version: 66.08
glider: 176
mission: 2
dive: 181
start: 10 6 110 5 45 49
data:
$ID,176
$MISSION,2
$DIVE,181
$N_DIVES,190
$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,375
$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,-4995.5654
$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
$GPS1,061010,054058,2352.270,12631.758,10,2.6,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.0
$GPS2,061010,054522,2352.297,12631.760,13,3.3,32,-3.6
$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,32.8,89520,-20.3,-15.152
$D_GRID,5000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,72,0.00,0.00,-56.05,0.000,2,0.000,0.000,206,2451,2582,0,0,0,0,0,0
$GC,74,-0.72,-219.0,3.3,-5.6,7,116,8.50,2.00,-25.33,0.000,4,0.243,0.067,2358,3770,3922,0,0,0,0,0,0
$GC,132,-0.68,-219.0,20.3,-34.3,14,141,0.03,2.05,0.00,0.000,6,0.211,0.028,2368,2354,3923,0,0,0,0,0,0
$GC,497,-0.67,-219.0,140.8,-24.8,75,506,0.00,2.17,0.00,0.000,4,0.000,0.057,2368,3761,3925,0,0,0,0,0,0
$GC,594,-0.68,-219.0,161.4,-16.2,91,601,0.00,2.00,0.00,0.000,6,0.000,0.029,2368,2348,3925,0,0,0,0,0,0
$GC,942,-0.67,-219.0,233.0,-19.6,152,950,0.00,2.17,0.00,0.000,4,0.000,0.055,2368,3764,3925,0,0,0,0,0,0
$GC,968,-0.67,-219.0,238.2,-19.4,156,977,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,2354,3925,0,0,0,0,0,0
$GC,1323,-0.67,-219.0,302.8,-18.3,217,1326,0.00,2.12,0.00,0.000,4,0.000,0.055,2367,3766,3925,0,0,0,0,0,0
$GC,1386,-0.68,-219.0,312.8,-13.5,222,1390,0.00,2.03,0.00,0.000,6,0.000,0.029,2368,2356,3925,0,0,0,0,0,0
$GC,1718,-0.68,-219.0,369.0,-17.0,253,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2351,3925,0,0,0,0,0,0
$GC,2038,-0.68,-219.0,415.6,-13.7,283,2042,0.00,2.00,0.00,0.000,4,0.000,0.036,2367,948,3924,0,0,0,0,0,0
$GC,2063,-0.69,-219.0,419.2,-14.1,285,2067,0.00,2.20,0.00,0.000,6,0.000,0.044,2365,2419,3924,0,0,0,0,0,0
$GC,2391,-0.69,-219.0,466.1,-14.2,315,2394,0.00,2.00,0.00,0.000,4,0.000,0.056,2363,3766,3921,0,0,0,0,0,0
$GC,2440,-0.71,-219.0,472.9,-11.6,319,2447,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2353,3922,0,0,0,0,0,0
$STATE,2657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2657,begin apogee
$GC,2662,-0.11,0.0,500.8,12.8,340,2833,0.55,0.17,164.48,0.850,6,0.112,0.076,2559,2145,3027,0,0,0,0,0,0
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin climb
$GC,2836,0.72,219.0,509.4,0.0,354,3013,0.70,2.17,169.77,0.839,4,0.041,0.045,2862,3530,2133,0,0,0,0,0,0
$GC,3117,0.70,219.0,482.4,23.6,377,3122,0.22,2.17,0.00,0.000,6,0.177,0.031,2811,2059,2128,0,0,0,0,0,0
$GC,3444,0.68,219.2,429.5,15.1,407,3448,0.00,2.22,0.00,0.000,4,0.000,0.048,2811,3528,2123,0,0,0,0,0,0
$GC,3496,0.67,219.2,421.0,16.4,411,3500,0.08,2.12,0.00,0.000,6,0.223,0.031,2801,2064,2123,0,0,0,0,0,0
$GC,3823,0.69,240.5,372.8,14.2,441,3849,0.05,2.10,16.35,0.731,4,0.175,0.042,2857,666,2045,0,0,0,0,0,0
$GC,3966,0.67,240.5,347.4,17.2,453,3975,0.15,2.17,0.00,0.000,6,0.145,0.037,2797,2120,2041,0,0,0,0,0,0
$GC,4292,0.71,270.7,299.0,13.7,484,4322,0.08,2.20,24.27,0.712,4,0.126,0.047,2850,3534,1922,0,0,0,0,0,0
$GC,4331,0.69,270.7,292.9,16.7,489,4339,0.20,2.17,0.00,0.000,6,0.168,0.031,2803,2062,1920,0,0,0,0,0,0
$GC,4679,0.75,322.2,245.5,12.8,550,4729,0.10,0.00,41.33,0.689,6,0.103,0.000,2867,2057,1711,0,0,0,0,0,0
$GC,5071,0.74,322.2,167.8,19.3,617,5078,0.15,2.05,0.00,0.000,4,0.164,0.042,2832,655,1703,0,0,0,0,0,0
$GC,5109,0.74,322.2,161.2,16.0,623,5115,0.00,2.17,0.00,0.000,6,0.000,0.037,2832,2131,1702,0,0,0,0,0,0
$GC,5462,0.76,339.3,106.0,14.4,684,5479,0.00,0.00,13.20,0.560,6,0.000,0.000,2832,2132,1642,0,0,0,0,0,0
$GC,5828,0.93,472.4,60.6,9.0,746,5942,0.17,2.30,101.82,0.552,4,0.070,0.044,2940,670,1100,0,0,0,0,0,0
$GC,5981,0.93,472.4,36.6,18.3,766,5990,0.15,2.22,0.00,0.000,6,0.133,0.038,2888,2119,1098,0,0,0,0,0,0
$STATE,6202,end climb,SURFACE_DEPTH_REACHED
$STATE,6203,begin surface coast
$FINISH,0.6,1.021745
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6302,0.00,0.000,0,0,1091,474.90
$SM_GC,1.49,6.78,0.00,0.00,0.040,0.000,0.000,202,2459,1091,-7.40,1.67,474.90
$IRIDIUM_FIX,2342.70,12633.34,061010,030329
$TT8_MAMPS,0.026215
$HUMID,52.55
$INTERNAL_PRESSURE,8.80191
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.6,24.320
$10V_AH,10.7,20.885
$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,17.900,51.925,531.225,0.000,0.000,29.172,14.963,104.113,0.000,0.000,36.693,1893.608,1586.928,477.669,2481.954,129.498,0.000,1288.940,0.000,2320.065,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,75.735,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.010,0.000,1693.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46989,807
$CAP_FILE_SIZE,83495,0
$CFSIZE,260165632,244473856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 51.3,1
$GPS,061010,073200,2353.303,12632.644,38,1.1,43,-3.6