version: 66.08
glider: 176
mission: 2
dive: 134
start: 10 2 110 15 21 33
data:
$ID,176
$MISSION,2
$DIVE,134
$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,-4925.4014
$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
$GPS1,021010,151508,2319.073,12602.520,8,1.4,8,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.3
$GPS2,021010,152107,2319.118,12602.489,12,1.3,12,-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,78.4,168316,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-65.22,0.000,2,0.000,0.000,200,2454,2461,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.0,-4.8,8,126,8.55,0.00,-28.75,0.000,6,0.245,0.000,2358,2454,3921,0,0,0,0,0,0
$GC,475,-0.70,-219.0,138.2,-27.6,73,485,0.00,2.00,0.00,0.000,4,0.000,0.056,2358,3761,3924,0,0,0,0,0,0
$GC,504,-0.69,-219.0,146.5,-27.4,77,515,0.03,2.03,0.00,0.000,6,0.192,0.029,2369,2353,3924,0,0,0,0,0,0
$GC,853,-0.69,-219.0,226.0,-21.3,138,861,0.00,2.17,0.00,0.000,4,0.000,0.054,2368,3769,3926,0,0,0,0,0,0
$GC,908,-0.69,-219.0,235.7,-15.6,147,914,0.00,2.00,0.00,0.000,6,0.000,0.029,2367,2350,3926,0,0,0,0,0,0
$GC,1252,-0.69,-219.0,299.7,-18.7,208,1260,0.00,2.03,0.00,0.000,4,0.000,0.036,2368,951,3926,0,0,0,0,0,0
$GC,1270,-0.69,-219.0,303.6,-18.9,210,1280,0.00,2.20,0.00,0.000,6,0.000,0.043,2367,2414,3926,0,0,0,0,0,0
$GC,1598,-0.69,-219.0,361.7,-17.7,241,1601,0.00,2.00,0.00,0.000,4,0.000,0.055,2363,3767,3925,0,0,0,0,0,0
$GC,1623,-0.70,-219.0,365.7,-16.0,243,1626,0.00,2.00,0.00,0.000,6,0.000,0.029,2363,2342,3924,0,0,0,0,0,0
$GC,1954,-0.70,-219.0,419.5,-14.9,274,1958,0.00,2.15,0.00,0.000,4,0.000,0.054,2363,3776,3924,0,0,0,0,0,0
$GC,2006,-0.71,-219.0,426.3,-11.8,278,2010,0.00,2.00,0.00,0.000,6,0.000,0.029,2363,2349,3924,0,0,0,0,0,0
$GC,2339,-0.72,-219.0,471.2,-14.1,309,2343,0.00,2.15,0.00,0.000,4,0.000,0.056,2363,3770,3921,0,0,0,0,0,0
$GC,2372,-0.72,-219.0,475.9,-13.0,312,2376,0.00,2.00,0.00,0.000,6,0.000,0.029,2363,2348,3921,0,0,0,0,0,0
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2579,-0.11,0.0,501.0,13.4,331,2750,0.55,0.12,165.50,0.839,6,0.112,0.056,2559,2142,3025,0,0,0,0,0,0
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2752,0.72,219.0,512.4,0.0,345,2931,0.68,2.38,171.18,0.829,4,0.034,0.041,2873,662,2133,0,0,0,0,0,0
$GC,3119,0.70,219.0,472.7,19.0,376,3129,0.20,2.22,0.00,0.000,6,0.156,0.036,2809,2131,2125,0,0,0,0,0,0
$GC,3447,0.69,219.0,418.9,18.2,407,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2131,2122,0,0,0,0,0,0
$GC,3766,0.70,235.8,368.6,14.4,437,3791,0.00,2.17,12.65,0.702,4,0.000,0.050,2809,3530,2064,0,0,0,0,0,0
$GC,3861,0.69,235.8,352.9,16.1,445,3866,0.03,2.17,0.00,0.000,6,0.308,0.033,2809,2054,2063,0,0,0,0,0,0
$GC,4188,0.68,235.8,304.9,16.0,475,4192,0.00,2.03,0.00,0.000,4,0.000,0.042,2818,657,2059,0,0,0,0,0,0
$GC,4230,0.68,235.8,298.3,15.9,479,4238,0.08,2.15,0.00,0.000,6,0.194,0.035,2800,2130,2058,0,0,0,0,0,0
$GC,4587,0.70,263.2,243.8,13.9,540,4616,0.08,0.00,21.90,0.668,6,0.125,0.000,2852,2130,1953,0,0,0,0,0,0
$GC,4966,0.69,263.2,180.0,16.2,604,4974,0.15,0.00,0.00,0.000,6,0.165,0.000,2808,2130,1947,0,0,0,0,0,0
$GC,5326,0.76,318.4,130.7,12.6,665,5377,0.10,2.20,43.55,0.600,4,0.104,0.050,2876,3532,1727,0,0,0,0,0,0
$GC,5397,0.75,318.4,118.8,19.4,674,5407,0.17,2.20,0.00,0.000,6,0.152,0.034,2829,2070,1725,0,0,0,0,0,0
$GC,5764,0.82,373.1,71.4,12.6,735,5814,0.10,2.25,42.40,0.549,4,0.104,0.046,2899,3539,1504,0,0,0,0,0,0
$GC,5853,0.81,373.1,56.6,17.8,747,5862,0.15,2.22,0.00,0.000,6,0.140,0.034,2848,2065,1502,0,0,0,0,0,0
$GC,6219,0.96,485.9,15.6,9.9,808,6301,0.17,0.00,79.22,0.502,2,0.069,0.000,2946,2060,1069,0,0,0,0,0,0
$STATE,6302,end climb,SURFACE_DEPTH_REACHED
$STATE,6302,begin surface coast
$FINISH,0.5,1.021825
$STATE,6317,end surface coast,CONTROL_FINISHED_OK
$STATE,6318,begin surface
$SM_CCo,6332,71.03,0.068,0,0,540,610.06
$SM_GC,1.46,0.00,0.00,71.03,0.000,0.000,0.068,197,2448,540,-7.48,1.36,610.06
$IRIDIUM_FIX,2309.79,12600.09,021010,151517
$TT8_MAMPS,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,18.590
$10V_AH,10.7,15.659
$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,17.975,47.775,536.400,71.025,0.000,47.919,49.597,104.515,0.000,0.000,15.032,1923.414,1610.596,551.001,2567.947,112.868,0.000,1385.868,0.000,2357.765,0.000,0.543,0.000
$DEVICE_MAMPS,308.295,55.845,839.205,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.940,0.000,1725.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,50114,820
$CAP_FILE_SIZE,84909,0
$CFSIZE,260165632,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217,322.9,1
$GPS,021010,170924,2319.872,12603.099,23,0.9,41,-3.4