version: 66.08
glider: 168
mission: 2
dive: 287
start: 10 13 110 11 59 4
data:
$ID,168
$MISSION,2
$DIVE,287
$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,-3529.2385
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,131010,115358,2430.544,12711.296,7,2.4,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-79.7
$GPS2,131010,115836,2430.573,12711.357,12,1.3,28,-3.8
$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,268.8,10766,-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,-185.1,0.0,0.0,0,87,0.00,0.00,-70.20,0.000,2,0.000,0.000,103,1568,3062,0,0,0,0,0,0
$GC,90,-0.72,-185.1,3.2,-4.3,10,121,10.07,2.17,-12.75,0.000,4,0.184,0.058,3018,160,3825,0,0,0,0,0,0
$GC,198,-0.66,-185.1,44.6,-31.0,28,207,0.08,2.10,0.00,0.000,6,0.130,0.036,3037,1533,3826,0,0,0,0,0,0
$GC,524,-0.63,-185.1,126.0,-20.9,89,531,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1535,3828,0,0,0,0,0,0
$GC,859,-0.61,-185.1,194.1,-19.8,150,868,0.08,2.20,0.00,0.000,4,0.208,0.043,3047,2947,3829,0,0,0,0,0,0
$GC,908,-0.66,-185.1,201.3,-12.0,158,916,0.00,2.17,0.00,0.000,6,0.000,0.043,3047,1545,3830,0,0,0,0,0,0
$GC,1252,-0.67,-185.1,252.6,-15.3,219,1259,0.00,2.17,0.00,0.000,4,0.000,0.044,3039,2959,3830,0,0,0,0,0,0
$GC,1280,-0.69,-185.1,256.6,-14.7,223,1287,0.00,2.12,0.00,0.000,6,0.000,0.042,3038,1551,3831,0,0,0,0,0,0
$GC,1624,-0.70,-185.1,305.5,-15.2,282,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1551,3830,0,0,0,0,0,0
$GC,1945,-0.73,-185.1,352.2,-14.6,312,1946,0.08,0.00,0.00,0.000,6,0.120,0.000,2940,1550,3829,0,0,0,0,0,0
$GC,2261,-0.67,-185.1,425.3,-22.6,342,2266,0.28,2.15,0.00,0.000,4,0.129,0.042,3027,2957,3828,0,0,0,0,0,0
$GC,2282,-0.66,-185.1,429.4,-18.1,343,2289,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,1547,3828,0,0,0,0,0,0
$GC,2608,-0.68,-185.1,471.7,-12.8,374,2612,0.00,2.15,0.00,0.000,4,0.000,0.053,3026,158,3827,0,0,0,0,0,0
$GC,2636,-0.71,-185.1,475.5,-13.4,376,2641,0.00,2.12,0.00,0.000,6,0.000,0.039,3020,1562,3827,0,0,0,0,0,0
$STATE,2832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2832,begin apogee
$GC,2837,0.00,0.0,500.5,12.2,394,2991,0.62,0.00,142.38,0.894,4,0.093,0.000,3252,1716,3069,0,0,0,0,0,0
$STATE,2992,end apogee,CONTROL_FINISHED_OK
$STATE,2992,begin climb
$GC,2993,0.72,185.1,505.2,0.0,407,3147,0.62,2.33,146.10,0.881,4,0.037,0.050,3523,282,2313,0,0,0,0,0,0
$GC,3297,0.66,185.1,461.0,20.8,433,3305,0.20,2.15,0.00,0.000,6,0.141,0.029,3463,1708,2306,0,0,0,0,0,0
$GC,3622,0.64,185.1,405.6,16.2,464,3626,0.00,2.12,0.00,0.000,4,0.000,0.041,3463,3102,2303,0,0,0,0,0,0
$GC,3710,0.62,185.1,390.3,17.1,471,3718,0.05,2.17,0.00,0.000,6,0.158,0.041,3454,1702,2303,0,0,0,0,0,0
$GC,4036,0.66,233.3,345.4,12.5,502,4083,0.00,2.28,38.22,0.800,4,0.000,0.052,3465,294,2114,0,0,0,0,0,0
$GC,4097,0.67,251.7,337.2,14.1,507,4122,0.00,2.12,15.90,0.744,6,0.000,0.031,3465,1695,2041,0,0,0,0,0,0
$GC,4442,0.67,251.7,286.0,15.7,547,4449,0.00,2.15,0.00,0.000,4,0.000,0.041,3465,3098,2034,0,0,0,0,0,0
$GC,4479,0.67,251.7,280.0,16.4,553,4486,0.00,2.17,0.00,0.000,6,0.000,0.042,3472,1694,2034,0,0,0,0,0,0
$GC,4819,0.69,267.8,228.2,14.3,614,4840,0.00,0.00,12.77,0.681,6,0.000,0.000,3472,1694,1974,0,0,0,0,0,0
$GC,5175,0.72,295.7,179.3,13.6,677,5204,0.00,2.28,23.27,0.677,4,0.000,0.053,3481,289,1861,0,0,0,0,0,0
$GC,5255,0.79,337.8,168.0,12.8,690,5297,0.05,2.12,34.17,0.669,6,0.060,0.031,3572,1692,1690,0,0,0,0,0,0
$GC,5617,0.76,337.8,88.7,19.1,756,5626,0.25,2.17,0.00,0.000,4,0.133,0.037,3485,3096,1683,0,0,0,0,0,0
$GC,5687,0.91,409.4,79.1,11.2,768,5754,0.12,2.17,55.45,0.607,6,0.031,0.041,3595,1706,1397,0,0,0,0,0,0
$STATE,6060,end climb,SURFACE_DEPTH_REACHED
$STATE,6060,begin surface coast
$FINISH,0.6,1.021590
$STATE,6074,end surface coast,CONTROL_FINISHED_OK
$STATE,6074,begin surface
$SM_CCo,6150,0.00,0.000,0,0,1386,412.59
$SM_GC,1.53,8.45,0.00,0.00,0.021,0.000,0.000,103,1530,1386,-9.70,-0.48,412.59
$IRIDIUM_FIX,2418.11,12709.72,131010,101048
$TT8_MAMPS,0.026964
$HUMID,50.00
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.3,36.029
$10V_AH,10.4,26.979
$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,20.950,48.250,468.275,0.000,0.000,26.107,22.004,110.839,0.250,0.000,30.931,1973.571,1661.973,474.027,2184.501,142.236,0.000,1252.454,0.000,2012.142,0.000,0.540,0.000
$DEVICE_MAMPS,208.080,63.495,893.520,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.883,0.000,1369.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,50417,837
$CAP_FILE_SIZE,84657,0
$CFSIZE,260165632,238792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175, 92.5,1
$GPS,131010,134220,2430.531,12711.009,11,1.8,11,-3.8