version: 66.08
glider: 168
mission: 2
dive: 194
start: 10 6 110 8 17 18
data:
$ID,168
$MISSION,2
$DIVE,194
$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,-3412.3269
$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,42
$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
$GPS1,061010,081236,2428.162,12706.511,35,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-79.5
$GPS2,061010,081650,2428.105,12706.564,10,1.3,10,-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,318.9,4390,-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,-63.80,0.000,2,0.000,0.000,104,1536,3094,0,0,0,0,0,0
$GC,83,-0.72,-185.1,3.3,-4.7,10,112,10.23,2.25,-12.45,0.000,4,0.194,0.057,3007,2959,3825,0,0,0,0,0,0
$GC,196,-0.68,-185.1,43.0,-27.4,29,204,0.10,2.17,0.00,0.000,6,0.150,0.044,3035,1551,3827,0,0,0,0,0,0
$GC,528,-0.65,-185.1,136.4,-24.0,90,535,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1550,3829,0,0,0,0,0,0
$GC,856,-0.63,-185.1,210.8,-20.8,126,861,0.05,2.10,0.00,0.000,4,0.246,0.050,3049,166,3831,0,0,0,0,0,0
$GC,928,-0.64,-185.1,223.9,-16.2,132,932,0.00,2.03,0.00,0.000,6,0.000,0.037,3040,1535,3831,0,0,0,0,0,0
$GC,1259,-0.64,-185.1,281.6,-17.1,163,1263,0.00,2.15,0.00,0.000,4,0.000,0.045,3030,2963,3831,0,0,0,0,0,0
$GC,1299,-0.67,-185.1,287.6,-13.7,166,1303,0.00,2.17,0.00,0.000,6,0.000,0.043,3030,1538,3831,0,0,0,0,0,0
$GC,1623,-0.67,-185.1,345.5,-17.7,196,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1537,3831,0,0,0,0,0,0
$GC,1944,-0.67,-185.1,394.8,-14.5,226,1948,0.00,2.10,0.00,0.000,4,0.000,0.055,3030,164,3830,0,0,0,0,0,0
$GC,2003,-0.70,-185.1,403.8,-13.1,231,2010,0.00,2.08,0.00,0.000,6,0.000,0.040,3022,1526,3830,0,0,0,0,0,0
$GC,2329,-0.71,-185.1,448.7,-14.2,262,2333,0.00,2.17,0.00,0.000,4,0.000,0.047,3011,2965,3829,0,0,0,0,0,0
$GC,2369,-0.74,-185.1,454.0,-12.8,265,2374,0.00,2.20,0.00,0.000,6,0.000,0.046,3011,1536,3829,0,0,0,0,0,0
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2686,0.00,0.0,500.2,14.3,294,2833,0.65,0.00,141.30,0.883,4,0.101,0.000,3247,1713,3068,0,0,0,0,0,0
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin climb
$GC,2836,0.72,185.1,505.3,0.0,306,2991,0.62,2.22,145.38,0.864,4,0.035,0.048,3519,3098,2312,0,0,0,0,0,0
$GC,3138,0.66,185.1,462.5,21.0,332,3148,0.20,2.22,0.00,0.000,6,0.141,0.042,3464,1697,2306,0,0,0,0,0,0
$GC,3465,0.63,185.1,406.5,17.1,363,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1696,2301,0,0,0,0,0,0
$GC,3784,0.60,185.1,354.7,16.7,393,3789,0.08,2.15,0.00,0.000,4,0.211,0.040,3445,3109,2298,0,0,0,0,0,0
$GC,3827,0.59,185.1,347.4,15.6,396,3835,0.00,2.20,0.00,0.000,6,0.000,0.043,3456,1698,2298,0,0,0,0,0,0
$GC,4154,0.61,216.4,302.1,13.4,427,4182,0.00,2.17,23.45,0.747,4,0.000,0.040,3456,3107,2184,0,0,0,0,0,0
$GC,4199,0.62,232.3,295.5,14.3,430,4218,0.00,2.17,14.05,0.705,6,0.000,0.042,3465,1718,2120,0,0,0,0,0,0
$GC,4536,0.62,239.0,245.3,14.8,462,4550,0.00,2.22,5.88,0.569,4,0.000,0.051,3475,292,2093,0,0,0,0,0,0
$GC,4585,0.61,239.0,238.0,15.2,466,4589,0.10,2.12,0.00,0.000,6,0.147,0.034,3444,1715,2091,0,0,0,0,0,0
$GC,4916,0.67,273.1,196.1,13.3,497,4947,0.08,0.00,28.00,0.681,6,0.118,0.000,3514,1717,1954,0,0,0,0,0,0
$GC,5263,0.65,273.1,130.3,18.1,540,5272,0.17,2.28,0.00,0.000,4,0.135,0.052,3468,289,1947,0,0,0,0,0,0
$GC,5350,0.73,304.1,118.0,13.4,555,5384,0.00,2.12,24.77,0.619,6,0.000,0.032,3468,1710,1827,0,0,0,0,0,0
$GC,5710,0.96,455.7,77.7,6.8,620,5833,0.25,2.22,114.18,0.586,4,0.047,0.037,3634,3105,1209,0,0,0,0,0,0
$GC,5899,0.94,455.7,33.3,22.9,650,5908,0.28,2.22,0.00,0.000,6,0.120,0.044,3550,1713,1206,0,0,0,0,0,0
$STATE,6073,end climb,SURFACE_DEPTH_REACHED
$STATE,6073,begin surface coast
$FINISH,0.6,1.009044
$STATE,6091,end surface coast,CONTROL_FINISHED_OK
$STATE,6091,begin surface
$SM_CCo,6167,0.00,0.000,0,0,1197,458.71
$SM_GC,1.62,8.27,0.00,0.00,0.016,0.000,0.000,102,1533,1197,-9.68,-0.42,458.71
$IRIDIUM_FIX,2418.11,12708.29,061010,060612
$TT8_MAMPS,0.026964
$HUMID,48.14
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.4,25.205
$10V_AH,10.4,17.563
$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,21.075,48.275,497.000,0.000,0.000,29.160,38.096,96.765,0.250,0.000,13.321,1625.583,2487.692,473.059,1737.607,109.875,0.000,1157.987,0.000,1568.808,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,60.435,882.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.700,0.000,869.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43697,685
$CAP_FILE_SIZE,78381,0
$CFSIZE,260165632,243699712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.304,133.9,1
$GPS,061010,100050,2428.022,12706.562,11,1.0,11,-3.7