version: 66.08
glider: 168
mission: 2
dive: 214
start: 10 7 110 20 46 29
data:
$ID,168
$MISSION,2
$DIVE,214
$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,-3437.4316
$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,35
$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
$GPS1,071010,204154,2427.557,12707.348,39,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.4
$GPS2,071010,204602,2427.539,12707.407,14,1.2,14,-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,317.8,6102,-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,-56.42,0.000,2,0.000,0.000,104,1540,3013,0,0,0,0,0,0
$GC,76,-0.72,-185.1,3.0,-4.6,8,108,10.25,2.15,-14.40,0.000,4,0.194,0.052,3009,2952,3823,0,0,0,0,0,0
$GC,273,-0.71,-185.1,62.7,-25.4,43,281,0.00,2.17,0.00,0.000,6,0.000,0.044,3009,1559,3825,0,0,0,0,0,0
$GC,597,-0.66,-185.1,155.6,-26.3,104,606,0.12,2.17,0.00,0.000,4,0.161,0.051,3046,174,3828,0,0,0,0,0,0
$GC,665,-0.65,-185.1,170.6,-21.6,115,672,0.00,2.05,0.00,0.000,6,0.000,0.037,3037,1538,3828,0,0,0,0,0,0
$GC,1002,-0.64,-185.1,233.4,-17.1,176,1010,0.00,2.17,0.00,0.000,4,0.000,0.044,3026,2952,3829,0,0,0,0,0,0
$GC,1046,-0.66,-185.1,240.0,-15.1,183,1053,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,1546,3830,0,0,0,0,0,0
$GC,1385,-0.66,-185.1,299.2,-17.7,244,1393,0.00,2.15,0.00,0.000,4,0.000,0.052,3026,165,3830,0,0,0,0,0,0
$GC,1435,-0.67,-185.1,308.1,-18.6,249,1439,0.08,2.08,0.00,0.000,6,0.179,0.037,3041,1545,3830,0,0,0,0,0,0
$GC,1761,-0.68,-185.1,361.5,-16.1,279,1765,0.00,2.15,0.00,0.000,4,0.000,0.047,3032,2963,3829,0,0,0,0,0,0
$GC,1814,-0.74,-185.1,368.8,-12.6,283,1818,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,1555,3829,0,0,0,0,0,0
$GC,2142,-0.75,-185.1,414.7,-13.4,313,2147,0.08,2.17,0.00,0.000,4,0.120,0.055,2927,161,3828,0,0,0,0,0,0
$GC,2182,-0.70,-185.1,422.9,-22.8,316,2187,0.35,2.10,0.00,0.000,6,0.127,0.040,3031,1553,3828,0,0,0,0,0,0
$GC,2508,-0.72,-185.1,466.7,-12.8,346,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1556,3826,0,0,0,0,0,0
$STATE,2781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2781,begin apogee
$GC,2786,0.00,0.0,501.3,12.6,372,2933,0.60,0.00,141.73,0.883,4,0.093,0.000,3254,1706,3068,0,0,0,0,0,0
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin climb
$GC,2936,0.72,185.1,507.5,0.0,384,3091,0.60,2.28,146.27,0.871,4,0.029,0.048,3537,3105,2312,0,0,0,0,0,0
$GC,3336,0.65,185.1,444.1,20.4,419,3345,0.22,2.22,0.00,0.000,6,0.136,0.043,3457,1698,2304,0,0,0,0,0,0
$GC,3662,0.63,185.4,395.6,15.1,450,3666,0.00,2.17,0.00,0.000,4,0.000,0.053,3467,293,2299,0,0,0,0,0,0
$GC,3817,0.62,198.3,372.2,14.4,463,3838,0.08,2.10,9.50,0.711,6,0.179,0.032,3447,1702,2259,0,0,0,0,0,0
$GC,4155,0.65,231.1,326.1,13.4,495,4191,0.00,2.20,27.23,0.768,4,0.000,0.042,3447,3098,2126,0,0,0,0,0,0
$GC,4241,0.73,286.4,314.9,12.1,502,4296,0.05,2.22,45.28,0.760,6,0.062,0.044,3541,1693,1898,0,0,0,0,0,0
$GC,4616,0.67,286.4,229.8,24.4,564,4624,0.25,0.00,0.00,0.000,6,0.155,0.000,3460,1693,1889,0,0,0,0,0,0
$GC,4947,0.71,314.3,174.3,13.6,625,4975,0.08,0.00,21.67,0.655,6,0.119,0.000,3542,1693,1785,0,0,0,0,0,0
$GC,5295,0.68,314.3,107.3,18.2,689,5304,0.22,2.17,0.00,0.000,4,0.139,0.038,3471,3096,1779,0,0,0,0,0,0
$GC,5323,0.68,314.3,102.7,15.9,693,5331,0.00,2.17,0.00,0.000,6,0.000,0.045,3471,1709,1779,0,0,0,0,0,0
$GC,5649,0.89,448.8,77.6,7.8,754,5760,0.17,2.28,101.85,0.591,4,0.060,0.050,3607,290,1235,0,0,0,0,0,0
$GC,5859,0.88,448.8,36.5,18.5,787,5868,0.20,2.12,0.00,0.000,6,0.104,0.031,3534,1682,1231,0,0,0,0,0,0
$STATE,6080,end climb,SURFACE_DEPTH_REACHED
$STATE,6080,begin surface coast
$FINISH,0.7,1.010029
$STATE,6103,end surface coast,CONTROL_FINISHED_OK
$STATE,6103,begin surface
$SM_CCo,6179,0.00,0.000,0,0,1224,452.33
$SM_GC,1.45,8.25,0.00,0.00,0.018,0.000,0.000,104,1536,1224,-9.69,-0.31,452.33
$IRIDIUM_FIX,2418.11,12706.40,071010,181813
$TT8_MAMPS,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.4,27.481
$10V_AH,10.4,19.554
$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,21.600,48.025,493.525,0.000,0.000,27.694,15.863,106.491,0.500,0.000,16.742,1976.314,1640.660,472.705,2223.756,122.408,0.000,1268.485,0.000,2066.023,0.000,0.540,0.000
$DEVICE_MAMPS,194.310,71.910,882.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.970,0.000,1417.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50289,832
$CAP_FILE_SIZE,85362,0
$CFSIZE,260165632,242642944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222,117.9,1
$GPS,071010,223034,2427.841,12707.610,12,3.9,31,-3.7