version: 66.08
glider: 176
mission: 2
dive: 139
start: 10 3 110 0 43 47
data:
$ID,176
$MISSION,2
$DIVE,139
$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,-4932.0513
$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
$GPS1,031010,003854,2323.377,12607.229,40,0.9,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.0
$GPS2,031010,004320,2323.395,12607.221,8,1.8,8,-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,36.4,157154,-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,-219.0,0.0,0.0,0,88,0.00,0.00,-70.75,0.000,2,0.000,0.000,209,2463,2662,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.6,-7.0,9,132,8.57,2.00,-22.27,0.000,4,0.248,0.067,2349,3762,3923,0,0,0,0,0,0
$GC,182,-0.68,-219.0,39.1,-46.2,22,191,0.08,2.05,0.00,0.000,6,0.164,0.029,2373,2353,3924,0,0,0,0,0,0
$GC,546,-0.67,-219.0,141.0,-22.0,83,556,0.00,2.03,0.00,0.000,4,0.000,0.035,2373,955,3925,0,0,0,0,0,0
$GC,576,-0.67,-219.0,147.1,-20.4,87,586,0.00,2.22,0.00,0.000,6,0.000,0.045,2373,2419,3925,0,0,0,0,0,0
$GC,925,-0.67,-219.0,219.6,-20.4,148,933,0.00,2.05,0.00,0.000,4,0.000,0.057,2373,3766,3926,0,0,0,0,0,0
$GC,1004,-0.67,-219.0,233.6,-15.1,161,1011,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2336,3926,0,0,0,0,0,0
$GC,1349,-0.67,-219.0,295.8,-17.2,222,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2332,3926,0,0,0,0,0,0
$GC,1687,-0.68,-219.0,347.3,-14.2,255,1691,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3770,3926,0,0,0,0,0,0
$GC,1719,-0.68,-219.0,352.3,-13.7,257,1726,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2354,3925,0,0,0,0,0,0
$GC,2045,-0.69,-219.0,397.6,-14.3,288,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2350,3925,0,0,0,0,0,0
$GC,2364,-0.70,-219.0,440.2,-13.7,318,2368,0.00,2.12,0.00,0.000,4,0.000,0.056,2373,3767,3923,0,0,0,0,0,0
$GC,2407,-0.71,-219.0,446.3,-12.4,321,2415,0.08,2.03,0.00,0.000,6,0.125,0.030,2308,2332,3923,0,0,0,0,0,0
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2684,-0.11,0.0,502.2,21.1,347,2857,0.73,0.12,165.15,0.842,6,0.127,0.089,2556,2142,3027,0,0,0,0,0,0
$STATE,2857,end apogee,CONTROL_FINISHED_OK
$STATE,2858,begin climb
$GC,2859,0.72,219.0,515.3,0.0,361,3044,0.70,2.38,171.43,0.831,4,0.045,0.042,2857,663,2131,0,0,0,0,0,0
$GC,3272,0.70,219.0,465.0,20.9,396,3282,0.15,2.20,0.00,0.000,6,0.148,0.036,2808,2120,2123,0,0,0,0,0,0
$GC,3599,0.69,219.0,410.6,15.6,427,3603,0.00,2.17,0.00,0.000,4,0.000,0.042,2818,660,2120,0,0,0,0,0,0
$GC,3629,0.68,219.0,405.8,15.9,429,3633,0.05,2.15,0.00,0.000,6,0.226,0.037,2805,2123,2121,0,0,0,0,0,0
$GC,3955,0.67,219.0,356.9,15.5,459,3959,0.00,2.15,0.00,0.000,4,0.000,0.043,2805,663,2119,0,0,0,0,0,0
$GC,4030,0.70,246.1,346.0,13.9,465,4056,0.00,2.15,20.35,0.724,6,0.000,0.037,2805,2123,2022,0,0,0,0,0,0
$GC,4371,0.72,265.9,297.2,14.2,498,4395,0.08,2.12,16.35,0.685,4,0.135,0.047,2858,3527,1941,0,0,0,0,0,0
$GC,4414,0.70,265.9,289.8,18.5,504,4423,0.17,2.17,0.00,0.000,6,0.156,0.032,2809,2068,1940,0,0,0,0,0,0
$GC,4764,0.70,273.9,236.1,14.8,565,4779,0.00,2.08,7.30,0.576,4,0.000,0.041,2818,665,1909,0,0,0,0,0,0
$GC,4876,0.74,304.9,219.4,13.7,584,4912,0.00,2.20,26.15,0.653,6,0.000,0.038,2818,2127,1782,0,0,0,0,0,0
$GC,5256,0.74,304.9,163.6,15.5,649,5262,0.05,0.00,0.00,0.000,6,0.181,0.000,2861,2127,1776,0,0,0,0,0,0
$GC,5610,0.76,322.8,104.8,14.3,710,5637,0.12,2.22,14.62,0.558,4,0.170,0.043,2830,664,1708,0,0,0,0,0,0
$GC,5750,0.94,462.6,90.1,8.7,732,5863,0.15,2.20,107.43,0.563,6,0.042,0.039,2928,2127,1140,0,0,0,0,0,0
$STATE,6200,end climb,SURFACE_DEPTH_REACHED
$STATE,6200,begin surface coast
$FINISH,0.5,0.996918
$STATE,6219,end surface coast,CONTROL_FINISHED_OK
$STATE,6219,begin surface
$SM_CCo,6232,79.38,0.069,0,0,539,610.06
$SM_GC,1.32,0.00,0.00,79.38,0.000,0.000,0.069,213,2427,539,-7.43,0.76,610.06
$IRIDIUM_FIX,2314.48,12606.65,021010,222203
$TT8_MAMPS,0.026964
$HUMID,51.29
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,19.206
$10V_AH,10.7,16.221
$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,17.800,47.825,528.775,79.375,0.000,25.965,44.326,106.616,0.000,0.000,11.375,1881.310,1549.781,568.426,2465.897,118.914,0.000,1386.825,0.000,2298.354,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,88.740,841.500,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.054,0.000,1664.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46940,807
$CAP_FILE_SIZE,82716,0
$CFSIZE,260165632,246452224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,118.7,1
$GPS,031010,022938,2324.073,12608.104,11,1.4,12,-3.4