version: 66.08
glider: 168
mission: 2
dive: 157
start: 10 3 110 12 46 35
data:
$ID,168
$MISSION,2
$DIVE,157
$N_DIVES,165
$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,-3365.7976
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,031010,124155,2428.605,12704.983,37,1.9,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.7
$GPS2,031010,124608,2428.535,12705.026,8,1.7,8,-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,352.7,2714,-22.1,-15.152
$D_GRID,4118
$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,-185.1,0.0,0.0,0,100,0.00,0.00,-83.38,0.000,2,0.000,0.000,103,1545,3146,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.4,-5.3,13,132,10.07,2.15,-11.02,0.000,4,0.187,0.050,3007,2959,3824,0,0,0,0,0,0
$GC,232,-0.69,-185.1,48.8,-25.0,35,240,0.08,2.17,0.00,0.000,6,0.168,0.047,3028,1551,3826,0,0,0,0,0,0
$GC,570,-0.65,-185.1,139.0,-26.7,96,580,0.05,2.17,0.00,0.000,4,0.255,0.053,3043,164,3828,0,0,0,0,0,0
$GC,623,-0.61,-185.1,153.9,-26.6,104,634,0.05,2.12,0.00,0.000,6,0.139,0.039,3054,1555,3829,0,0,0,0,0,0
$GC,949,-0.61,-185.1,211.8,-17.1,135,953,0.00,2.12,0.00,0.000,4,0.000,0.046,3045,2962,3830,0,0,0,0,0,0
$GC,988,-0.64,-185.1,218.3,-15.3,138,992,0.00,2.15,0.00,0.000,6,0.000,0.044,3045,1549,3830,0,0,0,0,0,0
$GC,1320,-0.64,-185.1,274.2,-17.5,169,1324,0.00,2.12,0.00,0.000,4,0.000,0.053,3045,165,3830,0,0,0,0,0,0
$GC,1386,-0.67,-185.1,285.3,-14.5,174,1394,0.00,2.10,0.00,0.000,6,0.000,0.040,3036,1542,3830,0,0,0,0,0,0
$GC,1712,-0.67,-185.1,341.3,-17.5,205,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1545,3829,0,0,0,0,0,0
$GC,2031,-0.69,-185.1,391.7,-16.1,235,2035,0.00,2.15,0.00,0.000,4,0.000,0.046,3027,2970,3828,0,0,0,0,0,0
$GC,2052,-0.71,-185.1,395.6,-15.6,236,2062,0.00,2.17,0.00,0.000,6,0.000,0.045,3027,1564,3828,0,0,0,0,0,0
$GC,2381,-0.72,-185.1,452.4,-16.5,267,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1564,3827,0,0,0,0,0,0
$GC,2699,-0.74,-185.1,497.4,-12.6,297,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1564,3825,0,0,0,0,0,0
$STATE,2725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2725,begin apogee
$GC,2729,0.00,0.0,501.2,12.9,300,2875,0.60,0.00,140.15,0.872,4,0.094,0.000,3251,1718,3068,0,0,0,0,0,0
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin climb
$GC,2877,0.72,185.1,504.9,0.0,312,3035,0.62,2.22,145.68,0.858,4,0.031,0.047,3536,3096,2312,0,0,0,0,0,0
$GC,3284,0.65,185.1,435.2,21.9,347,3292,0.25,2.20,0.00,0.000,6,0.140,0.044,3463,1699,2304,0,0,0,0,0,0
$GC,3610,0.62,185.1,384.4,16.5,378,3613,0.00,2.17,0.00,0.000,4,0.000,0.054,3473,290,2300,0,0,0,0,0,0
$GC,3863,0.60,185.1,338.7,18.2,400,3873,0.08,2.12,0.00,0.000,6,0.116,0.032,3444,1696,2295,0,0,0,0,0,0
$GC,4190,0.62,211.9,291.5,13.7,431,4216,0.00,2.20,19.50,0.727,4,0.000,0.042,3444,3105,2204,0,0,0,0,0,0
$GC,4263,0.66,244.5,281.3,13.4,437,4298,0.00,2.17,27.38,0.727,6,0.000,0.044,3453,1689,2069,0,0,0,0,0,0
$GC,4616,0.69,269.8,232.0,13.8,470,4641,0.08,2.25,19.88,0.685,4,0.125,0.053,3531,292,1967,0,0,0,0,0,0
$GC,4686,0.65,269.8,218.4,21.9,476,4691,0.22,2.10,0.00,0.000,6,0.135,0.031,3461,1698,1963,0,0,0,0,0,0
$GC,5012,0.66,280.0,168.5,14.6,506,5025,0.00,2.20,8.40,0.581,4,0.000,0.041,3461,3109,1926,0,0,0,0,0,0
$GC,5096,0.72,302.7,156.7,13.9,513,5121,0.00,2.17,19.90,0.630,6,0.000,0.044,3468,1699,1833,0,0,0,0,0,0
$GC,5449,0.76,324.4,103.3,14.0,572,5472,0.10,2.28,17.35,0.588,4,0.096,0.052,3573,284,1744,0,0,0,0,0,0
$GC,5585,0.72,324.4,74.9,19.1,595,5592,0.28,2.12,0.00,0.000,6,0.118,0.032,3482,1699,1740,0,0,0,0,0,0
$GC,5925,0.91,440.2,38.5,8.8,656,6020,0.17,2.28,86.78,0.557,4,0.063,0.050,3617,286,1270,0,0,0,0,0,0
$GC,6084,0.88,440.2,7.7,23.9,681,6092,0.28,2.10,0.00,0.000,6,0.119,0.031,3528,1684,1265,0,0,0,0,0,0
$STATE,6109,end climb,SURFACE_DEPTH_REACHED
$STATE,6109,begin surface coast
$FINISH,0.6,0.999228
$STATE,6122,end surface coast,CONTROL_FINISHED_OK
$STATE,6122,begin surface
$SM_CCo,6138,88.93,0.482,1,0,621,600.00
$SM_GC,1.26,0.00,0.00,88.93,0.000,0.000,0.482,104,1531,621,-9.84,-0.54,600.00
$IRIDIUM_FIX,2420.48,12706.40,031010,101005
$TT8_MAMPS,0.026964
$HUMID,46.29
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,20.886
$10V_AH,10.5,14.803
$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,21.300,52.475,485.000,88.925,0.000,30.016,40.638,97.252,0.250,0.000,11.585,1636.207,2377.906,587.405,1794.073,103.929,0.000,1296.968,0.000,1622.020,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,65.790,872.100,481.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.208,0.000,872.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43656,687
$CAP_FILE_SIZE,81440,0
$CFSIZE,260165632,245374976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.267,177.0,1
$GPS,031010,143114,2428.438,12705.059,11,1.3,11,-3.7