version: 66.08
glider: 176
mission: 2
dive: 159
start: 10 4 110 13 17 13
data:
$ID,176
$MISSION,2
$DIVE,159
$N_DIVES,170
$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,-4958.8691
$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
$GPS1,041010,131226,2335.021,12616.554,10,1.3,10,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.9
$GPS2,041010,131646,2335.019,12616.427,10,2.1,29,-3.5
$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,66.6,130648,-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,-219.0,0.0,0.0,0,91,0.00,0.00,-74.03,0.000,2,0.000,0.000,202,2442,2769,0,0,0,0,0,0
$GC,94,-0.72,-219.0,3.8,-7.1,9,128,8.55,2.22,-19.85,0.000,4,0.247,0.046,2350,938,3923,0,0,0,0,0,0
$GC,148,-0.69,-219.0,23.9,-37.8,16,158,0.05,2.28,0.00,0.000,6,0.187,0.046,2367,2426,3923,0,0,0,0,0,0
$GC,514,-0.68,-219.0,125.5,-23.0,77,522,0.00,2.05,0.00,0.000,4,0.000,0.058,2365,3767,3926,0,0,0,0,0,0
$GC,588,-0.68,-219.0,140.9,-17.8,89,597,0.00,2.03,0.00,0.000,6,0.000,0.029,2365,2356,3926,0,0,0,0,0,0
$GC,946,-0.67,-219.0,221.0,-23.2,150,956,0.05,2.17,0.00,0.000,4,0.250,0.056,2377,3763,3926,0,0,0,0,0,0
$GC,992,-0.67,-219.0,230.6,-19.1,157,999,0.00,1.98,0.00,0.000,6,0.000,0.029,2377,2350,3926,0,0,0,0,0,0
$GC,1348,-0.67,-219.0,294.8,-17.4,218,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2346,3927,0,0,0,0,0,0
$GC,1681,-0.67,-219.0,348.9,-16.2,251,1685,0.00,2.12,0.00,0.000,4,0.000,0.055,2377,3770,3926,0,0,0,0,0,0
$GC,1767,-0.69,-219.0,361.0,-11.5,258,1771,0.05,2.03,0.00,0.000,6,0.177,0.029,2331,2337,3925,0,0,0,0,0,0
$GC,2092,-0.68,-219.0,423.3,-19.1,288,2093,0.15,0.00,0.00,0.000,6,0.160,0.000,2376,2331,3924,0,0,0,0,0,0
$GC,2411,-0.69,-219.0,465.2,-12.1,318,2415,0.05,2.20,0.00,0.000,4,0.182,0.056,2334,3769,3923,0,0,0,0,0,0
$GC,2476,-0.70,-219.0,473.5,-12.7,323,2481,0.12,2.03,0.00,0.000,6,0.138,0.029,2375,2336,3923,0,0,0,0,0,0
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2700,-0.11,0.0,501.1,12.4,343,2871,0.50,0.15,165.05,0.839,6,0.107,0.054,2556,2140,3026,0,0,0,0,0,0
$STATE,2872,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2873,0.72,219.0,511.4,0.0,357,3053,0.70,2.25,170.52,0.829,4,0.050,0.046,2839,3530,2133,0,0,0,0,0,0
$GC,3103,0.70,219.0,492.6,24.2,376,3113,0.12,2.22,0.00,0.000,6,0.168,0.031,2812,2068,2129,0,0,0,0,0,0
$GC,3430,0.68,219.0,430.1,18.2,407,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2064,2124,0,0,0,0,0,0
$GC,3749,0.67,219.0,374.8,16.3,437,3753,0.05,2.05,0.00,0.000,4,0.256,0.042,2811,660,2121,0,0,0,0,0,0
$GC,3842,0.70,251.6,360.7,13.6,445,3874,0.00,2.15,24.88,0.737,6,0.000,0.035,2811,2129,2000,0,0,0,0,0,0
$GC,4191,0.71,262.8,308.1,14.6,478,4203,0.00,0.00,9.45,0.645,6,0.000,0.000,2811,2129,1955,0,0,0,0,0,0
$GC,4536,0.70,262.8,251.3,17.2,534,4544,0.00,2.20,0.00,0.000,4,0.000,0.044,2818,669,1949,0,0,0,0,0,0
$GC,4607,0.69,262.8,239.7,16.2,546,4615,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2123,1949,0,0,0,0,0,0
$GC,4955,0.69,262.8,183.2,15.3,607,4963,0.05,2.10,0.00,0.000,4,0.251,0.050,2806,3538,1948,0,0,0,0,0,0
$GC,5005,0.69,268.4,175.6,14.9,615,5022,0.00,2.15,5.40,0.500,6,0.000,0.032,2816,2059,1931,0,0,0,0,0,0
$GC,5369,0.77,341.2,132.1,11.8,677,5436,0.10,2.10,57.72,0.601,4,0.104,0.041,2894,660,1634,0,0,0,0,0,0
$GC,5475,0.76,341.2,114.2,19.0,691,5485,0.20,2.22,0.00,0.000,6,0.140,0.036,2826,2129,1629,0,0,0,0,0,0
$GC,5835,0.85,410.8,73.5,11.9,752,5902,0.12,2.30,52.95,0.552,4,0.088,0.044,2912,663,1350,0,0,0,0,0,0
$GC,5956,0.85,410.8,51.9,15.8,769,5966,0.15,2.22,0.00,0.000,6,0.132,0.037,2860,2131,1347,0,0,0,0,0,0
$GC,6322,0.97,502.5,7.9,10.9,830,6356,0.15,0.00,31.55,0.493,2,0.076,0.000,2955,2136,1185,0,0,0,0,0,0
$STATE,6357,end climb,SURFACE_DEPTH_REACHED
$STATE,6357,begin surface coast
$FINISH,0.6,1.008871
$STATE,6376,end surface coast,CONTROL_FINISHED_OK
$STATE,6377,begin surface
$SM_CCo,6391,83.82,0.067,0,0,540,610.06
$SM_GC,1.26,0.00,0.00,83.82,0.000,0.000,0.067,203,2427,540,-7.46,0.76,610.06
$IRIDIUM_FIX,2323.87,12615.99,041010,111149
$TT8_MAMPS,0.026964
$HUMID,50.47
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.5,21.635
$10V_AH,10.7,18.441
$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,18.200,48.200,517.525,83.825,0.000,29.715,15.862,104.001,0.000,0.000,33.526,1961.850,1522.003,565.187,2573.687,118.056,0.000,1396.512,0.000,2408.181,0.000,0.542,0.000
$DEVICE_MAMPS,255.510,58.140,839.205,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.257,0.000,1792.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50369,837
$CAP_FILE_SIZE,85466,0
$CFSIZE,260165632,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,278.7,1
$GPS,041010,150607,2335.430,12617.053,32,1.0,32,-3.5