version: 66.08
glider: 168
mission: 2
dive: 262
start: 10 11 110 13 10 51
data:
$ID,168
$MISSION,2
$DIVE,262
$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,-3497.7754
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,111010,130546,2429.952,12705.497,10,4.2,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-79.6
$GPS2,111010,131024,2429.908,12705.640,38,1.4,38,-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,289.2,1091,-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,-185.1,0.0,0.0,0,75,0.00,0.00,-57.47,0.000,2,0.000,0.000,103,1538,3024,0,0,0,0,0,0
$GC,77,-0.72,-185.1,3.0,-3.9,8,109,10.20,2.15,-13.93,0.000,4,0.188,0.050,3007,2956,3824,0,0,0,0,0,0
$GC,233,-0.69,-185.1,52.2,-26.6,35,241,0.05,2.20,0.00,0.000,6,0.131,0.046,3028,1559,3826,0,0,0,0,0,0
$GC,558,-0.65,-185.1,133.1,-20.8,96,566,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1558,3828,0,0,0,0,0,0
$GC,897,-0.63,-185.1,207.9,-22.1,157,905,0.08,2.17,0.00,0.000,4,0.201,0.047,3040,2954,3829,0,0,0,0,0,0
$GC,946,-0.66,-185.1,216.2,-14.6,165,953,0.00,2.17,0.00,0.000,6,0.000,0.044,3040,1541,3829,0,0,0,0,0,0
$GC,1285,-0.66,-185.1,272.2,-16.2,226,1294,0.00,2.20,0.00,0.000,4,0.000,0.047,3033,2949,3830,0,0,0,0,0,0
$GC,1323,-0.69,-185.1,277.5,-13.3,232,1331,0.00,2.15,0.00,0.000,6,0.000,0.046,3033,1570,3830,0,0,0,0,0,0
$GC,1656,-0.69,-185.1,328.6,-15.8,276,1660,0.00,2.17,0.00,0.000,4,0.000,0.053,3032,158,3829,0,0,0,0,0,0
$GC,1713,-0.70,-185.1,337.7,-16.2,281,1717,0.00,2.10,0.00,0.000,6,0.000,0.039,3024,1554,3830,0,0,0,0,0,0
$GC,2039,-0.70,-185.1,390.0,-16.0,311,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1557,3829,0,0,0,0,0,0
$GC,2359,-0.72,-185.1,439.7,-14.8,341,2363,0.00,2.12,0.00,0.000,4,0.000,0.047,3015,2955,3828,0,0,0,0,0,0
$GC,2391,-0.74,-185.1,444.2,-14.1,343,2395,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,1558,3828,0,0,0,0,0,0
$GC,2718,-0.75,-185.1,492.1,-14.7,373,2722,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,168,3827,0,0,0,0,0,0
$GC,2771,-0.78,-185.1,499.7,-13.1,377,2775,0.00,2.10,0.00,0.000,1,0.000,0.039,3008,1557,3826,0,0,0,0,0,0
$STATE,2775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2775,begin apogee
$GC,2780,0.00,0.0,500.7,13.1,377,2929,0.65,0.00,142.93,0.884,4,0.090,0.000,3250,1705,3068,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2932,0.72,185.1,507.2,0.0,390,3090,0.62,2.25,146.77,0.870,4,0.031,0.044,3541,3113,2312,0,0,0,0,0,0
$GC,3317,0.64,185.1,445.8,21.9,423,3326,0.25,2.22,0.00,0.000,6,0.134,0.043,3460,1699,2306,0,0,0,0,0,0
$GC,3644,0.63,189.6,400.4,14.9,454,3647,0.00,2.17,0.00,0.000,4,0.000,0.051,3470,286,2302,0,0,0,0,0,0
$GC,3876,0.63,205.8,364.3,14.3,474,3897,0.05,2.15,15.57,0.757,6,0.129,0.031,3450,1712,2229,0,0,0,0,0,0
$GC,4214,0.65,228.2,318.6,13.9,506,4235,0.00,0.00,19.15,0.751,6,0.000,0.000,3450,1712,2137,0,0,0,0,0,0
$GC,4562,0.67,240.1,270.2,14.5,557,4578,0.00,2.30,10.27,0.673,4,0.000,0.053,3461,286,2088,0,0,0,0,0,0
$GC,4685,0.69,244.8,252.3,14.9,578,4695,0.00,2.15,5.07,0.537,6,0.000,0.033,3461,1699,2070,0,0,0,0,0,0
$GC,5030,0.76,301.9,206.5,12.0,639,5085,0.10,2.20,46.55,0.701,4,0.096,0.038,3564,3110,1837,0,0,0,0,0,0
$GC,5158,0.72,301.9,179.9,22.9,660,5166,0.28,2.22,0.00,0.000,6,0.122,0.042,3481,1706,1833,0,0,0,0,0,0
$GC,5493,0.76,331.4,128.8,13.5,721,5524,0.00,2.17,23.25,0.624,4,0.000,0.039,3481,3107,1717,0,0,0,0,0,0
$GC,5559,0.86,370.8,119.4,13.0,731,5598,0.10,2.20,32.25,0.617,6,0.036,0.044,3582,1718,1555,0,0,0,0,0,0
$GC,5918,0.84,370.8,43.1,18.6,796,5926,0.20,2.25,0.00,0.000,4,0.132,0.050,3527,297,1548,0,0,0,0,0,0
$GC,6030,1.01,466.7,29.3,9.9,816,6111,0.10,2.12,72.22,0.558,6,0.037,0.030,3632,1709,1163,0,0,0,0,0,0
$STATE,6155,end climb,SURFACE_DEPTH_REACHED
$STATE,6155,begin surface coast
$FINISH,0.6,0.997629
$STATE,6169,end surface coast,CONTROL_FINISHED_OK
$STATE,6169,begin surface
$SM_CCo,6246,0.00,0.000,0,0,1155,469.26
$SM_GC,1.30,8.62,0.00,0.00,0.018,0.000,0.000,103,1538,1155,-9.68,-0.28,469.26
$IRIDIUM_FIX,2420.48,12703.08,111010,111153
$TT8_MAMPS,0.026964
$HUMID,47.91
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.3,33.016
$10V_AH,10.4,24.417
$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,21.300,52.725,514.050,0.000,0.000,24.092,21.441,106.964,0.250,0.000,40.882,1982.810,1705.600,480.704,2226.982,136.049,0.000,1282.702,0.000,2047.810,0.000,0.539,0.000
$DEVICE_MAMPS,201.195,71.145,884.340,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.781,0.000,1381.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,50241,837
$CAP_FILE_SIZE,87299,0
$CFSIZE,260165632,240111616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.286,110.2,1
$GPS,111010,145538,2429.860,12705.906,6,1.9,6,-3.7