version: 66.08
glider: 176
mission: 2
dive: 115
start: 10 1 110 4 14 41
data:
$ID,176
$MISSION,2
$DIVE,115
$N_DIVES,125
$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,150
$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,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$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,610
$N_FILEKB,4
$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,-4885.4624
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-70.249977
$PRESSURE_SLOPE,0.0001162977
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,011010,041007,2304.302,12554.153,29,1.2,29,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.8
$GPS2,011010,041414,2304.295,12554.079,13,1.8,13,-3.3
$SPEED_LIMITS,0.262,0.357
$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,76.1,198692,-20.3,-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,-219.0,0.0,0.0,0,84,0.00,0.00,-66.68,0.000,2,0.000,0.000,199,2443,2503,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.1,-5.2,8,127,8.68,0.00,-26.98,0.000,6,0.249,0.000,2359,2442,3923,0,0,0,0,0,0
$GC,477,-0.71,-219.0,127.1,-27.3,73,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2442,3926,0,0,0,0,0,0
$GC,829,-0.70,-219.0,211.3,-21.7,134,838,0.00,2.03,0.00,0.000,4,0.000,0.058,2359,3764,3927,0,0,0,0,0,0
$GC,853,-0.69,-219.0,215.7,-20.4,137,861,0.00,2.03,0.00,0.000,6,0.000,0.029,2359,2339,3927,0,0,0,0,0,0
$GC,1200,-0.69,-219.0,284.5,-19.9,198,1209,0.05,2.22,0.00,0.000,4,0.252,0.057,2371,3766,3927,0,0,0,0,0,0
$GC,1246,-0.70,-219.0,292.7,-17.5,205,1253,0.00,2.03,0.00,0.000,6,0.000,0.030,2371,2343,3928,0,0,0,0,0,0
$GC,1580,-0.70,-219.0,346.5,-15.7,240,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2339,3927,0,0,0,0,0,0
$GC,1901,-0.71,-219.0,391.1,-13.5,270,1905,0.05,2.15,0.00,0.000,4,0.178,0.057,2331,3766,3926,0,0,0,0,0,0
$GC,1988,-0.71,-219.0,403.0,-12.5,277,1992,0.12,2.03,0.00,0.000,6,0.144,0.030,2372,2337,3925,0,0,0,0,0,0
$GC,2314,-0.72,-219.0,444.1,-12.8,307,2319,0.08,2.00,0.00,0.000,4,0.131,0.037,2317,957,3923,0,0,0,0,0,0
$GC,2362,-0.73,-219.0,450.8,-15.3,311,2366,0.15,2.17,0.00,0.000,6,0.151,0.046,2363,2422,3923,0,0,0,0,0,0
$GC,2689,-0.73,-219.0,492.9,-12.7,341,2693,0.05,2.03,0.00,0.000,4,0.181,0.057,2320,3770,3920,0,0,0,0,0,0
$GC,2735,-0.74,-219.0,499.3,-14.2,345,2740,0.08,2.03,0.00,0.000,1,0.174,0.031,2346,2352,3920,0,0,0,0,0,0
$STATE,2741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2741,begin apogee
$GC,2745,-0.11,0.0,500.3,13.1,345,2921,0.60,0.12,165.50,0.841,6,0.109,0.091,2562,2139,3027,0,0,0,0,0,0
$STATE,2922,end apogee,CONTROL_FINISHED_OK
$STATE,2922,begin climb
$GC,2923,0.72,219.0,509.5,0.0,360,3110,0.70,2.38,171.77,0.827,4,0.046,0.043,2863,665,2132,0,0,0,0,0,0
$GC,3362,0.70,219.0,447.4,19.9,397,3371,0.12,2.22,0.00,0.000,6,0.158,0.038,2807,2128,2124,0,0,0,0,0,0
$GC,3688,0.70,223.6,394.8,14.9,428,3692,0.00,2.17,0.00,0.000,4,0.000,0.044,2817,660,2121,0,0,0,0,0,0
$GC,3834,0.73,257.1,373.0,13.6,440,3868,0.00,2.20,29.33,0.747,6,0.000,0.038,2818,2126,1978,0,0,0,0,0,0
$GC,4185,0.72,257.1,316.3,15.5,473,4189,0.00,2.10,0.00,0.000,4,0.000,0.052,2818,3525,1970,0,0,0,0,0,0
$GC,4269,0.71,257.1,300.9,17.7,480,4273,0.00,2.12,0.00,0.000,6,0.000,0.034,2818,2068,1970,0,0,0,0,0,0
$GC,4612,0.70,257.1,246.5,15.3,540,4621,0.00,2.10,0.00,0.000,4,0.000,0.047,2818,665,1967,0,0,0,0,0,0
$GC,4713,0.72,277.5,231.5,14.2,557,4735,0.00,2.15,16.23,0.649,6,0.000,0.037,2818,2122,1895,0,0,0,0,0,0
$GC,5072,0.72,277.5,176.1,16.4,620,5081,0.00,2.12,0.00,0.000,4,0.000,0.049,2818,3525,1890,0,0,0,0,0,0
$GC,5133,0.71,277.5,165.8,18.0,630,5141,0.00,2.15,0.00,0.000,6,0.000,0.034,2820,2071,1890,0,0,0,0,0,0
$GC,5493,0.80,352.2,119.9,11.7,691,5559,0.10,2.12,58.88,0.594,4,0.108,0.043,2897,662,1589,0,0,0,0,0,0
$GC,5668,0.79,352.2,91.0,17.5,717,5677,0.17,2.22,0.00,0.000,6,0.142,0.037,2838,2130,1583,0,0,0,0,0,0
$GC,6026,0.95,478.3,44.8,9.3,778,6132,0.17,2.30,95.72,0.527,4,0.072,0.044,2940,663,1074,0,0,0,0,0,0
$GC,6148,0.95,478.3,23.1,19.5,793,6158,0.15,2.25,0.00,0.000,6,0.129,0.038,2889,2122,1071,0,0,0,0,0,0
$STATE,6279,end climb,SURFACE_DEPTH_REACHED
$STATE,6279,begin surface coast
$FINISH,0.5,1.021657
$STATE,6301,end surface coast,CONTROL_FINISHED_OK
$STATE,6301,begin surface
$SM_CCo,6314,72.20,0.068,0,0,540,610.06
$SM_GC,1.28,0.00,0.00,72.20,0.000,0.000,0.068,205,2446,540,-7.45,1.30,610.06
$IRIDIUM_FIX,2258.07,12549.42,011010,020224
$TT8_MAMPS,0.026964
$HUMID,51.41
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,16.252
$10V_AH,10.7,13.525
$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,18.100,52.300,537.425,72.200,0.000,29.709,21.532,104.905,0.000,0.000,15.874,1929.333,1504.334,564.392,2534.757,107.364,0.000,1408.175,0.000,2374.654,0.000,0.542,0.000
$DEVICE_MAMPS,252.450,91.035,840.735,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.161,0.000,1719.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,50426,818
$CAP_FILE_SIZE,86660,0
$CFSIZE,260165632,247590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.254,310.2,1
$GPS,011010,060204,2305.094,12554.269,9,3.5,28,-3.3