version: 66.08
glider: 176
mission: 2
dive: 170
start: 10 5 110 9 35 58
data:
$ID,176
$MISSION,2
$DIVE,170
$N_DIVES,180
$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,-4980.7129
$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
$GPS1,051010,093125,2343.566,12623.640,8,1.3,8,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.7
$GPS2,051010,093531,2343.582,12623.599,9,1.3,14,-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,60.8,110717,-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,-66.15,0.000,2,0.000,0.000,201,2454,2498,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.1,-4.8,8,128,8.52,2.25,-28.23,0.000,4,0.244,0.047,2355,946,3922,0,0,0,0,0,0
$GC,159,-0.70,-219.0,25.3,-40.3,18,169,0.03,2.28,0.00,0.000,6,0.232,0.050,2362,2412,3923,0,0,0,0,0,0
$GC,525,-0.68,-219.0,138.1,-25.7,79,535,0.03,2.10,0.00,0.000,4,0.310,0.060,2373,3771,3924,0,0,0,0,0,0
$GC,593,-0.69,-219.0,153.0,-17.4,90,601,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2349,3925,0,0,0,0,0,0
$GC,941,-0.68,-219.0,223.7,-19.6,151,949,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3764,3926,0,0,0,0,0,0
$GC,995,-0.69,-219.0,233.7,-16.0,160,1003,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2355,3926,0,0,0,0,0,0
$GC,1342,-0.69,-219.0,299.3,-18.3,221,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2351,3926,0,0,0,0,0,0
$GC,1668,-0.69,-219.0,352.5,-15.9,252,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2351,3926,0,0,0,0,0,0
$GC,1987,-0.69,-219.0,401.3,-15.0,282,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2351,3924,0,0,0,0,0,0
$GC,2306,-0.70,-219.0,444.1,-12.8,312,2311,0.05,2.15,0.00,0.000,4,0.182,0.057,2331,3766,3922,0,0,0,0,0,0
$GC,2349,-0.70,-219.0,450.1,-14.6,315,2354,0.12,2.03,0.00,0.000,6,0.145,0.030,2372,2339,3922,0,0,0,0,0,0
$GC,2677,-0.71,-219.0,493.3,-12.4,345,2681,0.08,2.17,0.00,0.000,4,0.132,0.057,2318,3766,3921,0,0,0,0,0,0
$STATE,2718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2718,begin apogee
$GC,2724,-0.11,0.0,500.2,14.9,348,2901,0.68,0.10,164.27,0.842,6,0.116,0.101,2556,2139,3026,0,0,0,0,0,0
$STATE,2902,end apogee,CONTROL_FINISHED_OK
$STATE,2902,begin climb
$GC,2903,0.72,219.0,509.1,0.0,363,3081,0.70,2.20,170.35,0.832,4,0.043,0.044,2854,3539,2133,0,0,0,0,0,0
$GC,3178,0.70,219.0,481.4,22.9,385,3185,0.20,2.20,0.00,0.000,6,0.180,0.031,2811,2061,2128,0,0,0,0,0,0
$GC,3503,0.68,219.0,428.6,15.2,416,3506,0.00,2.22,0.00,0.000,4,0.000,0.047,2810,3528,2123,0,0,0,0,0,0
$GC,3552,0.67,219.0,420.1,17.1,420,3563,0.05,2.17,0.00,0.000,6,0.184,0.031,2802,2056,2123,0,0,0,0,0,0
$GC,3879,0.66,219.0,371.9,15.8,451,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2053,2120,0,0,0,0,0,0
$GC,4200,0.67,233.2,323.9,14.5,481,4215,0.00,2.10,10.25,0.670,4,0.000,0.045,2808,662,2075,0,0,0,0,0,0
$GC,4272,0.69,254.7,312.6,14.2,487,4296,0.00,2.17,18.30,0.702,6,0.000,0.037,2808,2129,1988,0,0,0,0,0,0
$GC,4641,0.70,265.9,255.8,14.6,544,4657,0.00,2.17,9.35,0.621,4,0.000,0.041,2817,664,1943,0,0,0,0,0,0
$GC,4700,0.71,280.3,247.6,14.5,553,4721,0.00,2.17,13.25,0.642,6,0.000,0.037,2817,2126,1884,0,0,0,0,0,0
$GC,5070,0.74,309.5,192.4,13.8,616,5101,0.05,2.20,23.98,0.640,4,0.181,0.048,2862,3539,1764,0,0,0,0,0,0
$GC,5121,0.73,309.5,183.9,19.4,623,5128,0.20,2.17,0.00,0.000,6,0.165,0.032,2814,2058,1762,0,0,0,0,0,0
$GC,5480,0.79,359.0,130.5,12.8,684,5531,0.12,2.30,39.05,0.598,4,0.090,0.048,2891,3519,1561,0,0,0,0,0,0
$GC,5546,0.78,359.0,118.8,20.5,692,5556,0.20,2.20,0.00,0.000,6,0.144,0.034,2832,2065,1560,0,0,0,0,0,0
$GC,5906,0.92,472.9,69.3,9.9,753,6005,0.17,2.17,86.38,0.549,4,0.070,0.044,2943,666,1097,0,0,0,0,0,0
$GC,6125,0.95,495.4,30.9,14.1,785,6150,0.15,2.22,17.62,0.494,6,0.129,0.038,2892,2130,1006,0,0,0,0,0,0
$STATE,6307,end climb,SURFACE_DEPTH_REACHED
$STATE,6307,begin surface coast
$FINISH,0.6,1.022002
$STATE,6332,end surface coast,CONTROL_FINISHED_OK
$STATE,6332,begin surface
$SM_CCo,6346,61.28,0.067,0,0,540,610.06
$SM_GC,1.34,0.00,0.00,61.28,0.000,0.000,0.067,206,2438,540,-7.45,1.07,610.06
$IRIDIUM_FIX,2330.93,12623.96,051010,070719
$TT8_MAMPS,0.026964
$HUMID,51.96
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,22.971
$10V_AH,10.7,19.667
$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,18.175,52.925,552.800,61.275,0.000,28.356,14.726,102.955,0.000,0.000,16.728,1911.285,1586.168,563.748,2472.743,125.401,0.000,1392.929,0.000,2326.476,0.000,0.542,0.000
$DEVICE_MAMPS,309.825,100.980,841.500,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.971,0.000,1703.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,50397,819
$CAP_FILE_SIZE,85707,0
$CFSIZE,260165632,244994048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,305.9,1
$GPS,051010,112354,2344.306,12624.280,41,0.9,41,-3.5