version: 66.08
glider: 176
mission: 2
dive: 186
start: 10 6 110 14 47 47
data:
$ID,176
$MISSION,2
$DIVE,186
$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,-5002.3198
$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
$GPS1,061010,144254,2355.753,12636.050,36,1.3,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.7
$GPS2,061010,144720,2355.743,12636.028,11,1.3,11,-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,30.8,80056,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,66,0.00,0.00,-49.42,0.000,2,0.000,0.000,202,2440,2473,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.1,-4.2,6,111,8.48,2.08,-28.12,0.000,4,0.242,0.068,2349,3767,3922,0,0,0,0,0,0
$GC,166,-0.70,-219.0,34.0,-34.1,20,175,0.05,2.08,0.00,0.000,6,0.164,0.031,2367,2354,3924,0,0,0,0,0,0
$GC,532,-0.69,-219.0,149.6,-28.6,81,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2348,3924,0,0,0,0,0,0
$GC,879,-0.68,-219.0,233.9,-21.1,142,888,0.00,2.17,0.00,0.000,4,0.000,0.054,2367,3768,3925,0,0,0,0,0,0
$GC,969,-0.69,-219.0,249.2,-14.3,157,976,0.00,2.00,0.00,0.000,6,0.000,0.029,2367,2347,3926,0,0,0,0,0,0
$GC,1311,-0.69,-219.0,314.7,-19.7,211,1314,0.00,1.98,0.00,0.000,4,0.000,0.036,2366,950,3926,0,0,0,0,0,0
$GC,1380,-0.70,-219.0,326.9,-15.1,217,1384,0.00,2.20,0.00,0.000,6,0.000,0.044,2366,2422,3926,0,0,0,0,0,0
$GC,1707,-0.71,-219.0,382.6,-16.8,247,1710,0.00,2.00,0.00,0.000,4,0.000,0.056,2365,3776,3926,0,0,0,0,0,0
$GC,1755,-0.71,-219.0,390.0,-14.6,251,1758,0.00,2.00,0.00,0.000,6,0.000,0.029,2365,2353,3925,0,0,0,0,0,0
$GC,2086,-0.72,-219.0,441.9,-14.8,282,2089,0.00,1.98,0.00,0.000,4,0.000,0.037,2365,957,3925,0,0,0,0,0,0
$GC,2124,-0.73,-219.0,446.9,-11.6,285,2131,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2433,3924,0,0,0,0,0,0
$GC,2450,-0.74,-219.0,489.1,-13.7,316,2452,0.05,0.00,0.00,0.000,6,0.182,0.000,2322,2433,3923,0,0,0,0,0,0
$STATE,2524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2524,begin apogee
$GC,2528,-0.11,0.0,501.5,17.5,323,2700,0.68,0.15,165.07,0.850,6,0.124,0.080,2554,2145,3027,0,0,0,0,0,0
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2702,0.72,219.0,511.6,0.0,337,2880,0.73,2.17,170.15,0.838,4,0.052,0.045,2844,3528,2133,0,0,0,0,0,0
$GC,2982,0.70,219.0,484.9,23.4,360,2987,0.17,2.17,0.00,0.000,6,0.174,0.031,2808,2057,2129,0,0,0,0,0,0
$GC,3307,0.69,219.0,429.6,17.6,390,3311,0.00,2.08,0.00,0.000,4,0.000,0.043,2818,655,2124,0,0,0,0,0,0
$GC,3358,0.68,219.0,421.5,15.5,394,3362,0.08,2.20,0.00,0.000,6,0.198,0.036,2800,2137,2122,0,0,0,0,0,0
$GC,3683,0.67,219.0,372.5,15.5,424,3687,0.00,2.17,0.00,0.000,4,0.000,0.042,2805,659,2121,0,0,0,0,0,0
$GC,3702,0.69,235.7,370.0,14.4,425,3726,0.00,2.17,12.73,0.711,6,0.000,0.037,2805,2130,2065,0,0,0,0,0,0
$GC,4045,0.70,257.2,321.9,14.2,457,4070,0.05,2.12,17.77,0.711,4,0.180,0.047,2849,3529,1978,0,0,0,0,0,0
$GC,4190,0.69,257.2,294.0,20.5,472,4199,0.15,2.17,0.00,0.000,6,0.148,0.032,2809,2066,1974,0,0,0,0,0,0
$GC,4540,0.70,265.6,241.1,14.8,533,4554,0.00,2.08,7.35,0.587,4,0.000,0.042,2818,661,1943,0,0,0,0,0,0
$GC,4660,0.75,307.6,224.6,13.2,553,4704,0.08,2.15,34.62,0.670,6,0.133,0.037,2872,2124,1772,0,0,0,0,0,0
$GC,5043,0.74,307.6,154.3,16.4,619,5051,0.17,2.10,0.00,0.000,4,0.161,0.048,2820,3541,1764,0,0,0,0,0,0
$GC,5077,0.73,307.6,148.7,16.1,624,5086,0.00,2.17,0.00,0.000,6,0.000,0.031,2830,2068,1764,0,0,0,0,0,0
$GC,5441,0.75,321.5,98.5,14.5,685,5458,0.00,2.08,11.10,0.539,4,0.000,0.041,2830,660,1714,0,0,0,0,0,0
$GC,5513,0.87,412.6,90.0,10.9,696,5595,0.10,2.17,71.10,0.573,6,0.050,0.037,2913,2117,1344,0,0,0,0,0,0
$GC,5945,0.87,414.9,20.6,15.0,766,5954,0.17,0.00,0.00,0.000,6,0.156,0.000,2860,2117,1336,0,0,0,0,0,0
$STATE,6084,end climb,SURFACE_DEPTH_REACHED
$STATE,6084,begin surface coast
$FINISH,0.6,1.021920
$STATE,6116,end surface coast,CONTROL_FINISHED_OK
$STATE,6116,begin surface
$SM_CCo,6191,0.00,0.000,0,0,1333,415.54
$SM_GC,1.77,6.55,0.00,0.00,0.030,0.000,0.000,194,2438,1333,-7.39,1.07,415.54
$IRIDIUM_FIX,2347.41,12634.75,061010,121216
$TT8_MAMPS,0.025466
$HUMID,52.08
$INTERNAL_PRESSURE,8.82144
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,24.941
$10V_AH,10.6,21.427
$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,17.500,51.825,489.900,0.000,0.000,29.830,37.488,105.545,0.000,0.000,14.367,1880.947,1540.677,446.785,2467.186,125.741,0.000,1236.659,0.000,2297.080,0.000,0.542,0.000
$DEVICE_MAMPS,241.740,79.560,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.877,0.000,1677.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,47078,794
$CAP_FILE_SIZE,83403,0
$CFSIZE,260165632,244244480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,165.6,1
$GPS,061010,163132,2356.488,12636.494,9,1.7,9,-3.6