version: 66.08
glider: 176
mission: 2
dive: 213
start: 10 8 110 15 58 16
data:
$ID,176
$MISSION,2
$DIVE,213
$N_DIVES,221
$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,-5038.582
$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
$GPS1,081010,155314,2416.546,12657.127,9,1.8,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.8
$GPS2,081010,155749,2416.552,12657.170,14,1.8,31,-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,358.9,28185,-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,-219.0,0.0,0.0,0,66,0.00,0.00,-49.25,0.000,2,0.000,0.000,202,2439,2788,0,0,0,0,0,0
$GC,68,-0.72,-219.0,3.7,-6.2,6,103,8.40,2.22,-19.90,0.000,4,0.239,0.050,2359,958,3922,0,0,0,0,0,0
$GC,250,-0.72,-219.0,60.0,-26.0,35,258,0.00,2.22,0.00,0.000,6,0.000,0.047,2359,2412,3924,0,0,0,0,0,0
$GC,611,-0.70,-219.0,162.1,-24.8,96,621,0.00,2.05,0.00,0.000,4,0.000,0.055,2359,3764,3926,0,0,0,0,0,0
$GC,637,-0.69,-219.0,167.5,-24.1,99,644,0.05,2.00,0.00,0.000,6,0.228,0.028,2372,2339,3925,0,0,0,0,0,0
$GC,994,-0.69,-219.0,242.7,-19.2,160,1003,0.00,2.00,0.00,0.000,4,0.000,0.036,2372,958,3926,0,0,0,0,0,0
$GC,1057,-0.70,-219.0,253.5,-15.1,170,1066,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2419,3927,0,0,0,0,0,0
$GC,1412,-0.70,-219.0,315.4,-18.0,224,1415,0.00,2.00,0.00,0.000,4,0.000,0.056,2372,3767,3926,0,0,0,0,0,0
$GC,1439,-0.70,-219.0,320.4,-16.7,226,1449,0.03,2.03,0.00,0.000,6,0.103,0.029,2328,2350,3926,0,0,0,0,0,0
$GC,1767,-0.69,-219.0,386.6,-20.3,257,1771,0.15,2.00,0.00,0.000,4,0.166,0.034,2372,940,3926,0,0,0,0,0,0
$GC,1796,-0.69,-219.0,392.4,-17.7,259,1800,0.00,2.20,0.00,0.000,6,0.000,0.044,2372,2429,3926,0,0,0,0,0,0
$GC,2124,-0.70,-219.0,437.7,-13.3,289,2128,0.00,2.00,0.00,0.000,4,0.000,0.057,2372,3771,3925,0,0,0,0,0,0
$GC,2196,-0.72,-219.0,446.5,-9.5,295,2204,0.05,2.03,0.00,0.000,6,0.067,0.028,2306,2349,3924,0,0,0,0,0,0
$STATE,2489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2489,begin apogee
$GC,2494,-0.11,0.0,500.7,18.8,323,2666,0.73,0.12,164.45,0.849,6,0.126,0.090,2554,2143,3027,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2669,0.72,219.0,510.5,0.0,337,2843,0.70,0.00,169.55,0.837,6,0.046,0.000,2846,2143,2133,0,0,0,0,0,0
$GC,3158,0.70,219.0,444.0,19.9,382,3163,0.15,2.20,0.00,0.000,4,0.183,0.041,2816,660,2125,0,0,0,0,0,0
$GC,3311,0.69,219.0,419.7,15.9,395,3315,0.00,2.17,0.00,0.000,6,0.000,0.036,2816,2133,2122,0,0,0,0,0,0
$GC,3641,0.68,220.1,369.5,15.1,426,3646,0.05,2.08,0.00,0.000,4,0.245,0.050,2804,3531,2120,0,0,0,0,0,0
$GC,3696,0.67,220.1,359.9,17.0,430,3706,0.03,2.15,0.00,0.000,6,0.213,0.031,2805,2066,2119,0,0,0,0,0,0
$GC,4024,0.68,236.3,312.6,14.4,461,4048,0.00,2.12,12.52,0.692,4,0.000,0.043,2813,662,2062,0,0,0,0,0,0
$GC,4098,0.72,273.9,301.8,13.4,467,4139,0.00,2.15,30.55,0.721,6,0.000,0.035,2813,2131,1909,0,0,0,0,0,0
$GC,4482,0.72,273.9,239.5,16.0,532,4490,0.00,2.20,0.00,0.000,4,0.000,0.042,2818,669,1902,0,0,0,0,0,0
$GC,4705,0.72,274.4,205.4,15.1,571,4713,0.00,2.17,0.00,0.000,6,0.000,0.038,2818,2134,1900,0,0,0,0,0,0
$GC,5052,0.79,334.8,157.8,12.3,632,5110,0.10,2.17,47.60,0.630,4,0.107,0.050,2888,3534,1659,0,0,0,0,0,0
$GC,5131,0.77,334.8,144.0,21.1,643,5141,0.20,2.22,0.00,0.000,6,0.148,0.034,2833,2062,1657,0,0,0,0,0,0
$GC,5496,0.82,371.1,89.7,13.5,704,5531,0.10,2.15,28.33,0.567,4,0.105,0.043,2912,660,1513,0,0,0,0,0,0
$GC,5621,0.83,381.4,67.8,14.7,723,5639,0.17,2.20,9.07,0.495,6,0.132,0.037,2852,2120,1472,0,0,0,0,0,0
$GC,5990,1.00,514.3,32.8,9.0,785,6103,0.17,2.28,101.35,0.523,4,0.069,0.043,2952,666,929,0,0,0,0,0,0
$GC,6120,0.99,514.3,9.1,23.4,801,6129,0.15,2.25,0.00,0.000,6,0.126,0.039,2901,2126,926,0,0,0,0,0,0
$STATE,6153,end climb,SURFACE_DEPTH_REACHED
$STATE,6154,begin surface coast
$FINISH,0.6,1.008526
$STATE,6173,end surface coast,CONTROL_FINISHED_OK
$STATE,6173,begin surface
$SM_CCo,6248,0.00,0.000,0,0,923,516.11
$SM_GC,1.44,6.93,0.00,0.00,0.043,0.000,0.000,212,2451,923,-7.39,1.44,516.11
$IRIDIUM_FIX,2406.29,12658.81,081010,141447
$TT8_MAMPS,0.026964
$HUMID,51.81
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,28.271
$10V_AH,10.6,24.394
$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,18.150,56.400,563.425,0.000,0.000,29.937,19.491,108.358,0.000,0.000,34.209,1890.403,1500.634,507.809,2493.054,134.184,0.000,1331.724,0.000,2321.188,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,89.505,849.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.611,0.000,1706.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,46982,809
$CAP_FILE_SIZE,84558,0
$CFSIZE,260165632,243003392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,107.9,1
$GPS,081010,174330,2417.285,12657.524,35,1.0,40,-3.7