.539,0.000
$DEVICE_MAMPS,185.895,64.260,891.225,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.818,0.000,1409.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334060
$DATA_FILE_SIZE,50388,842
$CAP_FILE_SIZE,87728,0
$CFSIZE,260165632,238571520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,112.7,1
$GPS,131010,211326,2430.135,12711.065,9,1.3,9,-3.8