version: 66.08
glider: 168
mission: 2
dive: 193
start: 10 6 110 6 29 23
data:
$ID,168
$MISSION,2
$DIVE,193
$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,-3411.0706
$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,40
$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
$GPS1,061010,062450,2428.147,12706.520,11,1.2,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.5
$GPS2,061010,062855,2428.101,12706.577,10,1.3,15,-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,318.8,4408,-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,-64.45,0.000,2,0.000,0.000,104,1535,3087,0,0,0,0,0,0
$GC,84,-0.72,-185.1,3.2,-3.9,10,113,10.30,2.22,-12.62,0.000,4,0.195,0.056,3010,2949,3825,0,0,0,0,0,0
$GC,264,-0.69,-185.1,63.1,-29.1,41,272,0.08,2.15,0.00,0.000,6,0.174,0.044,3029,1552,3826,0,0,0,0,0,0
$GC,601,-0.65,-185.1,155.3,-23.6,100,604,0.00,2.12,0.00,0.000,4,0.000,0.050,3029,163,3829,0,0,0,0,0,0
$GC,641,-0.62,-185.1,165.1,-24.7,103,646,0.12,2.05,0.00,0.000,6,0.153,0.037,3058,1541,3829,0,0,0,0,0,0
$GC,971,-0.62,-185.1,228.1,-18.4,134,972,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1545,3830,0,0,0,0,0,0
$GC,1291,-0.63,-185.1,279.8,-15.1,164,1295,0.00,2.12,0.00,0.000,4,0.000,0.044,3049,2961,3831,0,0,0,0,0,0
$GC,1311,-0.65,-185.1,282.6,-14.9,165,1315,0.00,2.15,0.00,0.000,6,0.000,0.043,3049,1549,3830,0,0,0,0,0,0
$GC,1637,-0.66,-185.1,331.2,-15.0,195,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1548,3830,0,0,0,0,0,0
$GC,1958,-0.69,-185.1,378.1,-15.1,225,1962,0.08,2.15,0.00,0.000,4,0.122,0.053,2955,163,3829,0,0,0,0,0,0
$GC,2000,-0.64,-185.1,388.7,-26.2,228,2011,0.30,2.10,0.00,0.000,6,0.118,0.038,3049,1542,3830,0,0,0,0,0,0
$GC,2329,-0.67,-185.1,437.8,-13.5,259,2332,0.00,2.15,0.00,0.000,4,0.000,0.047,3040,2971,3827,0,0,0,0,0,0
$GC,2373,-0.73,-185.1,443.7,-11.4,262,2382,0.05,2.20,0.00,0.000,6,0.057,0.045,2942,1552,3827,0,0,0,0,0,0
$STATE,2623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2623,begin apogee
$GC,2627,0.00,0.0,500.3,23.7,286,2780,0.88,0.00,141.00,0.880,4,0.118,0.000,3245,1717,3067,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2782,0.72,185.1,506.9,0.0,299,2937,0.62,2.33,144.60,0.865,4,0.034,0.053,3523,290,2312,0,0,0,0,0,0
$GC,3008,0.65,185.1,479.2,21.7,318,3017,0.17,2.17,0.00,0.000,6,0.139,0.033,3466,1694,2306,0,0,0,0,0,0
$GC,3336,0.62,185.1,425.1,15.7,349,3340,0.00,2.15,0.00,0.000,4,0.000,0.042,3466,3106,2303,0,0,0,0,0,0
$GC,3410,0.60,185.1,413.9,15.3,355,3415,0.12,2.17,0.00,0.000,6,0.160,0.044,3440,1697,2302,0,0,0,0,0,0
$GC,3737,0.63,215.6,372.3,13.5,385,3766,0.00,0.00,23.75,0.786,6,0.000,0.000,3440,1697,2187,0,0,0,0,0,0
$GC,4083,0.64,218.8,318.0,15.0,418,4087,0.00,2.17,0.00,0.000,4,0.000,0.053,3451,285,2181,0,0,0,0,0,0
$GC,4134,0.64,226.0,310.2,14.8,422,4148,0.00,2.12,8.85,0.676,6,0.000,0.033,3451,1708,2146,0,0,0,0,0,0
$GC,4465,0.68,254.9,264.2,13.6,453,4495,0.08,2.20,24.27,0.724,4,0.124,0.042,3517,3105,2028,0,0,0,0,0,0
$GC,4553,0.65,254.9,248.3,19.8,460,4557,0.22,2.20,0.00,0.000,6,0.141,0.044,3459,1691,2025,0,0,0,0,0,0
$GC,4877,0.71,311.3,202.2,12.1,490,4929,0.08,2.25,44.47,0.689,4,0.122,0.052,3549,301,1796,0,0,0,0,0,0
$GC,4962,0.66,311.3,185.1,23.1,497,4970,0.28,2.12,0.00,0.000,6,0.129,0.032,3463,1698,1792,0,0,0,0,0,0
$GC,5292,0.77,376.7,135.0,11.6,538,5348,0.10,2.30,49.88,0.633,4,0.097,0.051,3569,293,1531,0,0,0,0,0,0
$GC,5369,0.72,376.7,120.8,22.8,549,5377,0.28,2.12,0.00,0.000,6,0.117,0.031,3479,1690,1528,0,0,0,0,0,0
$GC,5709,0.86,447.7,74.5,11.3,610,5770,0.15,0.00,53.92,0.587,6,0.073,0.000,3591,1692,1240,0,0,0,0,0,0
$STATE,6035,end climb,SURFACE_DEPTH_REACHED
$STATE,6035,begin surface coast
$FINISH,0.7,1.022043
$STATE,6048,end surface coast,CONTROL_FINISHED_OK
$STATE,6048,begin surface
$SM_CCo,6124,0.00,0.000,0,0,1229,451.11
$SM_GC,1.58,8.48,0.00,0.00,0.022,0.000,0.000,104,1533,1229,-9.69,-0.45,451.11
$IRIDIUM_FIX,2420.48,12703.08,061010,040429
$TT8_MAMPS,0.026215
$HUMID,48.58
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.4,25.089
$10V_AH,10.4,17.489
$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,22.375,48.200,490.750,0.000,0.000,27.273,20.297,101.066,0.500,0.000,17.705,1604.248,2501.023,469.099,1696.545,108.883,0.000,1141.006,0.000,1537.287,0.000,0.539,0.000
$DEVICE_MAMPS,195.075,66.555,879.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.400,0.000,849.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40190,669
$CAP_FILE_SIZE,78569,0
$CFSIZE,260165632,243748864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283,133.9,1
$GPS,061010,081236,2428.162,12706.511,35,0.9,35,-3.7