version: 66.08
glider: 176
mission: 2
dive: 138
start: 10 2 110 22 53 17
data:
$ID,176
$MISSION,2
$DIVE,138
$N_DIVES,150
$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,-4930.7026
$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
$GPS1,021010,224849,2322.707,12606.114,11,1.8,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.2
$GPS2,021010,225250,2322.726,12606.122,14,1.8,14,-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,49.0,159275,-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,-219.0,0.0,0.0,0,89,0.00,0.00,-72.35,0.000,2,0.000,0.000,201,2436,2718,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.7,-6.5,9,126,8.65,2.08,-21.05,0.000,4,0.249,0.067,2349,3770,3922,0,0,0,0,0,0
$GC,147,-0.68,-219.0,24.1,-39.5,16,156,0.08,2.05,0.00,0.000,6,0.168,0.028,2373,2347,3923,0,0,0,0,0,0
$GC,512,-0.67,-219.0,134.1,-23.9,77,520,0.00,2.20,0.00,0.000,4,0.000,0.057,2372,3766,3925,0,0,0,0,0,0
$GC,632,-0.68,-219.0,156.1,-14.1,97,639,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2340,3926,0,0,0,0,0,0
$GC,978,-0.68,-219.0,227.5,-19.6,158,987,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3763,3926,0,0,0,0,0,0
$GC,1035,-0.68,-219.0,236.9,-15.9,167,1043,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2348,3927,0,0,0,0,0,0
$GC,1382,-0.68,-219.0,296.1,-16.2,228,1391,0.00,2.00,0.00,0.000,4,0.000,0.034,2373,959,3927,0,0,0,0,0,0
$GC,1422,-0.69,-219.0,301.6,-13.8,233,1426,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2430,3927,0,0,0,0,0,0
$GC,1753,-0.70,-219.0,349.4,-15.7,264,1757,0.00,1.98,0.00,0.000,4,0.000,0.055,2373,3770,3926,0,0,0,0,0,0
$GC,1822,-0.71,-219.0,358.6,-11.6,270,1826,0.08,2.00,0.00,0.000,6,0.125,0.029,2314,2335,3925,0,0,0,0,0,0
$GC,2147,-0.70,-219.0,426.5,-21.1,300,2151,0.17,2.20,0.00,0.000,4,0.158,0.056,2364,3770,3925,0,0,0,0,0,0
$GC,2190,-0.71,-219.0,433.6,-15.7,303,2194,0.00,2.00,0.00,0.000,6,0.000,0.029,2364,2346,3924,0,0,0,0,0,0
$GC,2521,-0.72,-219.0,479.6,-13.3,334,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2340,3924,0,0,0,0,0,0
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2693,-0.11,0.0,500.7,12.3,350,2864,0.55,0.15,165.05,0.838,6,0.112,0.080,2560,2143,3027,0,0,0,0,0,0
$STATE,2865,end apogee,CONTROL_FINISHED_OK
$STATE,2865,begin climb
$GC,2866,0.72,219.0,508.3,0.0,364,3052,0.70,2.38,170.98,0.825,4,0.047,0.041,2858,663,2132,0,0,0,0,0,0
$GC,3237,0.70,219.0,467.4,19.3,395,3246,0.15,2.22,0.00,0.000,6,0.150,0.036,2809,2125,2125,0,0,0,0,0,0
$GC,3562,0.69,219.0,413.4,16.3,426,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2126,2121,0,0,0,0,0,0
$GC,3884,0.69,223.9,366.6,14.9,456,3888,0.00,2.17,0.00,0.000,4,0.000,0.043,2818,663,2119,0,0,0,0,0,0
$GC,3926,0.69,232.3,359.8,14.8,459,3942,0.05,2.15,9.93,0.674,6,0.228,0.037,2806,2129,2079,0,0,0,0,0,0
$GC,4270,0.69,238.3,307.2,14.9,491,4283,0.00,2.10,6.03,0.577,4,0.000,0.047,2805,3537,2054,0,0,0,0,0,0
$GC,4320,0.67,238.3,299.2,17.4,495,4328,0.03,2.12,0.00,0.000,6,0.303,0.031,2804,2062,2053,0,0,0,0,0,0
$GC,4669,0.73,287.3,250.4,12.9,556,4720,0.10,2.15,39.47,0.684,4,0.106,0.043,2880,658,1853,0,0,0,0,0,0
$GC,4801,0.72,287.3,225.5,20.1,577,4808,0.22,2.20,0.00,0.000,6,0.157,0.037,2813,2129,1848,0,0,0,0,0,0
$GC,5149,0.74,310.3,172.4,14.1,638,5173,0.08,0.00,18.20,0.609,6,0.125,0.000,2867,2130,1761,0,0,0,0,0,0
$GC,5519,0.73,310.3,109.4,17.8,701,5528,0.17,2.22,0.00,0.000,4,0.158,0.044,2818,665,1755,0,0,0,0,0,0
$GC,5602,0.89,429.0,99.3,9.6,714,5701,0.15,2.17,91.62,0.571,6,0.044,0.037,2919,2121,1276,0,0,0,0,0,0
$GC,6050,0.88,429.0,15.1,17.2,786,6059,0.17,2.12,0.00,0.000,4,0.158,0.047,2866,3527,1268,0,0,0,0,0,0
$GC,6121,0.97,492.0,5.2,12.2,797,6149,0.08,2.17,21.95,0.485,2,0.051,0.032,2945,2052,1150,0,0,0,0,0,0
$STATE,6149,end climb,SURFACE_DEPTH_REACHED
$STATE,6150,begin surface coast
$FINISH,0.5,1.021274
$STATE,6175,end surface coast,CONTROL_FINISHED_OK
$STATE,6175,begin surface
$SM_CCo,6189,80.18,0.068,0,0,539,610.06
$SM_GC,1.31,0.00,0.00,80.18,0.000,0.000,0.068,211,2462,539,-7.44,1.78,610.06
$IRIDIUM_FIX,2312.13,12606.65,021010,212146
$TT8_MAMPS,0.026964
$HUMID,50.98
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,19.083
$10V_AH,10.8,16.110
$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,18.375,52.150,523.225,80.175,0.000,27.652,15.503,101.693,0.000,0.000,16.819,1889.645,1510.862,563.120,2433.962,119.501,0.000,1370.609,0.000,2290.230,0.000,0.542,0.000
$DEVICE_MAMPS,302.940,80.325,838.440,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.041,0.000,1661.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47040,804
$CAP_FILE_SIZE,84886,0
$CFSIZE,260165632,246497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 69.9,1
$GPS,031010,003854,2323.377,12607.229,40,0.9,40,-3.4