version: 66.08
glider: 168
mission: 2
dive: 213
start: 10 7 110 18 56 23
data:
$ID,168
$MISSION,2
$DIVE,213
$N_DIVES,220
$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,-3436.1755
$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
$GPS1,071010,185156,2427.227,12707.646,9,1.7,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.3
$GPS2,071010,185556,2427.208,12707.675,11,1.8,11,-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,319.6,6860,-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,-185.1,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,105,1535,3031,0,0,0,0,0,0
$GC,81,-0.72,-185.1,3.1,-4.3,8,113,10.40,2.15,-13.80,0.000,4,0.198,0.050,3011,2955,3825,0,0,0,0,0,0
$GC,284,-0.69,-185.1,65.5,-27.7,44,292,0.05,2.20,0.00,0.000,6,0.116,0.044,3032,1549,3826,0,0,0,0,0,0
$GC,610,-0.66,-185.1,148.0,-21.3,105,618,0.00,2.15,0.00,0.000,4,0.000,0.051,3032,167,3829,0,0,0,0,0,0
$GC,687,-0.64,-185.1,165.5,-20.4,118,697,0.05,2.08,0.00,0.000,6,0.124,0.037,3046,1533,3830,0,0,0,0,0,0
$GC,1028,-0.64,-185.1,227.2,-17.1,179,1035,0.00,2.17,0.00,0.000,4,0.000,0.045,3036,2961,3831,0,0,0,0,0,0
$GC,1058,-0.65,-185.1,232.2,-15.9,184,1066,0.00,2.17,0.00,0.000,6,0.000,0.042,3036,1548,3831,0,0,0,0,0,0
$GC,1398,-0.65,-185.1,289.1,-16.2,245,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1548,3831,0,0,0,0,0,0
$GC,1731,-0.66,-185.1,341.0,-14.7,282,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1548,3831,0,0,0,0,0,0
$GC,2051,-0.67,-185.1,388.1,-14.4,312,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1548,3831,0,0,0,0,0,0
$GC,2369,-0.69,-185.1,435.0,-15.2,342,2373,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,166,3829,0,0,0,0,0,0
$GC,2406,-0.72,-185.1,440.7,-14.2,345,2413,0.00,2.08,0.00,0.000,6,0.000,0.039,3028,1542,3829,0,0,0,0,0,0
$GC,2732,-0.74,-185.1,485.4,-12.9,376,2735,0.00,2.15,0.00,0.000,4,0.000,0.047,3018,2959,3827,0,0,0,0,0,0
$GC,2793,-0.79,-185.1,492.5,-10.2,381,2800,0.08,2.17,0.00,0.000,6,0.118,0.044,2921,1544,3827,0,0,0,0,0,0
$STATE,2839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2839,begin apogee
$GC,2844,0.00,0.0,500.7,18.2,386,2993,0.95,0.00,142.18,0.886,4,0.116,0.000,3250,1716,3069,0,0,0,0,0,0
$STATE,2993,end apogee,CONTROL_FINISHED_OK
$STATE,2994,begin climb
$GC,2995,0.72,185.1,506.1,0.0,398,3149,0.57,2.25,146.38,0.868,4,0.023,0.047,3528,3089,2312,0,0,0,0,0,0
$GC,3219,0.65,185.1,479.2,22.8,417,3226,0.28,2.20,0.00,0.000,6,0.150,0.042,3457,1696,2307,0,0,0,0,0,0
$GC,3545,0.64,195.0,428.7,14.6,448,3556,0.00,0.00,7.88,0.694,6,0.000,0.000,3457,1696,2273,0,0,0,0,0,0
$GC,3874,0.62,197.0,379.2,15.0,479,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1697,2268,0,0,0,0,0,0
$GC,4194,0.61,204.2,334.4,14.8,509,4207,0.00,2.20,7.90,0.670,4,0.000,0.041,3457,3097,2235,0,0,0,0,0,0
$GC,4286,0.61,204.2,320.1,15.2,517,4290,0.08,2.17,0.00,0.000,6,0.192,0.043,3447,1690,2234,0,0,0,0,0,0
$GC,4613,0.65,232.8,274.4,13.6,564,4640,0.00,0.00,23.98,0.734,6,0.000,0.000,3447,1690,2118,0,0,0,0,0,0
$GC,4964,0.70,276.4,227.3,12.8,628,5006,0.10,2.25,34.97,0.709,4,0.095,0.040,3529,3097,1940,0,0,0,0,0,0
$GC,5047,0.67,276.4,212.0,20.8,641,5055,0.25,2.20,0.00,0.000,6,0.135,0.044,3461,1698,1938,0,0,0,0,0,0
$GC,5380,0.70,293.8,163.8,14.2,702,5402,0.00,2.22,14.38,0.630,4,0.000,0.053,3472,278,1869,0,0,0,0,0,0
$GC,5463,0.79,346.1,153.0,12.3,716,5513,0.08,2.15,41.80,0.651,6,0.044,0.031,3578,1692,1656,0,0,0,0,0,0
$GC,5832,0.76,346.1,67.7,20.1,783,5841,0.25,2.22,0.00,0.000,4,0.135,0.050,3502,293,1649,0,0,0,0,0,0
$GC,5875,0.87,409.5,61.3,11.7,790,5930,0.08,2.10,48.72,0.584,6,0.043,0.031,3591,1682,1397,0,0,0,0,0,0
$STATE,6169,end climb,SURFACE_DEPTH_REACHED
$STATE,6169,begin surface coast
$FINISH,0.6,1.012720
$STATE,6184,end surface coast,CONTROL_FINISHED_OK
$STATE,6184,begin surface
$SM_CCo,6260,0.00,0.000,0,0,1385,412.59
$SM_GC,1.81,8.50,0.00,0.00,0.023,0.000,0.000,104,1543,1385,-9.69,-0.28,412.59
$IRIDIUM_FIX,2418.11,12706.40,071010,171756
$TT8_MAMPS,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.4,27.364
$10V_AH,10.5,19.454
$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,21.700,43.850,468.175,0.000,0.000,25.349,15.000,101.757,0.250,0.000,13.780,1995.416,1783.401,450.717,2147.825,132.070,0.000,1218.304,0.000,2008.687,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,70.380,885.870,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.751,0.000,1361.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,50404,844
$CAP_FILE_SIZE,83950,0
$CFSIZE,260165632,242696192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,128.8,1
$GPS,071010,204154,2427.557,12707.348,39,1.1,39,-3.7