version: 66.08
glider: 176
mission: 2
dive: 188
start: 10 6 110 18 25 52
data:
$ID,176
$MISSION,2
$DIVE,188
$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,-5005.0137
$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
$GPS1,061010,182107,2357.481,12637.063,28,1.6,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.2
$GPS2,061010,182525,2357.527,12637.048,8,1.5,13,-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,46.1,76393,-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,-219.0,0.0,0.0,0,74,0.00,0.00,-57.00,0.000,2,0.000,0.000,199,2438,2704,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.8,-6.6,7,118,8.50,2.05,-21.48,0.000,4,0.242,0.064,2349,3768,3924,0,0,0,0,0,0
$GC,134,-0.68,-219.0,25.2,-43.1,14,143,0.08,2.05,0.00,0.000,6,0.164,0.029,2373,2362,3925,0,0,0,0,0,0
$GC,498,-0.67,-219.0,140.7,-25.0,75,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2357,3926,0,0,0,0,0,0
$GC,848,-0.66,-219.0,221.1,-21.6,136,857,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3765,3927,0,0,0,0,0,0
$GC,937,-0.67,-219.0,235.4,-13.5,151,944,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2337,3928,0,0,0,0,0,0
$GC,1282,-0.67,-219.0,294.5,-16.6,212,1291,0.00,2.00,0.00,0.000,4,0.000,0.035,2373,953,3928,0,0,0,0,0,0
$GC,1316,-0.68,-219.0,299.3,-15.6,217,1323,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2425,3927,0,0,0,0,0,0
$GC,1642,-0.69,-219.0,350.7,-16.7,248,1645,0.00,2.00,0.00,0.000,4,0.000,0.057,2373,3774,3927,0,0,0,0,0,0
$GC,1701,-0.70,-219.0,359.8,-13.9,253,1704,0.00,2.00,0.00,0.000,6,0.000,0.029,2373,2348,3927,0,0,0,0,0,0
$GC,2033,-0.70,-219.0,408.8,-14.5,284,2037,0.05,2.00,0.00,0.000,4,0.181,0.036,2332,959,3926,0,0,0,0,0,0
$GC,2068,-0.71,-219.0,414.4,-16.9,287,2073,0.12,2.20,0.00,0.000,6,0.158,0.046,2370,2422,3926,0,0,0,0,0,0
$GC,2396,-0.71,-219.0,460.9,-14.1,317,2397,0.05,0.00,0.00,0.000,6,0.174,0.000,2327,2422,3924,0,0,0,0,0,0
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2619,-0.11,0.0,501.0,18.3,338,2790,0.68,0.17,165.52,0.848,6,0.120,0.073,2561,2153,3027,0,0,0,0,0,0
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin climb
$GC,2793,0.72,219.0,512.0,0.0,352,2971,0.68,2.17,170.52,0.836,4,0.043,0.046,2849,3534,2134,0,0,0,0,0,0
$GC,3074,0.70,219.0,486.3,21.0,375,3079,0.20,2.17,0.00,0.000,6,0.177,0.030,2806,2061,2129,0,0,0,0,0,0
$GC,3401,0.69,219.0,432.2,15.9,405,3405,0.00,2.05,0.00,0.000,4,0.000,0.042,2816,658,2125,0,0,0,0,0,0
$GC,3440,0.68,219.0,425.4,16.4,408,3445,0.05,2.17,0.00,0.000,6,0.225,0.037,2804,2122,2123,0,0,0,0,0,0
$GC,3765,0.69,234.9,375.6,14.4,438,3783,0.00,2.20,12.25,0.711,4,0.000,0.044,2805,655,2068,0,0,0,0,0,0
$GC,3848,0.71,257.1,364.5,14.1,445,3875,0.08,2.17,18.90,0.731,6,0.130,0.037,2858,2130,1977,0,0,0,0,0,0
$GC,4191,0.70,257.1,301.6,17.5,477,4196,0.17,2.08,0.00,0.000,4,0.166,0.047,2807,3533,1971,0,0,0,0,0,0
$GC,4295,0.69,257.1,283.2,18.2,493,4302,0.00,2.15,0.00,0.000,6,0.000,0.031,2817,2066,1970,0,0,0,0,0,0
$GC,4642,0.68,257.1,227.7,16.1,554,4651,0.05,2.08,0.00,0.000,4,0.250,0.044,2810,666,1967,0,0,0,0,0,0
$GC,4747,0.74,307.7,212.6,12.8,572,4799,0.05,2.17,39.88,0.668,6,0.068,0.037,2864,2121,1770,0,0,0,0,0,0
$GC,5141,0.73,307.7,143.7,16.2,639,5150,0.15,0.00,0.00,0.000,6,0.165,0.000,2819,2122,1762,0,0,0,0,0,0
$GC,5506,0.82,378.5,96.7,11.9,700,5564,0.12,0.00,54.78,0.581,6,0.088,0.000,2903,2122,1484,0,0,0,0,0,0
$GC,5913,0.82,378.5,29.9,16.2,767,5923,0.20,2.20,0.00,0.000,4,0.146,0.042,2845,667,1475,0,0,0,0,0,0
$GC,5973,1.01,520.0,23.5,8.6,776,6087,0.17,2.17,106.80,0.516,6,0.038,0.037,2953,2122,905,0,0,0,0,0,0
$STATE,6095,end climb,SURFACE_DEPTH_REACHED
$STATE,6095,begin surface coast
$FINISH,0.5,1.021128
$STATE,6108,end surface coast,CONTROL_FINISHED_OK
$STATE,6108,begin surface
$SM_CCo,6182,0.00,0.000,0,0,901,521.51
$SM_GC,1.48,7.07,0.00,0.00,0.038,0.000,0.000,203,2439,901,-7.40,1.13,521.51
$IRIDIUM_FIX,2347.41,12638.05,061010,161652
$TT8_MAMPS,0.026215
$HUMID,51.37
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.6,25.192
$10V_AH,10.6,21.648
$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,18.475,47.575,568.650,0.000,0.000,30.408,22.730,109.573,0.000,0.000,16.083,1852.214,1549.734,488.278,2429.327,124.001,0.000,1300.502,0.000,2270.233,0.000,0.542,0.000
$DEVICE_MAMPS,250.155,73.440,848.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.553,0.000,1655.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46935,793
$CAP_FILE_SIZE,82403,0
$CFSIZE,260165632,244154368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,357.5,1
$GPS,061010,200952,2358.519,12637.805,12,3.0,31,-3.6