version: 66.08
glider: 168
mission: 2
dive: 198
start: 10 6 110 15 26 18
data:
$ID,168
$MISSION,2
$DIVE,198
$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,-3417.3442
$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,44
$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
$GPS1,061010,152146,2427.134,12706.820,10,2.1,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-79.6
$GPS2,061010,152550,2427.080,12706.858,12,2.0,12,-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,340.0,6249,-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,-185.1,0.0,0.0,0,74,0.00,0.00,-56.80,0.000,2,0.000,0.000,104,1538,3068,0,0,0,0,0,0
$GC,76,-0.72,-185.1,3.2,-4.6,8,107,10.20,2.17,-12.90,0.000,4,0.193,0.055,3010,2950,3826,0,0,0,0,0,0
$GC,204,-0.69,-185.1,46.3,-27.1,30,214,0.05,2.17,0.00,0.000,6,0.122,0.045,3031,1560,3828,0,0,0,0,0,0
$GC,533,-0.65,-185.1,136.1,-24.1,91,541,0.00,2.17,0.00,0.000,4,0.000,0.052,3031,165,3830,0,0,0,0,0,0
$GC,606,-0.64,-185.1,154.9,-21.6,104,614,0.05,2.08,0.00,0.000,6,0.131,0.039,3045,1524,3830,0,0,0,0,0,0
$GC,947,-0.63,-185.1,223.5,-19.7,165,954,0.00,2.17,0.00,0.000,4,0.000,0.045,3036,2965,3831,0,0,0,0,0,0
$GC,988,-0.65,-185.1,231.3,-16.5,172,996,0.00,2.20,0.00,0.000,6,0.000,0.044,3035,1547,3832,0,0,0,0,0,0
$GC,1329,-0.65,-185.1,292.5,-16.1,233,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1545,3832,0,0,0,0,0,0
$GC,1655,-0.65,-185.1,343.0,-15.1,268,1659,0.00,2.12,0.00,0.000,4,0.000,0.053,3035,165,3832,0,0,0,0,0,0
$GC,1687,-0.66,-185.1,348.6,-16.7,270,1697,0.00,2.10,0.00,0.000,6,0.000,0.039,3026,1545,3832,0,0,0,0,0,0
$GC,2013,-0.67,-185.1,405.1,-17.4,301,2017,0.00,2.15,0.00,0.000,4,0.000,0.047,3017,2964,3831,0,0,0,0,0,0
$GC,2057,-0.70,-185.1,412.6,-15.2,304,2066,0.00,2.20,0.00,0.000,6,0.000,0.044,3017,1544,3830,0,0,0,0,0,0
$GC,2385,-0.71,-185.1,463.1,-13.9,335,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1544,3830,0,0,0,0,0,0
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2658,begin apogee
$GC,2663,0.00,0.0,500.1,13.5,361,2810,0.62,0.00,142.00,0.884,4,0.097,0.000,3247,1721,3068,0,0,0,0,0,0
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin climb
$GC,2812,0.72,185.1,505.5,0.0,373,2972,0.62,2.22,145.35,0.867,4,0.040,0.047,3507,3094,2312,0,0,0,0,0,0
$GC,3221,0.66,185.1,441.6,19.7,409,3229,0.15,2.20,0.00,0.000,6,0.140,0.043,3468,1695,2306,0,0,0,0,0,0
$GC,3547,0.63,185.1,389.5,15.6,440,3551,0.00,2.17,0.00,0.000,4,0.000,0.053,3478,289,2301,0,0,0,0,0,0
$GC,3796,0.61,185.1,348.1,16.9,462,3801,0.12,2.10,0.00,0.000,6,0.140,0.033,3440,1695,2296,0,0,0,0,0,0
$GC,4121,0.66,228.6,302.5,12.8,492,4159,0.08,0.00,32.85,0.759,6,0.118,0.000,3510,1697,2136,0,0,0,0,0,0
$GC,4491,0.62,228.6,238.3,16.1,556,4499,0.20,2.17,0.00,0.000,4,0.142,0.039,3448,3102,2128,0,0,0,0,0,0
$GC,4590,0.69,271.0,225.3,12.8,573,4631,0.00,2.15,33.38,0.708,6,0.000,0.043,3457,1694,1962,0,0,0,0,0,0
$GC,4963,0.70,271.0,169.3,16.3,639,4970,0.08,2.17,0.00,0.000,4,0.125,0.053,3552,293,1956,0,0,0,0,0,0
$GC,5033,0.66,271.0,153.8,23.2,651,5040,0.28,2.10,0.00,0.000,6,0.125,0.031,3463,1698,1954,0,0,0,0,0,0
$GC,5358,0.76,339.0,108.5,11.4,712,5418,0.10,2.22,52.83,0.626,4,0.096,0.049,3570,294,1684,0,0,0,0,0,0
$GC,5449,0.72,339.0,90.8,23.0,725,5458,0.25,2.12,0.00,0.000,6,0.103,0.031,3481,1682,1680,0,0,0,0,0,0
$GC,5775,0.90,447.1,55.6,9.2,786,5863,0.17,0.00,81.38,0.575,6,0.062,0.000,3608,1684,1244,0,0,0,0,0,0
$STATE,6016,end climb,SURFACE_DEPTH_REACHED
$STATE,6016,begin surface coast
$FINISH,0.6,1.022120
$STATE,6028,end surface coast,CONTROL_FINISHED_OK
$STATE,6028,begin surface
$SM_CCo,6104,0.00,0.000,0,0,1233,449.88
$SM_GC,1.39,8.55,0.00,0.00,0.021,0.000,0.000,104,1529,1233,-9.71,-0.57,449.88
$IRIDIUM_FIX,2420.48,12704.51,061010,131300
$TT8_MAMPS,0.026964
$HUMID,47.63
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,25.659
$10V_AH,10.5,17.948
$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,21.525,43.650,487.775,0.000,0.000,29.581,16.134,103.209,0.250,0.000,15.469,1948.224,1634.517,466.979,2193.910,115.220,0.000,1254.162,0.000,2041.413,0.000,0.539,0.000
$DEVICE_MAMPS,192.780,65.025,883.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.564,0.000,1399.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50155,829
$CAP_FILE_SIZE,82232,0
$CFSIZE,260165632,243482624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,160.2,1
$GPS,061010,170907,2427.122,12706.854,31,2.0,31,-3.7