version: 66.08
glider: 168
mission: 2
dive: 273
start: 10 12 110 9 41 6
data:
$ID,168
$MISSION,2
$DIVE,273
$N_DIVES,276
$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,-3511.5808
$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,60
$R_STBD_OVSHOOT,48
$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
$GPS1,121010,093537,2429.628,12707.176,40,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-79.9
$GPS2,121010,094038,2429.653,12707.232,14,1.8,14,-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,290.7,3816,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-185.1,0.0,0.0,0,81,0.00,0.00,-63.33,0.000,2,0.000,0.000,103,1520,3125,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.4,-5.2,9,114,10.12,2.22,-11.70,0.000,4,0.187,0.055,3009,2940,3827,0,0,0,0,0,0
$GC,263,-0.72,-185.1,59.0,-22.2,41,271,0.00,2.12,0.00,0.000,6,0.000,0.044,3008,1581,3829,0,0,0,0,0,0
$GC,589,-0.67,-185.1,139.2,-23.5,102,598,0.10,2.20,0.00,0.000,4,0.171,0.049,3038,164,3831,0,0,0,0,0,0
$GC,633,-0.64,-185.1,149.7,-23.3,109,642,0.03,2.10,0.00,0.000,6,0.167,0.037,3040,1538,3831,0,0,0,0,0,0
$GC,966,-0.64,-185.1,215.4,-17.1,170,974,0.00,2.20,0.00,0.000,4,0.000,0.045,3030,2961,3832,0,0,0,0,0,0
$GC,1013,-0.67,-185.1,222.8,-15.2,178,1021,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,1560,3833,0,0,0,0,0,0
$GC,1349,-0.67,-185.1,282.0,-17.0,239,1356,0.00,2.15,0.00,0.000,4,0.000,0.052,3030,163,3832,0,0,0,0,0,0
$GC,1411,-0.70,-185.1,292.0,-14.5,250,1419,0.00,2.10,0.00,0.000,6,0.000,0.039,3023,1541,3833,0,0,0,0,0,0
$GC,1745,-0.70,-185.1,339.9,-14.1,286,1749,0.00,2.15,0.00,0.000,4,0.000,0.046,3014,2963,3833,0,0,0,0,0,0
$GC,1810,-0.74,-185.1,348.3,-11.8,291,1818,0.00,2.15,0.00,0.000,6,0.000,0.043,3014,1543,3832,0,0,0,0,0,0
$GC,2135,-0.74,-185.1,399.1,-15.5,322,2138,0.00,2.10,0.00,0.000,4,0.000,0.051,3014,162,3831,0,0,0,0,0,0
$GC,2194,-0.75,-185.1,409.2,-16.4,327,2202,0.00,2.10,0.00,0.000,6,0.000,0.037,3005,1556,3830,0,0,0,0,0,0
$GC,2519,-0.75,-185.1,463.5,-16.2,358,2523,0.00,2.12,0.00,0.000,4,0.000,0.045,2995,2962,3829,0,0,0,0,0,0
$GC,2548,-0.76,-185.1,468.2,-17.1,360,2552,0.00,2.17,0.00,0.000,6,0.000,0.044,2995,1549,3829,0,0,0,0,0,0
$STATE,2743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2743,begin apogee
$GC,2748,0.00,0.0,500.8,15.9,378,2897,0.70,0.00,143.15,0.892,4,0.095,0.000,3251,1722,3068,0,0,0,0,0,0
$STATE,2898,end apogee,CONTROL_FINISHED_OK
$STATE,2898,begin climb
$GC,2900,0.72,185.1,507.3,0.0,390,3056,0.62,2.17,147.02,0.873,4,0.028,0.042,3547,3090,2312,0,0,0,0,0,0
$GC,3200,0.64,185.1,459.7,22.4,416,3205,0.32,2.17,0.00,0.000,6,0.148,0.040,3459,1694,2306,0,0,0,0,0,0
$GC,3525,0.62,185.1,403.5,16.4,446,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1694,2301,0,0,0,0,0,0
$GC,3845,0.67,244.2,361.5,11.9,476,3899,0.00,0.00,46.15,0.802,6,0.000,0.000,3459,1694,2071,0,0,0,0,0,0
$GC,4218,0.68,251.1,307.0,14.8,511,4231,0.00,2.15,5.82,0.600,4,0.000,0.037,3459,3091,2043,0,0,0,0,0,0
$GC,4303,0.71,263.2,293.9,14.5,522,4319,0.00,2.17,11.10,0.694,6,0.000,0.041,3468,1701,1995,0,0,0,0,0,0
$GC,4642,0.71,263.2,241.3,16.7,584,4650,0.00,2.20,0.00,0.000,4,0.000,0.051,3479,301,1989,0,0,0,0,0,0
$GC,4700,0.71,263.2,231.6,15.5,594,4708,0.00,2.08,0.00,0.000,6,0.000,0.031,3479,1685,1987,0,0,0,0,0,0
$GC,5033,0.74,294.1,182.7,13.5,655,5067,0.00,2.20,25.10,0.677,4,0.000,0.040,3479,3096,1869,0,0,0,0,0,0
$GC,5140,0.79,322.2,168.7,13.6,673,5169,0.08,2.17,23.80,0.657,6,0.113,0.042,3567,1693,1753,0,0,0,0,0,0
$GC,5489,0.75,322.2,90.3,22.8,737,5497,0.25,2.20,0.00,0.000,4,0.138,0.049,3492,298,1747,0,0,0,0,0,0
$GC,5581,0.86,382.9,76.9,11.8,753,5635,0.08,2.08,47.03,0.604,6,0.045,0.031,3587,1682,1506,0,0,0,0,0,0
$GC,5954,0.84,382.9,6.6,20.4,820,5962,0.22,2.17,0.00,0.000,4,0.128,0.036,3514,3091,1499,0,0,0,0,0,0
$STATE,5974,end climb,SURFACE_DEPTH_REACHED
$STATE,5974,begin surface coast
$FINISH,2.1,1.021911
$STATE,5982,end surface coast,CONTROL_FINISHED_OK
$STATE,5983,begin surface
$SM_CCo,6001,16.45,0.254,1,0,1436,400.08
$SM_GC,1.75,0.00,0.00,16.45,0.000,0.000,0.254,103,1543,1436,-9.84,-0.20,400.08
$IRIDIUM_FIX,2420.48,12709.72,121010,070751
$TT8_MAMPS,0.026964
$HUMID,50.47
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,24.3,34.320
$10V_AH,10.4,25.538
$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,20.725,56.500,449.175,16.450,0.000,28.411,58.728,110.834,0.500,0.000,16.558,1955.554,1577.040,482.232,2184.660,134.885,0.000,1246.852,0.000,1983.216,0.000,0.539,0.000
$DEVICE_MAMPS,187.425,57.375,891.990,253.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.338,0.000,1356.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,50304,824
$CAP_FILE_SIZE,84355,0
$CFSIZE,260165632,239534080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.197, 94.5,1
$GPS,121010,112237,2429.784,12707.047,20,1.1,31,-3.7