version: 66.08
glider: 168
mission: 2
dive: 279
start: 10 12 110 20 41 12
data:
$ID,168
$MISSION,2
$DIVE,279
$N_DIVES,290
$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,-3519.1113
$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,55
$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
$GPS1,121010,203607,2430.011,12708.395,38,0.8,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-80.0
$GPS2,121010,204044,2430.039,12708.441,13,1.0,13,-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,271.0,5800,-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,-62.92,0.000,2,0.000,0.000,104,1515,3211,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.8,-6.0,9,114,10.10,2.10,-9.68,0.000,4,0.187,0.063,3018,189,3826,0,0,0,0,0,0
$GC,280,-0.67,-185.1,76.1,-25.9,44,290,0.08,2.08,0.00,0.000,6,0.125,0.037,3037,1539,3828,0,0,0,0,0,0
$GC,608,-0.64,-185.1,142.9,-19.4,105,615,0.00,2.20,0.00,0.000,4,0.000,0.044,3027,2962,3831,0,0,0,0,0,0
$GC,657,-0.67,-185.1,151.5,-14.7,113,664,0.00,2.12,0.00,0.000,6,0.000,0.043,3027,1577,3831,0,0,0,0,0,0
$GC,995,-0.66,-185.1,213.7,-15.1,174,1003,0.00,2.20,0.00,0.000,4,0.000,0.052,3027,168,3832,0,0,0,0,0,0
$GC,1072,-0.66,-185.1,225.9,-15.6,187,1080,0.08,2.08,0.00,0.000,6,0.172,0.038,3042,1559,3832,0,0,0,0,0,0
$GC,1411,-0.68,-185.1,273.0,-14.7,248,1420,0.00,2.15,0.00,0.000,4,0.000,0.045,3032,2951,3832,0,0,0,0,0,0
$GC,1461,-0.72,-185.1,279.8,-12.0,256,1470,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,1564,3832,0,0,0,0,0,0
$GC,1801,-0.73,-185.1,333.3,-16.4,299,1805,0.00,2.15,0.00,0.000,4,0.000,0.052,3032,165,3832,0,0,0,0,0,0
$GC,1854,-0.76,-185.1,341.5,-15.5,303,1858,0.00,2.10,0.00,0.000,6,0.000,0.038,3024,1560,3831,0,0,0,0,0,0
$GC,2182,-0.77,-185.1,387.4,-14.0,333,2189,0.08,0.00,0.00,0.000,6,0.125,0.000,2909,1562,3830,0,0,0,0,0,0
$GC,2508,-0.70,-185.1,468.5,-24.2,364,2512,0.32,2.12,0.00,0.000,4,0.129,0.041,3014,2961,3829,0,0,0,0,0,0
$GC,2575,-0.76,-185.1,478.2,-10.5,369,2582,0.00,2.17,0.00,0.000,6,0.000,0.045,3014,1551,3829,0,0,0,0,0,0
$STATE,2750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2750,begin apogee
$GC,2754,0.00,0.0,500.9,12.5,386,2910,0.65,0.00,143.35,0.893,4,0.090,0.000,3255,1721,3067,0,0,0,0,0,0
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2911,begin climb
$GC,2912,0.72,185.1,507.4,0.0,399,3067,0.60,2.30,145.68,0.877,4,0.030,0.050,3531,290,2312,0,0,0,0,0,0
$GC,3126,0.65,185.1,487.2,19.5,417,3131,0.22,2.12,0.00,0.000,6,0.143,0.028,3464,1697,2307,0,0,0,0,0,0
$GC,3456,0.63,185.1,435.6,15.4,448,3460,0.00,2.15,0.00,0.000,4,0.000,0.041,3464,3105,2304,0,0,0,0,0,0
$GC,3529,0.62,198.7,424.8,14.4,454,3547,0.10,2.17,11.40,0.757,6,0.173,0.041,3447,1691,2256,0,0,0,0,0,0
$GC,3872,0.61,200.7,375.9,15.0,486,3876,0.00,2.15,0.00,0.000,4,0.000,0.040,3447,3099,2251,0,0,0,0,0,0
$GC,4095,0.63,215.5,341.2,14.3,505,4114,0.00,2.10,14.25,0.751,6,0.000,0.041,3457,1728,2189,0,0,0,0,0,0
$GC,4432,0.69,267.6,296.9,12.3,539,4479,0.00,0.00,42.28,0.773,6,0.000,0.000,3457,1728,1976,0,0,0,0,0,0
$GC,4812,0.70,269.1,244.4,15.1,606,4820,0.08,2.28,0.00,0.000,4,0.125,0.052,3559,303,1968,0,0,0,0,0,0
$GC,4923,0.65,269.1,221.7,21.8,625,4931,0.30,2.12,0.00,0.000,6,0.120,0.031,3462,1726,1965,0,0,0,0,0,0
$GC,5264,0.75,338.5,175.4,11.3,686,5327,0.10,2.33,55.55,0.688,4,0.093,0.051,3582,300,1686,0,0,0,0,0,0
$GC,5357,0.69,338.5,156.0,24.2,700,5366,0.32,2.17,0.00,0.000,6,0.113,0.029,3470,1721,1682,0,0,0,0,0,0
$GC,5686,0.75,368.2,112.0,13.5,761,5717,0.08,0.00,23.70,0.620,6,0.119,0.000,3567,1723,1563,0,0,0,0,0,0
$GC,6038,0.75,368.2,38.0,16.6,825,6046,0.25,0.00,0.00,0.000,6,0.119,0.000,3477,1724,1559,0,0,0,0,0,0
$GC,6363,1.02,521.6,13.1,6.7,886,6430,0.25,0.00,63.67,0.550,2,0.047,0.000,3632,1724,1222,0,0,0,0,0,0
$STATE,6430,end climb,SURFACE_DEPTH_REACHED
$STATE,6431,begin surface coast
$FINISH,0.5,1.009630
$STATE,6443,end surface coast,CONTROL_FINISHED_OK
$STATE,6443,begin surface
$SM_CCo,6520,0.00,0.000,0,0,1216,454.30
$SM_GC,1.45,8.70,0.00,0.00,0.022,0.000,0.000,103,1542,1216,-9.68,-0.20,454.30
$IRIDIUM_FIX,2420.48,12706.40,121010,181845
$TT8_MAMPS,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.3,35.028
$10V_AH,10.4,26.152
$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,22.300,48.025,499.875,0.000,0.000,23.821,37.862,112.113,0.250,0.000,15.848,2122.836,1686.137,483.574,2363.244,150.256,0.000,1317.121,0.000,2190.697,0.000,0.540,0.000
$DEVICE_MAMPS,186.660,62.730,892.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.350,0.000,1521.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53653,897
$CAP_FILE_SIZE,90178,0
$CFSIZE,260165632,239202304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275, 80.5,1
$GPS,121010,223106,2430.138,12708.618,16,4.0,37,-3.7