version: 66.08
glider: 176
mission: 2
dive: 192
start: 10 7 110 1 48 53
data:
$ID,176
$MISSION,2
$DIVE,192
$N_DIVES,210
$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,-5010.415
$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
$GPS1,071010,014350,2401.060,12640.943,13,1.7,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.2
$GPS2,071010,014826,2401.055,12640.945,12,1.8,12,-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,24.5,67209,-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,-219.0,0.0,0.0,0,65,0.00,0.00,-49.10,0.000,2,0.000,0.000,199,2437,2543,0,0,0,0,0,0
$GC,68,-0.72,-219.0,3.1,-3.9,6,110,8.55,2.03,-26.95,0.000,4,0.244,0.065,2349,3773,3921,0,0,0,0,0,0
$GC,149,-0.70,-219.0,27.3,-36.7,17,158,0.05,2.08,0.00,0.000,6,0.164,0.031,2366,2358,3924,0,0,0,0,0,0
$GC,513,-0.69,-219.0,148.5,-25.4,78,522,0.00,2.17,0.00,0.000,4,0.000,0.054,2366,3771,3924,0,0,0,0,0,0
$GC,559,-0.68,-219.0,159.4,-21.9,85,566,0.00,2.00,0.00,0.000,6,0.000,0.028,2367,2354,3924,0,0,0,0,0,0
$GC,904,-0.67,-219.0,236.5,-23.7,146,912,0.00,2.03,0.00,0.000,4,0.000,0.034,2367,950,3925,0,0,0,0,0,0
$GC,953,-0.68,-219.0,246.3,-17.5,154,961,0.00,2.22,0.00,0.000,6,0.000,0.044,2366,2423,3926,0,0,0,0,0,0
$GC,1303,-0.68,-219.0,314.1,-18.2,209,1306,0.00,2.00,0.00,0.000,4,0.000,0.057,2364,3772,3925,0,0,0,0,0,0
$GC,1372,-0.69,-219.0,326.5,-16.3,215,1376,0.00,2.00,0.00,0.000,6,0.000,0.029,2364,2349,3925,0,0,0,0,0,0
$GC,1702,-0.69,-219.0,388.0,-17.6,246,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2345,3925,0,0,0,0,0,0
$GC,2024,-0.69,-219.0,438.2,-14.6,276,2027,0.00,1.98,0.00,0.000,4,0.000,0.036,2363,956,3924,0,0,0,0,0,0
$GC,2061,-0.70,-219.0,443.3,-13.1,279,2065,0.00,2.17,0.00,0.000,6,0.000,0.044,2363,2424,3924,0,0,0,0,0,0
$GC,2387,-0.70,-219.0,491.2,-15.2,309,2391,0.00,1.98,0.00,0.000,4,0.000,0.054,2363,3766,3922,0,0,0,0,0,0
$GC,2426,-0.71,-219.0,497.0,-13.0,312,2434,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2358,3921,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2454,begin apogee
$GC,2458,-0.11,0.0,500.1,12.2,315,2631,0.55,0.15,164.82,0.839,6,0.110,0.079,2559,2147,3026,0,0,0,0,0,0
$STATE,2631,end apogee,CONTROL_FINISHED_OK
$STATE,2631,begin climb
$GC,2633,0.72,219.0,512.1,0.0,329,2813,0.68,2.17,170.57,0.829,4,0.040,0.044,2855,3537,2132,0,0,0,0,0,0
$GC,2860,0.70,219.0,499.9,20.9,348,2864,0.22,2.22,0.00,0.000,6,0.175,0.031,2805,2058,2129,0,0,0,0,0,0
$GC,3185,0.69,219.0,447.4,16.5,378,3189,0.00,2.05,0.00,0.000,4,0.000,0.042,2814,657,2124,0,0,0,0,0,0
$GC,3229,0.68,219.0,440.0,16.1,381,3237,0.03,2.20,0.00,0.000,6,0.188,0.036,2805,2122,2122,0,0,0,0,0,0
$GC,3556,0.67,219.0,387.5,15.5,412,3560,0.00,2.17,0.00,0.000,4,0.000,0.043,2805,662,2121,0,0,0,0,0,0
$GC,3630,0.69,243.8,376.9,14.0,418,3655,0.00,2.15,19.00,0.734,6,0.000,0.037,2805,2130,2032,0,0,0,0,0,0
$GC,3973,0.72,275.5,325.4,13.7,450,4005,0.08,0.00,25.45,0.718,6,0.132,0.000,2860,2130,1904,0,0,0,0,0,0
$GC,4332,0.71,275.5,260.1,17.6,502,4342,0.17,2.12,0.00,0.000,4,0.162,0.047,2809,3519,1897,0,0,0,0,0,0
$GC,4405,0.70,275.5,247.7,16.0,514,4413,0.00,2.15,0.00,0.000,6,0.000,0.032,2817,2069,1896,0,0,0,0,0,0
$GC,4757,0.73,299.1,195.9,14.1,575,4786,0.00,2.12,19.20,0.622,4,0.000,0.044,2818,664,1805,0,0,0,0,0,0
$GC,4881,0.78,340.3,178.8,13.2,595,4924,0.10,2.15,34.00,0.626,6,0.106,0.037,2885,2126,1637,0,0,0,0,0,0
$GC,5269,0.77,340.3,104.9,18.0,661,5278,0.17,0.00,0.00,0.000,6,0.159,0.000,2831,2125,1629,0,0,0,0,0,0
$GC,5634,0.94,466.4,69.0,9.3,722,5740,0.17,2.28,96.22,0.546,4,0.068,0.043,2940,669,1123,0,0,0,0,0,0
$GC,5860,0.94,466.4,30.4,17.0,755,5869,0.15,2.20,0.00,0.000,6,0.131,0.037,2888,2117,1118,0,0,0,0,0,0
$STATE,6040,end climb,SURFACE_DEPTH_REACHED
$STATE,6040,begin surface coast
$FINISH,0.6,1.011262
$STATE,6066,end surface coast,CONTROL_FINISHED_OK
$STATE,6066,begin surface
$SM_CCo,6140,0.00,0.000,0,0,1113,469.50
$SM_GC,1.49,6.72,0.00,0.00,0.037,0.000,0.000,202,2434,1113,-7.40,0.96,469.50
$IRIDIUM_FIX,2352.12,12636.15,061010,232351
$TT8_MAMPS,0.026215
$HUMID,50.94
$INTERNAL_PRESSURE,8.82144
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.6,25.687
$10V_AH,10.7,22.091
$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,17.650,51.675,529.275,0.000,0.000,28.173,43.694,107.919,0.000,0.000,15.945,1848.176,1527.311,483.109,2430.875,130.208,0.000,1271.559,0.000,2259.073,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,78.795,839.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.124,0.000,1658.412,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47040,789
$CAP_FILE_SIZE,81535,0
$CFSIZE,260165632,243970048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,112.8,1
$GPS,071010,033207,2401.840,12641.727,27,1.4,27,-3.6