version: 66.08
glider: 176
mission: 2
dive: 130
start: 10 2 110 7 49 5
data:
$ID,176
$MISSION,2
$DIVE,130
$N_DIVES,140
$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,-4920.1914
$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
$GPS1,021010,074437,2316.344,12601.417,30,1.3,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.5
$GPS2,021010,074838,2316.332,12601.360,12,2.0,12,-3.4
$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,82.2,173540,-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,-219.0,0.0,0.0,0,80,0.00,0.00,-63.47,0.000,2,0.000,0.000,202,2432,2416,0,0,0,0,0,0
$GC,83,-0.72,-219.0,3.0,-5.2,8,134,8.45,2.08,-30.45,0.000,4,0.243,0.071,2349,3765,3923,0,0,0,0,0,0
$GC,188,-0.70,-219.0,36.8,-37.5,23,197,0.05,2.08,0.00,0.000,6,0.162,0.032,2367,2358,3924,0,0,0,0,0,0
$GC,553,-0.69,-219.0,139.6,-24.6,84,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2353,3926,0,0,0,0,0,0
$GC,902,-0.69,-219.0,217.3,-18.5,145,910,0.00,2.12,0.00,0.000,4,0.000,0.054,2366,3774,3927,0,0,0,0,0,0
$GC,930,-0.68,-219.0,222.5,-19.1,149,937,0.00,2.03,0.00,0.000,6,0.000,0.028,2367,2349,3927,0,0,0,0,0,0
$GC,1275,-0.68,-219.0,288.2,-20.1,210,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2344,3927,0,0,0,0,0,0
$GC,1606,-0.68,-219.0,346.8,-17.0,246,1610,0.00,2.12,0.00,0.000,4,0.000,0.054,2365,3768,3926,0,0,0,0,0,0
$GC,1650,-0.69,-219.0,353.0,-14.4,249,1653,0.00,2.00,0.00,0.000,6,0.000,0.030,2365,2346,3926,0,0,0,0,0,0
$GC,1980,-0.70,-219.0,401.4,-14.0,280,1984,0.00,2.00,0.00,0.000,4,0.000,0.036,2365,948,3925,0,0,0,0,0,0
$GC,2041,-0.71,-219.0,409.3,-10.8,285,2049,0.00,2.17,0.00,0.000,6,0.000,0.044,2363,2422,3924,0,0,0,0,0,0
$GC,2366,-0.72,-219.0,453.2,-13.5,316,2370,0.00,2.00,0.00,0.000,4,0.000,0.055,2363,3777,3922,0,0,0,0,0,0
$GC,2405,-0.73,-219.0,457.8,-13.1,319,2408,0.00,2.00,0.00,0.000,6,0.000,0.029,2363,2351,3922,0,0,0,0,0,0
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2713,begin apogee
$GC,2716,-0.11,0.0,501.3,14.7,348,2889,0.55,0.15,165.25,0.850,6,0.110,0.080,2561,2145,3027,0,0,0,0,0,0
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin climb
$GC,2891,0.72,219.0,515.1,0.0,362,3070,0.68,2.20,171.77,0.838,4,0.041,0.045,2852,3537,2132,0,0,0,0,0,0
$GC,3320,0.70,219.0,461.0,22.7,398,3325,0.20,2.20,0.00,0.000,6,0.184,0.031,2807,2052,2125,0,0,0,0,0,0
$GC,3645,0.68,219.0,403.2,16.8,428,3648,0.00,2.03,0.00,0.000,4,0.000,0.043,2817,665,2121,0,0,0,0,0,0
$GC,3760,0.67,219.0,383.3,16.2,438,3764,0.08,2.17,0.00,0.000,6,0.199,0.037,2799,2128,2119,0,0,0,0,0,0
$GC,4084,0.71,258.1,335.0,13.3,468,4124,0.10,2.22,29.77,0.736,4,0.102,0.041,2874,660,1972,0,0,0,0,0,0
$GC,4173,0.70,258.1,318.5,20.2,475,4177,0.22,2.20,0.00,0.000,6,0.161,0.037,2808,2129,1968,0,0,0,0,0,0
$GC,4519,0.72,284.5,265.8,13.9,525,4548,0.08,2.12,21.30,0.684,4,0.127,0.048,2861,3527,1866,0,0,0,0,0,0
$GC,4578,0.70,284.5,254.4,20.7,534,4588,0.17,2.20,0.00,0.000,6,0.158,0.032,2815,2062,1863,0,0,0,0,0,0
$GC,4939,0.70,284.5,195.1,16.8,595,4946,0.00,2.05,0.00,0.000,4,0.000,0.044,2818,666,1859,0,0,0,0,0,0
$GC,5035,0.70,284.5,179.8,15.7,611,5042,0.00,2.17,0.00,0.000,6,0.000,0.038,2818,2131,1858,0,0,0,0,0,0
$GC,5395,0.75,330.5,127.5,13.0,672,5437,0.08,2.17,36.40,0.600,4,0.134,0.049,2873,3528,1678,0,0,0,0,0,0
$GC,5464,0.74,330.5,114.6,22.2,681,5474,0.17,2.20,0.00,0.000,6,0.149,0.032,2824,2060,1675,0,0,0,0,0,0
$GC,5830,0.87,428.5,64.8,10.6,742,5913,0.15,2.12,75.35,0.552,4,0.079,0.041,2923,657,1278,0,0,0,0,0,0
$GC,5975,0.87,428.5,42.9,16.7,762,5985,0.17,2.25,0.00,0.000,6,0.129,0.038,2863,2127,1273,0,0,0,0,0,0
$STATE,6339,end climb,SURFACE_DEPTH_REACHED
$STATE,6339,begin surface coast
$FINISH,0.6,1.021774
$STATE,6372,end surface coast,CONTROL_FINISHED_OK
$STATE,6372,begin surface
$SM_CCo,6385,94.53,0.068,0,0,540,610.06
$SM_GC,1.23,0.00,0.00,94.53,0.000,0.000,0.068,206,2458,540,-7.45,1.64,610.06
$IRIDIUM_FIX,2307.44,12558.71,021010,050508
$TT8_MAMPS,0.026964
$HUMID,49.96
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,18.098
$10V_AH,10.8,15.205
$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,17.825,51.875,499.850,94.525,0.000,28.156,14.965,101.982,0.000,0.000,17.022,1957.343,1524.685,561.247,2575.958,108.075,0.000,1384.872,0.000,2418.324,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,80.325,849.915,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.351,0.000,1764.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,50435,828
$CAP_FILE_SIZE,85093,0
$CFSIZE,260165632,246882304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293,300.0,1
$GPS,021010,093755,2317.020,12601.460,12,1.6,23,-3.4