version: 66.08
glider: 176
mission: 2
dive: 209
start: 10 8 110 8 42 29
data:
$ID,176
$MISSION,2
$DIVE,209
$N_DIVES,215
$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,-5033.1826
$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
$GPS1,081010,083725,2414.956,12654.177,37,1.2,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.0
$GPS2,081010,084202,2414.989,12654.230,13,1.0,13,-3.7
$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,17.7,33201,-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,-219.0,0.0,0.0,0,70,0.00,0.00,-53.00,0.000,2,0.000,0.000,203,2443,2593,0,0,0,0,0,0
$GC,72,-0.72,-219.0,3.3,-5.0,6,114,8.45,2.03,-24.58,0.000,4,0.239,0.063,2348,3764,3922,0,0,0,0,0,0
$GC,211,-0.70,-219.0,50.5,-32.5,27,221,0.05,2.05,0.00,0.000,6,0.158,0.029,2366,2357,3923,0,0,0,0,0,0
$GC,574,-0.69,-219.0,159.8,-22.0,88,583,0.00,2.03,0.00,0.000,4,0.000,0.034,2367,957,3924,0,0,0,0,0,0
$GC,635,-0.70,-219.0,171.0,-15.5,98,643,0.00,2.22,0.00,0.000,6,0.000,0.044,2366,2423,3924,0,0,0,0,0,0
$GC,983,-0.70,-219.0,245.0,-21.2,159,991,0.00,2.03,0.00,0.000,4,0.000,0.057,2364,3775,3925,0,0,0,0,0,0
$GC,1080,-0.71,-219.0,261.2,-13.4,175,1087,0.00,2.00,0.00,0.000,6,0.000,0.028,2364,2345,3926,0,0,0,0,0,0
$GC,1424,-0.71,-219.0,323.5,-17.1,225,1428,0.00,1.98,0.00,0.000,4,0.000,0.035,2364,943,3925,0,0,0,0,0,0
$GC,1448,-0.71,-219.0,327.7,-16.9,227,1452,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2431,3925,0,0,0,0,0,0
$GC,1775,-0.71,-219.0,380.5,-15.6,257,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2432,3924,0,0,0,0,0,0
$GC,2095,-0.71,-219.0,430.4,-16.0,287,2099,0.00,2.12,0.00,0.000,4,0.000,0.035,2363,949,3923,0,0,0,0,0,0
$GC,2129,-0.72,-219.0,435.6,-13.8,290,2133,0.00,2.17,0.00,0.000,6,0.000,0.044,2362,2419,3924,0,0,0,0,0,0
$GC,2455,-0.73,-219.0,482.9,-14.6,320,2459,0.00,2.10,0.00,0.000,4,0.000,0.034,2362,949,3921,0,0,0,0,0,0
$GC,2499,-0.74,-219.0,488.4,-12.5,323,2503,0.05,2.20,0.00,0.000,6,0.181,0.044,2319,2420,3921,0,0,0,0,0,0
$STATE,2577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2582,-0.11,0.0,501.3,16.9,330,2754,0.70,0.17,164.88,0.846,6,0.119,0.073,2561,2140,3027,0,0,0,0,0,0
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2756,0.72,219.0,510.7,0.0,344,2934,0.68,2.17,170.32,0.834,4,0.044,0.046,2846,3527,2133,0,0,0,0,0,0
$GC,3018,0.70,219.0,487.9,24.2,365,3022,0.17,2.17,0.00,0.000,6,0.180,0.028,2809,2052,2128,0,0,0,0,0,0
$GC,3347,0.68,219.0,433.6,16.3,396,3351,0.00,2.03,0.00,0.000,4,0.000,0.043,2818,666,2124,0,0,0,0,0,0
$GC,3453,0.71,244.9,418.2,13.9,405,3478,0.00,2.15,20.15,0.757,6,0.000,0.037,2818,2122,2027,0,0,0,0,0,0
$GC,3795,0.70,244.9,362.6,15.2,437,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2122,2021,0,0,0,0,0,0
$GC,4114,0.69,244.9,312.3,16.0,467,4118,0.05,2.10,0.00,0.000,4,0.248,0.047,2806,3537,2020,0,0,0,0,0,0
$GC,4138,0.68,244.9,308.2,15.7,469,4143,0.08,2.12,0.00,0.000,6,0.210,0.030,2800,2056,2020,0,0,0,0,0,0
$GC,4487,0.73,294.2,261.4,12.9,524,4532,0.10,2.15,38.58,0.700,4,0.103,0.041,2877,652,1826,0,0,0,0,0,0
$GC,4610,0.72,294.2,240.5,17.4,543,4617,0.22,2.22,0.00,0.000,6,0.152,0.037,2809,2134,1820,0,0,0,0,0,0
$GC,4967,0.80,355.3,191.5,12.3,604,5025,0.12,2.17,48.22,0.647,4,0.086,0.048,2891,3524,1576,0,0,0,0,0,0
$GC,5098,0.78,355.3,163.5,24.6,624,5109,0.20,2.20,0.00,0.000,6,0.145,0.033,2836,2067,1571,0,0,0,0,0,0
$GC,5464,0.81,375.4,101.5,14.2,685,5490,0.08,2.10,16.20,0.556,4,0.127,0.040,2906,666,1494,0,0,0,0,0,0
$GC,5553,0.80,375.4,85.9,17.4,698,5562,0.17,2.20,0.00,0.000,6,0.135,0.038,2845,2119,1491,0,0,0,0,0,0
$GC,5918,0.97,501.5,45.9,9.3,759,6024,0.17,2.22,96.65,0.532,4,0.069,0.043,2952,667,979,0,0,0,0,0,0
$STATE,6142,end climb,SURFACE_DEPTH_REACHED
$STATE,6142,begin surface coast
$FINISH,0.7,1.021909
$STATE,6161,end surface coast,CONTROL_FINISHED_OK
$STATE,6161,begin surface
$SM_CCo,6238,0.00,0.000,0,0,973,503.85
$SM_GC,1.60,6.97,0.00,0.00,0.041,0.000,0.000,213,2427,973,-7.37,0.79,503.85
$IRIDIUM_FIX,2403.92,12655.50,081010,060625
$TT8_MAMPS,0.026215
$HUMID,52.08
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.6,27.787
$10V_AH,10.6,23.950
$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,18.275,56.550,555.000,0.000,0.000,29.671,39.443,106.917,0.000,0.000,16.298,1866.630,1586.151,485.318,2447.276,133.253,0.000,1284.011,0.000,2270.793,0.000,0.542,0.000
$DEVICE_MAMPS,247.860,73.440,846.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.991,0.000,1655.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47011,795
$CAP_FILE_SIZE,82956,0
$CFSIZE,260165632,243183616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,100.1,1
$GPS,081010,102702,2415.625,12655.212,9,1.8,9,-3.7