version: 66.08
glider: 176
mission: 2
dive: 212
start: 10 8 110 14 9 59
data:
$ID,176
$MISSION,2
$DIVE,212
$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,-5037.2329
$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
$GPS1,081010,140525,2416.243,12656.601,7,1.4,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.6
$GPS2,081010,140932,2416.231,12656.637,11,1.4,11,-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,350.3,29137,-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,-219.0,0.0,0.0,0,58,0.00,0.00,-41.12,0.000,2,0.000,0.000,202,2433,2468,0,0,0,0,0,0
$GC,60,-0.72,-219.0,3.1,-4.9,5,110,8.35,2.10,-29.50,0.000,4,0.236,0.068,2349,3777,3923,0,0,0,0,0,0
$GC,235,-0.71,-219.0,54.0,-30.3,32,244,0.05,2.08,0.00,0.000,6,0.153,0.031,2368,2361,3924,0,0,0,0,0,0
$GC,600,-0.70,-219.0,153.8,-25.3,93,607,0.00,2.00,0.00,0.000,4,0.000,0.034,2368,943,3925,0,0,0,0,0,0
$GC,672,-0.70,-219.0,167.7,-16.4,105,678,0.00,2.20,0.00,0.000,6,0.000,0.044,2368,2426,3926,0,0,0,0,0,0
$GC,1018,-0.70,-219.0,239.1,-21.4,166,1026,0.00,2.03,0.00,0.000,4,0.000,0.055,2366,3763,3926,0,0,0,0,0,0
$GC,1097,-0.71,-219.0,252.4,-14.1,179,1105,0.00,2.00,0.00,0.000,6,0.000,0.030,2366,2342,3926,0,0,0,0,0,0
$GC,1440,-0.71,-219.0,313.8,-18.1,233,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2337,3926,0,0,0,0,0,0
$GC,1760,-0.71,-219.0,370.0,-16.0,263,1764,0.00,2.17,0.00,0.000,4,0.000,0.054,2364,3777,3926,0,0,0,0,0,0
$GC,1784,-0.71,-219.0,373.7,-15.6,265,1788,0.00,2.03,0.00,0.000,6,0.000,0.028,2365,2349,3925,0,0,0,0,0,0
$GC,2115,-0.71,-219.0,423.9,-14.9,296,2119,0.00,2.15,0.00,0.000,4,0.000,0.055,2363,3766,3924,0,0,0,0,0,0
$GC,2143,-0.72,-219.0,428.4,-15.1,298,2147,0.00,2.00,0.00,0.000,6,0.000,0.028,2363,2347,3924,0,0,0,0,0,0
$GC,2476,-0.72,-219.0,477.7,-15.2,329,2480,0.00,1.98,0.00,0.000,4,0.000,0.033,2363,951,3923,0,0,0,0,0,0
$GC,2512,-0.73,-219.0,483.2,-14.2,332,2517,0.05,2.20,0.00,0.000,6,0.178,0.042,2320,2428,3923,0,0,0,0,0,0
$STATE,2614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2614,begin apogee
$GC,2618,-0.11,0.0,500.5,18.4,341,2789,0.68,0.15,164.65,0.846,6,0.119,0.080,2554,2142,3027,0,0,0,0,0,0
$STATE,2790,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin climb
$GC,2792,0.72,219.0,509.1,0.0,355,2970,0.70,2.35,169.12,0.835,4,0.043,0.041,2860,665,2133,0,0,0,0,0,0
$GC,3172,0.70,219.0,457.4,19.8,387,3181,0.17,2.17,0.00,0.000,6,0.166,0.036,2810,2124,2125,0,0,0,0,0,0
$GC,3498,0.69,219.0,406.9,15.5,418,3502,0.00,2.10,0.00,0.000,4,0.000,0.049,2810,3534,2122,0,0,0,0,0,0
$GC,3575,0.68,219.0,394.3,16.7,424,3585,0.05,2.17,0.00,0.000,6,0.181,0.031,2802,2063,2122,0,0,0,0,0,0
$GC,3902,0.72,261.2,350.8,13.2,455,3940,0.10,2.15,32.10,0.751,4,0.106,0.041,2879,659,1960,0,0,0,0,0,0
$GC,4080,0.71,261.2,317.9,18.8,470,4090,0.20,2.20,0.00,0.000,6,0.148,0.036,2813,2119,1954,0,0,0,0,0,0
$GC,4418,0.72,274.0,264.7,14.6,520,4433,0.00,2.25,10.07,0.636,4,0.000,0.042,2818,653,1910,0,0,0,0,0,0
$GC,4655,0.82,358.7,234.9,11.2,561,4733,0.12,2.17,67.43,0.684,6,0.091,0.037,2898,2121,1564,0,0,0,0,0,0
$GC,5075,0.81,358.7,144.7,22.6,632,5085,0.20,2.15,0.00,0.000,4,0.163,0.047,2838,3526,1556,0,0,0,0,0,0
$GC,5176,0.81,358.7,126.5,17.5,648,5184,0.00,2.17,0.00,0.000,6,0.000,0.032,2845,2063,1554,0,0,0,0,0,0
$GC,5540,0.89,422.1,75.7,12.2,709,5599,0.10,2.10,48.55,0.563,4,0.103,0.043,2927,665,1304,0,0,0,0,0,0
$GC,5787,0.89,425.8,38.0,15.0,748,5796,0.15,2.20,0.00,0.000,6,0.127,0.037,2873,2124,1299,0,0,0,0,0,0
$STATE,6062,end climb,SURFACE_DEPTH_REACHED
$STATE,6062,begin surface coast
$FINISH,0.6,1.010739
$STATE,6087,end surface coast,CONTROL_FINISHED_OK
$STATE,6087,begin surface
$SM_CCo,6161,0.00,0.000,0,0,1296,424.61
$SM_GC,1.67,6.68,0.00,0.00,0.038,0.000,0.000,206,2433,1296,-7.40,0.90,424.61
$IRIDIUM_FIX,2406.29,12658.81,081010,121235
$TT8_MAMPS,0.026215
$HUMID,52.04
$INTERNAL_PRESSURE,8.82144
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.6,28.146
$10V_AH,10.6,24.282
$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,17.600,52.250,491.925,0.000,0.000,29.323,16.500,107.093,0.000,0.000,14.311,1884.550,1475.066,450.853,2476.451,124.691,0.000,1235.771,0.000,2325.470,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,79.560,846.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.368,0.000,1693.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46913,798
$CAP_FILE_SIZE,81539,0
$CFSIZE,260165632,243056640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,125.6,1
$GPS,081010,155314,2416.546,12657.127,9,1.8,9,-3.7