version: 66.08
glider: 168
mission: 2
dive: 209
start: 10 7 110 11 51 5
data:
$ID,168
$MISSION,2
$DIVE,209
$N_DIVES,225
$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,-3431.1538
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,071010,114536,2427.523,12707.657,13,1.1,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.9
$GPS2,071010,115037,2427.435,12707.735,9,1.5,14,-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,313.5,6619,-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,-63.33,0.000,2,0.000,0.000,104,1527,3131,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.4,-5.3,9,114,10.23,2.17,-11.62,0.000,4,0.193,0.053,3011,2954,3825,0,0,0,0,0,0
$GC,258,-0.69,-185.1,63.3,-29.2,40,268,0.05,2.17,0.00,0.000,6,0.132,0.044,3031,1566,3826,0,0,0,0,0,0
$GC,585,-0.64,-185.1,150.1,-22.2,101,592,0.00,2.10,0.00,0.000,4,0.000,0.041,3021,2955,3828,0,0,0,0,0,0
$GC,600,-0.61,-185.1,153.5,-21.4,103,607,0.12,2.15,0.00,0.000,6,0.140,0.043,3061,1552,3828,0,0,0,0,0,0
$GC,939,-0.61,-185.1,210.2,-16.7,164,948,0.00,2.15,0.00,0.000,4,0.000,0.052,3061,170,3830,0,0,0,0,0,0
$GC,1017,-0.63,-185.1,222.9,-15.3,177,1024,0.00,2.08,0.00,0.000,6,0.000,0.038,3052,1557,3830,0,0,0,0,0,0
$GC,1355,-0.64,-185.1,281.8,-16.8,238,1363,0.00,2.15,0.00,0.000,4,0.000,0.044,3042,2955,3830,0,0,0,0,0,0
$GC,1400,-0.67,-185.1,288.1,-14.4,245,1406,0.00,2.12,0.00,0.000,6,0.000,0.043,3042,1562,3830,0,0,0,0,0,0
$GC,1735,-0.68,-185.1,338.9,-14.9,283,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1562,3830,0,0,0,0,0,0
$GC,2056,-0.70,-185.1,383.5,-12.8,313,2059,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,169,3828,0,0,0,0,0,0
$GC,2077,-0.72,-185.1,387.2,-14.1,314,2086,0.00,2.12,0.00,0.000,6,0.000,0.040,3034,1558,3828,0,0,0,0,0,0
$GC,2404,-0.74,-185.1,433.9,-14.6,345,2409,0.08,2.15,0.00,0.000,4,0.125,0.046,2920,2959,3827,0,0,0,0,0,0
$GC,2434,-0.71,-185.1,439.7,-21.0,347,2438,0.32,2.15,0.00,0.000,6,0.119,0.045,3028,1559,3827,0,0,0,0,0,0
$GC,2761,-0.73,-185.1,490.5,-14.0,377,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1559,3826,0,0,0,0,0,0
$STATE,2831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2831,begin apogee
$GC,2835,0.00,0.0,500.0,12.7,384,2983,0.60,0.00,141.27,0.878,4,0.096,0.000,3251,1718,3068,0,0,0,0,0,0
$STATE,2984,end apogee,CONTROL_FINISHED_OK
$STATE,2984,begin climb
$GC,2985,0.72,185.1,505.0,0.0,396,3138,0.57,2.25,145.55,0.864,4,0.021,0.048,3533,3092,2313,0,0,0,0,0,0
$GC,3382,0.65,185.1,438.6,21.2,431,3386,0.28,2.15,0.00,0.000,6,0.151,0.042,3461,1693,2306,0,0,0,0,0,0
$GC,3708,0.67,212.9,389.4,13.6,461,3736,0.00,0.00,21.45,0.786,6,0.000,0.000,3461,1692,2200,0,0,0,0,0,0
$GC,4055,0.68,235.2,338.9,13.9,494,4076,0.00,0.00,18.52,0.753,6,0.000,0.000,3461,1693,2109,0,0,0,0,0,0
$GC,4394,0.68,235.2,286.2,15.9,534,4402,0.00,2.17,0.00,0.000,4,0.000,0.040,3461,3102,2103,0,0,0,0,0,0
$GC,4437,0.68,235.2,279.7,15.5,541,4444,0.00,2.15,0.00,0.000,6,0.000,0.043,3469,1711,2103,0,0,0,0,0,0
$GC,4767,0.68,237.7,227.4,15.0,602,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1710,2101,0,0,0,0,0,0
$GC,5098,0.76,296.7,184.0,11.9,663,5154,0.10,2.30,48.25,0.675,4,0.102,0.052,3569,293,1857,0,0,0,0,0,0
$GC,5279,0.71,296.7,145.7,22.0,694,5287,0.25,2.15,0.00,0.000,6,0.106,0.031,3479,1706,1850,0,0,0,0,0,0
$GC,5608,0.75,317.2,102.2,14.0,755,5631,0.00,2.12,15.77,0.584,4,0.000,0.039,3479,3104,1775,0,0,0,0,0,0
$GC,5757,0.89,386.4,82.1,11.4,781,5818,0.12,2.17,54.15,0.592,6,0.035,0.044,3593,1715,1491,0,0,0,0,0,0
$GC,6137,0.86,386.4,7.4,19.1,849,6146,0.20,2.25,0.00,0.000,4,0.134,0.050,3539,294,1485,0,0,0,0,0,0
$STATE,6164,end climb,SURFACE_DEPTH_REACHED
$STATE,6164,begin surface coast
$FINISH,0.7,1.022085
$STATE,6176,end surface coast,CONTROL_FINISHED_OK
$STATE,6176,begin surface
$SM_CCo,6193,12.25,0.135,1,0,1436,400.08
$SM_GC,1.21,0.00,0.00,12.25,0.000,0.000,0.135,102,1553,1436,-9.85,0.08,400.08
$IRIDIUM_FIX,2415.74,12815.94,071010,101030
$TT8_MAMPS,0.025466
$HUMID,48.22
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.4,26.910
$10V_AH,10.5,19.068
$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,21.250,47.525,444.975,12.250,0.000,30.341,39.269,126.033,0.500,0.000,17.317,2026.357,1650.608,466.747,2259.161,121.733,0.000,1240.465,0.000,2050.120,0.000,0.540,0.000
$DEVICE_MAMPS,192.780,60.435,878.220,135.405,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.363,0.000,1419.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50324,855
$CAP_FILE_SIZE,84657,0
$CFSIZE,260165632,242896896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.337,141.4,1
$GPS,071010,133527,2427.059,12707.756,7,1.8,14,-3.7