version: 66.08
glider: 168
mission: 2
dive: 139
start: 10 2 110 4 7 35
data:
$ID,168
$MISSION,2
$DIVE,139
$N_DIVES,150
$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,600
$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,-3343.2122
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,021010,040256,2429.569,12705.155,8,1.5,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.0
$GPS2,021010,040708,2429.524,12705.206,14,1.3,14,-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,325.8,947,-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,-185.1,0.0,0.0,0,101,0.00,0.00,-83.93,0.000,2,0.000,0.000,104,1527,3161,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.4,-5.1,13,132,10.12,2.17,-10.80,0.000,4,0.190,0.055,3005,2948,3825,0,0,0,0,0,0
$GC,255,-0.68,-185.1,59.0,-26.9,39,263,0.10,2.15,0.00,0.000,6,0.150,0.047,3034,1567,3828,0,0,0,0,0,0
$GC,598,-0.63,-185.1,153.2,-24.8,100,603,0.05,2.17,0.00,0.000,4,0.252,0.052,3046,153,3830,0,0,0,0,0,0
$GC,652,-0.62,-185.1,165.5,-18.7,104,663,0.03,2.10,0.00,0.000,6,0.178,0.038,3049,1531,3830,0,0,0,0,0,0
$GC,980,-0.61,-185.1,227.5,-18.7,135,984,0.00,2.15,0.00,0.000,4,0.000,0.046,3039,2959,3831,0,0,0,0,0,0
$GC,1020,-0.63,-185.1,235.1,-17.2,138,1024,0.00,2.15,0.00,0.000,6,0.000,0.046,3039,1545,3832,0,0,0,0,0,0
$GC,1344,-0.63,-185.1,297.9,-17.6,168,1348,0.00,2.12,0.00,0.000,4,0.000,0.053,3039,161,3832,0,0,0,0,0,0
$GC,1384,-0.63,-185.1,304.6,-16.7,171,1389,0.08,2.10,0.00,0.000,6,0.190,0.040,3051,1554,3832,0,0,0,0,0,0
$GC,1714,-0.65,-185.1,357.8,-15.7,202,1718,0.00,2.12,0.00,0.000,4,0.000,0.047,3042,2964,3831,0,0,0,0,0,0
$GC,1757,-0.69,-185.1,364.1,-12.8,205,1764,0.00,2.17,0.00,0.000,6,0.000,0.045,3042,1557,3831,0,0,0,0,0,0
$GC,2083,-0.71,-185.1,409.2,-12.8,236,2087,0.08,2.17,0.00,0.000,4,0.122,0.055,2954,161,3830,0,0,0,0,0,0
$GC,2114,-0.67,-185.1,415.3,-19.8,238,2124,0.25,2.12,0.00,0.000,6,0.116,0.040,3033,1554,3830,0,0,0,0,0,0
$GC,2441,-0.70,-185.1,460.6,-12.5,269,2445,0.00,2.12,0.00,0.000,4,0.000,0.050,3024,2958,3828,0,0,0,0,0,0
$GC,2473,-0.73,-185.1,465.1,-12.8,271,2481,0.00,2.17,0.00,0.000,6,0.000,0.046,3024,1556,3828,0,0,0,0,0,0
$STATE,2733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2733,begin apogee
$GC,2738,0.00,0.0,500.3,14.5,296,2883,0.60,0.00,139.85,0.871,4,0.094,0.000,3249,1715,3068,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2886,0.72,185.1,506.5,0.0,308,3043,0.62,2.22,145.35,0.851,4,0.037,0.047,3515,3108,2312,0,0,0,0,0,0
$GC,3281,0.66,185.1,447.9,19.3,342,3291,0.17,2.20,0.00,0.000,6,0.141,0.043,3468,1706,2306,0,0,0,0,0,0
$GC,3609,0.63,185.1,396.1,15.3,373,3613,0.00,2.20,0.00,0.000,4,0.000,0.053,3478,290,2301,0,0,0,0,0,0
$GC,3852,0.60,185.1,356.9,15.6,394,3862,0.10,2.12,0.00,0.000,6,0.112,0.033,3441,1699,2296,0,0,0,0,0,0
$GC,4180,0.63,213.2,312.8,13.6,425,4206,0.00,2.17,20.80,0.737,4,0.000,0.042,3441,3097,2198,0,0,0,0,0,0
$GC,4229,0.64,221.5,305.1,14.7,429,4248,0.00,2.17,8.45,0.647,6,0.000,0.044,3450,1708,2163,0,0,0,0,0,0
$GC,4566,0.70,264.7,258.2,12.8,461,4606,0.10,2.22,34.25,0.717,4,0.099,0.051,3549,292,1987,0,0,0,0,0,0
$GC,4622,0.64,264.7,247.2,20.8,465,4631,0.25,2.15,0.00,0.000,6,0.125,0.031,3455,1696,1984,0,0,0,0,0,0
$GC,4947,0.67,291.4,199.3,13.7,496,4976,0.00,2.22,21.30,0.662,4,0.000,0.040,3455,3110,1879,0,0,0,0,0,0
$GC,5009,0.72,318.2,190.4,13.7,501,5041,0.08,2.22,22.48,0.650,6,0.119,0.044,3542,1687,1770,0,0,0,0,0,0
$GC,5365,0.69,318.2,111.1,21.3,549,5373,0.22,2.15,0.00,0.000,4,0.142,0.051,3482,292,1764,0,0,0,0,0,0
$GC,5414,0.74,334.6,102.9,14.3,557,5434,0.00,2.10,12.77,0.568,6,0.000,0.031,3482,1699,1703,0,0,0,0,0,0
$GC,5765,0.94,463.7,63.6,8.1,620,5867,0.20,0.00,96.97,0.567,6,0.057,0.000,3615,1700,1176,0,0,0,0,0,0
$STATE,6023,end climb,SURFACE_DEPTH_REACHED
$STATE,6023,begin surface coast
$FINISH,0.6,1.021631
$STATE,6036,end surface coast,CONTROL_FINISHED_OK
$STATE,6036,begin surface
$SM_CCo,6052,76.28,0.463,1,0,622,600.00
$SM_GC,1.37,0.00,0.00,76.28,0.000,0.000,0.463,103,1538,622,-9.84,-0.34,600.00
$IRIDIUM_FIX,2418.11,12708.29,021010,020211
$TT8_MAMPS,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.4,18.708
$10V_AH,10.5,13.459
$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,21.650,56.650,502.225,76.275,0.000,28.458,36.857,95.817,0.250,0.000,17.085,1590.771,2369.425,587.991,1755.136,96.687,0.000,1296.322,0.000,1579.667,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,70.380,870.570,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.828,0.000,844.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40306,665
$CAP_FILE_SIZE,82229,0
$CFSIZE,260165632,246185984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.252,134.1,1
$GPS,021010,055100,2429.576,12705.312,32,1.9,36,-3.7