version: 66.08
glider: 176
mission: 2
dive: 140
start: 10 3 110 2 34 11
data:
$ID,176
$MISSION,2
$DIVE,140
$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,-4933.4023
$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
$GPS1,031010,022938,2324.073,12608.104,11,1.4,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.3
$GPS2,031010,023344,2324.060,12608.093,15,1.4,15,-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,34.3,155276,-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,-71.30,0.000,2,0.000,0.000,213,2428,2687,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.6,-7.1,9,133,8.48,2.08,-21.83,0.000,4,0.246,0.069,2349,3768,3923,0,0,0,0,0,0
$GC,195,-0.69,-219.0,44.3,-43.9,24,204,0.05,2.08,0.00,0.000,6,0.162,0.031,2367,2356,3924,0,0,0,0,0,0
$GC,559,-0.68,-219.0,139.4,-21.2,85,568,0.00,2.03,0.00,0.000,4,0.000,0.034,2367,955,3925,0,0,0,0,0,0
$GC,589,-0.68,-219.0,145.5,-20.9,89,597,0.00,2.22,0.00,0.000,6,0.000,0.045,2367,2419,3926,0,0,0,0,0,0
$GC,937,-0.68,-219.0,219.3,-20.0,150,946,0.00,2.05,0.00,0.000,4,0.000,0.056,2366,3769,3927,0,0,0,0,0,0
$GC,993,-0.68,-219.0,230.1,-18.6,159,1001,0.00,2.00,0.00,0.000,6,0.000,0.029,2366,2346,3927,0,0,0,0,0,0
$GC,1342,-0.68,-219.0,295.6,-17.7,220,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2342,3927,0,0,0,0,0,0
$GC,1679,-0.68,-219.0,354.7,-17.1,253,1683,0.00,2.15,0.00,0.000,4,0.000,0.054,2363,3774,3927,0,0,0,0,0,0
$GC,1713,-0.69,-219.0,360.3,-15.1,256,1717,0.00,2.00,0.00,0.000,6,0.000,0.028,2363,2343,3926,0,0,0,0,0,0
$GC,2046,-0.69,-219.0,411.5,-15.0,287,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2337,3925,0,0,0,0,0,0
$GC,2365,-0.69,-219.0,458.6,-14.7,317,2369,0.00,2.15,0.00,0.000,4,0.000,0.055,2363,3769,3924,0,0,0,0,0,0
$GC,2392,-0.70,-219.0,463.1,-14.2,319,2400,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2338,3924,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2669,-0.11,0.0,500.0,14.5,345,2841,0.55,0.17,165.12,0.840,6,0.112,0.072,2559,2154,3027,0,0,0,0,0,0
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2842,begin climb
$GC,2843,0.72,219.0,512.0,0.0,359,3027,0.70,2.25,171.57,0.828,4,0.046,0.047,2847,3536,2132,0,0,0,0,0,0
$GC,3269,0.70,219.0,453.5,21.9,395,3274,0.17,2.15,0.00,0.000,6,0.185,0.031,2811,2063,2126,0,0,0,0,0,0
$GC,3596,0.69,219.0,398.1,15.4,425,3600,0.00,2.05,0.00,0.000,4,0.000,0.042,2818,658,2122,0,0,0,0,0,0
$GC,3731,0.71,244.0,379.0,14.0,436,3755,0.00,2.20,19.25,0.732,6,0.000,0.037,2818,2121,2032,0,0,0,0,0,0
$GC,4075,0.70,244.0,325.3,15.3,468,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2121,2025,0,0,0,0,0,0
$GC,4408,0.71,261.3,274.3,14.3,512,4432,0.00,2.22,13.98,0.662,4,0.000,0.044,2818,667,1960,0,0,0,0,0,0
$GC,4458,0.70,261.3,266.9,15.5,519,4464,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2129,1958,0,0,0,0,0,0
$GC,4813,0.72,280.7,214.1,14.3,580,4837,0.00,2.20,16.27,0.632,4,0.000,0.041,2818,663,1882,0,0,0,0,0,0
$GC,4852,0.75,309.6,209.2,13.8,585,4882,0.08,2.15,24.65,0.637,6,0.134,0.037,2872,2122,1764,0,0,0,0,0,0
$GC,5234,0.74,309.6,130.8,20.8,649,5243,0.17,2.17,0.00,0.000,4,0.168,0.041,2831,669,1755,0,0,0,0,0,0
$GC,5317,0.82,368.9,117.8,12.4,662,5375,0.05,2.17,46.00,0.588,6,0.074,0.038,2889,2116,1522,0,0,0,0,0,0
$GC,5724,0.85,396.5,46.6,13.9,729,5759,0.12,2.22,21.98,0.522,4,0.172,0.042,2857,666,1408,0,0,0,0,0,0
$GC,5825,1.01,516.5,36.0,9.6,744,5924,0.12,2.20,91.65,0.518,6,0.043,0.037,2946,2119,920,0,0,0,0,0,0
$STATE,6001,end climb,SURFACE_DEPTH_REACHED
$STATE,6001,begin surface coast
$FINISH,0.5,1.021453
$STATE,6014,end surface coast,CONTROL_FINISHED_OK
$STATE,6014,begin surface
$SM_CCo,6028,54.35,0.069,0,0,540,610.06
$SM_GC,1.37,0.00,0.00,54.35,0.000,0.000,0.069,210,2436,540,-7.44,1.02,610.06
$IRIDIUM_FIX,2316.83,12559.57,031010,000013
$TT8_MAMPS,0.026964
$HUMID,51.18
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,19.332
$10V_AH,10.7,16.327
$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,17.475,47.950,570.475,54.350,0.000,24.877,18.115,108.053,0.000,0.000,17.613,1786.505,1510.887,559.176,2362.041,115.795,0.000,1372.045,0.000,2209.337,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,71.910,839.970,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.062,0.000,1600.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,47020,771
$CAP_FILE_SIZE,80704,0
$CFSIZE,260165632,246411264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,202.2,1
$GPS,031010,041637,2324.763,12608.569,37,0.9,37,-3.4