version: 66.08
glider: 168
mission: 2
dive: 197
start: 10 6 110 13 40 29
data:
$ID,168
$MISSION,2
$DIVE,197
$N_DIVES,210
$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,-3416.0876
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,061010,133534,2427.314,12706.778,9,2.5,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-79.2
$GPS2,061010,134001,2427.235,12706.844,8,1.5,13,-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,331.8,5989,-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,-64.38,0.000,2,0.000,0.000,104,1535,3257,0,0,0,0,0,0
$GC,84,-0.72,-185.1,3.7,-5.6,9,109,10.23,2.25,-9.00,0.000,4,0.193,0.057,3004,2955,3827,0,0,0,0,0,0
$GC,201,-0.69,-185.1,49.1,-27.6,29,210,0.05,2.20,0.00,0.000,6,0.128,0.045,3025,1552,3830,0,0,0,0,0,0
$GC,525,-0.64,-185.1,142.6,-29.2,90,534,0.08,2.15,0.00,0.000,4,0.204,0.052,3045,170,3832,0,0,0,0,0,0
$GC,554,-0.61,-185.1,149.6,-25.1,94,562,0.05,2.10,0.00,0.000,6,0.145,0.037,3056,1544,3832,0,0,0,0,0,0
$GC,886,-0.61,-185.1,215.1,-19.2,155,893,0.00,2.12,0.00,0.000,4,0.000,0.046,3047,2959,3833,0,0,0,0,0,0
$GC,911,-0.61,-185.1,220.0,-18.8,159,919,0.00,2.15,0.00,0.000,6,0.000,0.044,3047,1551,3834,0,0,0,0,0,0
$GC,1242,-0.61,-185.1,278.8,-16.9,220,1249,0.00,2.15,0.00,0.000,4,0.000,0.053,3047,169,3834,0,0,0,0,0,0
$GC,1295,-0.64,-185.1,287.2,-14.9,229,1302,0.00,2.08,0.00,0.000,6,0.000,0.040,3037,1548,3834,0,0,0,0,0,0
$GC,1621,-0.64,-185.1,342.8,-15.4,267,1625,0.00,2.12,0.00,0.000,4,0.000,0.047,3027,2959,3834,0,0,0,0,0,0
$GC,1664,-0.67,-185.1,349.1,-12.7,270,1672,0.00,2.17,0.00,0.000,6,0.000,0.044,3027,1555,3833,0,0,0,0,0,0
$GC,1991,-0.67,-185.1,395.6,-13.6,301,1994,0.00,2.12,0.00,0.000,4,0.000,0.054,3027,165,3832,0,0,0,0,0,0
$GC,2043,-0.69,-185.1,403.0,-13.8,305,2047,0.00,2.08,0.00,0.000,6,0.000,0.041,3020,1542,3832,0,0,0,0,0,0
$GC,2369,-0.69,-185.1,450.2,-15.5,335,2372,0.00,2.15,0.00,0.000,4,0.000,0.047,3010,2964,3831,0,0,0,0,0,0
$GC,2434,-0.73,-185.1,459.1,-12.4,340,2443,0.00,2.20,0.00,0.000,6,0.000,0.045,3010,1546,3830,0,0,0,0,0,0
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2709,0.00,0.0,500.2,15.6,366,2857,0.65,0.00,142.07,0.881,4,0.099,0.000,3248,1715,3067,0,0,0,0,0,0
$STATE,2858,end apogee,CONTROL_FINISHED_OK
$STATE,2858,begin climb
$GC,2859,0.72,185.1,506.2,0.0,378,3012,0.55,2.38,144.60,0.866,4,0.028,0.054,3511,289,2313,0,0,0,0,0,0
$GC,3143,0.66,185.1,468.3,20.5,403,3152,0.17,2.15,0.00,0.000,6,0.148,0.033,3460,1698,2306,0,0,0,0,0,0
$GC,3469,0.65,192.4,418.8,14.8,434,3482,0.00,2.15,5.82,0.628,4,0.000,0.041,3460,3105,2284,0,0,0,0,0,0
$GC,3572,0.63,192.4,403.1,15.4,443,3577,0.08,2.17,0.00,0.000,6,0.197,0.042,3452,1687,2283,0,0,0,0,0,0
$GC,3902,0.62,196.4,355.9,14.9,474,3916,0.00,2.20,4.57,0.550,4,0.000,0.053,3462,293,2266,0,0,0,0,0,0
$GC,3950,0.60,196.4,348.6,15.2,478,3954,0.08,2.10,0.00,0.000,6,0.181,0.033,3442,1705,2265,0,0,0,0,0,0
$GC,4281,0.68,262.3,307.8,11.5,509,4340,0.10,0.00,53.47,0.769,6,0.095,0.000,3524,1707,1997,0,0,0,0,0,0
$GC,4665,0.64,262.3,227.4,21.5,575,4673,0.22,2.15,0.00,0.000,4,0.146,0.038,3454,3110,1988,0,0,0,0,0,0
$GC,4719,0.68,284.9,218.5,13.9,584,4747,0.00,2.22,17.88,0.676,6,0.000,0.043,3465,1693,1905,0,0,0,0,0,0
$GC,5072,0.68,287.1,164.8,15.0,648,5080,0.00,2.20,0.00,0.000,4,0.000,0.053,3474,296,1900,0,0,0,0,0,0
$GC,5136,0.75,325.5,155.5,13.0,659,5179,0.08,2.08,32.62,0.651,6,0.117,0.032,3569,1688,1739,0,0,0,0,0,0
$GC,5497,0.71,325.5,74.2,20.5,725,5506,0.28,2.17,0.00,0.000,4,0.140,0.038,3476,3096,1732,0,0,0,0,0,0
$GC,5542,0.86,401.9,67.8,11.0,732,5610,0.10,2.20,58.40,0.590,6,0.040,0.044,3575,1692,1428,0,0,0,0,0,0
$STATE,5920,end climb,SURFACE_DEPTH_REACHED
$STATE,5920,begin surface coast
$FINISH,0.7,1.022346
$STATE,5938,end surface coast,CONTROL_FINISHED_OK
$STATE,5938,begin surface
$SM_CCo,6013,0.00,0.000,0,0,1417,404.99
$SM_GC,1.78,8.45,0.00,0.00,0.022,0.000,0.000,104,1537,1417,-9.70,-0.31,404.99
$IRIDIUM_FIX,2418.11,12706.40,061010,111129
$TT8_MAMPS,0.026964
$HUMID,48.89
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.4,25.544
$10V_AH,10.5,17.850
$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,21.150,56.675,459.450,0.000,0.000,30.078,20.907,119.634,0.250,0.000,16.423,1907.469,1683.279,463.261,2122.069,113.989,0.000,1226.898,0.000,1943.017,0.000,0.540,0.000
$DEVICE_MAMPS,204.255,69.615,881.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.210,0.000,1313.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,50213,803
$CAP_FILE_SIZE,84419,0
$CFSIZE,260165632,243531776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.313,156.7,1
$GPS,061010,152146,2427.134,12706.820,10,2.1,29,-3.7