version: 66.08
glider: 168
mission: 2
dive: 227
start: 10 8 110 20 51 4
data:
$ID,168
$MISSION,2
$DIVE,227
$N_DIVES,232
$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,-3453.7483
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,081010,204536,2429.075,12706.828,29,1.4,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.5
$GPS2,081010,205037,2429.083,12706.905,12,1.4,29,-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,297.7,3632,-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,-185.1,0.0,0.0,0,82,0.00,0.00,-64.93,0.000,2,0.000,0.000,104,1540,3176,0,0,0,0,0,0
$GC,85,-0.72,-185.1,3.9,-7.1,9,116,10.27,2.15,-10.38,0.000,4,0.194,0.061,3017,176,3827,0,0,0,0,0,0
$GC,208,-0.65,-185.1,56.0,-33.8,30,216,0.10,2.10,0.00,0.000,6,0.132,0.037,3044,1541,3828,0,0,0,0,0,0
$GC,535,-0.63,-185.1,138.6,-22.5,91,543,0.00,2.15,0.00,0.000,4,0.000,0.051,3045,169,3831,0,0,0,0,0,0
$GC,562,-0.61,-185.1,145.1,-24.2,95,570,0.05,2.10,0.00,0.000,6,0.140,0.037,3056,1544,3831,0,0,0,0,0,0
$GC,899,-0.62,-185.1,207.7,-16.1,156,907,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1546,3832,0,0,0,0,0,0
$GC,1240,-0.63,-185.1,256.8,-14.1,217,1246,0.00,2.15,0.00,0.000,4,0.000,0.046,3047,2959,3832,0,0,0,0,0,0
$GC,1287,-0.68,-185.1,263.1,-12.0,225,1294,0.00,2.17,0.00,0.000,6,0.000,0.044,3047,1539,3832,0,0,0,0,0,0
$GC,1624,-0.70,-185.1,313.0,-15.5,278,1626,0.08,0.00,0.00,0.000,6,0.122,0.000,2949,1539,3832,0,0,0,0,0,0
$GC,1942,-0.65,-185.1,391.9,-24.1,308,1947,0.28,2.10,0.00,0.000,4,0.132,0.054,3044,167,3831,0,0,0,0,0,0
$GC,1987,-0.68,-185.1,399.9,-14.6,311,1994,0.00,2.08,0.00,0.000,6,0.000,0.040,3039,1542,3831,0,0,0,0,0,0
$GC,2312,-0.71,-185.1,438.5,-11.4,342,2316,0.00,2.17,0.00,0.000,4,0.000,0.047,3035,2965,3830,0,0,0,0,0,0
$GC,2354,-0.77,-185.1,442.7,-9.9,345,2359,0.10,2.17,0.00,0.000,6,0.091,0.045,2932,1537,3830,0,0,0,0,0,0
$STATE,2624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2624,begin apogee
$GC,2629,0.00,0.0,502.2,24.2,370,2782,0.93,0.00,142.50,0.883,4,0.115,0.000,3251,1713,3067,0,0,0,0,0,0
$STATE,2783,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin climb
$GC,2785,0.72,185.1,510.7,0.0,383,2941,0.62,2.33,145.20,0.871,4,0.032,0.054,3529,294,2312,0,0,0,0,0,0
$GC,3098,0.65,185.1,471.1,20.0,410,3103,0.22,2.10,0.00,0.000,6,0.155,0.032,3464,1699,2305,0,0,0,0,0,0
$GC,3423,0.63,190.4,421.3,14.9,440,3438,0.00,2.25,4.15,0.529,4,0.000,0.052,3475,290,2291,0,0,0,0,0,0
$GC,3640,0.61,190.4,387.1,15.3,459,3644,0.10,2.10,0.00,0.000,6,0.153,0.032,3445,1705,2288,0,0,0,0,0,0
$GC,3966,0.66,234.5,342.1,12.7,489,4015,0.08,2.20,36.15,0.786,4,0.118,0.041,3514,3105,2110,0,0,0,0,0,0
$GC,4043,0.62,234.5,328.5,18.1,495,4051,0.25,2.20,0.00,0.000,6,0.141,0.043,3449,1698,2108,0,0,0,0,0,0
$GC,4374,0.66,266.8,284.0,13.4,536,4410,0.05,2.25,25.88,0.738,4,0.170,0.053,3532,299,1978,0,0,0,0,0,0
$GC,4417,0.62,266.8,276.0,19.4,542,4426,0.22,2.15,0.00,0.000,6,0.125,0.031,3455,1701,1976,0,0,0,0,0,0
$GC,4761,0.65,283.4,223.0,14.2,603,4782,0.00,2.15,13.80,0.667,4,0.000,0.040,3455,3102,1912,0,0,0,0,0,0
$GC,4802,0.67,283.4,216.8,15.2,609,4809,0.00,2.20,0.00,0.000,6,0.000,0.044,3462,1690,1911,0,0,0,0,0,0
$GC,5139,0.72,316.1,168.4,13.4,670,5175,0.08,2.22,26.73,0.659,4,0.123,0.050,3563,294,1778,0,0,0,0,0,0
$GC,5245,0.69,316.1,148.8,18.9,687,5254,0.25,2.12,0.00,0.000,6,0.104,0.031,3474,1689,1775,0,0,0,0,0,0
$GC,5571,0.76,352.1,107.6,13.2,748,5610,0.08,0.00,28.73,0.614,6,0.123,0.000,3561,1692,1631,0,0,0,0,0,0
$GC,5929,0.79,380.0,46.6,13.6,813,5960,0.17,2.20,21.88,0.559,4,0.140,0.051,3512,287,1517,0,0,0,0,0,0
$GC,6059,1.01,504.6,34.1,8.3,835,6164,0.15,2.12,94.22,0.553,6,0.031,0.031,3632,1690,1008,0,0,0,0,0,0
$STATE,6202,end climb,SURFACE_DEPTH_REACHED
$STATE,6202,begin surface coast
$FINISH,0.5,1.012069
$STATE,6215,end surface coast,CONTROL_FINISHED_OK
$STATE,6215,begin surface
$SM_CCo,6291,0.00,0.000,0,0,1002,506.79
$SM_GC,1.52,8.75,0.00,0.00,0.024,0.000,0.000,104,1543,1002,-9.71,-0.17,506.79
$IRIDIUM_FIX,2418.11,12706.40,081010,181829
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,29.005
$10V_AH,10.5,20.873
$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,22.825,52.425,539.225,0.000,0.000,29.155,40.442,110.238,0.250,0.000,32.129,2012.949,1628.554,523.474,2299.758,135.130,0.000,1355.135,0.000,2095.649,0.000,0.539,0.000
$DEVICE_MAMPS,193.545,69.615,882.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.268,0.000,1429.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,50338,858
$CAP_FILE_SIZE,89760,0
$CFSIZE,260165632,241950720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,110.5,1
$GPS,081010,223658,2429.270,12706.801,9,2.9,28,-3.7